Whole-body movement auxiliary robot

Abstract

The invention relates to a whole body movement assisting robot which comprises a double-lug limiting base, a hook-shaped curved track, an arc-shaped sliding block mechanism, an upper body supporting mechanism, thighs, shanks and ankle driving mechanisms. The robot is designed based on motion curves of the head and the feet of a healthy human body from a lying posture to a sitting posture and then to a standing posture, and assists the human body in comfortably completing the whole motion process. In order to meet the requirements for different lying postures in clinical rehabilitation, the hook-shaped curved track is restrained on the double-ear limiting base to swing left and right, so that the body can incline left and right in the lying posture; the arc-shaped sliding block mechanism slides back and forth in the hook-shaped curved track, so that positive and negative Tore positions of the body are changed when the body lies. The ankle driving mechanism adopts a single motor to drive three cam mechanisms to drive ankles, three-degree-of-freedom movement is achieved, the number of motors is reduced, complex ankle joint three-dimensional movement is completed at the same time, the rehabilitation training effect is improved, the burden of therapists and family members is relieved, and the personalized rehabilitation requirements of patients are met.

Description

Technical Field

[0001] This invention relates to the field of human motion rehabilitation robots, and more particularly to a full-body motion assistive robot that allows users to move from a lying position to a sitting position and then to a standing position. Background Technology

[0002] With the increasing aging population and the growing number of people suffering from motor dysfunction due to various diseases, many patients can only rely on manual exercise training in bed during rehabilitation, significantly increasing the workload of medical staff and family members. Studies have shown that assisted rehabilitation training for these patients can significantly promote limb function recovery. Therefore, developing a whole-body motion assistive robot to aid in human function recovery is crucial. This robot should support the transition from lying to sitting and standing positions, as well as adjustments to lateral reclining and positive / negative sternoscopic positions, thereby greatly reducing the burden on caregivers.

[0003] Currently, various rehabilitation robots are in use both domestically and internationally. For example, upper limb rehabilitation robots can provide targeted exercise training programs based on patients' electromyographic signals or movement intentions; while lower limb rehabilitation robots can assist patients in gait training through exoskeleton structures, thereby improving their walking and balance abilities. However, most current whole-body motion assistive robots mainly focus on local limb rehabilitation training and suffer from insufficient wearing comfort and poor bionic adaptability. Intelligent solutions for the entire whole-body motion rehabilitation process, from lying down to sitting and then to standing, are still relatively scarce. Therefore, developing a whole-body motion assistive robot that can realize the transition from lying down to sitting and standing based on the healthy human body's motion curve is of great value for improving rehabilitation training effects, reducing the workload of rehabilitation therapists, and meeting the personalized rehabilitation needs of patients. Summary of the Invention

[0004] The purpose of this invention is to provide a full-body motion assistive robot designed based on the motion curves of a healthy human body. By analyzing the motion curves of the head and feet of a healthy human body as it transitions from a lying to a sitting and then to a standing position, a hook-shaped curved track is designed to support the entire movement process, providing weight-reducing assistance for full-body movement. Simultaneously, based on the shoulder movement trajectory as the body transitions from a sitting to a standing position, a motion track for the full-body motion assistive robot from sitting to standing is fitted to help the body complete standing movements in a more comfortable manner. Furthermore, to meet the needs of different lying positions in clinical rehabilitation, the left-right swinging motion of the hook-shaped curved track constrained on the dual-ear limiting base allows for left-right tilting movements of the user's body while lying down; the forward-backward sliding motion of the arc-shaped slider mechanism within the hook-shaped curved track allows for positive and negative positional changes of the body while lying down. Based on clinical training methods for foot movement postures during ankle joint rehabilitation, a single motor drives three cam mechanisms to drive the ankle to achieve three degrees of freedom of movement, thereby reducing the number of motors used while achieving complex three-dimensional ankle joint movements.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] The whole-body motion assistive robot is characterized by comprising a dual-ear limiting base 1, a hook-shaped curved track 2, an arc-shaped slider mechanism 3, an upper body support mechanism 4, a thigh drive mechanism 5, a calf drive mechanism 6, and an ankle drive mechanism 7. The dual-ear limiting base 1 is engaged and constrained with the hook-shaped curved track 2, and the hook-shaped curved track 2 is engaged and constrained upward with the arc-shaped slider mechanism 3. The left end of the upper body support mechanism 4 is constrained within a curved groove in the middle of the inner side of the hook-shaped curved track 2 and can slide along the curved groove. The left end of the thigh drive mechanism 5 is hinged to the right end of the upper body support mechanism 4, and the left end of the calf drive mechanism 6 is engaged and rotated with the right end of the thigh drive mechanism 5. The right end of the calf drive mechanism 6 is embedded in a curved groove in the inner arc surface of the end of the hook-shaped curved track 2 and can roll along the groove. The ends of the electric telescopic rods included in the upper body support mechanism 4 and the thigh drive mechanism 5 are fixedly connected to corresponding grooves on the upper surface of the arc-shaped slider mechanism 3.

[0007] The aforementioned whole-body motion assistive robot is characterized by: providing a curve function relationship for the shape of the hook-shaped curved track 2 based on a human motion experiment of 100 healthy individuals of different heights, weights, ages, and genders, from lying down to sitting to standing. The shoulder and ankle movement trajectories during the movement process were collected and analyzed, and normalized fitting was performed to obtain a full-range human motion trajectory in the sagittal plane with median representativeness. This trajectory is composed of trajectory 1, trajectory 2, trajectory 3, trajectory 4, and trajectory 5, spliced ​​together end-to-end. The function expressions for each trajectory segment are as follows:

[0008] The function expression for trajectory 1 is shown in (1), which represents the process of the human head trajectory from sitting to standing as follows, where t represents the movement time of the head trajectory from sitting to standing. After normalization, t∈[0,1]. =0.4681, b=0.5473.

[0009] (1)

[0010] The function expression of trajectory 2 is shown in (2), which represents the trajectory process from sitting to lying down and then to the negative Teutonic position. The positive Teutonic position conversion process coincides with the trajectory from sitting to lying down. θ represents the tilt angle between the upper body support mechanism 4 and the horizontal direction when the upper body support mechanism 4 rotates counterclockwise around the thigh drive mechanism 5. θ∈[98.7703°,290.9027°].

[0011] (2)

[0012] The function expression of trajectory 3 is shown in (3), and the smooth transition curve between trajectory 2 and trajectory 4 is as follows, where t is the motion time, and after normalization, t∈[0,1].

[0013] (3)

[0014] The function expression of trajectory 4 is shown in (4), which represents the smooth transition curve between trajectory 3 and trajectory 5, so that the lower leg drive mechanism 6 can smoothly rotate from the lying position to the sitting position. The motion time t is normalized and t∈[0,1].

