Auxiliary lower limb exoskeleton robot

Abstract

The utility model discloses an auxiliary lower limb exoskeleton robot. The robot comprises a waist assembly; the leg component comprises a thighbone supporting piece and a tibia supporting piece; the elastic driver is arranged on the thighbone supporting piece and comprises a power output end used for providing rotation power for the tibia supporting piece; the connecting rod mechanism comprises a first connecting rod hinged to the power output end, second connecting rods hinged to the front side of the thighbone supporting piece and the front side of the tibia supporting piece respectively and third connecting rods hinged to the rear side of the thighbone supporting piece and the rear side of the tibia supporting piece respectively, and the second connecting rods are further hinged to the ends of the first connecting rods; wherein the second connecting rod rotates with the hinge point of the second connecting rod and the thighbone supporting piece as the axis to drive the tibia supporting piece to rotate and translate, and the third connecting rod rotates with the hinge point of the third connecting rod and the thighbone supporting piece as the axis to limit the rotation center of the tibia supporting piece to coincide with the rotation center of the knee joint. According to the lower limb exoskeleton robot, damage caused by external impact can be relieved, and therefore the comfort of the lower limb exoskeleton robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of rehabilitation robots, and in particular to an auxiliary lower limb exoskeleton robot. Background Art

[0002] A lower limb exoskeleton is a power-assisting device worn on the outside of the user's body. It provides power to the joints of the lower limbs through a drive device, transfers the body's gravity to the ground through the exoskeleton's mechanical legs, and provides power assistance and protective support for the wearer's lower limb movements such as walking.

[0003] Most of the existing exoskeleton robots are lower limb rehabilitation exoskeleton structures based on disc motor drive, mainly including waist structure and leg structure, among which the leg structure mainly includes hip joint drive unit, knee joint drive unit, thigh adjustment rod, calf adjustment rod and binding device, etc., which can simulate the walking gait of normal human body to help lower limb rehabilitation training. However, the current lower limb exoskeleton robots use rigid drive, directly connecting the motor output end to the load, which reduces the comfort of using the exoskeleton robots, and their joint designs are all rigid designs, which cannot alleviate the problem of external impact when landing, thus causing discomfort to the wearer during use.

[0004] Therefore, in response to the above technical problems, how to improve the comfort of the lower limb exoskeleton robot is a technical problem that technical personnel in this field need to solve. Utility Model Content

[0005] The purpose of this application is to provide an auxiliary lower limb exoskeleton robot that can reduce the damage caused by external impacts and thus improve the comfort of the lower limb exoskeleton robot.

[0006] To achieve the above objectives, the present application provides an auxiliary lower limb exoskeleton robot, comprising:

[0007] The waist component is provided at the waist of the human body;

[0008] A leg assembly, comprising a femoral support member rotatably disposed on the waist assembly, wherein the end of the femoral support member facing away from the waist assembly is rotatably provided with a tibial support member;

[0009] an elastic driver, disposed on the femoral support member, comprising a power output end for providing rotational power to the tibial support member;

[0010] A connecting rod mechanism, comprising a first connecting rod hinged to the power output end, a second connecting rod hinged to the front side of the femoral support member and the front side of the tibial support member, and a third connecting rod hinged to the rear side of the femoral support member and the rear side of the tibial support member, wherein a position on the second connecting rod is hinged to an end of the first connecting rod away from the power output end;

[0011] Among them, the power output end drives the first connecting rod to be lifted or lowered, so as to drive the second connecting rod to rotate about the hinge point between it and the femoral support component, the second connecting rod is used to drive the tibial support component to rotate and translate, and the third connecting rod rotates about the hinge point between it and the femoral support component as the axis to limit the rotation center of the tibial support component to coincide with the rotation center of the knee joint.

[0012] Preferably, the second connecting rod comprises a fan-shaped plate hinged on the femoral support member and an arc-shaped rod hinged on the tibial support member, the hinge point between the fan-shaped plate and the femoral support member is located at the central angle of the fan-shaped plate, the first connecting rod is hinged at one fan-shaped outer corner of the fan-shaped plate, and the other fan-shaped outer corner of the fan-shaped plate is connected to the end of the arc-shaped rod away from the tibial support member.

