A suspension type pneumatic artificial muscle lower limb rehabilitation robot

Abstract

The application discloses a kind of suspension type pneumatic artificial muscle lower limb rehabilitation robot, belong to the technical field of rehabilitation robot, including the lower limb exoskeleton mechanism equipped with length adjustable connecting rod mechanism, connecting rod mechanism is the stepless telescopic mechanism with first ball and composite anti-loose structure feature, further include the suspension mechanism of pure pneumatic dynamic servo weight reduction structure, suspension mechanism includes weight reduction pneumatic artificial muscle, pulley set and high-strength rope, suspension mechanism and lower limb exoskeleton mechanism are connected with pneumatic double circuit control system, the first branch gas path of pneumatic double circuit control system is communicated with the weight reduction pneumatic artificial muscle of suspension mechanism, the second branch gas path of pneumatic double circuit control system is communicated with the joint place pneumatic artificial muscle of lower limb exoskeleton mechanism.The advantages of the application: suspension mechanism and lower limb exoskeleton mechanism share a set of pneumatic gas source, reduce cost;Suspension system can be followed passively with human gait, adapt to patient early low weight-bearing rehabilitation training.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a suspended pneumatic artificial muscle lower limb rehabilitation robot. Background Technology

[0002] With the aging population and the increasing number of patients with lower limb motor dysfunction caused by trauma, cerebrovascular diseases, etc., the market demand for lower limb rehabilitation training equipment continues to expand. At present, most of the mainstream lower limb rehabilitation robots in clinical practice adopt a rigid drive scheme with motors and reducers. Such devices are heavy and have strong mechanical rigidity, resulting in insufficient human-machine interaction flexibility. They are also prone to rigid impacts during training, posing a risk of secondary injury to the patient's limbs.

[0003] Meanwhile, existing rehabilitation equipment generally suffers from limited functionality: the intensity of traditional manual rehabilitation training cannot be standardized, and purely rigid rehabilitation equipment is difficult to adapt to low-load, progressive rehabilitation training scenarios; most weight-reducing rehabilitation equipment uses motor winches and independent pneumatic springs as weight-reducing units, resulting in complex parts, numerous electrical circuits, complex structures, high manufacturing costs, and a high failure rate over long-term operation; conventional lower limb exoskeleton linkages are mostly of fixed length or have stepped adjustments, which cannot continuously adapt to patients of different heights and body types, resulting in poor human-machine fit.

[0004] Therefore, in view of the shortcomings of existing lower limb rehabilitation robots, such as large rigid impact, insufficient flexibility, complex weight reduction system structure, poor body shape adaptability, and single rehabilitation mode, there is an urgent need for an artificial muscle lower limb rehabilitation robot with good flexibility, high applicability, and strong stability. Summary of the Invention

[0005] The purpose of this invention is to address the problems of existing lower limb rehabilitation robots, such as high drive rigidity, easy secondary injury, complex weight reduction mechanism structure, weak body shape adaptability, and inability to achieve multi-mode standardized rehabilitation training. This invention provides a suspended pneumatic artificial muscle lower limb rehabilitation robot. This device relies on pneumatic artificial muscles to achieve compliant drive and integrates a dynamic suspension weight reduction system. It can adapt to patients of different heights and at different rehabilitation stages, and takes into account multiple training modes such as passive gait training and static weight reduction standing. It reduces rigid impact and improves rehabilitation safety and training effect.