[0015] (4)

[0016] The function expression for trajectory 5 is shown in (5), which represents the motion trajectory of the lower leg drive mechanism 6 at the positive and negative Teutonic positions of the human body, where θ represents the tilt angle of the lower leg drive mechanism 6 in the horizontal direction, θ∈[-20°,20°], and the expression is as follows:

[0017] (5)

[0018] In order to design the continuous curve shape of the hook-shaped track 2, the five segmented trajectories given above are continuously fitted to obtain the function expression of the overall shape trajectory of the hook-shaped track 2 expressed by the continuous function as shown in (6), where t is the motion time, and after normalization, t∈[0,1], a=4.419675, b=2.940303.

[0019] (6)

[0020] The whole-body motion assistive robot is characterized in that: the dual-ear limiting base 1 includes external meshing racks 101, limiting seats 102, limiting plates 103, chassis 104, and rollers 105. The two external meshing racks 101 are embedded downward into the arc groove in the middle of the limiting seat 102. The arc grooves on the inner sides of the two limiting plates 103 are fastened to the arc protrusions on both sides of the limiting seat 102. The two can slide relative to each other along the arc. The upper end of the limiting plate 103 is riveted and fixed to the corresponding positions on both sides below the hook-shaped curved track 2. The four rollers 105 are respectively fixed upward at the four corners of the chassis 104 to support and fix the limiting seat 102.

[0021] The hook-shaped curved track 2 includes a cover 201, a track cover 202, a main track 203, internal meshing racks 204, a first rolling bearing 205, a first gear 206, a first pin 207, and a first dual-head motor 208. The track cover 202 is sealed and fixed to the main track 203 to the right. The cover 201 seals the track cover 202 and the starting end of the main track 203 to the right. The two internal meshing racks 204 are parallel and downwardly embedded and fixed to the inner side of the middle part of the main track 203. Within the two circular arc grooves, the two first pins 207 are fixed inward from both ends to the rotating shafts on both sides of the first double-headed motor 208. The two first gears 206 are also fixed inward from both ends to the first pins 207. The two first rolling bearings 205 are fixed inward to the ends of the first pins 207. Then, the assembly is fixed upward to the long groove on the lower surface of the main track 203, so that the first gears 206 mesh downward with the corresponding external meshing racks 101 on the double-ear limiting base 1.

[0022] The arc-shaped slider mechanism 3 includes a slider 301, a first round shaft 302, a second round shaft 303, a second double-headed motor 304, a second pin 305, a second gear 306, and a second rolling bearing 307. The first round shaft 302 and the second round shaft 303 are respectively inserted downward into the grooves on the inner arc surfaces at both ends of the slider 301. The two second pins 305 are respectively fixed from both ends inward onto the rotor shafts at both ends of the second double-headed motor 304. The two second gears 306 and the two second rolling bearings 307 are attached together and sleeved from both ends inward onto the corresponding second pins 305. Then, the assembly is fixed upward into the long groove on the outer arc surface at the lower end of the arc-shaped slider mechanism 3, ensuring that the second gears 306 mesh downward with the corresponding internal meshing racks 204 on the hook-shaped curved track 2.

[0023] The upper body support mechanism 4 includes a slide rod 401, a third rolling bearing 402, a headrest plate 403, a connecting block 404, a back support plate 405, a connecting column 406, a transmission belt 407, a posture adjustment motor 408, a seat plate 409, and a first electric telescopic rod 410. Two of the third rolling bearings 402 are fixed to the left and right ends of the slide rod 401 and then fixed as a whole to the left side of the headrest plate 403. It is then embedded into the main track 203 from above the hook-shaped curved track 2 and initially adjusted to a horizontal lying position. The headrest plate 403 and the back support plate 405 are connected by the connecting block 404. The connecting columns 406 are symmetrically fixed on both sides of the back support plate 405. After the two attitude adjustment motors 408 are coaxially fixed, they pass outward through the round holes on both sides of the upper end of the seat plate 409 and are then integrally fixed upward to the lower surface of the back support plate 405. The upper and lower ends of the two transmission belts 407 are respectively sleeved on the corresponding convex shafts on both sides of the back support plate 405 and the rotating shafts of the attitude adjustment motors 408 in the same group. The upper end of the first electric telescopic rod 410 is hinged upward and constrained at the geometric center of the lower surface of the back support plate 405, and its lower end is hinged and constrained in the first round shaft 302 in the arc groove on the arc surface of the arc slider mechanism 3.

[0024] The thigh drive mechanism 5 includes two sets of short rods 501 arranged symmetrically on the left and right, a connecting shaft 502, a long rod 503, an upper cover 504, a gear cover 505, a third gear 506, a gear shaft 507, a thigh triangle 508, and a second electric telescopic rod 509. The left end of the long rod 503 is hinged to the upper end of the connecting column 406 of the upper body support mechanism 4. The thigh triangle 508 is welded upward to the long rod 503. The upper ends of the two sets of second electric telescopic rods 509 arranged symmetrically on the left and right are respectively hinged upward through the connecting shaft 502 to the large rod 509 of the same group. The lower end of the leg triangular member 508 is hinged and constrained to the second round shaft 303 in the arc groove on the arc surface of the arc slider mechanism 3. The two parallel gear shafts 507 are interference-fitted with the corresponding two third gears 506 and then sealed and fixed by the gear cover 505. One gear shaft 507 is used to be interference-fitted in the end hole of the long rod 503, and the other is used to be interference-fitted in the left end opening of the telescopic rod 604 in the lower leg drive mechanism 6. This allows the thigh drive mechanism 5 and the lower leg drive mechanism 6 to achieve linkage rotation through a pair of meshing third gears 506.

[0025] The calf drive mechanism 6 includes two sets of fourth rolling bearings 601 arranged symmetrically on the left and right, a first rotating shaft 602, a foot support 603, a telescopic rod 604, a first pin 605, a third electric telescopic rod 606, and a calf triangular piece 607. Taking one side as an example, the left ends of the two telescopic rods 604 are opened and interference-fitted with the corresponding gear shaft 507 inside the thigh drive mechanism 5, so that the thigh drive mechanism 5 and the calf drive mechanism 6 can achieve linkage rotation through a pair of meshing third gears 506. The right ends of the two telescopic rods 604 are welded and fixed to the platform of the foot support 603. The fourth rolling bearings 601 are coaxially interference-fitted with the U-shaped fork of the foot support 603 through the first rotating shaft 602, and then embedded as a whole into the track groove opened on the inner side of the tail end of the main track 203 of the hook-shaped curved track 2 to achieve rolling. The lower leg triangular piece 607 is welded and fixed to the left end of the telescopic rod 604. The output ends of the two sets of third electric telescopic rods 606 arranged symmetrically on the left and right are hinged and constrained in the lower end round hole of the lower leg triangular piece 607 of the same set through the first pin 605. The other end is hinged and constrained on the waist flange seat of the second electric telescopic rod 509 of the same set.

