An exoskeleton assistive robot for humans

Abstract

The application belongs to the technical field of exoskeleton auxiliary rehabilitation, in particular to a human exoskeleton auxiliary robot, which comprises a pair of support boxes, the inside of the support box is rotationally connected with an auxiliary plate through a rotating shaft, and a pair of sliding grooves are formed on the top of the auxiliary plate. When the application is used, the rubber inflatable block is inflated to expand and press the sole of the user, so as to fix the soles of different sizes, thereby facilitating the use of different personnel, and the application is suitable for a wide range of people. Then, the rubber inflatable block can be manually pressed to adjust the expansion and lengthening speed of the rubber inflatable rod, thereby adjusting the speed of the rubber inflatable rod pushing the restraint frame and the leg of the user to move. The manual control precision is high, which is convenient for users to intuitively and flexibly adjust the speed and bending angle of the movement of the calf and the knee. Finally, the inclination of the auxiliary plate can be adjusted to adjust the intensity of the training of the user, thereby optimizing the effect of the rehabilitation training.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton-assisted rehabilitation technology, specifically a human exoskeleton-assisted robot. Background Technology

[0002] Human exoskeleton assistive robots are wearable mechatronic devices whose structure is coupled with the movement of human limbs. Through sensors, actuators, and control systems, they provide additional power or assistance for the wearer's joint movements. Furthermore, human exoskeleton assistive robots can share the patient's body load through their mechanical structure, helping them to carry out rehabilitation training and thus rebuild motor function. They provide important assistance to patients in their rehabilitation training.

[0003] Existing human exoskeleton assistive robots primarily rely on electric drives to assist in lower leg stretching or flexion training. This results in insufficient precision in manual control and difficulty in stopping movement promptly. Consequently, users cannot intuitively and flexibly adjust the speed and flexion angle of the lower leg movement, limiting the real-time performance and personalized adaptation of the movements. This could even potentially lead to secondary injury to the patient. Therefore, the present invention provides a human exoskeleton assistive robot. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0005] The technical solution adopted by the present invention to solve its technical problem is: the human exoskeleton assistive robot of the present invention includes a pair of support boxes, and an auxiliary plate is rotatably connected inside the support box through a rotating shaft; The top of the auxiliary plate is provided with a pair of sliding grooves, and the same restraint frame is movably inserted into the inside of the pair of sliding grooves. Rubber inflatable blocks are provided on the inner top wall and the pair of inner side walls of the restraint frame. The rubber inflatable blocks are used to fix the patient's feet. The inside of the restraint frame is a hollow structure and is equipped with a micro air pump and an inflation controller. The rubber inflatable blocks are connected to the restraint frame and are equipped with a switch valve. The inner wall of the slide is provided with a limiting groove, and a limiting strip adapted to the limiting groove is fixedly connected to a pair of inner walls of the restraint frame. The limiting strip is used to prevent the restraint frame from moving upward. A pair of symmetrically distributed electric push rods are fixedly connected to the inner bottom wall of the support box, and the telescopic end of the electric push rods abuts against the bottom of the auxiliary plate. A pair of rubber inflatable rods are fixedly connected to both the front and rear sides of the restraint frame, and the end of the rubber inflatable rod away from the restraint frame is fixedly connected to the inner wall of the slide groove. A pair of air inlet pipes are fixedly connected to the opposite sides of each of the pair of support boxes. One end of each air inlet pipe is connected to a rubber inflation rod and is used to deliver gas into the rubber inflation rod. The other end of each pair of air inlet pipes is fixedly connected to the same air distribution pipe, and the end of the air distribution pipe away from the air inlet pipe is fixedly connected to a rubber inflation bladder.

[0006] Preferably, each of the pair of support boxes has a plug-in slot on its top, a plug-in block is movably inserted into the plug-in slot, an adjustment box is fixedly connected to the top of the plug-in block, the same connecting plate is movably inserted into the pair of adjustment boxes, a plurality of mating holes are opened on the top of the connecting plate, a plug-in hole is opened on the top of the adjustment box, and a plug-in pin is movably inserted into the plug-in hole. In the initial state, the bottom end of the plug-in pin passes through the plug-in hole and extends out of the plug-in hole, inserting into the corresponding mating hole.

[0007] Preferably, the inner wall of the insertion hole is coated with a magnetic coating first, the outer side of the insertion pin is coated with a magnetic coating second that is magnetically connected to the magnetic coating first, and the top end of the insertion pin extends out of the insertion hole and extends to the outside.