[0006] This invention provides a suspended pneumatic artificial muscle lower limb rehabilitation robot, comprising a mobile frame 1, a suspension mechanism 2, a lower limb exoskeleton mechanism 3, a wearable suspension garment 4, a length-adjustable linkage mechanism 5, and a pneumatic dual-loop control system 6. The mobile frame 1 includes an upper support 11 and a lower support 12 connected by bolts. A handrail module slide rail 13 is provided in the middle of the lower support 12. The lower limb exoskeleton mechanism 3 is fixed to the slider of the handrail module slide rail 13 by a waist fixing module 31. The lower limb exoskeleton mechanism 3 includes a thigh link, a calf link, a hip joint, a knee joint, and an ankle joint, as well as joint pneumatic artificial muscles 32 disposed on each joint. The thigh link and the calf link are each equipped with a length-adjustable linkage mechanism 5. Structure 5 is a stepless telescopic mechanism with ball bearings and a composite anti-loosening structure. The hip, knee, and ankle joints of the lower limb exoskeleton 3 are all antagonistic pneumatic artificial muscles with rope and wheel transmission structures. The suspension mechanism 2 is a pure pneumatic dynamic follow-up weight reduction structure, installed in the middle of the mobile frame 1. The suspension mechanism 2 includes a first pneumatic artificial muscle 21, a pulley group 22, and a high-strength rope 23. Both the suspension mechanism 2 and the lower limb exoskeleton 3 are connected to the pneumatic dual-circuit control system 6. The pneumatic dual-circuit control system 6 is provided with a first branch air path and a second branch air path that are independent of each other. The first branch air path is connected to the first pneumatic artificial muscle 21 of the suspension mechanism 2, and the second branch air path is connected to the joint pneumatic artificial muscles 32 at each joint of the lower limb exoskeleton 3.

[0007] Furthermore, the mobile frame 1 also includes an anti-slip handrail module 14, a side support 15, and a braked swivel caster 16. The braked swivel caster 16 is installed at the bottom of the lower support 12. The anti-slip handrail module 14 is fixedly installed on the handrail module slide rail 13. The anti-slip handrail module 14 is connected to the waist fixing module 31. The side support 15 is slidably installed at the bottom of the lower support 12.

[0008] Furthermore, the first pneumatic artificial muscle 21 is vertically fixed on the lower support 12, and the output end of the first pneumatic artificial muscle 21 is rigidly connected to a movable pulley in the pulley group 22. One end of the high-strength rope 23 is connected to the movable pulley of the first pneumatic artificial muscle 21, and the other end passes around the pulley group 22 to connect to the wearable suspension top 4.

[0009] Furthermore, the lower limb exoskeleton mechanism 3 also includes a hip joint flexion-extension axle assembly 33, a hip joint abduction axle assembly 34, a knee joint flexion-extension axle assembly 35, an ankle joint flexion-extension axle assembly 36, a knee joint connecting block 37, and a back lumbar support 38. One end of the hip joint abduction axle assembly 34 is fixedly connected to the back lumbar support 38. The back lumbar support 38 is connected to the lumbar fixation module 31 and the lower limb exoskeleton mechanism 3 by bolts. The knee joint connecting block 37 is located between the thigh link and the lower leg link. The knee joint flexion-extension axle assembly 35 is installed on the knee joint connecting block 37. Each joint of the lower limb exoskeleton mechanism 3 is provided with a pair of McKibben-type joint pneumatic artificial muscles 32. The joint pneumatic artificial muscles 32 form an antagonistic layout. The joint pneumatic artificial muscles 32 cooperate with the axle wheels through transmission ropes to achieve bidirectional joint rotation.

[0010] Furthermore, the lower limb exoskeleton mechanism 3 also includes a flexible thigh strap 39, a flexible calf strap 310, a calf shell 311, a thigh shell 312, and a foot support 313.

[0011] Furthermore, the length-adjustable linkage mechanism 5 includes an upper fixed member 51, a guide bracket 52, and a lower movable member 53. The guide bracket 52 is installed between the upper fixed member 51 and the lower movable member 53, and the top of the guide bracket 52 is fixedly connected to the upper fixed member 51. A lead screw 54 is screwed to the lower part of the upper fixed member 51, and an internal threaded sleeve 55 is coaxially screwed to the outside of the lead screw 54. The internal threaded sleeve 55 includes two threaded inner sleeves 551 and an inner ring 552 fixedly installed between the two threaded inner sleeves 551. A locking nut 56 and a nylon threaded sleeve 55 are provided above the internal threaded sleeve 55. A semi-ring 57 is provided below an internal threaded sleeve 55, and an outer sleeve 58 is provided below it. The top end face of the outer sleeve 58 is provided with a groove that matches the bottom end of the internal threaded sleeve 55. A second ball 59 is provided in the groove. The internal threaded sleeve 55 is embedded in the groove of the outer sleeve 58. A lower connecting fixed shaft 510 is screwed to the upper part of the lower movable part 53. The lower connecting fixed shaft 510 is coaxially sleeved in the outer sleeve 58. A cavity gap for length adjustment is left between the lower part of the lead screw 54 and the lower connecting fixed shaft 510. A spring 511 for supporting the outer sleeve 58 is provided at the lower part of the outer sleeve 58.