[0013] Preferably, the femoral support component and the tibial support component are spaced apart from each other, and during the rotation of the tibial support component relative to the femoral support component, the space between the two meets the space required for the rotation.

[0014] Preferably, another elastic driver is provided on the lumbar component, the power output end of the elastic driver is connected to the femoral support component, and the rotation center of the elastic driver coincides with the rotation center of the hip joint.

[0015] Preferably, the elastic driver further comprises:

[0016] A fixing seat, fixedly arranged on the femoral support member or the waist component;

[0017] The driving member comprises a motor fixed on the fixing seat and a reducer connected to the motor in a transmission manner, wherein a shaft sleeve is provided on the power end sleeve of the reducer;

[0018] An elastic member is sleeved on the outer circumference of the shaft sleeve and is circumferentially engaged with the shaft sleeve to drive the elastic member to rotate;

[0019] The joint is fixedly connected to the elastic member, and the joint is driven to rotate by the elastic member. The power output end is fixedly arranged on the joint and rotates with the joint.

[0020] Preferably, the elastic member includes an inner ring clamped with the sleeve and an outer ring spaced apart from the inner ring, the joint is fixedly connected to the outer ring, a plurality of arc-shaped spring sheets are evenly arranged between the inner ring and the outer ring, the arc-shaped spring sheets extend circumferentially along the elastic member, and one end of the arc-shaped spring sheet is connected to the inner wall of the outer ring, and the other end is connected to the outer wall of the inner ring.

[0021] Preferably, the elastic driver further comprises:

[0022] A housing connected to the fixing seat and sleeved on the outer periphery of the motor, wherein the reducer, the shaft sleeve and the elastic member are all located in the housing;

[0023] A bearing, sleeved on the outer periphery of the elastic member and installed in the housing, to provide stable rotation support for the elastic member;

[0024] The bearing sleeve is embedded in the housing and sleeved on the outer periphery of the bearing to provide stable support for the bearing.

[0025] Preferably, the outer periphery of the sleeve is provided with a plurality of strip-shaped protrusions extending along its axial direction, and the inner ring is provided with strip-shaped grooves which are limitedly engaged with the strip-shaped protrusions, so that the elastic member and the sleeve are limitedly engaged.

[0026] Preferably, the power output end, the connector and the elastic member are all provided with a plurality of pin holes corresponding to the positions, and the plug pins sequentially penetrate the power output end, the connector and the pin holes on the elastic member to fix the three.

[0027] Preferably, the auxiliary lower limb exoskeleton robot also includes an ankle component arranged at the end of the leg component away from the waist component, the waist component is wrapped around the human waist and fixedly connected to the waist, the leg component is fixed on the outside of the human leg, and the ankle component is fixed at the human ankle joint.

[0028] Compared with the above-mentioned background technology, the present application includes a waist component, a leg component, an elastic driver and a connecting rod mechanism. The waist component and the leg component are respectively arranged at the waist and the leg of the human body. The leg component includes a femoral support component rotatably arranged on the waist component. The end of the femoral support component away from the waist component is rotatably provided with a tibial support component. The elastic driver is arranged on the femoral support component, including a power output end for providing rotational power to the tibial support component. The elastic driver can perform work by relying on the power difference formed by the action force being equal to the reaction force, thereby providing a power generating device for rotational motion for the leg component.

[0029] The link mechanism includes a first link hinged to the power output end, a second link respectively hinged to the front sides of the femur support and the tibia support, and a third link respectively hinged to the rear sides of the femur support and the tibia support. Driven by the power output end, the first link can drive the second link to move, and at the same time drive the tibia support to rotate and translate. Under the limitation of the third link, the link mechanism mimics the movement of the human knee joint. On this basis, in the present application, the knee joint is designed as a flexible connection through the link mechanism. When the human body falls and generates a shock force, the link mechanism will decompose the shock force into decomposed forces in multiple different directions, and through the movable setting of the link mechanism, the decomposed forces act on the femur support and the tibia support respectively, thereby reducing the shock force on the human knee joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0031] Figure 1 Schematic three-dimensional structure diagram of the assistive lower limb exoskeleton robot provided by the embodiment of the present application;

[0032] Figure 2 Schematic structure diagram of the link mechanism provided by the embodiment of the present application;

[0033] Figure 3 Schematic three-dimensional structure diagram of the disassembled elastic actuator provided by the embodiment of the present application;

[0034] Figure 4 Schematic disassembled structure diagram of the elastic actuator from another perspective provided by the embodiment of the present application;

[0035] Figure 5 Front structure diagram of the disassembled elastic actuator provided by the embodiment of the present application;

[0036] Figure 6 Schematic structure diagram of the elastic member provided by the embodiment of the present application.