[0026] The ankle drive mechanism 7 includes an upper bracket 701, a foot plate 702, a second pin 703, a U-shaped bracket 704, a motor cover 705, a disc motor 706, a flange 707, a drive cover 708, a disc connecting shaft 709, a first cam 710, a first reducer 711, a second cam 712, a second reducer 713, a third cam 714, a round shaft seat 715, a base plate 716, a disc 717, a direct drive rod 718, a drive rope 719, a rope shell 720, a second rotating shaft 721, a spring 722, a winding reel 723, and a swing plate 724. The initial end of the rope shell 720 is welded and fixed to the lower surface of the swing plate 724, and its terminal end is welded and fixed to the round hole on the side of the drive cover 708. After the starting end of the rope 719 is fixed in the groove of the winding wheel 723 and wound, it passes through the protruding support on the lower surface of the swing plate 724, then through the rope shell 720, and then through the round hole on the side of the drive cover 708. Finally, it is welded and fixed in the groove of the disc 717. The foot plate 702 is welded and fixed downward to the square end face of the swing plate 724. The second rotating shaft 721 passes upward through the center hole of the winding wheel 723 and the left end hole of the swing plate 724, and is pinned and fixed as a whole. It then forms a hinge constraint with the round hole at the midpoint of the bracket 701, which can realize relative rotation. The initial end of the second group of rope shells 720 on the left side of the U-shaped bracket 704 is welded and fixed to the middle protruding support of the left rod of the U-shaped bracket 704, and its end is connected to the side of the drive cover 708. The drive rope 719 of the same group is fixed in the groove of the winding wheel 723 of the same group and wound around it. Then it passes through the rope shell 720 of the same group, and then through the round hole on the side of the drive cover 708. Finally, it is welded and fixed in the groove of the second disc 717. After that, the second rotating shaft 721 of the same group passes through the center hole of the corresponding winding wheel 723 and the left end of the upper bracket 701 and is pinned and fixed as a whole. Then it is hinged and constrained to the round hole on the left end of the U-shaped bracket 704. The round holes on the left and right ends of the upper bracket 701 are coaxially aligned with the round holes on the left and right sides of the U-shaped bracket 704. The right end hole is hinged and constrained by the second pin 703, and the left end hole is hinged and constrained by the second rotating shaft 721. The upper bracket 701 can be driven. 1. The second rotating shaft 721 rotates relative to the U-shaped bracket 704. Both springs 722 have their ends fixed to the surfaces of the corresponding winding reels 723 and the ends of the rope shell 720, respectively, for compression energy storage and energy release with reverse rebound. The motor cover 705 wraps around the disc motor 706 to the right and then seals and fixes it to the corresponding position on the outer side of the drive cover 708. The left end of the flange 707 is fixed to the output rotor of the disc motor 706. The right end of the flange 707 passes through the circular hole on the side of the drive cover 708 and then sequentially passes through the first cam 710, the first reducer 711, the second cam 712, the second reducer 713, the third cam 714, and the round shaft seat 715. Adjacent components are sequentially coaxially pinned and fixed to achieve coaxial integrated rotation.Finally, the circular shaft seat 715 is hinged and constrained to a corresponding position on the inner side of the chassis 716. The three identical direct drive rods 718 each have their left end sleeves hooked onto the protruding circular pins on the left side of their corresponding three circular discs 717. Then, the protruding pins on the right ends of these three direct drive rods 718 are embedded in the contour grooves on the outer sides of their corresponding first cam 710, second cam 712, and third cam 714. The three circular discs 717 are sequentially fitted onto the cylindrical pins fixed to the inner side of the chassis 716, achieving coaxial and independent smooth rotation. The right end of the circular disc connecting shaft 709 is welded and fixed to the outermost circular disc 717, and the left end passes through the circular hole on the side of the drive cover 708 and is directly welded and fixed inside the center opening of the U-shaped bracket 704. This is used to directly transmit the rotation of the circular discs 717 to the U-shaped bracket 704, achieving coaxial rotation between the two. Finally, the drive cover 708 and the chassis 716 are encapsulated.

[0027] The contour curves of the first cam 710, the second cam 712, and the third cam 714 inside the ankle drive mechanism 7 are expressed in the Cartesian coordinate system O-XY as shown in formulas (7)-(9). The first cam 710 inside the ankle drive mechanism 7 is responsible for driving the dorsiflexion and toe flexion movements of the ankle in the sagittal plane, using θ dp It means that x dp Let y be the abscissa of the cam profile curve. dp Let θ be the ordinate of the contour curve. The second cam 712 is responsible for driving the inversion and eversion movements of the ankle in the coronal plane. ie It means that x ie Let y be the abscissa of the cam profile curve. ie Let θ be the vertical coordinate of the contour curve. The third cam 714 is responsible for driving the ankle's adduction and abduction movements in the horizontal plane. aa It means that x aa Let y be the abscissa of the cam profile curve. aa Let θ be the ordinate of the contour curve. dp θ ie θ aa ∈[0,2π], R indicates that the base circle radius of the cam is 45mm.

[0028] (7)

[0029] (8)

[0030] (9)

[0031] The beneficial effects of this invention are as follows: The robot structure was designed and further optimized by fully referencing the kinematic trajectory of a healthy human body from lying down to sitting and then to standing. Based on a mathematical model of human kinematic trajectory, a human drive mechanism based on a hook-shaped curved track was designed, which can realize full-process motion rehabilitation assistance for the human body from lying down, sitting, to standing. Furthermore, through the cooperation of an arc-shaped slider mechanism and a dual-ear limiting base, the user's needs for forward and reverse Tessellation and left and right tilting movements can be met while lying down. Simultaneously, based on the three-dimensional motion freedom of the human ankle joint, a single motor simultaneously drives three degrees of freedom ankle joint motion training device. This device can provide a more comprehensive motion rehabilitation training effect for the ankle based on the pre-set three-dimensional motion angles of the ankle joint during healthy human gait walking, thereby reducing the workload of medical staff and alleviating the psychological pressure on users, ensuring that users can obtain a more dignified motion rehabilitation experience. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate the invention and are used to explain it, but do not constitute an undue limitation of the invention.

[0033] Figure 1 A diagram of a whole-body motion assistive robot according to the present invention.