[0008] Preferably, the inner wall of the insertion slot is coated with a magnetic coating three, and the outer side of the insertion block is coated with a magnetic coating four that is magnetically connected to the magnetic coating three.

[0009] Preferably, one of the restraint frames is equipped with a first sensor and a controller inside, and an alarm is fixedly connected to the top of the restraint frame. Both the first sensor and the alarm are electrically connected to the controller via wires.

[0010] Preferably, a gas cut-off controller is fixedly connected to the gas distribution pipe, and a gas cut-off valve is installed inside the gas distribution pipe.

[0011] Preferably, the bottom of the support box has a pair of symmetrically distributed reinforcing grooves, and a number of springs are fixedly connected to the inner top wall of the reinforcing grooves, with the bottom ends of the springs being fixedly connected to the same rubber block.

[0012] Preferably, a connecting frame is fixedly connected to the side of the support box, and a connecting shaft is rotatably connected inside the connecting frame. One end of the connecting shaft is fixedly connected to the output end of the micro motor. The side of the micro motor is fixedly connected to the connecting frame. A rotating seat is fixedly connected to the connecting shaft. An electric push rod two is fixedly connected to the inner wall of the rotating seat. A connecting block is fixedly connected to the output end of the electric push rod two. An electric push rod three is fixedly connected to the side of the connecting block away from the rotating seat. A connecting strip is fixedly connected to the telescopic end of the electric push rod three. A pair of diagonal strips are fixedly connected to the side of the connecting strip away from the electric push rod three. The same fixed shaft is fixedly connected to the side of the pair of diagonal strips away from the connecting strip. A roller is rotatably sleeved on the outer side of the fixed shaft.

[0013] Preferably, a rubber seat is fixedly connected to the bottom of the connecting frame, and the bottom of the rubber seat is flush with the bottom of the support box.

[0014] Preferably, a sleeve ring is fitted onto each of the two sides of the roller, and the sleeve ring is fixedly sleeved on the connecting shaft.

[0015] The beneficial effects of this invention are as follows: 1. The present invention discloses a human exoskeleton assistive robot. In use, the rubber inflatable block is inflated to apply pressure to the user's feet, thereby fixing feet of different sizes. This makes it suitable for a wide range of users. The speed at which the rubber inflatable rod expands can be adjusted by manually pressing the rubber inflatable bladder, which in turn adjusts the speed at which the rubber inflatable rod pushes the restraint frame and the user's legs. The manual control has a high degree of precision, allowing users to intuitively and flexibly adjust the speed and bending angle of movement at the lower leg and knee. Finally, the intensity of training can be adjusted by adjusting the tilt of the auxiliary plate, thus optimizing the effect of rehabilitation training.

[0016] 2. The exoskeleton assistive robot of the present invention, when the patient experiences leg spasms, requires activation of electric push rod three, whose telescopic end pushes the connecting bar and all its mechanisms toward the user's calf. Simultaneously, a micro motor can be activated, whose output end drives the connecting shaft and all its mechanisms to rotate until the roller comes into contact with the user's leg. Finally, electric push rod two is activated, whose telescopic end drives the connecting block and all its mechanisms to move up and down, thereby causing the roller to roll back and forth on the uncomfortable area of ​​the user's calf, thus massaging it and relieving the user's leg discomfort. Attached Figure Description

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] Figure 1 This is a perspective view of the present invention; Figure 2 This is an enlarged view of point A in this invention; Figure 3 This is an enlarged view of point B in this invention; Figure 4 This is a schematic diagram of the rubber air bladder in this invention; Figure 5 This is an enlarged view of point C in this invention; Figure 6 This is a schematic diagram of the plug-in block in this invention; Figure 7 This is a schematic diagram of the expansion and movement of the rubber inflatable block in this invention; Figure 8 This is a schematic diagram of the interior of the support box in this invention; Figure 9 This is a schematic diagram of the rotation of the auxiliary plate in this invention; Figure 10 This is a schematic diagram of the bottom of the support box in this invention; Figure 11 This is a schematic diagram of the connecting frame in this invention; Figure 12 This is a schematic diagram of the roller in this invention.