[0037] In the figure: 1. Waist component; 2. Elastic drive; 20. Power output end; 21. Fixed seat; 22. Motor; 23. Outer shell; 24. Reducer; 25. Bush; 26. Elastic member; 27. Bearing; 28. Bearing sleeve; 29. Joint; 201. Pin hole; 251. Strip-shaped protrusion; 261. Strip-shaped groove; 262. Outer ring; 263. Inner ring; 264. Arc-shaped elastic piece; 3. Femur support; 4. Link mechanism; 41. First link; 42. Second link; 43. Third link; 421. Sector plate; 422. Arc-shaped rod; 5. Tibia support; 6. Ankle component. Detailed implementation manner

[0038] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0039] It should be noted that in this embodiment, the orientation or positional relationship indicated by "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0040] In order to enable those skilled in the art of this technology to better understand the solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0041] As Figure 1 shown, in this embodiment, an assistive lower limb exoskeleton robot is provided. The robot includes a waist component 1, a leg component, an elastic drive 2, and a link mechanism 4. The waist component 1 is generally in a U-shaped structure and wraps around the waist of the human body, and is fixed at the waist position through a binding device such as a belt. The two U-shaped sides of the waist component 1 are located on the left and right sides of the human waist, and two leg components are respectively connected to the outer sides of the ends of the two U-shaped sides. The two leg components are rotatably connected to the waist component 1, and the rotation axes of the two should be the same as or as consistent as possible with the rotation axis of the human hip joint, so that the matching degree between the human body and the robot is higher.

[0042] The leg assembly can also be fixedly connected to the human leg by means of a binding device such as a strap, etc., so as to drive the movement of the leg assembly by relying on the driving force of the robot and simulate the movement of the human leg. Specifically, the leg assembly includes a femur support 3 rotatably provided on the waist assembly 1, and a tibia support 5 is rotatably provided at the end of the femur support 3 facing away from the waist assembly 1; please refer to Figure 1 , the femur support 3 generally corresponds to the thigh part of the human body, and the tibia support 5 corresponds to the calf part of the human body. The support structure can be made of materials such as metal plates with high strength, so as to provide a stable support effect.

[0043] The elastic actuator 2 is provided on the femur support 3 and can be located at the middle position of the femur support 3. The elastic actuator 2 is a power generating device that provides rotational motion and is an engine that performs work by relying on the power difference formed by the action force being equal to the reaction force. As for the specific structure of the elastic actuator 2, it can refer to the prior art and will not be elaborated here. And the elastic actuator 2 of the present application at least includes a power output end 20 for providing rotational power to the tibia support 5. By driving the elastic actuator 2, the tibia support 5 can be driven to rotate, so as to simulate the operations of lifting and lowering the human leg. In addition, the elastic actuator 2 utilizes its own characteristics to reduce the radial fluctuation generated when the motor 22 operates, thereby improving the overall stability of the robot.

[0044] Please refer to Figure 1 and Figure 2 , the linkage mechanism 4 includes a first link 41, a second link 42 and a third link 43. One end of the first link 41 is hinged to the power output end 20 of the elastic actuator 2. When the power output end 20 rotates, the first link 41 can be driven to move upward or downward. The other end of the first link 41 is hinged to the second link 42. At the same time, the second link 42 is also hinged to the front sides of the femur support 3 and the tibia support 5, and the third link 43 is hinged to the rear sides of the femur support 3 and the tibia support 5. On this basis, when the power output end 20 of the elastic actuator 2 drives the first link 41 to lift or lower, the second link 42 can be driven to rotate about its hinge point with the femur support 3. At the same time, the second link 42 can drive the tibia support 5 to rotate and translate, and the third link 43 rotates about its hinge point with the femur support 3 to limit the rotation center of the tibia support 5 to coincide with the rotation center of the knee joint.

