Highly compatible self-calibration lower limb exoskeleton rehabilitation robot

Abstract

The application discloses a high-compatibility self-calibration lower-limb exoskeleton rehabilitation robot, which comprises a first lower-limb rehabilitation device, a second lower-limb rehabilitation device and a hip joint adjusting device; the hip joint exoskeleton assembly comprises three active driving units, and the active driving unit with a rotation surface corresponding to a horizontal plane is aligned with the hip joint rotation center through a remote center of motion mechanism with a virtual shaft. The high-compatibility self-calibration lower-limb exoskeleton rehabilitation robot can complete rotation in a horizontal plane, a coronal plane and a sagittal plane at a position corresponding to the hip joint of a user, realizes three degrees of freedom of human hip joint flexion / extension, adduction / abduction and internal rotation / external rotation respectively, and aligns the exoskeleton robot with the human hip joint rotation center, so that the rehabilitation effect of the high-compatibility self-calibration lower-limb exoskeleton rehabilitation robot can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and relates to a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot. BACKGROUND

[0002] In recent years, due to the increasing problems of population aging, there are more and more users suffering from cerebrovascular diseases such as stroke and Parkinson's syndrome or neurodegenerative diseases. These diseases often affect the lower limb movement function of the user, and further seriously affect the quality of life of the user. For these users, timely and effective rehabilitation intervention is very important.

[0003] Traditional physical rehabilitation treatment is usually completed by a rehabilitation therapist. The rehabilitation therapist helps the user recover through massage, limb passive bending, use of rehabilitation equipment and the like. However, the rehabilitation training effect of the traditional method depends largely on the experience of the rehabilitation trainer, and at present, the number of rehabilitation therapists is limited, and only a few hospitals can provide high-quality rehabilitation training. In addition, the traditional manual rehabilitation mode also lacks individualized and precise design for different users, which restricts the rehabilitation efficiency.

[0004] With the progress of science and technology, the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot is expected to make up for the defects of the above-mentioned traditional physical rehabilitation treatment. The high-compatibility self-calibration lower limb exoskeleton rehabilitation robot can provide high-precision and individualized rehabilitation training for different users, and can more efficiently assist the user in lower limb function reconstruction. At present, many scientific research institutions and technology enterprises have developed various high-compatibility self-calibration lower limb exoskeleton rehabilitation robots.

[0005] However, due to the high technical requirements, the existing high-compatibility self-calibration lower limb exoskeleton rehabilitation robot has great limitations. For example, some exoskeleton robots have limited degrees of freedom, and their movement posture is different from the actual gait of a person, so the training of the exoskeleton robot is of limited help to the user in improving the gait. For another example, some exoskeleton robots have large volume and mass, and are complex to wear, requiring the help of professional personnel to wear, so that the user cannot independently use the exoskeleton robot, which brings inconvenience. For another example, the existing exoskeleton robot only provides active degrees of freedom in the sagittal plane, and cannot help the user complete the turning and other daily activity modes.

[0006] In summary, the existing high-compatibility self-calibration lower limb exoskeleton rehabilitation robot mostly only provides power driving in the sagittal plane, has limited degrees of freedom, only helps the user to complete the single process of walking, and does not consider the rich movement state and function of the lower limbs of the human body in daily life. SUMMARY

[0007] The application provides a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot to expand the degrees of freedom of the lower limb exoskeleton rehabilitation robot and improve the rehabilitation effect of the user.

[0008] To achieve the above object, the present application provides the following technical solutions:

[0009] The present application provides a high compatibility self-calibration lower limb exoskeleton rehabilitation robot, comprising a first lower limb rehabilitation device, a second lower limb rehabilitation device and a hip joint adjusting device;

[0010] The hip joint adjusting device connects the first lower limb rehabilitation device and the second lower limb rehabilitation device, and the first lower limb rehabilitation device and the second lower limb rehabilitation device are symmetrically arranged about the sagittal plane;

[0011] The first lower limb rehabilitation device and the second lower limb rehabilitation device each comprise a hip joint exoskeleton assembly, a thigh assembly, a knee joint exoskeleton assembly, a lower leg assembly and an ankle joint exoskeleton assembly connected in sequence;

[0012] The hip joint exoskeleton assembly comprises three active driving units, the rotation planes of the three active driving units correspond to the horizontal plane, the coronal plane and the sagittal plane respectively, the active driving unit with the rotation plane corresponding to the coronal plane and the sagittal plane is aligned with the hip joint rotation center, the active driving unit with the rotation plane corresponding to the horizontal plane is aligned with the hip joint rotation center through a remote center of motion mechanism with a virtual axis, the three active driving units can respectively drive the hip joint to rotate in the horizontal plane, the coronal plane and the sagittal plane, and the horizontal plane, the coronal plane and the sagittal plane are perpendicular to each other in pairs.

[0013] In some embodiments, the hip joint adjusting device can adjust the length between the first lower limb rehabilitation device and the second lower limb rehabilitation device in the axial direction.

[0014] In some embodiments, the hip joint adjusting device comprises two first ball screws arranged symmetrically and oppositely, two first driven bevel gears, a first driving bevel gear, a first rotating shaft, a first sliding rail and a first fixing member;

[0015] One end of the screw rod part of each of the two first ball screws is fixed with the corresponding first driven bevel gear;

[0016] The two first driven bevel gears are each in mesh with the first driving bevel gear and are positioned on the first fixing member, the first rotating shaft is fixedly connected with the first driving bevel gear to drive the first driving bevel gear to rotate;

[0017] The first sliding rail is fixed on both sides of the first fixing member, and the nut end of the first ball screw is slidably arranged on the first sliding rail to adjust the extension length of the screw rod part of the two first ball screws.

[0018] In some embodiments, the hip joint exoskeleton assembly is placed in front of the body;

[0019] One of the three active driving units is a hip joint exoskeleton sagittal plane driving unit;

[0020] One of the three active driving units is a hip joint exoskeleton coronal plane driving unit;

[0021] One of the three active driving units is a hip joint exoskeleton coronal plane driving unit.

[0022] In some embodiments, the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through a hip joint transmission rod.

[0023] In some embodiments, the hip joint exoskeleton sagittal plane driving unit comprises a first power module, a first driving output end cover, a first fixed seat and an output thigh connecting piece;

[0024] The rotation center of the first power module is directly aligned with the rotation center of the hip joint to perform forward flexion / extension movement in the sagittal plane; the first driving output end cover is fixed with the harmonic reducer output of the first power module, the output thigh connecting piece is fixed to the first driving output end cover and connected with the thigh assembly to transmit the motor output to the high compatibility self-calibration lower limb exoskeleton rehabilitation robot leg; the fixed seat positions the first power module.