[0019] In the diagram: 1. Support box; 2. Auxiliary plate; 3. Restraint frame; 4. Rubber inflatable block; 5. Limiting groove; 6. Limiting strip; 7. Electric push rod one; 8. Slide groove; 9. Rubber inflatable rod; 10. Air inlet pipe; 11. Air distribution pipe; 12. Rubber inflatable bladder; 13. Insertion groove; 14. Adjustment box; 15. Connecting plate; 16. Docking hole; 17. Insertion hole; 18. Insertion pin; 19. Magnetic coating one; 20. Magnetic coating two; 21. Insertion 21. Block; 22. Magnetic coating three; 23. Magnetic coating four; 24. Alarm; 25. Reinforcing groove; 26. Spring; 27. Rubber block; 28. Connecting frame; 29. ​​Connecting shaft; 30. Micro motor; 31. Rotating seat; 32. Electric push rod two; 33. Connecting block; 34. Electric push rod three; 35. Connecting strip; 36. Diagonal strip; 37. Fixed shaft; 38. Roller; 39. Rubber seat; 40. Sleeve ring; 41. Gas shut-off controller. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] Example 1: As Figure 1-2 and Figure 4 and Figure 7-9 As shown in the figure, an exoskeleton assistive robot according to an embodiment of the present invention includes a pair of support boxes 1, and an auxiliary plate 2 is rotatably connected inside the support box 1 via a rotating shaft; The top of the auxiliary plate 2 is provided with a pair of sliding grooves 8, and the same restraint frame 3 is movably inserted inside the pair of sliding grooves 8. Rubber inflatable blocks 4 are provided on the inner top wall and a pair of inner side walls of the restraint frame 3. The rubber inflatable blocks 4 are used to fix the patient's feet. The restraint frame 3 has a hollow structure inside and is equipped with a micro air pump and an inflation controller. The rubber inflatable blocks 4 are connected to the restraint frame 3, and a switch valve is provided on the rubber inflatable blocks 4. The inner sidewall of the slide 8 is provided with a limiting groove 5, and a limiting strip 6 adapted to the limiting groove 5 is fixedly connected to a pair of inner sidewalls of the restraint frame 3. The limiting strip 6 is used to prevent the restraint frame 3 from moving upward. A pair of symmetrically distributed electric push rods 7 are fixedly connected to the inner bottom wall of the support box 1, and the telescopic ends of the electric push rods 7 abut against the bottom of the auxiliary plate 2. A pair of rubber inflatable rods 9 are fixedly connected to both the front and rear sides of the restraint frame 3. The end of the rubber inflatable rod 9 away from the restraint frame 3 is fixedly connected to the inner wall of the slide groove 8. A pair of air inlet pipes 10 are fixedly connected to the opposite sides of each of the pair of support boxes 1. Each air inlet pipe 10 is equipped with an air inlet valve. One end of each air inlet pipe 10 is connected to a rubber inflation rod 9. The air inlet pipe 10 is used to deliver gas into the rubber inflation rod 9. The other end of each pair of air inlet pipes 10 is fixedly connected to the same air distribution pipe 11. The end of the air distribution pipe 11 away from the air inlet pipe 10 is fixedly connected to a rubber inflation bladder 12. The rubber inflation bladder 12 is equipped with an air outlet and an air inlet. Both the air outlet and the air inlet are equipped with a one-way valve. The air outlet is connected to the air distribution pipe 11.

[0022] In the existing technology, existing human exoskeleton assistive robots mainly rely on electric drive to assist in the stretching or bending training of the lower leg. They have the disadvantages of insufficient precision of manual control and difficulty in stopping movement in time. Therefore, it is difficult for users to intuitively and flexibly adjust the speed and bending angle of the lower leg movement, which leads to limitations in the real-time performance and personalized adaptation of the movement, and may even cause secondary injury to the patient. When using this invention, the patient undergoes rehabilitation training for flexibility in flexion and extension of the lower leg and knee, which involves the following steps: Step 1: The user needs to place their foot in the restraint frame 3. After placing the foot, activate the rubber inflatable block 4 to move it toward the user's foot to clamp the foot, improve the stability of the user's foot during training, and fix the feet of different people, thus expanding its application range. Step 2: After securing the foot, the person can manually squeeze the rubber air bladder 12 to inject the gas inside into the air distribution pipe 11. Then, according to the usage requirements, open the air intake valve on one pair of horizontal air intake pipes 10 and close the air intake valve on the other pair of air intake pipes 10. Subsequently, the gas will enter from the air distribution pipe 11 into the pair of air intake pipes 10 with the air intake valves open. Then the gas will enter the rubber inflatable rod 9 from the air inlet pipe 10, causing the rubber inflatable rod 9 to expand and extend in the slide groove 8, thereby pushing the restraint frame 3, causing it to move the user's feet forward or backward, thereby allowing the person's calves and knees to undergo stretching or bending training. During training, personnel can control the speed of movement of the restraint frame 3 by manually pressing the rubber air bladder 12. After the pressure on the rubber air bladder 12 is removed, it will recover from negative pressure by inhaling air. Step Two: In use, activate one pair of horizontal electric push rods 7, causing their telescopic ends to push the auxiliary plate 2 upwards. Simultaneously, activate another pair of horizontal electric push rods 7, causing their telescopic ends to move downwards, thus causing one side of the auxiliary plate 2 to move upwards and the other side to move downwards (in combination with...). Figure 9 As shown), the angle of the auxiliary board 2 can be adjusted to increase the intensity of training for the user's calves and knees.