[0045] That is to say, when the power output end 20 acts to lift the first link 41 upward, the second link 42 will rotate at the hinge point of the femoral support 3, and drive the tibial support 5 to rotate through the hinge point of the second link 42 and the tibial support 5. At the same time, under the limiting action of the third link 43, a translational motion will be applied to the tibial support 5, thereby simulating the leg-lifting action of the human body; similarly, when the power output end 20 acts to lower the first link 41 downward, the leg-lowering action of the human body can be simulated.

[0046] It should be noted that since the tibia not only needs to rotate but also needs to move forward simultaneously when the human body lifts the leg, the present application limits through the third link 43, so that in the combined rotation and translation actions of the support member, the rotation center of the tibial support 5 can coincide or approximately coincide with the rotation center of the knee joint, thus better fitting the leg-lifting or leg-lowering actions of the human body.

[0047] For the front side and the back side mentioned above, generally, the side facing the human body is the front side, and the corresponding back side is the back side.

[0048] In the present application, the knee joint is designed as a flexible connection through the link mechanism 4. When the human body falls and generates a shock force, the shock force will be decomposed into multiple decomposed forces in different directions through the link mechanism 4, and through the movable setting of the link mechanism 4, the decomposed forces will act on the femoral support 3 and the tibial support 5 respectively, thereby reducing the shock force on the human knee joint and improving comfort. At the same time, the elastic driver 2 can reduce the radial fluctuation generated by the action of the motor 22, thereby improving the overall stability of the robot and having a better use effect.

[0049] Please refer to Figure 2 , the second link 42 of the present application includes a sector plate 421 hinged to the femoral support 3 and an arc rod 422 hinged to the tibial support 5. The hinge point of the sector plate 421 and the femoral support 3 is located at the central angle of the sector plate 421. A first link 41 is hinged at a sector outer angle of the sector plate 421, and the other sector outer angle of the sector plate 421 is connected to the end of the arc rod 422 away from the tibial support 5, so that the second link 42 can rotate around the central angle of the sector plate 421 as an axis and drive the arc rod 422 to perform a circular motion. The arc rod 422 can drive the tibial support 5 to act, but under the limiting action of the third link 43, the tibial support 5 can generate a translational motion while rotating.

[0050] In addition, in order to meet the space required for the relative movement of the femoral support 3 and the tibial support 5, in some embodiments, the femoral support 3 and the tibial support 5 also need to be arranged at intervals, and at least ensure that during the rotation of the tibial support 5 relative to the femoral support 3, the interval between the two meets the space required for rotation.

[0051] It should be noted that the connecting rod mechanism 4 is arranged at one end close to the femoral support component 3 and the tibial support component 5. In order to improve the supporting effect of the connecting rod mechanism 4 on the femoral support component 3, the second connecting rod 42 and the third connecting rod 43 can be set to a double-layer structure and clamped on both sides of the femoral support component 3 and the tibial support component 5, so that the second connecting rod 42 and the third connecting rod 43 can only move within the plane where the femoral support component 3 and the tibial support component 5 are located, so that the action force and reaction force between the second connecting rod 42, the third connecting rod 43, the femoral support component 3, and the tibial support component 5 only occur within the above-mentioned plane, thereby improving the supporting stability of the connecting rod mechanism 4.

[0052] Also, please refer to Figure 1 Another elastic driver 2 is provided on the waist component 1, and the power output end 20 of the elastic driver 2 is connected to the femoral support member 3, thereby providing rotational power for the femoral connector. At the same time, the rotation center of the elastic driver 2 coincides with the rotation center of the hip joint to ensure that the robot conforms to the movement characteristics of the human body.

[0053] As for the elastic driver 2 mentioned above, the present application also provides a specific structure of the elastic driver 2, the elastic driver 2 also includes a fixing seat 21, a driving member, an elastic member 26, and a joint 29, please refer to Figures 3 to 5 The fixing seat 21 is fixedly mounted on the femoral support member 3 or the lumbar component 1; the driving member includes a motor 22 fixedly mounted on the fixing seat 21 and a reducer 24 drivingly connected to the motor 22, and a shaft sleeve 25 is sleeved on the power end of the reducer 24; the elastic member 26 is sleeved on the outer periphery of the shaft sleeve 25 and is circumferentially engaged with the shaft sleeve 25 to drive the elastic member 26 to rotate. While rotating, the elastic member 26 can reduce the radial fluctuation generated when the motor 22 is in motion, thereby improving the stable output effect of the power output end 20. The joint 29 is fixedly connected to the elastic member 26, and the elastic member 26 drives the joint 29 to rotate. The power output end 20 is fixedly arranged on the joint 29 and rotates with the joint 29.