[0025] In some embodiments, the hip joint exoskeleton coronal plane driving unit comprises a second power module, a second driving output end cover, a second fixed seat and a hip joint screw fixing piece;

[0026] The rotation center of the second power module is directly aligned with the rotation center of the hip joint to perform adduction / abduction movement in the coronal plane; the second driving output end cover is fixed with the harmonic reducer output of the second power module; the second fixed seat is used for positioning and fixing the second power module; the hip joint screw fixing piece is fixed on the second fixed seat and connected and fixed with the hip joint adjusting device.

[0027] In some embodiments, the hip joint exoskeleton horizontal plane driving unit comprises a third power module, a third driving output end cover, an upper fixed seat and a lower fixed seat;

[0028] The third driving output end cover is fixed with the harmonic reducer output of the third power module; the upper fixed seat and the lower fixed seat are respectively fixed on the upper and lower ends of the third power module.

[0029] In some embodiments, the hip joint transmission rod comprises a first bearing seat, a second bearing seat, a first hip transmission rod and a remote center of motion mechanism,

[0030] The first bearing seat is in transmission connection with the first driving output end cover;

[0031] The second bearing seat is in transmission connection with the second driving output end cover;

[0032] The first hip transmission rod is hingedly connected to one end of the third driving output end cover and hingedly connected to the other end of the remote center of motion mechanism;

[0033] The remote center of motion mechanism is drivingly connected between the first driving output end cover and the second driving output end cover and between the first bearing seat and the second bearing seat.

[0034] In some embodiments, the remote center of motion mechanism includes an upper remote center of motion mechanism and a lower remote center of motion mechanism, and the upper remote center of motion mechanism and the lower remote center of motion mechanism are symmetrical about a horizontal plane.

[0035] In some embodiments, the upper remote center of motion mechanism includes a second upper hip transmission rod, a third upper hip transmission rod, a fourth upper hip transmission rod, and a fifth upper hip transmission rod, the first hip transmission rod is hingedly connected to one end of the third driving output end cover and hingedly connected to the other end of the second upper hip transmission rod, the second upper hip transmission rod is hingedly connected to one end of the second bearing seat and hingedly connected to the other end of the fourth upper hip transmission rod, the fourth upper hip transmission rod is hingedly connected to the other end of the first fixed seat, the third upper hip transmission rod is hingedly connected to one end of the second driving output end cover and hingedly connected to the other end of the fourth upper hip transmission rod, and the fifth upper hip transmission rod is hingedly connected to one end of the third upper hip transmission rod and hingedly connected to the other end of the first fixed seat.

[0036] The lower remote center of motion mechanism includes a second lower hip transmission rod, a third lower hip transmission rod, a fourth lower hip transmission rod, and a fifth lower hip transmission rod, the second lower hip transmission rod is hingedly connected to one end of the second bearing seat and hingedly connected to the other end of the fourth lower hip transmission rod, the fourth lower hip transmission rod is hingedly connected to the other end of the first fixed seat, the third lower hip transmission rod is hingedly connected to one end of the second driving output end cover and hingedly connected to the other end of the fourth lower hip transmission rod, and the fifth lower hip transmission rod is hingedly connected to one end of the third lower hip transmission rod and hingedly connected to the other end of the first fixed seat.

[0037] In some embodiments, the upper remote center of motion mechanism and the lower remote center of motion mechanism are connected and fixed by a support rod.

[0038] The horizontal plane driving unit of the hip joint exoskeleton is driven by the remote center of motion mechanism, a virtual rotation center is formed at the rotation center of the hip joint of the user's body, and the aligned internal rotation / external rotation movement of the hip joint is realized.

[0039] In some embodiments, the thigh assembly comprises a second ball screw, a second driving bevel gear, a second driven bevel gear, a second rotating shaft, a second fixing member, a first knee joint screw connecting member and a second sliding rail; the screw part of the second ball screw is fixed with the second driven bevel gear, the second driving bevel gear is fixed with the second rotating shaft, the second driving bevel gear and the second driven bevel gear are engaged for transmission through the positioning of the second driving bevel gear and the second driven bevel gear by the second fixing member; the nut end of the second ball screw slides on the second sliding rail; the first knee joint screw connecting member is hinged with the second ball screw through a bearing and is fixed with the knee joint exoskeleton assembly; the second driving bevel gear and the second driven bevel gear are engaged for transmission by rotating the second rotating shaft, which causes the second ball screw to move in the axial direction to adjust the length of the thigh of the high compatibility self-calibration lower limb exoskeleton rehabilitation robot.

[0040] In some embodiments, the knee joint exoskeleton assembly comprises a fourth power module, a fourth driving output end cover, a fourth fixing base, a knee joint thigh connecting member and a knee joint shank connecting member; the fourth driving output end cover is fixed to the harmonic reducer output of the fourth power module; the fourth fixing base is fixed with the fourth power module and is fixed with the knee joint thigh connecting member at the same time; the knee joint thigh connecting member is connected with the thigh assembly; the fourth driving output end cover is fixed with the knee joint shank connecting member, and the knee joint shank connecting member is connected with the shank assembly.

[0041] In some embodiments, the shank assembly comprises a third ball screw, a third driving bevel gear, a third driven bevel gear, a third rotating shaft, a third fixing member, a second knee joint screw connecting member and a third sliding rail; the third ball screw is fixed with the third driven bevel gear, the third driving bevel gear is fixed with the third rotating shaft, the third driving bevel gear and the third driven bevel gear are engaged for transmission through the positioning of the third driving bevel gear and the third driven bevel gear by the third fixing member; the nut of the third ball screw slides on the third sliding rail; the second knee joint screw connecting member is hinged with the third ball screw through a bearing and is fixed with the knee joint exoskeleton assembly; the third driving bevel gear and the third driven bevel gear are engaged for transmission by rotating the third rotating shaft, which causes the third ball screw to move in the axial direction to adjust the length of the shank of the high compatibility self-calibration lower limb exoskeleton rehabilitation robot.

[0042] In some embodiments, the ankle joint exoskeleton assembly has one degree of freedom, respectively providing a driving degree of freedom on the coronal plane, a driving degree of freedom on the sagittal plane and a passive degree of freedom on the horizontal plane.

[0043] In some embodiments, the ankle exoskeleton assembly includes an ankle exoskeleton sagittal plane driving unit, which includes a fifth power module, a fifth driving output end cover, a fifth fixed seat, and a lower leg screw fixing part. The rotation center of the fifth power module is aligned with the rotation center of the ankle sagittal plane to drive the user to perform ankle dorsiflexion / extension movement. The fifth driving output end cover is fixed to the harmonic reducer of the fifth power module and is fixedly connected with the fifth fixed seat of the ankle coronal plane driving. The fifth fixed seat is fixed to the fifth power module. The lower leg screw fixing part is fixed to the upper end of the fifth fixed seat and is connected with the lower end of the lower leg assembly.

[0044] When the fifth power module works, the ankle dorsiflexion / extension movement is performed through the transmission of the fifth driving output end cover.