[0023] In summary, when using this invention, the rubber inflatable block 4 is inflated to apply pressure to the user's foot, thus fixing feet of different sizes. This makes it suitable for a wide range of users. The speed at which the rubber inflatable rod 9 expands can be adjusted by manually pressing the rubber inflatable bladder 12, thereby adjusting the speed at which the rubber inflatable rod 9 pushes the restraint frame 3 and the user's leg. The manual control offers high precision, allowing users to intuitively and flexibly adjust the speed and bending angle of movement at the lower leg and knee. Finally, the intensity of the training can be adjusted by changing the inclination of the auxiliary plate 2, optimizing the rehabilitation training effect.

[0024] like Figure 5 As shown, each of the pair of support boxes 1 has a plug-in slot 13 on its top. A plug-in block 21 is movably inserted into the plug-in slot 13. An adjustment box 14 is fixedly connected to the top of the plug-in block 21. The same connecting plate 15 is movably inserted into the interior of the pair of adjustment boxes 14. Several docking holes 16 are opened on the top of the connecting plate 15. A plug-in hole 17 is opened on the top of the adjustment box 14. A plug-in pin 18 is movably inserted into the interior of the plug-in hole 17. In the initial state, the bottom end of the plug-in pin 18 passes through the plug-in hole 17 and extends out from the plug-in hole 17, inserting into the corresponding docking hole 16. After adjusting the distance between the pair of support boxes 1, the length of the connecting plate 15 inserted into the adjusting box 14 needs to be adjusted. Then, the plug pin 18 is inserted into the mating hole 16 and the corresponding plug hole 17 to fix the connecting plate 15 and the adjusting box 14 together. Finally, the plug block 21 is inserted into the plug slot 13 to connect the pair of support boxes 1 together, so that the two maintain a fixed distance, thereby fixing the distance between the user's legs.

[0025] like Figure 5 As shown, the inner wall of the insertion hole 17 is coated with a magnetic coating 19, and the outer side of the insertion pin 18 is coated with a magnetic coating 20 that is magnetically connected to the magnetic coating 19. The top end of the insertion pin 18 extends out of the insertion hole 17 and extends to the outside. After inserting the pin 18 into the mating hole 16 and the corresponding pin 17 to fix the connecting plate 15 and the adjusting box 14 together, the magnetic coating 19 will be magnetically connected to the magnetic coating 20, thereby improving the stability of the pin 18 in the mating hole 16.

[0026] like Figure 6 and Figure 8 As shown, the inner wall of the insertion slot 13 is coated with a magnetic coating 22, and the outer side of the insertion block 21 is coated with a magnetic coating 23 that is magnetically connected to the magnetic coating 22. After the plug block 21 is inserted into the plug slot 13, the magnetic coating 3 22 will be magnetically connected with the magnetic coating 4 23, thereby improving the stability of the plug block 21 in the plug slot 13.

[0027] like Figure 1 As shown, a first sensor and a controller are installed inside one of the restraint frames 3, and an alarm 24 is fixedly connected to the top of the restraint frame 3. The first sensor and the alarm 24 are both electrically connected to the controller through wires. During training, if the user's legs suddenly experience discomfort such as spasms, causing a sudden increase in pressure on the restraint frame 3, or if the direction of force applied to the restraint frame 3 changes for an extended period, or if the restraint frame 3 remains stationary for an extended period, the alarm 24 will emit an audible and visual alarm signal. This will allow those around the user or medical personnel to promptly detect the user's abnormality and provide timely assistance.

