Multi-degree-of-freedom binding assembly and lower limb exoskeleton robot

Abstract

The utility model relates to the technical field of exoskeleton robots, in particular to a multi-degree-of-freedom binding assembly and a lower limb exoskeleton robot. The utility model provides a multi-degree-of-freedom binding assembly which comprises a connecting piece, a two-degree-of-freedom hinge mechanism and a binding mechanism, and the connecting piece is used for being connected with thighs or shanks of a lower limb exoskeleton robot; the two-degree-of-freedom hinge mechanism comprises a connecting block mechanism, a folding and unfolding shaft and a rotating shaft, and the binding mechanism and the connecting block mechanism are rotationally connected through the folding and unfolding shaft, so that the binding mechanism can rotate around the axis of the folding and unfolding shaft; the connecting piece and the connecting block mechanism are rotationally connected through a rotating shaft, so that the connecting block mechanism can rotate around the axis of the rotating shaft. The binding mechanism in the multi-degree-of-freedom binding assembly has two rotational degrees of freedom, so that the flexibility between limbs and exoskeletons is improved, the wearing comfort is improved, and the man-machine coordination is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton robots, in particular to a multi-degree-of-freedom binding component and a lower limb exoskeleton robot. Background Art

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide operators with a wearable mechanical structure. With the continuous development of science and technology, exoskeleton robot technology has been increasingly widely used in various fields. Among them, lower limb exoskeleton robots are mainly used in rehabilitation medicine and assisted walking. They are a typical human-machine coupling device. This type of rehabilitation robot can promote neurological rehabilitation through walking training for people who were originally unable to stand and walk, so that patients can gradually restore the ability to walk independently, which is of great significance to the health of patients.

[0003] The existing lower limb exoskeleton robots have rigid connections between the calf and calf rods. After the user puts on the exoskeleton robot, the freedom of the binding cannot be adjusted, resulting in the exoskeleton being unable to adapt to the user's actual movements, causing entanglement with the user, reducing the assistance efficiency and wearing experience, and poor human-machine coordination. Utility Model Content

[0004] (1) The problem to be solved by the present invention is that the existing lower limb exoskeleton robot's thigh and calf bindings are rigidly connected to the thigh and calf rods. After the user puts on the exoskeleton robot, the freedom of the bindings cannot be adjusted, resulting in the exoskeleton being unable to adapt to the user's actual movements.

[0005] (2) Technical solution

[0006] A multi-degree-of-freedom binding assembly includes a connector, a dual-degree-of-freedom hinge mechanism, and a binding mechanism. The connector is used to connect to the thigh or calf of a lower limb exoskeleton robot.

[0007] The dual-degree-of-freedom hinge mechanism includes a connecting block mechanism, a retraction and expansion axis, and a rotation axis. The binding mechanism and the connecting block mechanism are rotationally connected via the retraction and expansion axis, so that the binding mechanism can rotate around the axis of the retraction and expansion axis; the connecting member and the connecting block mechanism are rotationally connected via the rotation axis, so that the connecting block mechanism can rotate around the axis of the rotation axis.

[0008] The axis of the rotating shaft is perpendicular to the connecting member, and the axis of the retracting and extending shaft is perpendicular to the axis of the rotating shaft.

[0009] According to one embodiment of the present invention, the dual-degree-of-freedom hinge mechanism includes a connecting plate and fixing screws fixed to the binding mechanism, the connecting block mechanism includes a limit plate and a mounting block connected thereto, and the rotating shaft is fixed to a side of the limit plate away from the mounting block;

[0010] The mounting block and the connecting plate are rotatably connected via the retraction and expansion shaft; the connecting member comprises a connecting shell, a shell cavity is formed inside the connecting shell, and a circular hole is provided on the connecting shell for the rotating shaft to pass through;

[0011] An internal threaded hole is provided on the rotating shaft along its axial direction, and the end of the rotating shaft away from the limiting plate passes through the circular hole of the connecting shell and enters the shell cavity. The fixing screw is threadedly connected to the internal threaded hole of the rotating shaft, and the fixing screw is located in the shell cavity. The diameter of the screw head of the fixing screw is larger than the diameter of the circular hole.

[0012] According to one embodiment of the present invention, a sleeve coaxial with the circular hole is provided on the inner wall of the connecting shell, the inner diameter of the sleeve is larger than the outer diameter of the rotating shaft, and the diameter of the screw head of the fixing screw is larger than the inner diameter of the sleeve.

[0013] According to one embodiment of the present invention, at least one arc-shaped groove is respectively provided on both sides of the limit plate, and a limit column corresponding to the arc-shaped groove is installed on the outer surface of the connecting shell, and one end of the limit column extends into the corresponding arc-shaped groove to limit the rotation range of the limit plate.

[0014] According to one embodiment of the present invention, the binding mechanism includes a binding plastic part and a binding lining, and the binding plastic part and the binding lining are detachably connected.

[0015] According to one embodiment of the present invention, at least one lining mounting hole is provided on the binding plastic part along its length direction, and at least one lining protrusion block corresponding to the lining mounting hole is provided on the outer surface of the binding lining, and the lining protrusion block is an elastic block.

[0016] According to one embodiment of the present invention, the lining raised block includes a connected block body and a surrounding edge, the first end of the block body is connected to the binding lining, and the surrounding edge is provided at the edge of the second end of the block body.

[0017] According to an embodiment of the present invention, the binding mechanism further includes an elastic binding strap, and both sides of the connecting plate are respectively provided with binding strap connection holes for connecting with the binding strap.