[0012] Furthermore, the pneumatic dual-loop control system 6 includes a main air source compressor 61, a first branch air path, and a second branch air path. The main air source compressor 61 is sequentially connected to an air tank 62, a branch filter 63, a pressure reducing valve 64, and an oil mist lubricator 65. The air tank 62 is equipped with a safety valve 66. The first branch air path is equipped with a two-position three-way solenoid directional valve 67, and the second branch air path is equipped with a three-position five-way solenoid directional valve 68. Both branch air paths are equipped with a branch filter 63, a solenoid proportional pressure valve 69, and a one-way throttle valve. The one-way throttle valve adopts an outlet throttling mode.

[0013] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: The rehabilitation equipment adopts an integrated pure pneumatic design, and its suspension mechanism and lower limb drive mechanism share a set of pneumatic power sources, eliminating the need for additional electrical components, effectively simplifying the overall structure, reducing costs and equipment failure rates; the equipment relies on pulley systems and pneumatic muscles, and the suspension system can passively follow the human gait, adapting to patients' early low-weight rehabilitation training; the lower limb connecting rod is equipped with stepless length adjustment with flat ball bearings and a composite anti-loosening structure, which can adapt to patients of different heights and body types, improving human-machine fit while reducing... Friction is regulated by a double-nut, nylon insert structure to achieve vibration resistance and prevent loosening, ensuring long-term stable operation. The equipment is equipped with a dual-circuit independent pneumatic system, with the weight reduction and joint drive air circuits not interfering with each other. The air pressure, running speed, and weight reduction ratio can be independently adjusted, and precise air pressure and flow control is achieved with throttle valves and proportional valves. The whole machine adopts a rigid-flexible coupling structure, with a mobile frame equipped with braked casters, balancing structural strength and transfer flexibility. With the help of handrails, flexible straps, and antagonistic pneumatic muscles, the risk of patient falls is effectively avoided, improving the safety and adaptability of rehabilitation training. Attached Figure Description

[0014] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a side view of the overall three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the suspension mechanism structure of the present invention; Figure 4 This is a schematic diagram of the lower limb exoskeleton mechanism of the present invention; Figure 5 This is a schematic diagram of the adjustable-length linkage mechanism of the present invention; Figure 6 This is a schematic diagram of the internal threaded sleeve structure of the present invention; Figure 7 This is a side sectional view of the adjustable linkage mechanism of the present invention; Figure 8 This is a structural diagram of the pneumatic dual-loop control system of the present invention; Figure 9 This is a schematic diagram of the pneumatic dual-loop control system of the present invention.