[0028] like Figure 1 As shown, a gas cut-off controller 41 is fixedly connected to the gas distribution pipe 11, and a gas cut-off valve is provided inside the gas distribution pipe 11. When a person experiences leg cramps during training, the gas cut-off controller 41 activates the gas cut-off valve to close the passage for gas to enter the air inlet pipe 10, preventing the person from accidentally pressing the rubber inflatable bladder 12 when experiencing leg discomfort, which would cause the restraint frame 3 to continue moving the user's feet.

[0029] like Figure 10 As shown, a pair of symmetrically distributed reinforcing grooves 25 are provided at the bottom of the support box 1. Several springs 26 are fixedly connected to the inner top wall of the reinforcing grooves 25, and the bottom ends of the several springs 26 are fixedly connected to the same rubber block 27. When the support box 1 is placed on the ground, the spring 26 will push the rubber block 27, causing it to move towards the ground, increasing the force it exerts on the ground, thereby improving the stability of the support box 1 on the ground.

[0030] Example 2: Figure 11-12As shown in the comparative embodiment one, another embodiment of the present invention is as follows: a connecting frame 28 is fixedly connected to the side of the support box 1, a connecting shaft 29 is rotatably connected inside the connecting frame 28, one end of the connecting shaft 29 is fixedly connected to the output end of the micro motor 30, the side of the micro motor 30 is fixedly connected to the connecting frame 28, a rotating seat 31 is fixedly connected to the connecting shaft 29, an electric push rod 22 is fixedly connected to the inner wall of the rotating seat 31, a connecting block 33 is fixedly connected to the output end of the electric push rod 22, an electric push rod 34 is fixedly connected to the side of the connecting block 33 away from the rotating seat 31, a connecting strip 35 is fixedly connected to the telescopic end of the electric push rod 34, a pair of inclined strips 36 are fixedly connected to the side of the connecting strip 35 away from the electric push rod 34, the same fixed shaft 37 is fixedly connected to the side of the pair of inclined strips 36 away from the connecting strip 35, and a roller 38 is rotatably sleeved on the outer side of the fixed shaft 37.

[0031] When using this invention, if a patient experiences leg spasms, the electric push rod 34 is activated, causing its telescopic end to push the connecting bar 35 and all its mechanisms toward the user's calf. Simultaneously, the micro motor 30 is activated, causing its output end to drive the connecting shaft 29 and all its mechanisms to rotate until the roller 38 comes into contact with the user's leg. Finally, the electric push rod 32 is activated, causing its telescopic end to drive the connecting block 33 and all its mechanisms to move up and down, thereby causing the roller 38 to roll back and forth on the uncomfortable area of ​​the user's calf, thus massaging it and relieving the user's leg discomfort.

[0032] like Figure 11 As shown, a rubber seat 39 is fixedly connected to the bottom of the connecting frame 28. The bottom of the rubber seat 39 is flush with the bottom of the support box 1. The rubber seat 39 can further improve the stability of the support box 1 on the ground.

[0033] like Figure 11 As shown, a sleeve ring 40 is attached to each of the two sides of the roller 38. The sleeve ring 40 is fixedly sleeved on the connecting shaft 29. The sleeve ring 40 enables the roller 38 to move at a fixed point on the connecting shaft 29.

[0034] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0035] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A human exoskeleton assistive robot, comprising a pair of support boxes (1), characterized in that: The support box (1) is rotatably connected to an auxiliary plate (2) via a rotating shaft. The top of the auxiliary plate (2) is provided with a pair of sliding grooves (8), and the same restraint frame (3) is movably inserted into the inside of the pair of sliding grooves (8). Rubber inflatable blocks (4) are provided on the inner top wall and the pair of inner side walls of the restraint frame (3). The rubber inflatable blocks (4) are used to fix the patient's feet. The inside of the restraint frame (3) is a hollow structure and is provided with a micro air pump and an inflation controller. The rubber inflatable blocks (4) are connected to the restraint frame (3), and a switch valve is provided on the rubber inflatable blocks (4). A limiting groove (5) is provided on the inner side wall of the slide (8), and a limiting strip (6) adapted to the limiting groove (5) is fixedly connected to a pair of inner side walls of the restraint frame (3). The limiting strip (6) is used to prevent the restraint frame (3) from moving upward. A pair of symmetrically distributed electric push rods (7) are fixedly connected to the inner bottom wall of the support box (1), and the telescopic end of the electric push rods (7) abuts against the bottom of the auxiliary plate (2). A pair of rubber inflatable rods (9) are fixedly connected to both the front and rear sides of the restraint frame (3), and the end of the rubber inflatable rod (9) away from the restraint frame (3) is fixedly connected to the inner wall of the slide groove (8). A pair of air inlet pipes (10) are fixedly connected to each other on the side away from each other of the pair of support boxes (1). One end of the air inlet pipe (10) is connected to the rubber inflation rod (9). The air inlet pipe (10) is used to deliver gas into the rubber inflation rod (9). The other end of the pair of air inlet pipes (10) is fixedly connected to the same air distribution pipe (11). The end of the air distribution pipe (11) away from the air inlet pipe (10) is fixedly connected to a rubber inflation bag (12).