[0034] Figure 2 The main track segment trajectory and the fitted total trajectory curve of this invention

[0035] Figure 3 Exploded view of the structure of the dual-ear limiting base of the present invention

[0036] Figure 4 Exploded view of the hook-shaped curved track of the present invention

[0037] Figure 5 Exploded view of the arc-shaped slider mechanism of the present invention

[0038] Figure 6 Exploded view of the upper body support mechanism of the present invention

[0039] Figure 7 Exploded view of the thigh drive mechanism of the present invention

[0040] Figure 8 Exploded view of the lower leg drive mechanism of the present invention

[0041] Figure 9 Exploded view of the ankle drive mechanism of the present invention

[0042] Figure 10 Assembly diagram of the ankle drive mechanism of the present invention

[0043] Figure 11 Contour curves of the three cams of the present invention

[0044] Figure 12 Functional usage flowchart of the present invention Detailed Implementation

[0045] The following description, in conjunction with the accompanying drawings, further illustrates the detailed content of the present invention and its specific embodiments.

[0046] See Figure 1 The whole-body motion assistive robot of the present invention includes: a dual-ear limiting base 1, a hook-shaped curved track 2, an arc-shaped slider mechanism 3, an upper body support mechanism 4, a thigh drive mechanism 5, a calf drive mechanism 6, and an ankle drive mechanism 7. The dual-ear limiting base 1 is engaged and constrained with the hook-shaped curved track 2. The hook-shaped curved track 2 is engaged and constrained upward with the arc-shaped slider mechanism 3. The left end of the upper body support mechanism 4 is constrained in a curved groove opened in the middle of the inner side of the hook-shaped curved track 2 and can slide along the curved groove. The left end of the thigh drive mechanism 5 is hinged to the right end of the upper body support mechanism 4. The left end of the calf drive mechanism 6 is engaged and rotated with the right end of the thigh drive mechanism 5. The right end of the calf drive mechanism 6 is embedded in the curved groove opened in the inner arc surface of the end of the hook-shaped curved track 2 and can roll along the groove. The ends of the electric telescopic rods included in the upper body support mechanism 4 and the thigh drive mechanism 5 are fixedly connected to the corresponding grooves on the upper surface of the arc-shaped slider mechanism 3.

[0047] See Figure 2 The curve function relationship of the hook-shaped curved track 2 described in this invention is based on a human motion experiment of 100 healthy individuals of different heights, weights, ages, and genders, from lying down to sitting to standing. The shoulder and ankle movement trajectories during the movement were collected and analyzed, and normalized fitting was performed to obtain a representative full-range human motion trajectory in the sagittal plane. This trajectory is composed of trajectory 1, trajectory 2, trajectory 3, trajectory 4, and trajectory 5, joined end-to-end. The function expressions for each trajectory segment are as follows:

[0048] The function expression for trajectory 1 is shown in (1), which represents the process of the human head trajectory from sitting to standing as follows, where t represents the movement time of the head trajectory from sitting to standing. After normalization, t∈[0,1]. =0.4681, b=0.5473.

[0049] (1)

[0050] The function expression of trajectory 2 is shown in (2), which represents the trajectory process from sitting to lying down and then to the negative Teutonic position. The positive Teutonic position conversion process coincides with the trajectory from sitting to lying down. θ represents the tilt angle between the upper body support mechanism 4 and the horizontal direction when the upper body support mechanism 4 rotates counterclockwise around the thigh drive mechanism 5. θ∈[98.7703°,290.9027°].

[0051] (2)

[0052] The function expression of trajectory 3 is shown in (3), and the smooth transition curve between trajectory 2 and trajectory 4 is as follows, where t is the motion time, and after normalization, t∈[0,1].

[0053] (3)

[0054] The function expression of trajectory 4 is shown in (4), which represents the smooth transition curve between trajectory 3 and trajectory 5, so that the lower leg drive mechanism 6 can smoothly rotate from the lying position to the sitting position. The motion time t is normalized and t∈[0,1].

[0055] (4)

[0056] The function expression for trajectory 5 is shown in (5), which represents the motion trajectory of the lower leg drive mechanism 6 at the positive and negative Teutonic positions of the human body, where θ represents the tilt angle of the lower leg drive mechanism 6 in the horizontal direction, θ∈[-20°,20°], and the expression is as follows:

[0057] (5)

[0058] In order to design the continuous curve shape of the hook-shaped track 2, the five segmented trajectories given above are continuously fitted, and the Fourier fit function expression of the overall shape of the hook-shaped track 2 expressed by the continuous function is shown in (6), where t is the motion time, and after normalization, t∈[0,1], a=4.419675, b=2.940303.

[0059] (6)

[0060] See Figure 3The double-ear limiting base 1 of the present invention includes an external meshing rack 101, a limiting seat 102, a limiting plate 103, a chassis 104, and rollers 105. The two external meshing racks 101 are embedded downward into the arc groove in the middle of the limiting seat 102. The arc grooves on the inner sides of the two limiting plates 103 are fastened to the arc protrusions on both sides of the limiting seat 102. The two can slide relative to each other along the arc. The upper end of the limiting plate 103 is riveted and fixed to the corresponding positions on both sides below the hook-shaped curved track 2. The four rollers 105 are respectively fixed upward at the four corners of the chassis 104 to support and fix the limiting seat 102.

[0061] See Figure 4 The hook-shaped curved track 2 of the present invention includes a cover 201, a track cover 202, a main track 203, internal meshing racks 204, a first rolling bearing 205, a first gear 206, a first pin 207, and a first double-headed motor 208. The track cover 202 is sealed and fixed to the main track 203 to the right, and the cover 201 seals the track cover 202 and the starting end of the main track 203 to the right. The two internal meshing racks 204 are parallel and downwardly embedded and fixed in two arc grooves opened on the inner side of the middle part of the main track 203. A pin 207 is fixed inward from both ends to the rotating shafts on both sides of the first double-headed motor 208. The two first gears 206 are also fixed inward from both ends to the first pin 207. The two first rolling bearings 205 are fixed inward to the ends of the first pin 207. Then, they are fixed upward as a whole to the long groove on the lower surface of the main track 203. Finally, the first gears 206 mesh downward with the corresponding external meshing racks 101 on the double-ear limiting base 1, so that the hook-shaped curved track 2 can achieve left and right tilting movement on the double-ear limiting base 1 through meshing constraint.