[0054] Generally speaking, the power output end 20 has certain protruding features, and is connected to the femoral support component 3 or the first connecting rod 41 through the protruding features, thereby driving the femoral support component 3 or the first connecting rod 41 to move.

[0055] It should be noted that a groove or hole for placing the motor 22 is provided on the fixed seat 21, and the motor 22 is stably placed in the groove or hole. The action end of the motor 22 is transmission-connected to the reducer 24, and the sleeve 25 is sleeved on the power end of the reducer 24, thereby driving the sleeve 25 to rotate; since the elastic member 26 is circumferentially clamped in the sleeve 25, it can drive the elastic member 26 to rotate, and transmit the rotation effect to the power output end 20 through the joint 29, thereby driving the femoral support member 3 or the first connecting rod 41 to move.

[0056] Please refer to Figure 6 Figure 6 , the elastic member 26 is a torsion spring with a special structure. Specifically, the elastic member 26 includes an inner ring 263 clamped with the bushing 25 and an outer ring 262 spaced from the inner ring 263. The joint 29 is fixedly connected to the outer ring 262. A plurality of arc-shaped elastic pieces 264 are evenly arranged between the inner ring 263 and the outer ring 262. The arc-shaped elastic pieces 264 extend along the circumferential direction of the elastic member 26, and one end of the arc-shaped elastic piece 264 is connected to the inner wall of the outer ring 262, and the other end is connected to the outer wall of the inner ring 263. As can be seen from the above, the bushing 25 is clamped and connected to the inner ring 263 of the elastic member 26, and the joint 29 is fixedly connected to the outer ring 262 of the elastic member 26. At this time, if the bushing 25 (or the motor 22 / the reducer 24) fluctuates radially, the arc-shaped elastic pieces 264 can reduce the influence of the fluctuation on the joint 29 and the power output end 20, thereby improving the overall stability of the robot.

[0057] In addition, the elastic actuator 2 further includes a housing 23, a bearing 27, and a bearing sleeve 28. The housing 23 is connected to the fixed seat 21 and sleeved on the outer periphery of the motor 22. The reducer 24, the bushing 25, and the elastic member 26 are all located inside the housing 23 to isolate the moving parts from the outside world, thereby improving the safety of the elastic actuator 2. The bearing 27 is sleeved on the outer periphery of the elastic member 26 and installed inside the housing 23 to provide stable rotational support for the elastic member 26. The bearing sleeve 28 is embedded inside the housing 23 and sleeved on the outer periphery of the bearing 27 to provide stable support for the bearing 27.

[0058] Please refer to Figure 5 and Figure 6 Figure 6 , a plurality of strip-shaped protrusions 251 extending along the axial direction of the bushing 25 are provided on the outer periphery of the bushing 25, and strip-shaped grooves 261 for limiting and clamping with the strip-shaped protrusions 251 are formed on the inner ring 263, so that the elastic member 26 and the bushing 25 are limited and clamped. The strip-shaped protrusions 251 should be in interference fit with the strip-shaped grooves 261 to improve the stability when the two are clamped, so as to drive the elastic member 26 to rotate stably.

[0059] In addition, a plurality of pin holes 201 corresponding in position are provided on the power output end 20, the joint 29, and the elastic member 26. The pin passes through the pin holes 201 on the power output end 20, the joint 29, and the elastic member 26 in sequence, and fixes the three of them.

[0060] In this embodiment, the assistive lower limb exoskeleton robot further includes an ankle component 6 provided at the end of the leg component away from the waist component 1. The ankle component 6 is fixed at the human ankle joint, thus forming a complete exoskeleton and its heat.