[0045] In some embodiments, the ankle exoskeleton assembly includes an ankle exoskeleton coronal plane driving unit, which includes a sixth power module, a sixth driving output end cover, and a sixth fixed seat. The rotation center of the sixth power module is aligned with the rotation center of the ankle coronal plane to perform ankle adduction / abduction movement. The sixth driving output end cover is fixed to the harmonic reducer of the sixth power module and is connected with the rear plate of the horizontal plane driving unit. The sixth fixed seat is used to fix the sixth power module.

[0046] When the sixth power module works, the ankle adduction / abduction movement is performed through the transmission of the sixth driving output end cover.

[0047] In some embodiments, the ankle exoskeleton assembly includes an ankle exoskeleton horizontal plane driving unit, which includes a first foot plate, a second foot plate, a volute spring, and a rear plate. The volute spring is installed between the first foot plate and the second foot plate and is aligned with the rotation center of the ankle horizontal plane. The rear plate is fixed to the second foot plate and is fixedly connected with the sixth driving output end cover, so that the ankle performs internal rotation / external rotation movement.

[0048] In some embodiments, the highly compatible self-calibration lower limb exoskeleton rehabilitation robot further includes a length calibration device. According to the body parameters of the user, the length calibration device drives the hip joint adjusting device, the thigh assembly, and the lower leg assembly to run to adjust to the target length.

[0049] It can be seen from the technical solution that the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot is applied to rehabilitation training of lower limbs. After the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot is worn on lower limbs of a user, a hip joint exoskeleton assembly corresponds to a hip joint of the user, a thigh assembly corresponds to a thigh of the user, a knee joint exoskeleton assembly corresponds to a knee joint of the user, a lower leg assembly corresponds to a lower leg of the user, and an ankle joint exoskeleton assembly corresponds to an ankle joint of the user. Since the hip joint exoskeleton assembly includes three active driving units, and the active driving unit with a rotation surface corresponding to a horizontal plane is aligned with a rotation center of the hip joint through a remote center of motion mechanism, the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot can complete rotation in a horizontal plane, a coronal plane and a sagittal plane at a position corresponding to the hip joint of the user, and realize three degrees of freedom of forward flexion / rear extension, adduction / abduction and internal rotation / external rotation of the hip joint of the human body, and align the exoskeleton robot with the rotation center of the hip joint of the human body, thereby improving rehabilitation effect of the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings, and the present application can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language environment or otherwise stated, the same reference numerals in the drawings represent the same structure or operation.

[0051] Figure 1 The coronal plane, sagittal plane and horizontal plane schematic diagram provided for the present application;

[0052] Figures 2 to 7 The schematic diagram of a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot provided for the embodiment of the present application;

[0053] Figures 8 to 13 The schematic diagram of multiple execution actions of a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot provided for the embodiment of the present application;

[0054] Figure 14 The schematic diagram of a hip joint adjusting device provided for the embodiment of the present application;

[0055] Figure 15 And Figure 16 The schematic diagram of a hip joint exoskeleton assembly provided for the embodiment of the present application;

[0056] Figure 17 The schematic diagram of a thigh assembly provided for the embodiment of the present application;

[0057] Figure 18 A schematic view of a knee exoskeleton assembly provided for an embodiment of the present application;

[0058] Figure 19 A schematic view of a lower leg assembly provided for an embodiment of the present application;

[0059] Figure 20 and Figure 21 A schematic view of an ankle exoskeleton assembly provided for an embodiment of the present application;

[0060] Figure 22 and Figure 23 A schematic view of a length calibration device provided for an embodiment of the present application.

[0061] In the illustration, 1 - first lower limb rehabilitation device; 2 - second lower limb rehabilitation device; 3 - hip joint adjusting device; 4 - length calibration device;

[0062] 11 - hip exoskeleton assembly; 12 - thigh assembly; 13 - knee exoskeleton assembly; 14 - lower leg assembly; 15 - ankle exoskeleton assembly;

[0063] 21 - hip exoskeleton assembly; 22 - thigh assembly; 23 - knee exoskeleton assembly; 24 - lower leg assembly; 25 - ankle exoskeleton assembly;

[0064] 31 - first ball screw; 32 - first driven bevel gear; 33 - first driving bevel gear; 34 - first rotating shaft; 35 - first sliding rail; 36 - first fixed part;

[0065] 111 - hip exoskeleton sagittal plane driving unit; 112 - hip exoskeleton coronal plane driving unit; 113 - hip exoskeleton horizontal plane driving unit; 114 - hip joint transmission rod connection;

[0066] 1111 - first power module; 1112 - first driving output end cover; 1113 - first fixed seat; 1114 - output thigh connecting part;

[0067] 1121 - second power module; 1122 - second driving output end cover; 1123 - second fixed seat; 1124 - hip joint screw fixing part;

[0068] 1131 - third power module; 1132 - third driving output end cover; 1133 - upper fixed seat; 1134 - lower fixed seat;

[0069] 1141 - first bearing seat; 1142 - second bearing seat; 1143 - first hip transmission rod; 1144 - remote center of motion mechanism;

[0070] 11441 - upper remote center of motion mechanism; 11442 - lower remote center of motion mechanism; 11443 - support bar;

[0071] 11441a - second upper hip transmission bar; 11441b - third upper hip transmission bar; 11441c - fourth upper hip transmission bar; 11441d - fifth upper hip transmission bar;

[0072] 11442a - second lower hip transmission bar; 11442b - third lower hip transmission bar; 11442c - fourth lower hip transmission bar; 11442d - fifth lower hip transmission bar;

[0073] 121 - second ball screw; 122 - second driving bevel gear; 123 - second driven bevel gear; 124 - second rotating shaft; 125 - second fixed part; 126 - first knee joint screw connecting part;

[0074] 131 - fourth power module; 132 - fourth driving output end cover; 133 - fourth fixed seat; 134 - knee joint thigh connecting part; 135 - knee joint shank connecting part; 136 - knee joint thigh connecting rod; 137 - knee joint shank connecting rod;

[0075] 141 - third ball screw; 142 - third driving bevel gear; 143 - third driven bevel gear; 144 - third rotating shaft; 145 - third fixed part; 146 - second knee joint screw connecting part;

[0076] 151 - ankle exoskeleton sagittal plane driving unit; 152 - ankle exoskeleton coronal plane driving unit; 153 - ankle exoskeleton horizontal plane driving unit;

[0077] 1511 - fifth power module; 1512 - fifth driving output end cover; 1513 - fifth fixed seat; 1514 - shank screw fixed part;

[0078] 1521 - sixth power module; 1522 - sixth driving output end cover; 1523 - sixth fixed seat;

[0079] 1531 - first foot bottom plate; 1532 - second foot bottom plate; 1533 - volute spring; 1534 - back plate;

[0080] 41 - seventh power module; 42 - seventh driving output end cover; 43 - human-computer interaction assembly; 44 - shell. DETAILED DESCRIPTION

[0081] 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 only 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 creative work fall within the scope of the present application.