[0062] See Figure 5The arc-shaped slider mechanism 3 of the present invention includes a slider 301, a first round shaft 302, a second round shaft 303, a second dual-head motor 304, second pins 305, second gears 306, and second rolling bearings 307. The first round shaft 302 and the second round shaft 303 are respectively inserted downward into the grooves on the inner arc surfaces at both ends of the slider 301. The two second pins 305 are respectively fixed from both ends inward to the rotor shafts at both ends of the second dual-head motor 304. The two second gears 306 and the two second rolling bearings 307 are attached together and move inward from both ends. The inner sleeve is fitted onto the corresponding second pin 305 shaft, and then the assembly is fixed upwards in the long groove opened on the outer arc surface of the lower end of the arc-shaped slider mechanism 3, ensuring that the second gear 306 meshes downwards with the corresponding internal meshing rack 204 on the hook-shaped curved track 2. The rotation of the second double-head motor 304 drives the two second pins 305 to rotate, thereby driving the second gears 306 at the left and right ends to rotate, and then driving the two meshing internal meshing racks 204, thereby driving the arc-shaped slider mechanism 3 to slide within the arc range inside the hook-shaped curved track 2 to achieve positive and negative Tessellation positions.

[0063] See Figure 6 The upper body support mechanism 4 of the present invention includes a slide rod 401, a third rolling bearing 402, a headrest plate 403, a connecting block 404, a back support plate 405, a connecting column 406, a transmission belt 407, a posture adjustment motor 408, a seat plate 409, and a first electric telescopic rod 410. Two of the third rolling bearings 402 are fixed to the left and right ends of the slide rod 401 and then fixed as a whole to the left side of the headrest plate 403. The headrest plate 403 is embedded into the main track 203 from above the hook-shaped curved track 2 and initially adjusted to a horizontal lying position. The headrest plate 403 and the back support plate 405 are connected by the connecting block 404. The connecting columns 406 are symmetrically fixed on both sides of the back support plate 405. After the two attitude adjustment motors 408 are coaxially fixed, they pass outward through the round holes on both sides of the upper end of the seat plate 409 and are then integrally fixed upward to the lower surface of the back support plate 405. The upper and lower ends of the two transmission belts 407 are respectively sleeved on the corresponding convex shafts on both sides of the back support plate 405 and the rotating shafts of the attitude adjustment motors 408 in the same group. The upper end of the first electric telescopic rod 410 is hinged upward and constrained at the geometric center of the lower surface of the back support plate 405, and its lower end is hinged and constrained in the first round shaft 302 in the arc groove on the arc surface of the arc slider mechanism 3. The two posture adjustment motors 408 rotate, thereby causing the seat plate 409 to change angle. Simultaneously, through the transmission belt 407, the back support plate 405 can be driven to change posture. At the same time, the first electric telescopic rod 410 extends and retracts, which can simultaneously support and drive the back support plate 405 and, through the connecting block 404, coordinate with the headrest plate 403 to change posture, assisting the user lying on the device to change between lying, sitting, and standing postures.

[0064] See Figure 7 The thigh drive mechanism 5 of the present invention includes two sets of short rods 501 arranged symmetrically on the left and right, a connecting shaft 502, a long rod 503, an upper cover 504, a gear cover 505, a third gear 506, a gear shaft 507, a thigh triangle 508, and a second electric telescopic rod 509. The left end of the long rod 503 is hinged to the upper end of the connecting column 406 of the upper body support mechanism 4. The thigh triangle 508 is welded and fixed upward to the long rod 503. The upper ends of the two sets of second electric telescopic rods 509 arranged symmetrically on the left and right are respectively hinged upward through the connecting shaft 502 in the lower end of the thigh triangle 508 of the same group. The hinged constraint is on the second round shaft 303 in the arc groove on the arc-shaped slider mechanism 3. The two parallel gear shafts 507 are interference-fitted with the corresponding two third gears 506 and then sealed and fixed by the gear cover 505. One gear shaft 507 is used to be interference-fitted in the end hole of the long rod 503, and the other is used to be interference-fitted in the left end hole of the telescopic rod 604 in the calf drive mechanism 6. This allows the thigh drive mechanism 5 and the calf drive mechanism 6 to achieve linkage rotation through a pair of meshing third gears 506, thereby driving the knee to bend and meeting the user's knee bending needs during use, realizing the process from sitting to standing.

[0065] See Figure 8 The calf drive mechanism 6 of the present invention includes two sets of fourth rolling bearings 601 arranged symmetrically on the left and right, a first rotating shaft 602, a foot support 603, a telescopic rod 604, a first pin 605, a third electric telescopic rod 606, and a calf triangular piece 607. Taking one side as an example, the left end openings of the two telescopic rods 604 are interference-fitted with the corresponding gear shaft 507 inside the thigh drive mechanism 5, so that the thigh drive mechanism 5 and the calf drive mechanism 6 can achieve linkage rotation through a pair of meshing third gears 506. The right ends of the two telescopic rods 604 are welded and fixed to the platform of the foot support 603. The fourth rolling bearings 601 are coaxially interference-fitted with the U-shaped fork of the foot support 603 through the first rotating shaft 602, and then embedded as a whole into the track groove opened on the inner side of the tail end of the main track 203 of the hook-shaped curved track 2 to achieve rolling. The calf triangle 607 is welded and fixed upwards to the left end of the telescopic rod 604. The output ends of the two sets of third electric telescopic rods 606, symmetrically arranged on the left and right, are hinged and constrained upwards in the lower circular holes of the calf triangle 607 in the same set through the first pin 605. The other ends are hinged and constrained to the waist flange seat of the second electric telescopic rod 509 in the same set. The extension and retraction of the two third electric telescopic rods 606 can drive the corresponding telescopic rod 604 to rise and fall, thereby driving the user's calf to change posture, meeting the user's needs for knee angle changes and calf posture changes during use, and thus realizing the reciprocating movement process from sitting to standing.