[0016] Figure label: Mobile rack 1, upper support 11, lower support 12, handrail module slide rail 13, anti-slip handrail frame module 14, side support 15, swivel casters 16; Suspension mechanism 2, first pneumatic artificial muscle 21, pulley system 22, high-strength rope 23; 3. Lower limb exoskeleton mechanism; 31. Lumbar fixation module; 32. Joint pneumatic artificial muscle; 33. Hip joint flexion and extension axle assembly; 34. Hip joint abduction axle assembly; 35. Knee joint flexion and extension axle assembly; 36. Ankle joint flexion and extension axle assembly; 37. Knee joint connecting block; 38. Back lumbar support; 39. Flexible thigh strap; 310. Flexible calf strap; 311. Calf shell; 312. Thigh shell; 313. Foot support; Wearable suspension top 4; Length adjustable linkage mechanism 5, ball bearing, upper fixed part 51, guide bracket 52, lower movable part 53, lead screw 54, internal threaded sleeve 55, threaded inner sleeve 551, inner ring 552, lock nut 56, nylon half ring 57, outer sleeve 58, second ball bearing 59, lower connecting fixed shaft 510, spring 511; 6. Pneumatic dual-circuit control system; 61. Main air source air compressor; 62. Air tank; 63. Branch filter; 64. Pressure reducing valve; 65. Oil mist lubricator; 66. Safety valve; 67. Two-position three-way solenoid directional valve; 68. Three-position five-way solenoid directional valve; 69. Solenoid proportional pressure valve. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0018] This invention provides a suspended pneumatic artificial muscle lower limb rehabilitation robot, comprising a mobile frame 1, a suspension mechanism 2, a lower limb exoskeleton mechanism 3, a wearable suspension garment 4, a length-adjustable linkage mechanism 5, and a pneumatic dual-loop control system 6. The mobile frame 1 includes an upper support 11 and a lower support 12 connected by bolts. A handrail module slide rail 13 is provided in the middle of the lower support 12. The lower limb exoskeleton mechanism 3 is fixed to the slider of the handrail module slide rail 13 by a waist fixing module 31. The lower limb exoskeleton mechanism 3 includes a thigh link, a calf link, a hip joint, a knee joint, and an ankle joint, as well as joint pneumatic artificial muscles 32 disposed on each joint. The thigh link and the calf link are each equipped with a length-adjustable linkage mechanism 5. Structure 5 is a stepless telescopic mechanism with ball bearings and a composite anti-loosening structure. The hip, knee, and ankle joints of the lower limb exoskeleton 3 are all antagonistic pneumatic artificial muscles with rope and wheel transmission structures. The suspension mechanism 2 is a pure pneumatic dynamic follow-up weight reduction structure, installed in the middle of the mobile frame 1. The suspension mechanism 2 includes a first pneumatic artificial muscle 21, a pulley group 22, and a high-strength rope 23. Both the suspension mechanism 2 and the lower limb exoskeleton 3 are connected to the pneumatic dual-circuit control system 6. The pneumatic dual-circuit control system 6 is provided with a first branch air path and a second branch air path that are independent of each other. The first branch air path is connected to the first pneumatic artificial muscle 21 of the suspension mechanism 2, and the second branch air path is connected to the joint pneumatic artificial muscles 32 at each joint of the lower limb exoskeleton 3.

[0019] Furthermore, the mobile frame 1 also includes an anti-slip handrail module 14, a side support 15, and a braked swivel caster 16. The braked swivel caster 16 is installed at the bottom of the lower support 12. The anti-slip handrail module 14 is fixedly installed on the handrail module slide rail 13. The anti-slip handrail module 14 is connected to the waist fixing module 31. The side support 15 is slidably installed at the bottom of the lower support 12.

[0020] Furthermore, the first pneumatic artificial muscle 21 is vertically fixed on the lower support 12, and the output end of the first pneumatic artificial muscle 21 is rigidly connected to a movable pulley in the pulley group 22. One end of the high-strength rope 23 is connected to the movable pulley of the first pneumatic artificial muscle 21, and the other end passes around the pulley group 22 to connect to the wearable suspension top 4.

[0021] Furthermore, the lower limb exoskeleton mechanism 3 also includes a hip joint flexion-extension axle assembly 33, a hip joint abduction axle assembly 34, a knee joint flexion-extension axle assembly 35, an ankle joint flexion-extension axle assembly 36, a knee joint connecting block 37, and a back lumbar support 38. One end of the hip joint abduction axle assembly 34 is fixedly connected to the back lumbar support 38. The back lumbar support 38 is connected to the lumbar fixation module 31 and the lower limb exoskeleton mechanism 3 by bolts. The knee joint connecting block 37 is located between the thigh link and the lower leg link. The knee joint flexion-extension axle assembly 35 is installed on the knee joint connecting block 37. Each joint of the lower limb exoskeleton mechanism 3 is provided with a pair of McKibben-type joint pneumatic artificial muscles 32. The joint pneumatic artificial muscles 32 form an antagonistic layout. The joint pneumatic artificial muscles 32 cooperate with the axle wheels through transmission ropes to achieve bidirectional joint rotation.