[0082] In order to facilitate the understanding of the technical solutions introduced subsequently by the reader, the coronal plane, the sagittal plane and the horizontal plane are explained as follows:

[0083] As shown in Figure 1 , the standard anatomical plane of the human body is based on the upright human body, and perpendicular axes (z-axis, consistent with the direction of gravity), coronal axes (x-axis, parallel to the ground from right to left), and sagittal axes (y-axis, parallel to the ground from front to back) are set, thereby constructing three mutually perpendicular planes: a transverse plane parallel to the horizontal plane C and perpendicular to the vertical axis, which can exhibit the structure at a certain height; a coronal plane B (frontal plane) passing through the coronal axis and perpendicular to the horizontal plane C, which is used to observe the front and back levels; and a sagittal plane A passing through the sagittal axis and perpendicular to the other two planes, which is used to understand the left and right distribution. These three planes form the basis for the division of anatomical spatial orientation.

[0084] Referring to Figures 2 to 7 , the present application provides a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot, which comprises a first lower limb rehabilitation device 1, a second lower limb rehabilitation device 2 and a hip joint adjusting device 3; the hip joint adjusting device 3 connects the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2, and the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2 are symmetrically arranged about the sagittal plane; the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2 each comprise a hip joint exoskeleton assembly 11, a thigh assembly 12, a knee joint exoskeleton assembly 13, a lower leg assembly 14 and an ankle joint exoskeleton assembly 15 connected in sequence; the hip joint exoskeleton assembly 11 comprises three active driving units, the rotation planes of the three active driving units correspond to the horizontal plane, the coronal plane and the sagittal plane respectively, the active driving unit with the rotation plane corresponding to the coronal plane and the sagittal plane is aligned with the hip joint rotation center, the active driving unit with the rotation plane corresponding to the horizontal plane is aligned with the hip joint rotation center through a remote center of motion mechanism 1144 with a virtual axis, and the three active driving units can respectively drive the hip joint to rotate in the horizontal plane, the coronal plane and the sagittal plane, wherein the horizontal plane, the coronal plane and the sagittal plane are perpendicular to each other.

[0085] The high compatibility self-calibration lower limb exoskeleton rehabilitation robot is applied to the rehabilitation training of lower limbs. After the high compatibility self-calibration lower limb exoskeleton rehabilitation robot is worn on the lower limbs of a user, a hip joint exoskeleton assembly 11 corresponds to the hip joint of the user, a thigh assembly 12 corresponds to the thigh of the user, a knee joint exoskeleton assembly 13 corresponds to the knee joint of the user, a lower leg assembly 14 corresponds to the lower leg of the user, and an ankle joint exoskeleton assembly 15 corresponds to the ankle joint of the user.

[0086] Since the hip joint exoskeleton assembly 11 includes three active driving units, and the active driving unit with a rotation surface corresponding to a horizontal plane is aligned with the rotation center of the hip joint through a remote center of motion mechanism 1144, the high compatibility self-calibration lower limb exoskeleton rehabilitation robot can complete the rotation in the horizontal plane, the coronal plane and the sagittal plane respectively at the position corresponding to the hip joint of the user, and realize the three degrees of freedom of the forward flexion / extension (as shown in Figure 8 ), the adduction / abduction (as shown in Figure 9 ), and the internal rotation / external rotation (as shown in Figure 10 ) of the human hip joint, and align the exoskeleton robot with the rotation center of the human hip joint, thereby improving the rehabilitation effect of the high compatibility self-calibration lower limb exoskeleton rehabilitation robot.

[0087] In combination with Figure 1 , referring to Figure 14 , in order to adapt to the use of users with different body shapes, the hip joint adjusting device 3 can adjust the length between the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2 in the axial direction. By adjusting the hip joint adjusting device 3, the length between the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2 can be adjusted, which is equivalent to adjusting the length between the hip joint adjusting assemblies, and the hip joint adjusting assemblies correspond to the hip joint, thereby adapting to the use of users with different hip joints.

[0088] Specifically, the hip joint adjusting device 3 includes two first ball screws 31 arranged symmetrically and oppositely, two first driven bevel gears 32, a first driving bevel gear 33, a first rotating shaft 34, a first sliding rail 35 and a first fixing member 36. One end of the screw part of each of the two first ball screws 31 is fixed with the corresponding first driven bevel gear 32. The two first driven bevel gears 32 are engaged with the first driving bevel gear 33 and positioned on the first fixing member 36. The first rotating shaft 34 is fixedly connected with the first driving bevel gear 33 to drive the first driving bevel gear 33 to rotate. The first sliding rail 35 is fixed on both sides of the first fixing member 36, and the nut end of the first ball screw 31 is slidably arranged on the first sliding rail 35 to adjust the extension length of the screw part of the two first ball screws 31.

[0089] The rotation of the first rotating shaft 34 drives the rotation of the first driving bevel gear 33, the first driving bevel gear 33 drives the rotation of the first driven bevel gear 32, and finally the synchronous extension or synchronous shortening of the screw part of the two first ball screws 31 is realized, so as to adjust the length between the two hip joint adjusting assemblies.

[0090] The hip joint exoskeleton assembly 11 can be placed in front of the body or behind the body. In some examples of the present application, the placement in front of the body is taken as an example for introduction.

[0091] In combination Figures 1 to 5 , referring to Figure 15 and Figure 16 , the hip joint exoskeleton assembly 11 is the core structure for realizing the rotation of three degrees of freedom of the human hip joint flexion / extension (as shown in Figure 8 , adduction / abduction (as shown in Figure 9 , internal rotation / external rotation (as shown in Figure 10 ).

[0092] One of the three active driving units is a hip joint exoskeleton sagittal plane driving unit 111, which mainly realizes the flexion / extension of the human hip joint (as shown in Figure 8 ; one of the three active driving units is a hip joint exoskeleton coronal plane driving unit 112, which mainly realizes the adduction / abduction of the human hip joint (as shown in Figure 9 ; one of the three active driving units is a hip joint exoskeleton horizontal plane driving unit 113, which mainly realizes the internal rotation / external rotation of the human hip joint (as shown in Figure 10 ).

[0093] Among them, the hip joint exoskeleton sagittal plane driving unit 111, the hip joint exoskeleton coronal plane driving unit 112 and the hip joint exoskeleton horizontal plane driving unit 113 are connected through the hip joint transmission rod 114. Through the connection of the hip joint transmission rod 114, the active driving unit of the corresponding horizontal plane of the rotation plane can be aligned with the hip joint rotation center through the remote center of motion mechanism 1144.