[0066] See Figure 9The ankle drive mechanism 7 of the present invention includes an upper bracket 701, a foot plate 702, a second pin 703, a U-shaped bracket 704, a motor cover 705, a disc motor 706, a flange 707, a drive cover 708, a disc connecting shaft 709, a first cam 710, a first reducer 711, a second cam 712, a second reducer 713, a third cam 714, a round shaft seat 715, a base plate 716, a disc 717, a direct drive rod 718, a drive rope 719, a rope shell 720, a second rotating shaft 721, a spring 722, a winding wheel 723, and a swing plate 724. The initial end of the rope shell 720 is welded and fixed to the lower surface of the swing plate 724, and its terminal end is welded and fixed to the round hole on the side of the drive cover 708. After the starting end of the drive rope 719 is fixed in the groove of the winding wheel 723 and wound, it passes through the protruding support on the lower surface of the swing plate 724, then through the rope shell 720, and then through the round hole on the side of the drive cover 708. Finally, it is welded and fixed in the groove of the disc 717. The foot plate 702 is welded and fixed downward to the square end face of the swing plate 724. The second rotating shaft 721 passes upward through the center hole of the winding wheel 723 and the left end hole of the swing plate 724, and is pinned and fixed as a whole. It then forms a hinge constraint with the round hole at the midpoint of the bracket 701, which can realize relative rotation. The initial end of the second set of rope shells 720 on the left side of the U-shaped bracket 704 is welded and fixed on the protruding support in the middle of the left rod of the U-shaped bracket 704, and its end is connected to the side of the drive cover 708. The drive rope 719 of the same group is fixed in the groove of the winding wheel 723 of the same group and wound around it. Then it passes through the rope shell 720 of the same group, and then through the round hole on the side of the drive cover 708. Finally, it is welded and fixed in the groove of the second disc 717. After that, the second rotating shaft 721 of the same group passes through the center hole of the corresponding winding wheel 723 and the left end of the upper bracket 701 and is pinned and fixed as a whole. Then it is hinged and constrained to the round hole on the left end of the U-shaped bracket 704. The round holes on the left and right ends of the upper bracket 701 are coaxially aligned with the round holes on the left and right sides of the U-shaped bracket 704. The right end hole is hinged and constrained by the second pin 703, and the left end hole is hinged and constrained by the second rotating shaft 721. The upper bracket 701 can be driven. 01 rotates relative to the U-shaped bracket 704 around the second rotating shaft 721. Both springs 722 have their ends fixed to the surfaces of the corresponding winding wheels 723 and the ends of the rope shell 720, respectively, for compression energy storage and energy release with reverse rebound. The motor cover 705 wraps around the disc motor 706 to the right and then seals and fixes it to the corresponding position on the outer side of the drive cover 708. The left end of the flange 707 is fixed to the output rotor of the disc motor 706. The right end of the flange 707 passes through the circular hole on the side of the drive cover 708 and then sequentially passes through the first cam 710, the first reducer 711, the second cam 712, the second reducer 713, the third cam 714, and the round shaft seat 715. Adjacent components are sequentially coaxially pinned and fixed to achieve coaxial integrated rotation.Finally, the round shaft seat 715 is hinged and constrained to the corresponding position on the inner side of the chassis 716. The three identical direct drive rods 718 all have their left end sleeves hung on the protruding round pins on the left side of the corresponding three discs 717. Then, the protruding pins on the right end of the three direct drive rods 718 are embedded in the contour grooves on the outer side of the corresponding first cam 710, second cam 712 and third cam 714. The three discs 717 are sequentially sleeved on the cylindrical pins fixed on the inner side of the chassis 716 to achieve coaxial and independent smooth rotation. The right end of the disc connecting shaft 709 is welded and fixed to the outermost disc 717, and the left end passes through the round hole on the side of the drive cover 708 and is directly welded and fixed to the center opening of the U-shaped bracket 704. This is used to directly transmit the rotation of the disc 717 to the U-shaped bracket 704 to achieve coaxial rotation between the two. Finally, the drive cover 708 and the chassis 716 are encapsulated. When ankle joint movement training is required, the disc motor 706 is activated, which in turn drives the first cam 710 to rotate via the integrally fixed flange 707. The direct drive rod 718 then moves left or right, driving the disc 717 to rotate forward or backward. This further drives the disc connecting shaft 709 to rotate the U-shaped bracket 704 inward or outward, achieving inward or outward rotation of the foot plate 702, thus training the user's ankle joint in inward or outward rotation postures. Furthermore, the first reducer 711 reduces the speed of the flange 707, driving the second cam 712 to rotate forward or backward. The second direct drive rod 718 also moves left or right, driving the second disc 717 to rotate forward or backward. This causes the drive rope 719 wound in the groove of the disc 717 to begin winding or unwinding, pulling the spring 722 to contract or extend and drive the winding... The reel 723 begins to rotate forward or backward, thereby driving the swing plate 724 to swing left or right, realizing the left or right swing of the foot plate 702, and training the user's ankle joint in adduction and abduction postures. Furthermore, the second reducer 713 reduces speed and drives the third cam 714 to rotate forward or backward. The third direct drive rod 718 also begins to move left or right, driving the third disc 717 to begin rotating forward or backward. This causes the second drive rope 719 wound within the groove of the third disc 717 to begin winding or unwinding, pulling the second spring 722 to contract or extend, and driving the corresponding second winding reel 723 to begin rotating forward or backward. This drives the upper support 701 to swing up and down relative to the U-shaped support 704 around the second pivot 721, realizing the up and down swing of the foot plate 702, and training the user's ankle joint in flexion and extension postures.

[0067] See Figure 10The contour curves of the first cam 710, the second cam 712, and the third cam 714 inside the ankle drive mechanism 7 of the present invention are expressed in the Cartesian coordinate system O-XY as shown in formulas (7)-(9). The first cam 710 inside the ankle drive mechanism 7 is responsible for driving the dorsiflexion and toe flexion movements of the ankle in the sagittal plane, using θ dp It means that x dp Let y be the abscissa of the cam profile curve. dp Let θ be the ordinate of the contour curve. The second cam 712 is responsible for driving the inversion and eversion movements of the ankle in the coronal plane. ie It means that x ie Let y be the abscissa of the cam profile curve. ie Let θ be the vertical coordinate of the contour curve. The third cam 714 is responsible for driving the ankle's adduction and abduction movements in the horizontal plane. aa It means that x aa Let y be the abscissa of the cam profile curve. aa Let θ be the ordinate of the contour curve. dp θ ie θ aa ∈[0,2π], R indicates that the base circle radius of the cam is 45mm.

[0068] (7)

[0069] (8)

[0070] (9)

[0071] See Figure 11 The whole-body motion assistive robot described in this invention can achieve the functions shown in the figure by switching the functions of the mechanism during the user's rehabilitation process.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made to the present invention should be included within the scope of protection of the present invention.

Claims

1. A whole-body motion assistive robot, characterized in that: The device includes a double-ear limiting base (1), a hook-shaped curved track (2), an arc-shaped slider mechanism (3), an upper body support mechanism (4), a thigh drive mechanism (5), a calf drive mechanism (6), and an ankle drive mechanism (7). The double-ear limiting base (1) is engaged and constrained with the hook-shaped curved track (2). The hook-shaped curved track (2) is engaged and constrained with the arc-shaped slider mechanism (3) upwards. The left end of the upper body support mechanism (4) is constrained in the curved groove opened in the middle of the inner side of the hook-shaped curved track (2) and can slide along the curved groove. The left end of the thigh drive mechanism (5) is hinged to the right end of the upper body support mechanism (4). The left end of the calf drive mechanism (6) is engaged and rotated with the right end of the thigh drive mechanism (5). The right end of the calf drive mechanism (6) is embedded in the curved groove opened in the inner arc surface of the end of the hook-shaped curved track (2) and can roll along the groove. The ends of the electric telescopic rods included in the upper body support mechanism (4) and the thigh drive mechanism (5) are fixedly connected to the corresponding grooves on the upper surface of the arc-shaped slider mechanism (3).