[0022] Furthermore, the lower limb exoskeleton mechanism 3 also includes a flexible thigh strap 39, a flexible calf strap 310, a calf shell 311, a thigh shell 312, and a foot support 313.

[0023] Furthermore, the length-adjustable linkage mechanism 5 includes an upper fixed member 51, a guide bracket 52, and a lower movable member 53. The guide bracket 52 is installed between the upper fixed member 51 and the lower movable member 53, and the top of the guide bracket 52 is fixedly connected to the upper fixed member 51. A lead screw 54 is screwed to the lower part of the upper fixed member 51, and an internal threaded sleeve 55 is coaxially screwed to the outside of the lead screw 54. The internal threaded sleeve 55 includes two threaded inner sleeves 551 and an inner ring 552 fixedly installed between the two threaded inner sleeves 551. A locking nut 56 and a nylon threaded sleeve 55 are provided above the internal threaded sleeve 55. A semi-ring 57 is provided below an internal threaded sleeve 55, and an outer sleeve 58 is provided below it. The top end face of the outer sleeve 58 is provided with a groove that matches the bottom end of the internal threaded sleeve 55. A second ball 59 is provided in the groove. The internal threaded sleeve 55 is embedded in the groove of the outer sleeve 58. A lower connecting fixed shaft 510 is screwed to the upper part of the lower movable part 53. The lower connecting fixed shaft 510 is coaxially sleeved in the outer sleeve 58. A cavity gap for length adjustment is left between the lower part of the lead screw 54 and the lower connecting fixed shaft 510. A spring 511 for supporting the outer sleeve 58 is provided at the lower part of the outer sleeve 58.

[0024] Furthermore, the pneumatic dual-loop control system 6 includes a main air source compressor 61, a first branch air path, and a second branch air path. The main air source compressor 61 is sequentially connected to an air tank 62, a branch filter 63, a pressure reducing valve 64, and an oil mist lubricator 65. The air tank 62 is equipped with a safety valve 66. The first branch air path is equipped with a two-position three-way solenoid directional valve 67, and the second branch air path is equipped with a three-position five-way solenoid directional valve 68. Both branch air paths are equipped with a branch filter 63, a solenoid proportional pressure valve 69, and a one-way throttle valve. The one-way throttle valve adopts an outlet throttling mode.

[0025] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: The rehabilitation equipment adopts an integrated pure pneumatic design, and its suspension mechanism and lower limb drive mechanism share a set of pneumatic power sources, eliminating the need for additional electrical components, effectively simplifying the overall structure, reducing costs and equipment failure rates; the equipment relies on pulley systems and pneumatic muscles, and the suspension system can passively follow the human gait, adapting to patients' early low-weight rehabilitation training; the lower limb connecting rod is equipped with stepless length adjustment with flat ball bearings and a composite anti-loosening structure, which can adapt to patients of different heights and body types, improving human-machine fit while reducing... Friction is regulated by a double-nut, nylon insert structure to achieve vibration resistance and prevent loosening, ensuring long-term stable operation. The equipment is equipped with a dual-circuit independent pneumatic system, with the weight reduction and joint drive air circuits not interfering with each other. The air pressure, running speed, and weight reduction ratio can be independently adjusted, and precise air pressure and flow control is achieved with throttle valves and proportional valves. The whole machine adopts a rigid-flexible coupling structure, with a mobile frame equipped with braked casters, balancing structural strength and transfer flexibility. With the help of handrails, flexible straps, and antagonistic pneumatic muscles, the risk of patient falls is effectively avoided, improving the safety and adaptability of rehabilitation training.

[0026] Working principle: Before use, medical staff adjust the adjustable linkage mechanism to a suitable size according to the patient's height, fix the patient's lower limbs in the lower limb exoskeleton, put on the wearable suspension suit, and lock the universal casters at the bottom of the frame. The pneumatic system box is then activated, first setting the weight reduction ratio, and the suspension mechanism begins to work, distributing the weight of the patient's lower limbs. Then, the gait training mode is activated, where the antagonistic pneumatic muscle movements of the joints of the lower limb exoskeleton coordinate to move the patient's lower limbs along a preset normal gait trajectory.