2. The human exoskeleton assistive robot according to claim 1, characterized in that: Each of the pair of support boxes (1) has a plug-in slot (13) on its top. A plug-in block (21) is movably inserted into the plug-in slot (13). An adjustment box (14) is fixedly connected to the top of the plug-in block (21). The same connecting plate (15) is movably inserted into the interior of the pair of adjustment boxes (14). Several docking holes (16) are opened on the top of the connecting plate (15). A plug-in hole (17) is opened on the top of the adjustment box (14). A plug-in pin (18) is movably inserted into the interior of the plug-in hole (17). In the initial state, the bottom end of the plug-in pin (18) passes through the plug-in hole (17) and extends out from the plug-in hole (17) and is inserted into the corresponding docking hole (16).

3. The exoskeleton assistive robot according to claim 2, characterized in that: The inner wall of the insertion hole (17) is coated with a magnetic coating first (19), and the outer side of the insertion pin (18) is coated with a magnetic coating second (20) that is magnetically connected to the magnetic coating first (19). The top end of the insertion pin (18) extends out of the insertion hole (17) and extends to the outside.

4. The human exoskeleton assistive robot according to claim 2, characterized in that: The inner wall of the insertion slot (13) is coated with a magnetic coating three (22), and the outer side of the insertion block (21) is coated with a magnetic coating four (23) that is magnetically connected to the magnetic coating three (22).

5. The human exoskeleton assistive robot according to claim 1, characterized in that: One of the restraint frames (3) is equipped with a first sensor and a controller inside, and an alarm (24) is fixedly connected to the top of the restraint frame (3). The first sensor and the alarm (24) are both electrically connected to the controller via wires.

6. The human exoskeleton assistive robot according to claim 1, characterized in that: A gas cut-off controller (41) is fixedly connected to the gas distribution pipe (11), and a gas cut-off valve is provided inside the gas distribution pipe (11).

7. The human exoskeleton assistive robot according to claim 1, characterized in that: The bottom of the support box (1) has a pair of symmetrically distributed reinforcing grooves (25). Several springs (26) are fixedly connected to the inner top wall of the reinforcing grooves (25), and the bottom ends of the several springs (26) are fixedly connected to the same rubber block (27).

8. The human exoskeleton assistive robot according to claim 1, characterized in that: A connecting frame (28) is fixedly connected to the side of the support box (1). A connecting shaft (29) is rotatably connected inside the connecting frame (28). One end of the connecting shaft (29) is fixedly connected to the output end of the micro motor (30). The side of the micro motor (30) is fixedly connected to the connecting frame (28). A rotating seat (31) is fixedly connected to the connecting shaft (29). An electric push rod two (32) is fixedly connected to the inner wall of the rotating seat (31). The output end of the electric push rod two (32) is fixedly connected to the connecting shaft (29). A connecting block (33) is connected, and an electric push rod three (34) is fixedly connected to the side of the connecting block (33) away from the rotating seat (31). A connecting strip (35) is fixedly connected to the telescopic end of the electric push rod three (34). A pair of inclined strips (36) are fixedly connected to the side of the connecting strip (35) away from the electric push rod three (34). The same fixed shaft (37) is fixedly connected to the side of the pair of inclined strips (36) away from the connecting strip (35). A roller (38) is rotatably sleeved on the outside of the fixed shaft (37).

9. The human exoskeleton assistive robot according to claim 8, characterized in that: A rubber seat (39) is fixedly connected to the bottom of the connecting frame (28), and the bottom of the rubber seat (39) is flush with the bottom of the support box (1).

10. The human exoskeleton assistive robot according to claim 8, characterized in that: A sleeve ring (40) is attached to each of the two sides of the roller (38), and the sleeve ring (40) is fixedly sleeved on the connecting shaft (29).

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