[0061] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0062] In this article, specific examples are used to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. An assistive lower limb exoskeleton robot, characterized in that, include: The waist component is provided at the waist of the human body; A leg assembly, comprising a femoral support member rotatably disposed on the waist assembly, wherein the end of the femoral support member facing away from the waist assembly is rotatably provided with a tibial support member; an elastic driver, disposed on the femoral support member, comprising a power output end for providing rotational power to the tibial support member; A connecting rod mechanism, comprising a first connecting rod hinged to the power output end, a second connecting rod hinged to the front side of the femoral support member and the front side of the tibial support member, and a third connecting rod hinged to the rear side of the femoral support member and the rear side of the tibial support member, wherein a position on the second connecting rod is hinged to an end of the first connecting rod away from the power output end; Among them, the power output end drives the first connecting rod to be lifted or lowered, so as to drive the second connecting rod to rotate about the hinge point between it and the femoral support component, the second connecting rod is used to drive the tibial support component to rotate and translate, and the third connecting rod rotates about the hinge point between it and the femoral support component as the axis to limit the rotation center of the tibial support component to coincide with the rotation center of the knee joint.

2. The auxiliary lower limb exoskeleton robot according to claim 1, characterized in that The second connecting rod includes a fan-shaped plate hinged on the femoral support member and an arc-shaped rod hinged on the tibial support member, the hinge point between the fan-shaped plate and the femoral support member is located at the central angle of the fan-shaped plate, the first connecting rod is hinged at one fan-shaped outer corner of the fan-shaped plate, and the other fan-shaped outer corner of the fan-shaped plate is connected to the end of the arc-shaped rod away from the tibial support member.

3. The assistive lower limb exoskeleton robot according to claim 1, wherein The femoral support component and the tibial support component are spaced apart from each other, and when the tibial support component rotates relative to the femoral support component, the space between the two meets the space required for rotation.

4. The auxiliary lower limb exoskeleton robot according to claim 1, wherein, Another elastic driver is arranged on the waist component, the power output end of the elastic driver is connected to the femoral support component, and the rotation center of the elastic driver coincides with the rotation center of the hip joint.

5. The auxiliary lower limb exoskeleton robot according to claim 4, wherein The elastic drive further comprises: A fixing seat, fixedly arranged on the femoral support member or the waist component; The driving member comprises a motor fixed on the fixing seat and a reducer connected to the motor in a transmission manner, wherein a shaft sleeve is provided on the power end sleeve of the reducer; An elastic member is sleeved on the outer circumference of the shaft sleeve and is circumferentially engaged with the shaft sleeve to drive the elastic member to rotate; The joint is fixedly connected to the elastic member, and the joint is driven to rotate by the elastic member. The power output end is fixedly arranged on the joint and rotates with the joint.

6. The auxiliary lower limb exoskeleton robot according to claim 5, characterized in that The elastic member includes an inner ring clamped with the sleeve and an outer ring spaced apart from the inner ring. The joint is fixedly connected to the outer ring. A plurality of arc-shaped spring sheets are evenly arranged between the inner ring and the outer ring. The arc-shaped spring sheets extend circumferentially along the elastic member, and one end of the arc-shaped spring sheet is connected to the inner wall of the outer ring, and the other end is connected to the outer wall of the inner ring.

7. The auxiliary lower limb exoskeleton robot according to claim 6, wherein The elastic drive further comprises: A housing connected to the fixing seat and sleeved on the outer periphery of the motor, wherein the reducer, the shaft sleeve and the elastic member are all located in the housing; A bearing is sleeved on the outer periphery of the elastic member and installed in the housing to provide stable rotational support for the elastic member; A bearing sleeve is embedded in the housing and sleeved on the outer periphery of the bearing to provide stable support for the bearing.

8. The auxiliary lower limb exoskeleton robot according to claim 6, wherein, A plurality of strip-shaped protrusions extending along its axial direction are provided on the outer periphery of the bushing, and strip-shaped grooves for limiting and clamping connection with the strip-shaped protrusions are formed on the inner ring, so that the elastic member and the bushing are limited and clamped.

9. The auxiliary lower limb exoskeleton robot according to claim 6, wherein, A plurality of pin holes corresponding in position are provided on the power output end, the joint and the elastic member. A pin sequentially passes through the pin holes on the power output end, the joint and the elastic member to fixedly connect the three.

10. The assistive lower limb exoskeleton robot according to any one of claims 1-9, characterized in that, It further includes an ankle component provided at the end of the leg component away from the waist component. The waist component surrounds the human waist and is fixedly connected to the waist. The leg component is fixed on the outer side of the human leg, and the ankle component is fixed at the human ankle joint.

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