[0094] The hip joint exoskeleton sagittal plane driving unit 111 includes a first power module 1111, a first driving output end cover 1112, a first fixed seat 1113 and an output thigh connecting piece 1114; the rotation center of the first power module 1111 is directly aligned with the hip joint rotation center to perform flexion / extension movement in the sagittal plane; the first driving output end cover 1112 is fixed with the harmonic reducer output of the first power module 1111, the output thigh connecting piece 1114 is fixed to the first driving output end cover 1112 and connected with the thigh assembly 12, so as to transmit the output of the first power module 1111 to the high compatibility self-calibration lower limb exoskeleton rehabilitation robot leg; the first fixed seat 1113 positions the first power module 1111.

[0095] When the first power module 1111 is running, the first drive output end cover 1112 rotates, thereby driving the output thigh connecting piece 1114 to rotate in the sagittal plane, so as to realize the forward flexion / rearward extension of the human hip joint, as shown in Figure 8 .

[0096] The hip joint exoskeleton coronal plane driving unit 112 includes a second power module 1121, a second drive output end cover 1122, a second fixed seat 1123, and a hip joint screw fixing piece 1124; the rotation center of the second power module 1121 is directly aligned with the rotation center of the hip joint, so as to perform adduction / abduction movement in the coronal plane; the second drive output end cover 1122 is fixed with the harmonic reducer output of the second power module 1121; the second fixed seat 1123 is used for positioning and fixing the second power module 1121; the hip joint screw fixing piece 1124 is fixed on the second fixed seat 1123 and is connected and fixed with the hip joint adjusting device 3.

[0097] When the second power module 1121 is running, the second drive output end cover 1122 rotates, thereby driving the hip joint screw fixing piece 1124 to rotate in the coronal plane, so as to realize the adduction / abduction of the human hip joint, as shown in Figure 9 .

[0098] The hip joint exoskeleton horizontal plane driving unit 113 includes a third power module 1131, a third drive output end cover 1132, an upper fixed seat 1133, and a lower fixed seat 1134; the third drive output end cover 1132 is fixed with the harmonic reducer output of the third power module 1131; the upper fixed seat 1133 and the lower fixed seat 1134 are respectively fixed on the upper and lower ends of the third power module 1131.

[0099] When the third power module 1131 is running, the third drive output end cover 1132 rotates, thereby driving the hip joint upper fixed seat 1133 and the lower fixed seat 1134 to rotate in the horizontal plane, so as to realize the internal rotation / external rotation of the human hip joint, as shown in Figure 10 .

[0100] Through the connection of the hip joint transmission rod 114, the active driving unit corresponding to the rotation plane of the horizontal plane can be aligned with the rotation center of the hip joint through the remote motion center mechanism 1144 with a virtual shaft.

[0101] The hip joint transmission rod 114 comprises a first bearing seat 1141, a second bearing seat 1142, a first hip transmission rod 1143, and a remote center of motion mechanism 1144, the first bearing seat 1141 is in transmission connection with the first driving output end cover 1112; the second bearing seat 1142 is in transmission connection with the second driving output end cover 1122; one end of the first hip transmission rod 1143 is hinged to the third driving output end cover 1132, and the other end is hinged to the remote center of motion mechanism 1144; the remote center of motion mechanism 1144 is in transmission connection between the first driving output end cover 1112 and the second driving output end cover 1122, and in transmission connection between the first bearing seat 1141 and the second bearing seat 1142.

[0102] The remote center of motion mechanism 1144 can comprise an upper remote center of motion mechanism 11441 and / or a lower remote center of motion mechanism 11442, and in the case that the remote center of motion mechanism 1144 comprises the upper remote center of motion mechanism 11441 and the lower remote center of motion mechanism 11442, the upper remote center of motion mechanism 11441 and the lower remote center of motion mechanism 11442 are symmetrical about a horizontal plane. By arranging the upper remote center of motion mechanism 11441 and the lower remote center of motion mechanism 11442, the stability of transmission of the hip joint exoskeleton sagittal plane driving unit 111, the hip joint exoskeleton coronal plane driving unit 112, and the hip joint exoskeleton horizontal plane driving unit 113 can be improved.

[0103] The upper remote center of motion mechanism 11441 comprises a second upper hip transmission rod 11441a, a third upper hip transmission rod 11441b, a fourth upper hip transmission rod 11441c, and a fifth upper hip transmission rod 11441d, one end of the first hip transmission rod 1143 is hinged to the third driving output end cover 1132, and the other end is hinged to the second upper hip transmission rod 11441a, one end of the second upper hip transmission rod 11441a is hinged to the upper end of the second bearing seat 1142, and the other end is hinged to one end of the fourth upper hip transmission rod 11441c; the other end of the fourth upper hip transmission rod 11441c is hinged to the upper end of the outer side of the first fixed seat 1113; one end of the third upper hip transmission rod 11441b is hinged to the upper end of the second driving output end cover 1122, and the other end is hinged to the fourth upper hip transmission rod 11441c; one end of the fifth upper hip transmission rod 11441d is hinged to the third upper hip transmission rod 11441b, and the other end is hinged to the upper end of the inner side of the first fixed seat 1113.

[0104] The lower remote center of motion mechanism 11442 includes a second lower hip transmission rod 11442a, a third lower hip transmission rod 11442b, a fourth lower hip transmission rod 11442c, and a fifth lower hip transmission rod 11442d. One end of the second lower hip transmission rod 11442a is hingedly connected to the lower end of the second bearing seat 1142, and the other end is hingedly connected to one end of the fourth lower hip transmission rod 11442c. The other end of the fourth lower hip transmission rod 11442c is hingedly connected to the lower end of the first fixed seat 1113 on the outside. One end of the third lower hip transmission rod 11442b is hingedly connected to the lower end of the second drive output cover 1122, and the other end is hingedly connected to the fourth lower hip transmission rod 11442c. One end of the fifth lower hip transmission rod 11442d is hingedly connected to the third lower hip transmission rod 11442b, and the other end is hingedly connected to the lower end of the first fixed seat 1113 on the inside.

[0105] Further, in order to further improve the stability of the hip joint exoskeleton sagittal plane drive unit 111, the hip joint exoskeleton coronal plane drive unit 112, and the hip joint exoskeleton horizontal plane drive unit 113 transmission. The upper remote center of motion mechanism 11441 and the lower remote center of motion mechanism 11442 are connected and fixed by the support rod 11443. The hip joint exoskeleton horizontal plane drive unit 113 is transmitted by the remote center of motion mechanism 1144 to form a virtual rotation center at the rotation center of the user's human hip joint, realizing the aligned internal rotation / external rotation movement of the hip joint. The upper remote center of motion mechanism 11441 and the lower remote center of motion mechanism 11442 form a remote center of motion mechanism 1144 (Remote Center of Motion, RCM) with the hip joint horizontal plane drive motor. When the third power module 1131 rotates, it will be output through the third drive output cover 1132, drive the parallelogram mechanism composed of the second upper hip transmission rod 11441a, the third upper hip transmission rod 11441b, the fourth upper hip transmission rod 11441c, the fifth upper hip transmission rod 11441d, and the second lower hip transmission rod 11442a, the third lower hip transmission rod 11442b, the fourth lower hip transmission rod 11442c, and the fifth lower hip transmission rod 11442d rotate. When the hip joint exoskeleton assembly 11 is properly worn, it will form the hip joint exoskeleton assembly 11 rotating around the human hip joint through the virtual shaft to perform internal rotation / external rotation movement. When the third power module 1131 rotates clockwise, it will drive the human hip joint to perform external rotation movement, and when it rotates counterclockwise, it will drive the human hip joint to perform internal rotation movement. The left side is exactly the opposite.