[0027] During training, the weight reduction intensity, movement speed, and joint angles can be adjusted in real time. In case of emergency, the emergency stop button on the handrail can be pressed to cut off all air supply, and the equipment will stop immediately. After training, the pneumatic muscles are depressurized and reset, and the wearing structure can be removed in sequence.

[0028] The beneficial effects of this invention are as follows: This rehabilitation device adopts an integrated pure pneumatic design, with its suspension mechanism and lower limb drive mechanism sharing a single pneumatic power source, eliminating the need for additional electrical components, effectively simplifying the overall structure, reducing costs and equipment failure rate; relying on pulley systems and pneumatic muscles, the suspension system can passively follow the human gait, suitable for patients' early low-weight rehabilitation training; the lower limb connecting rod is equipped with stepless length adjustment with flat ball bearings and a composite anti-loosening structure, which can adapt to patients of different heights and body types, improving human-machine fit while reducing adjustment friction. The double-nut and nylon insert structure provides vibration resistance and prevents loosening, ensuring long-term stable operation. The equipment is equipped with a dual-circuit independent pneumatic system, with the weight reduction and joint drive air circuits operating independently. Air pressure, operating speed, and weight reduction ratio can be independently adjusted. Combined with throttle valves and proportional valves, precise air pressure and flow control are achieved. The whole machine adopts a rigid-flexible coupling structure, with a mobile frame equipped with braked casters, balancing structural strength and transfer flexibility. Relying on the handrail frame, flexible straps, and antagonistic pneumatic muscles, the risk of patient falls is effectively avoided, improving the safety and adaptability of rehabilitation training.

[0029] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A suspended pneumatic artificial muscle lower limb rehabilitation robot, characterized in that: The device includes a mobile frame (1), a suspension mechanism (2), a lower limb exoskeleton mechanism (3), a wearable suspension top (4), a length-adjustable linkage mechanism (5), and a pneumatic dual-circuit control system (6). The mobile frame (1) includes an upper support (11) and a lower support (12) connected by bolts. A handrail module slide rail (13) is provided in the middle of the lower support (12). The lower limb exoskeleton mechanism (3) is fixed to the slider of the handrail module slide rail (13) by a waist fixing module (31). The lower limb exoskeleton mechanism (3) includes a thigh link, a calf link, a hip joint, a knee joint, and an ankle joint, as well as joint pneumatic artificial muscles (32) set on each joint. The thigh link and the calf link are both equipped with length-adjustable linkage mechanisms (5). The hip, knee, and ankle joints of the lower limb exoskeleton mechanism (3) are all antagonistic pneumatic artificial muscles with rope and wheel transmission structures. The suspension mechanism (2) is a pure pneumatic dynamic follow-up weight reduction structure, which is installed in the middle of the mobile frame (1). The suspension mechanism (2) includes a first pneumatic artificial muscle (21), a pulley group (22), and a high-strength rope (23). The suspension mechanism (2) and the lower limb exoskeleton mechanism (3) are both connected to the pneumatic dual-circuit control system (6). The pneumatic dual-circuit control system (6) is provided with a first branch air path and a second branch air path that are independent of each other. The first branch air path is connected to the first pneumatic artificial muscle (21) of the suspension mechanism (2), and the second branch air path is connected to the joint pneumatic artificial muscles (32) at each joint of the lower limb exoskeleton mechanism (3).

2. The suspended pneumatic artificial muscle lower limb rehabilitation robot according to claim 1, characterized in that: The mobile frame (1) also includes an anti-slip handrail module (14), a side bracket (15), and a braked swivel caster (16). The braked swivel caster (16) is installed at the bottom of the lower bracket (12). The anti-slip handrail module (14) is fixedly installed on the handrail module slide rail (13). The anti-slip handrail module (14) is connected to the waist fixing module (31). The side bracket (15) is slidably installed at the bottom of the lower bracket (12).