2. The whole-body motion assistive robot according to claim 1, characterized in that: The hook-shaped curved track (2) is composed of tracks 1, 2, 3, 4, and 5 joined together end to end. The function expressions for each track segment are as follows: The function expression for trajectory 1 is shown in (1), which represents the process of the human head trajectory from sitting to standing as follows, where t represents the movement time of the head trajectory from sitting to standing. After normalization, t∈[0,1]. =0.4681, b=0.5473; （1） The function expression of trajectory 2 is shown in (2), which represents the trajectory process from sitting to lying down and then to the negative Teutonic position. The positive Teutonic position conversion process coincides with the trajectory from sitting to lying down. θ represents the tilt angle between the upper body support mechanism (4) and the horizontal direction when the thigh drive mechanism (5) rotates counterclockwise. θ∈[98.7703°,290.9027°]; （2） The function expression of trajectory 3 is shown in (3), and the smooth transition curve between trajectory 2 and trajectory 4 is as follows, where t is the motion time, and after normalization, t∈[0,1]; （3） The function expression of trajectory 4 is shown in (4), which represents the smooth transition curve between trajectory 3 and trajectory 5, so that the lower leg drive mechanism (6) can smoothly rotate from the lying position to the sitting position, where t is the motion time, and is normalized, t∈[0,1]. （4） The function expression for trajectory 5 is shown in (5), which represents the motion trajectory of the lower leg drive mechanism (6) at the positive and negative Teutonic positions of the human body, where θ represents the tilt angle of the lower leg drive mechanism (6) in the horizontal direction, θ∈[-20°,20°], and the expression is as follows: （5） Based on the five segmented trajectories given above, continuous fitting is performed to obtain the functional expression of the overall shape trajectory of the hook-shaped curved track (2) expressed by the continuous function as shown in (6), where t is the motion time, and after normalization, t∈[0,1], a=4.419675, b=2.940303; （6）。 3. The whole-body motion assistive robot according to claim 1, characterized in that: The double-ear limiting base (1) includes an external meshing rack (101), a limiting seat (102), a limiting plate (103), a chassis (104), and rollers (105). The two external meshing racks (101) are embedded downward into the arc groove in the middle of the limiting seat (102). The arc grooves on the inner sides of the two limiting plates (103) are fastened to the arc protrusions on both sides of the limiting seat (102). The two can slide relative to each other along the arc. The upper end of the limiting plate (103) is riveted and fixed to the corresponding positions on both sides below the hook-shaped curved track (2). The four rollers (105) are fixed upward at the four corners of the chassis (104) to support and fix the limiting seat (102).

4. The whole-body motion assistive robot according to claim 1, characterized in that: The hook-shaped curved track (2) includes a cover (201), a track cover (202), a main track (203), an internal meshing rack (204), a first rolling bearing (205), a first gear (206), a first pin (207), and a first double-headed motor (208). The track cover (202) is sealed and fixed to the main track (203) to the right. The cover (201) seals the track cover (202) and the starting end of the main track (203) to the right. The two internal meshing racks (204) are embedded and fixed in parallel downwards in the middle part of the main track (203). In the two arc grooves opened on the inner side of the lake surface, the two first pins (207) are fixed inward from both ends to the rotating shafts on both sides of the first double-headed motor (208). The two first gears (206) are also fixed inward from both ends to the first pins (207). The two first rolling bearings (205) are fixed inward to the ends of the first pins (207). Then the assembly is fixed upward in the long groove opened on the lower surface of the main track (203), so that the first gear (206) meshes downward with the corresponding external meshing rack (101) on the double ear limiting base (1).

5. The whole-body motion assistive robot according to claim 1, characterized in that: The arc-shaped slider mechanism (3) includes a slider (301), a first round shaft (302), a second round shaft (303), a second double-headed motor (304), a second pin (305), a second gear (306), and a second rolling bearing (307). The first round shaft (302) and the second round shaft (303) are respectively inserted downward into the grooves on the inner arc surfaces at both ends of the slider (301). The two second pins (305) are respectively fixed from both ends inward to the rotor shafts at both ends of the second double-headed motor (304). The two second gears (306) and the two second rolling bearings (307) are attached together and sleeved from both ends inward on the corresponding second pins (305). Then the assembly is fixed upward in the long groove on the outer arc surface at the lower end of the arc-shaped slider mechanism (3), ensuring that the second gears (306) mesh downward with the corresponding internal meshing racks (204) on the hook-shaped curved track (2).

6. The whole-body motion assistive robot according to claim 1, characterized in that: The upper body support mechanism (4) includes a slide rod (401), a third rolling bearing (402), a headrest plate (403), a connecting block (404), a back support plate (405), a connecting column (406), a transmission belt (407), a posture adjustment motor (408), a seat plate (409), and a first electric telescopic rod (410). The two third rolling bearings (402) are fixed to the left and right ends of the slide rod (401) and then fixed as a whole to the left side of the headrest plate (403). After being embedded into the main track (203) from above the hook-shaped curved track (2), it is initially adjusted to a horizontal lying position. The headrest plate (403) and the back support plate (405) are connected by the connecting block (404). Next, the two sets of connecting columns (406) are symmetrically fixed on both sides of the back support plate (405). After the two posture adjustment motors (408) are coaxially fixed, they pass outward through the round holes on both sides of the upper end of the seat plate (409) and are then integrally fixed upward to the lower surface of the back support plate (405). The upper and lower ends of the two transmission belts (407) are respectively sleeved on the corresponding convex shafts on both sides of the back support plate (405) and the rotating shafts of the posture adjustment motors (408) in the same group. The upper end of the first electric telescopic rod (410) is hinged upward and constrained at the position of the geometric center of the lower surface of the back support plate (405), and its lower end is hinged and constrained on the first round shaft (302) in the arc groove of the arc slider mechanism (3).

7. The whole-body motion assistive robot according to claim 1, characterized in that: The thigh drive mechanism (5) includes two sets of short rods (501) arranged symmetrically on the left and right, a connecting shaft (502), a long rod (503), an upper cover (504), a gear cover (505), a third gear (506), a gear shaft (507), a thigh triangle (508), and a second electric telescopic rod (509). The left end of the long rod (503) is hinged to the upper end of the connecting column (406) of the upper body support mechanism (4). The thigh triangle (508) is welded and fixed upward to the long rod (503). The upper ends of the two sets of second electric telescopic rods (509) arranged symmetrically on the left and right are respectively hinged upward through the connecting shaft (502). In the lower end of the thigh triangular piece (508) of the same group, its lower end is hinged and constrained on the second round shaft (303) in the arc groove of the arc-shaped slider mechanism (3). The two parallel gear shafts (507) are interference-fixed with the corresponding two third gears (506) and then sealed and fixed by the gear cover (505). One gear shaft (507) is used to be interference-fixed in the end hole of the long rod (503), and the other is used to be interference-fixed in the left end hole of the telescopic rod (604) in the calf drive mechanism (6). The thigh drive mechanism (5) and the calf drive mechanism (6) can realize linkage rotation through a pair of meshing third gears (506).