[0106] For example, a support rod 11443 is arranged between the second upper hip transmission rod 11441a and the second lower hip transmission rod 11442a, a support rod 11443 is arranged between the third upper hip transmission rod 11441b and the third lower hip transmission rod 11442b, a support rod 11443 is arranged between the fourth upper hip transmission rod 11441c and the fourth lower hip transmission rod 11442c, and a support rod 11443 is arranged between the fifth upper hip transmission rod 11441d and the fifth lower hip transmission rod 11442d. The above-mentioned support rods 11443 are parallel to each other.

[0107] Referring to Figure 17 The thigh assembly 12 corresponds to a human thigh, and the length of the thigh assembly 12 is adjustable or unadjustable. In order to improve the applicability of the device, the length of the thigh assembly 12 is adjustable in the present application. Specifically, the thigh assembly 12 comprises a second ball screw 121, a second driving bevel gear 122, a second driven bevel gear 123, a second rotating shaft 124, a second fixing part 125, a first knee joint screw connecting part 126, and a second sliding rail. The screw part of the second ball screw 121 is fixed with the second driven bevel gear 123, the second driving bevel gear 122 is fixed with the second rotating shaft 124, the second driving bevel gear 122 and the second driven bevel gear 123 are positioned by the second fixing part 125, and the second driving bevel gear 122 is engaged with the second driven bevel gear 123 for transmission. The nut end of the second ball screw 121 slides on the second sliding rail. The first knee joint screw connecting part 126 is hinged with the second ball screw 121 through a bearing and is fixed with the knee joint exoskeleton assembly 13. By rotating the second rotating shaft 124, the second driving bevel gear 122 is engaged with the second driven bevel gear 123 for transmission, so as to cause the second ball screw 121 to move in the axial direction, so as to adjust the length of the thigh of the highly compatible self-calibration lower limb exoskeleton rehabilitation robot.

[0108] Driving the second rotating shaft 124 to rotate can drive the second driving bevel gear 122 and the second driven bevel gear 123 to rotate, and finally realize the elongation or shortening of the screw part of the second ball screw 121, so as to adjust the length of the thigh assembly 12.

[0109] Referring to Figure 18, the knee joint exoskeleton assembly 13 can be aligned with the human knee joint to drive the knee joint to rotate, thereby realizing the knee joint flexion / extension movement. Specifically, the knee joint exoskeleton assembly 13 comprises a fourth power module 131, a fourth drive output end cover 132, a fourth fixed seat 133, a knee joint thigh connecting piece 134 and a knee joint shank connecting piece 135; the fourth drive output end cover 132 is fixed to the harmonic reducer output of the fourth power module 131; the fourth fixed seat 133 is fixed to the fourth power module 131, and the fourth fixed seat 133 is also fixed to the knee joint thigh connecting piece 134; the knee joint thigh connecting piece 134 is connected to the thigh assembly 12 through a knee joint thigh connecting rod 136; the fourth drive output end cover 132 is fixed to the knee joint shank connecting piece 135, and the knee joint shank connecting piece 135 is connected to the shank assembly 14 through a knee joint shank connecting rod 137.

[0110] The fourth power module 131 operates to drive the fourth drive output end cover 132 to rotate, thereby driving the fourth fixed seat 133 to rotate, further realizing the rotation of the knee joint shank connecting piece 135 relative to the knee joint thigh connecting piece 134, thereby realizing the knee joint flexion / extension movement at this position, as shown in Figure 11 .

[0111] Referring to Figure 19 , the shank assembly 14 corresponds to the human shank, and the length of the shank assembly 14 can be adjustable or non-adjustable. Specifically, the length of the shank assembly 14 is adjustable, and the shank assembly 14 comprises a third ball screw 141, a third driving bevel gear 142, a third driven bevel gear 143, a third rotating shaft 144, a third fixed piece 145, a second knee joint screw connecting piece 146 and a third sliding rail; the third ball screw 141 is fixed to the third driven bevel gear 143, the third driving bevel gear 142 is fixed to the third rotating shaft 144, the third driving bevel gear 142 and the third driven bevel gear 143 are positioned by the third fixed piece 145 to mesh and transmit power; the screw nut of the third ball screw 141 slides on the third sliding rail; the second knee joint screw connecting piece 146 is hinged to the third ball screw 141 through a bearing and is fixed to the knee joint exoskeleton assembly 13; by rotating the third rotating shaft 144, the third driving bevel gear 142 and the third driven bevel gear 143 mesh and transmit power, causing the third ball screw 141 to move in the axial direction to adjust the length of the shank of the high compatibility self-calibration lower limb exoskeleton rehabilitation robot.

[0112] Referring to Figure 20 and Figure 21 , the ankle joint exoskeleton assembly 15 corresponds to the ankle joint, and in order to improve the rehabilitation effect of the robot, the ankle joint exoskeleton assembly 15 has three degrees of freedom, respectively providing an active degree of freedom in the coronal plane, an active degree of freedom in the sagittal plane and a passive degree of freedom in the horizontal plane.

[0113] The ankle exoskeleton assembly 15 includes an ankle exoskeleton sagittal plane driving unit 151, which includes a fifth power module 1511, a fifth driving output end cover 1512, a fifth fixed seat 1513, and a lower leg screw fixing piece 1514. The rotation center of the fifth power module 1511 is aligned with the rotation center of the ankle sagittal plane to drive the user to perform ankle dorsiflexion / plantarflexion movement. The fifth driving output end cover 1512 is fixed to the harmonic reducer of the fifth power module 1511 and is fixedly connected with the ankle coronal plane driving fifth fixed seat 1513. The fifth fixed seat 1513 is fixed to the fifth power module 1511 to fix and position the fifth power module 1511. The lower leg screw fixing piece 1514 is fixed to the upper end of the fifth fixed seat 1513 and is connected with the lower end of the lower leg assembly 14. When the fifth power module 1511 works, it is driven through the fifth driving output end cover 1512 to perform ankle dorsiflexion / plantarflexion movement. When the fifth power module 1511 rotates, the fifth driving output end cover 1512 drives the fifth power module 1511 and the sole assembly to rotate together in the sagittal plane. When the fifth power module 1511 rotates, the fifth output end cover drives the sole assembly to perform dorsiflexion / plantarflexion movement, as shown in Figure 13 .