3. The suspended pneumatic artificial muscle lower limb rehabilitation robot according to claim 2, characterized in that: The first pneumatic artificial muscle (21) is vertically fixed on the lower support (12). The output end of the first pneumatic artificial muscle (21) is rigidly connected to a movable pulley in the pulley group (22). One end of the high-strength rope (23) is connected to the movable pulley of the first pneumatic artificial muscle (21), and the other end passes around the pulley group (22) and is connected to the wearable suspension top (4).

4. The suspended pneumatic artificial muscle lower limb rehabilitation robot according to claim 3, characterized in that: The lower limb exoskeleton mechanism (3) also includes a hip joint flexion-extension axle assembly (33), a hip joint abduction axle assembly (34), a knee joint flexion-extension axle assembly (35), an ankle joint flexion-extension axle assembly (36), a knee joint connecting block (37), and a back waist frame (38). One end of the hip joint abduction axle assembly (34) is fixedly connected to the back waist frame (38). The back waist frame (38) is connected to the waist fixing module (31) and the lower limb exoskeleton mechanism (3) by bolts. The knee joint connecting block (37) is located between the thigh connecting rod and the lower leg connecting rod. The knee joint flexion-extension axle assembly (35) is installed on the knee joint connecting block (37). Each joint of the lower limb exoskeleton mechanism (3) is provided with a pair of McKibben-type joint pneumatic artificial muscles (32). The joint pneumatic artificial muscles (32) form an antagonistic layout. The joint pneumatic artificial muscles (32) achieve bidirectional joint rotation through the transmission rope and the axle wheel.

5. A suspended pneumatic artificial muscle lower limb rehabilitation robot according to claim 4, characterized in that: The lower limb exoskeleton (3) also includes a flexible thigh strap (39), a flexible calf strap (310), a calf shell (311), a thigh shell (312), and a footrest (313).

6. A suspended pneumatic artificial muscle lower limb rehabilitation robot according to claim 5, characterized in that: The adjustable linkage mechanism (5) includes an upper fixed part (51), a guide bracket (52), and a lower movable part (53). The guide bracket (52) is installed between the upper fixed part (51) and the lower movable part (53), and the top of the guide bracket (52) is fixedly connected to the upper fixed part (51). A lead screw (54) is screwed to the bottom of the upper fixed part (51). An internal threaded sleeve (55) is coaxially screwed to the outside of the lead screw (54). The internal threaded sleeve (55) includes two threaded inner sleeves (551) and an inner ring (552) fixedly installed between the two threaded inner sleeves (551). A locking nut (56) and a nylon ring are provided above the internal threaded sleeve (55). A semi-ring (57) is provided below an inner threaded sleeve (55) and an outer sleeve (58). The top end face of the outer sleeve (58) is provided with a groove that matches the bottom end of the inner threaded sleeve (55). A second ball (59) is provided in the groove. The inner threaded sleeve (55) is embedded in the groove of the outer sleeve (58). A lower connecting fixed shaft (510) is screwed above the lower movable part (53). The lower connecting fixed shaft (510) is coaxially sleeved in the outer sleeve (58). A cavity gap for length adjustment is left between the lower part of the screw (54) and the lower connecting fixed shaft (510). A spring (511) for supporting the outer sleeve (58) is provided at the lower part of the outer sleeve (58).

7. The suspended pneumatic artificial muscle lower limb rehabilitation robot according to claim 1, characterized in that: The pneumatic dual-loop control system (6) includes a main air source compressor (61), a first branch air path and a second branch air path. The main air source compressor (61) is sequentially connected to an air tank (62), a branch filter (63), a pressure reducing valve (64) and an oil mist lubricator (65). The air tank (62) is equipped with a safety valve (66). The first branch air path is equipped with a two-position three-way solenoid directional valve (67), and the second branch air path is equipped with a three-position five-way solenoid directional valve (68). Both branch air paths are equipped with a branch filter (63), an electromagnetic proportional pressure valve (69) and a one-way throttle valve. The one-way throttle valve adopts an outlet throttle mode.

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