8. A whole-body motion assistive robot according to claim 1, characterized in that: The calf drive mechanism (6) includes two sets of fourth rolling bearings (601) arranged symmetrically on the left and right, a first rotating shaft (602), a foot support base (603), a telescopic rod (604), a first pin (605), a third electric telescopic rod (606), and a calf triangle (607). Taking one side as an example, the left end openings of the two telescopic rods (604) are interference-fitted with the corresponding gear shaft (507) inside the thigh drive mechanism (5), so that the thigh drive mechanism (5) and the calf drive mechanism (6) can achieve linkage rotation through a pair of meshing third gears (506). The right ends of the two telescopic rods (604) are welded and fixed to the foot support base (603) platform. The fourth rolling bearings (601) are connected to the foot support base (603) through the first rotating shaft (602). The fork is coaxially interference-fixed and then embedded into the inner side of the main track (203) of the hook-shaped curved track (2) to achieve rolling; the lower leg triangular piece (607) is welded and fixed to the left end of the telescopic rod (604) upward; the output ends of the two sets of third electric telescopic rods (606) arranged symmetrically on the left and right are hinged and constrained to the lower end of the lower leg triangular piece (607) of the same set through the first pin (605), and the other end is hinged and constrained to the waist flange seat of the second electric telescopic rod (509) of the same set.

9. A whole-body motion assistive robot according to claim 1, characterized in that: The ankle drive mechanism (7) includes an upper bracket (701), a foot plate (702), a second pin (703), a U-shaped bracket (704), a motor cover (705), a disc motor (706), a flange (707), a drive cover (708), a disc connecting shaft (709), a first cam (710), a first reducer (711), a second cam (712), a second reducer (713), a third cam (714), a round shaft seat (715), a base plate (716), a disc (717), a direct drive rod (718), a drive rope (719), a rope shell (720), a second rotating shaft (721), a spring (722), a winding wheel (723), and a swing plate (724). The initial end of the rope shell (720) is welded and fixed to the lower surface of the swing plate (724), and its terminal end... The drive cover (708) is welded and fixed in the round hole on the side. The starting end of the drive rope (719) is fixed in the groove of the winding wheel (723) and wound around. Then it passes through the protruding support on the lower surface of the swing plate (724), then through the rope shell (720), then through the round hole on the side of the drive cover (708), and finally welded and fixed in the groove of the disc (717). The foot plate (702) is welded and fixed downward to the square end face of the swing plate (724). The second rotating shaft (721) passes upward through the center hole of the winding wheel (723) and the left end hole of the swing plate (724) respectively, and is pinned and fixed as a whole. Then it forms a hinge constraint with the round hole at the midpoint of the bracket (701) to realize relative rotation. The initial end of the second set of rope shells (720) on the left side of the U-shaped bracket (704) is welded and fixed to the middle protruding support of the left rod of the U-shaped bracket (704). Its end port is welded and fixed to the round hole on the side of the drive cover (708). The starting end of the drive rope (719) in the same group is also fixed in the groove of the winding wheel (723) of this group and wound around, then passes through the rope shell (720) of this group, then through the round hole on the side of the drive cover (708), and finally welded and fixed in the groove of the second disc (717). The second rotating shaft (721) in this group passes through the center hole of the corresponding winding wheel (723) and the left end of the upper bracket (701) and is pinned and fixed as a whole. Then it is hinged and constrained to the round hole on the left end of the U-shaped bracket (704). The round holes on the left and right ends of the upper bracket (701) are connected to the U-shaped bracket (704). The circular holes on the left and right sides of the U-shaped bracket (704) are coaxially aligned. The right end hole is hinged and constrained by the second pin (703), and the left end hole is hinged and constrained by the second pivot (721). This allows the upper bracket (701) to rotate relative to the U-shaped bracket (704) around the second pivot (721). The two springs (722) have their ends fixed to the surfaces of the corresponding winding wheels (723) and the ends of the rope shell (720) respectively, for compression energy storage and energy release and reverse rebound. The motor cover (705) wraps around the disc motor (706) to the right and then seals and fixes it to the corresponding position on the outer side of the drive cover (708).The left end of the flange (707) is fixed to the output rotor of the disc motor (706). The right end of the flange (707) passes through the round hole on the side of the drive cover (708) and then passes through the first cam (710), the first reducer (711), the second cam (712), the second reducer (713), the third cam (714), and the round shaft seat (715) in sequence. The adjacent components are coaxially pinned and fixed in sequence to achieve coaxial rotation. Finally, the round shaft seat (715) is hinged and constrained to the corresponding position on the inner side of the chassis (716). The three identical direct drive rods (718) all have their left ends The sleeve is hung on the raised pin on the left side of the three corresponding discs (717). The raised pins on the right end of the three direct drive rods (718) are all embedded in the contour grooves on the outer side of the corresponding first cam (710), second cam (712), and third cam (714). The three discs (717) are sequentially sleeved on the cylindrical pin fixed on the inner side of the chassis (716) to achieve coaxial and independent smooth rotation. The right end of the disc connecting shaft (709) is welded and fixed to the outermost disc (717), and the left end passes through the round hole on the side of the drive cover (708) and is directly welded and fixed to the center opening of the U-shaped bracket (704) to directly transmit the rotation of the disc (717) to the U-shaped bracket (704) to achieve coaxial rotation. Finally, the drive cover (708) and the chassis (716) are encapsulated.

10. A whole-body motion assistive robot according to claim 1, characterized in that: The contour curves of the first cam (710), second cam (712), and third cam (714) inside the ankle drive mechanism (7) are expressed in the Cartesian coordinate system O-XY as shown in formulas (7)-(9). The first cam (710) inside the ankle drive mechanism (7) is responsible for driving the dorsiflexion and toe flexion movements of the ankle in the sagittal plane, using θ dp It means that x dp Let y be the abscissa of the cam profile curve. dp The second cam (712) is responsible for driving the inversion and eversion movements of the ankle in the coronal plane, with θ as the ordinate of the contour curve. ie It means that x ie Let y be the abscissa of the cam profile curve. ie Let θ be the ordinate of the contour curve. The third cam (714) is responsible for driving the ankle's adduction and abduction movements in the horizontal plane. aa It means that x aa Let y be the abscissa of the cam profile curve. aa Let θ be the ordinate of the contour curve. dp θ ie θ aa ∈[0,2π], R indicates that the base circle radius of the cam is 45mm; （7） （8） （9）。

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