[0114] The ankle exoskeleton assembly 15 includes an ankle exoskeleton coronal plane driving unit 152, which includes a sixth power module 1521, a sixth driving output end cover 1522, and a sixth fixed seat 1523. The rotation center of the sixth power module 1521 is aligned with the rotation center of the ankle coronal plane to perform ankle adduction / abduction movement. The sixth driving output end cover 1522 is fixed to the harmonic reducer of the sixth power module 1521 and is connected with the rear plate 1534 in the horizontal plane driving unit. The sixth fixed seat 1523 is used to fix the sixth power module 1521. When the sixth power module 1521 works, it is driven through the sixth driving output end cover 1522 to perform ankle adduction / abduction movement, as shown in Figure 12 .

[0115] The ankle exoskeleton assembly 15 includes an ankle exoskeleton horizontal plane driving unit 153, which includes a first sole plate 1531, a second sole plate 1532, a volute spring 1533, and a rear plate 1534. The volute spring 1533 is installed between the first sole plate 1531 and the second sole plate 1532 and is aligned with the rotation center of the ankle horizontal plane. The rear plate 1534 is fixed to the second sole plate 1532 and is fixedly connected with the sixth driving output end cover 1522, so that the ankle performs internal rotation / external rotation movement. The user's foot is fixed on the first sole plate 1531, and if the user needs to actively perform ankle internal rotation / external rotation during walking, the volute spring 1533 can provide buffering and protection.

[0116] Referring to Figure 22 and Figure 23, high compatibility self-calibration lower limb exoskeleton rehabilitation robot also includes length calibration device 4, can be according to the user's body parameters, length calibration device 4 drive hip joint adjusting device 3, thigh assembly 12, calf assembly 14 operation to adjust to the target length.

[0117] Length calibration device 4 can include the seventh power module 41, single-chip microcomputer, seventh drive output end cover 42, human-computer interaction assembly 43 and shell 44. In use, the jack of the seventh drive output end cover 42 of length calibration device 4 is inserted into the rotating shaft of hip joint adjusting device 3, thigh assembly 12, calf assembly 14 respectively, and the user's body parameters are input through human-computer interaction assembly 43 respectively, and the length calibration device will automatically rotate the rotating shaft to adjust the corresponding part to the required length.

[0118] The application has been disclosed as the preferred embodiment, however, not to limit the application, any skilled person in the art, without departing from the scope of the application, can make some changes or modifications to the equivalent embodiments of equivalent changes, which still belong to the scope of the application.

[0119] The above description is only the preferred embodiment of the application and the explanation of the applied technical principles, and is not used to limit the application. For those skilled in the art, the application can have various changes and variations. The scope of the application involved in the application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with the technical features disclosed in the application (but not limited to) having similar functions to form technical solutions.

Claims

1. A highly compatible self-calibrating lower limb exoskeleton rehabilitation robot, characterized in that: It includes a first lower limb rehabilitation device, a second lower limb rehabilitation device and a hip joint adjustment device; The hip joint adjustment device is connected to the first lower limb rehabilitation device and the second lower limb rehabilitation device, and the first lower limb rehabilitation device and the second lower limb rehabilitation device are arranged symmetrically with respect to the sagittal plane; The first lower limb rehabilitation device and the second lower limb rehabilitation device each comprise a hip joint exoskeleton component, a thigh component, a knee joint exoskeleton component, a calf component and an ankle joint exoskeleton component connected in sequence; The hip joint exoskeleton assembly includes three active drive units, the rotation planes of the three active drive units correspond to the horizontal plane, the coronal plane and the sagittal plane respectively, the active drive units whose rotation planes correspond to the coronal plane and the sagittal plane are aligned with the rotation center of the hip joint, and the active drive unit whose rotation plane corresponds to the horizontal plane is aligned with the rotation center of the hip joint with a virtual axis through a remote motion center mechanism. The three active drive units can respectively drive the hip joint to rotate in the horizontal plane, the coronal plane and the sagittal plane, and the horizontal plane, the coronal plane and the sagittal plane are perpendicular to each other; The hip joint exoskeleton assembly is placed in front of the body; one of the three active drive units is a hip joint exoskeleton sagittal plane drive unit; one of the three active drive units is a hip joint exoskeleton coronal plane drive unit; one of the three active drive units is a hip joint exoskeleton horizontal plane drive unit; the hip joint exoskeleton sagittal plane drive unit, the hip joint exoskeleton coronal plane drive unit and the hip joint exoskeleton horizontal plane drive unit are connected via a hip joint transmission rod; The hip joint exoskeleton sagittal plane drive unit includes a first power module, a first drive output end cover, a first fixing seat and an output thigh connector; the rotation center of the first power module is directly aligned with the rotation center of the hip joint to perform flexion / extension movement in the sagittal plane; the first drive output end cover is fixed to the output of the first power module harmonic reducer, and the output thigh connector is fixed to the first drive output end cover and connected to the thigh assembly to transmit the motor output to the leg of the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot; the first fixing seat positions the first power module; The hip joint exoskeleton coronal plane drive unit includes a second power module, a second drive output end cover, a second fixing seat and a hip joint screw fixing piece; The rotation center of the second power module is directly aligned with the rotation center of the hip joint to perform adduction / abduction movement in the coronal plane; the second drive output end cover is fixed to the output of the harmonic reducer of the second power module; the second fixing seat is used to position and fix the second power module; the hip joint screw fixing piece is fixed to the second fixing seat and is connected and fixed to the hip joint adjustment device; the hip joint exoskeleton horizontal plane drive unit includes a third power module, a third drive output end cover, an upper fixing seat and a lower fixing seat; the third drive output end cover is fixed to the output of the harmonic reducer of the third power module; the upper fixing seat and the lower fixing seat are respectively fixed to the upper and lower ends of the third power module; The hip joint transmission rod includes a first bearing seat, a second bearing seat, a first hip transmission rod and a remote motion center mechanism, wherein the first bearing seat is transmission-connected to the first drive output end cover; the second bearing seat is transmission-connected to the second drive output end cover; one end of the first hip transmission rod is hinged to the third drive output end cover, and the other end is hinged to the remote motion center mechanism; the remote motion center mechanism is transmission-connected to the first drive output end cover and the second drive output end cover, as well as the first bearing seat and the second bearing seat; The remote motion center mechanism includes an upper remote motion center mechanism and a lower remote motion center mechanism, and the upper remote motion center mechanism and the lower remote motion center mechanism are symmetrical about the horizontal plane; the upper remote motion center mechanism includes a second upper hip transmission rod, a third upper hip transmission rod, a fourth upper hip transmission rod and a fifth upper hip transmission rod, one end of the first upper hip transmission rod is hinged to the third drive output end cover, and the other end is hinged to the second upper hip transmission rod, one end of the second upper hip transmission rod is hinged to the upper end of the second bearing seat, and the other end is hinged to one end of the fourth upper hip transmission rod; the other end of the fourth upper hip transmission rod is hinged to the outer side of the upper end of the first fixed seat; one end of the third upper hip transmission rod is hinged to the upper end of the second drive output end cover, and the other end is hinged to The fourth upper hip transmission rod; one end of the fifth upper hip transmission rod is hinged to the third upper hip transmission rod, and the other end is hinged to the inner side of the upper end of the first fixed seat; the lower remote motion center mechanism includes the second lower hip transmission rod, the third lower hip transmission rod, the fourth lower hip transmission rod and the fifth lower hip transmission rod, one end of the second lower hip transmission rod is hinged to the lower end of the second bearing seat, and the other end is hinged to one end of the fourth lower hip transmission rod; the other end of the fourth lower hip transmission rod is hinged to the outer side of the lower end of the first fixed seat; one end of the third lower hip transmission rod is hinged to the lower end of the second drive output end cover, and the other end is hinged to the fourth lower hip transmission rod; one end of the fifth lower hip transmission rod is hinged to the third lower hip transmission rod, and the other end is hinged to the inner side of the lower end of the first fixed seat; The upper remote motion center mechanism and the lower remote motion center mechanism are connected and fixed by a support rod; the hip joint exoskeleton horizontal plane drive unit is driven by the remote motion center mechanism to form a virtual rotation center at the user's human hip joint rotation center to achieve aligned hip joint internal rotation / external rotation movement.

2. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The hip joint adjustment device can axially adjust the length between the first lower limb rehabilitation device and the second lower limb rehabilitation device.

3. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The hip joint adjustment device includes two first ball screws arranged symmetrically and facing each other, two first driven bevel gears, a first driving bevel gear, a first rotating shaft, a first slide rail and a first fixing member; One end of the screw rod portion of the two first ball screws is fixedly mounted to the corresponding first driven bevel gear; The two first driven bevel gears are both engaged with the first driving bevel gear and positioned on the first fixing member. The first rotating shaft is fixedly connected to the first driving bevel gear to drive the first driving bevel gear to rotate. The first slide rails are fixed to both sides of the first fixing member, and the nut ends of the first ball screws are slidably disposed on the first slide rails to adjust the extension lengths of the screw rod portions of the two first ball screws.

4. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The thigh assembly includes a second ball screw, a second active bevel gear, a second driven bevel gear, a second rotating shaft, a second fixing piece, a first knee joint screw connector and a second slide rail; the screw part of the second ball screw is fixed to the second driven bevel gear, and the second active bevel gear is fixed to the second rotating shaft, and the second active bevel gear and the second driven bevel gear are positioned by the second fixing piece so that the second active bevel gear and the second driven bevel gear are engaged for transmission; the nut end of the second ball screw slides on the second slide rail; the first knee joint screw connector and the second ball screw are hinged through a bearing and fixed to the knee joint exoskeleton assembly; by rotating the second rotating shaft, the second active bevel gear and the second driven bevel gear are engaged for transmission, causing the second ball screw to move axially to adjust the thigh length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot.

5. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The knee joint exoskeleton assembly includes a fourth power module, a fourth drive output end cover, a fourth fixing seat, a knee joint thigh connector and a knee joint calf connector; the fourth drive output end cover is fixed to the output of the harmonic reducer of the fourth power module; the fourth fixing seat is fixed to the fourth power module, and the fourth fixing seat is also fixed to the knee joint thigh connector; the knee joint thigh connector is connected to the thigh assembly; the fourth drive output end cover is fixed to the knee joint calf connector, and the knee joint calf connector is connected to the calf assembly.

6. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The calf assembly includes a third ball screw, a third active bevel gear, a third driven bevel gear, a third rotating shaft, a third fixing piece, a second knee joint screw connector and a third slide rail; the third ball screw is fixed to the third driven bevel gear, and the third active bevel gear is fixed to the third rotating shaft, and the third active bevel gear and the third driven bevel gear are positioned by the third fixing piece so that the third active bevel gear and the third driven bevel gear are engaged for transmission; the third ball screw nut slides on the third slide rail; the second knee joint screw connector is hinged to the third ball screw through a bearing and is fixed to the knee joint exoskeleton assembly; by rotating the third rotating shaft, the third active bevel gear and the third driven bevel gear are engaged for transmission, causing the third ball screw to move axially to adjust the calf length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot component.

7. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The ankle exoskeleton component has three degrees of freedom, providing active freedom in the coronal plane, active freedom in the sagittal plane, and passive freedom in the transverse plane.

8. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 7, characterized in that: The ankle exoskeleton assembly includes an ankle exoskeleton sagittal plane drive unit, including a fifth power module, a fifth drive output end cover, a fifth fixing seat, and a calf screw fixing piece; the rotation center of the fifth power module is aligned with the rotation center of the ankle joint sagittal plane to drive the user to perform ankle flexion / extension movements; the fifth drive output end cover is fixed to the fifth power module harmonic reducer and fixedly connected to the fifth fixing seat for the ankle joint coronal plane drive; the fifth fixing seat is fixed to the fifth power module; the calf screw fixing piece is fixed to the upper end of the fifth fixing seat and connected to the lower end of the calf assembly; When the fifth power module is in operation, power is transmitted through the fifth drive output end cover to perform ankle flexion / extension movement.

9. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 8, characterized in that: The ankle exoskeleton assembly includes an ankle exoskeleton coronal plane drive unit, including a sixth power module, a sixth drive output end cover, and a sixth fixing seat; the rotation center of the sixth power module is aligned with the rotation center of the ankle coronal plane to perform ankle adduction / abduction movement; the sixth drive output end cover is fixed to the sixth power module harmonic reducer and connected to the rear plate in the horizontal plane drive unit; the sixth fixing seat is used to fix the sixth power module; When the sixth power module is working, the sixth drive output end cover is used to transmit power to perform ankle adduction / abduction movement.

10. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 9, characterized in that: The ankle exoskeleton assembly includes an ankle exoskeleton horizontal plane drive unit, including a first sole plate, a second sole plate, a spiral spring and a back plate; the spiral spring is installed between the first sole plate and the second sole plate and aligned with the ankle joint horizontal plane rotation center; the back plate is fixed under the sole of the foot and fixedly connected to the sixth drive output end cover; so that the ankle joint can perform internal rotation / external rotation movement.

11. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to any one of claims 2 to 10, characterized in that: The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot also includes a length calibration device, which can drive the hip joint adjustment device, the thigh component, and the calf component to adjust to the target length according to the user's body parameters.

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