[0018] According to one embodiment of the present invention, a plurality of lining protrusion blocks are provided on the outer side surface of the binding lining, and the plurality of lining protrusion blocks are arranged in sequence around the length direction of the binding lining, and a plurality of lining mounting holes are provided on the binding plastic part along its length direction.

[0019] A lower limb exoskeleton robot comprises the above-mentioned multi-degree-of-freedom binding assembly.

[0020] Beneficial effects of the utility model:

[0021] The utility model provides a multi-degree-of-freedom binding assembly, which includes a connecting piece, a dual-degree-of-freedom hinge mechanism and a binding mechanism. The connecting piece is used to be connected to the thigh or calf of a lower limb exoskeleton robot; the dual-degree-of-freedom hinge mechanism includes a connecting block mechanism, a retraction and expansion axis and a rotation axis. The binding mechanism and the connecting block mechanism are rotationally connected via the retraction and expansion axis so that the binding mechanism can rotate around the axis of the retraction and expansion axis; the connecting piece and the connecting block mechanism are rotationally connected via the rotation axis so that the connecting block mechanism can rotate around the axis of the rotation axis; the axis of the rotation axis is perpendicular to the connecting piece, and the axis of the retraction and expansion axis is perpendicular to the axis of the rotation axis.

[0022] The connecting piece is fixedly mounted on the thigh or calf of the lower limb exoskeleton robot. Since the connecting piece and the connecting block mechanism are rotatably connected through a rotating shaft, the connecting block mechanism can rotate around the axis of the rotating shaft. The connecting block mechanism is rotatably connected to the binding mechanism through the retraction and expansion shaft, so that the binding mechanism can rotate around the axis of the retraction and expansion shaft, thereby giving the binding mechanism two degrees of freedom. While retaining a certain rigidity, the binding component improves the flexibility between the human limbs and the exoskeleton, improves wearing comfort, enhances human-machine coordination, and reduces joint pressure and skin friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of a multi-degree-of-freedom binding assembly provided in an embodiment of the present utility model;

[0025] Figure 2 A structural diagram of the multi-degree-of-freedom binding assembly provided by an embodiment of the present utility model without the straps;

[0026] Figure 3 A cross-sectional view of the multi-degree-of-freedom binding assembly provided by an embodiment of the present invention without the binding straps;

[0027] Figure 4 A structural diagram of the binding plastic parts and the connecting plate parts in the multi-degree-of-freedom binding assembly provided by an embodiment of the present utility model;

[0028] Figure 5 An exploded view of the binding plastic parts and the connecting plate parts in the multi-degree-of-freedom binding assembly provided by an embodiment of the present utility model;

[0029] Figure 6 An exploded view of a dual-degree-of-freedom hinge mechanism and connectors in a multi-degree-of-freedom binding assembly provided by an embodiment of the present invention;

[0030] Figure 7 This is a structural diagram of the binding liner in the multi-degree-of-freedom binding assembly provided in an embodiment of the present utility model.

[0031] Icons: 1. Binding plastic parts; 101. First lining mounting hole; 102. Second lining mounting hole; 2. Binding lining; 201. First lining raised block; 202. Second lining raised block; 203. Weight reduction hole; 3. Binding strap; 4. Connecting plate; 401. Binding strap connecting hole; 5. Connecting part; 501. Sleeve; 502. Mounting hole; 6. Fixing screw; 7. Connecting block mechanism; 701. Mounting block; 702. Limiting plate; 703. Rotating axis; 704. Arc groove; 8. Retraction and extension axis; 9. Limiting column; 10. Fixing bolt. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] Example 1:

[0034] like Figure 1-Figure 7 As shown, the first embodiment of the present invention provides a multi-degree-of-freedom binding assembly, including a connector 5, a dual-degree-of-freedom hinge mechanism and a binding mechanism, wherein the connector 5 is used to connect to the thigh or calf of a lower limb exoskeleton robot;

[0035] The dual-degree-of-freedom hinge mechanism includes a connecting block mechanism 7, a retraction and expansion axis 8, and a rotation axis 703. The binding mechanism and the connecting block mechanism 7 are rotationally connected via the retraction and expansion axis 8, so that the binding mechanism can rotate around the axis of the retraction and expansion axis 8; the connecting member 5 and the connecting block mechanism 7 are rotationally connected via the rotation axis 703, so that the connecting block mechanism 7 can rotate around the axis of the rotation axis 703;

[0036] The axis of the rotating shaft 703 is perpendicular to the connecting member 5 , and the axis of the retracting and extending shaft 8 is perpendicular to the axis of the rotating shaft 703 .

[0037] In this embodiment, connector 5 is fixedly mounted to the thigh or calf of the lower limb exoskeleton robot. Connector 5 and connecting block mechanism 7 are rotatably connected via rotational axis 703, allowing connecting block mechanism 7 to rotate about the axis of rotational axis 703. Connecting block mechanism 7 is also rotatably connected to the binding mechanism via retraction and expansion axis 8, allowing the binding mechanism to rotate about the axis of retraction and expansion axis 8. This provides the binding mechanism with two rotational degrees of freedom. While retaining a certain degree of rigidity, the binding assembly enhances the flexibility between the human limb and the exoskeleton, improving wearer comfort, enhancing human-machine coordination, and reducing joint pressure and skin friction.

[0038] As a preferred embodiment, the dual-freedom hinge mechanism includes a fixing screw 6 and a connecting plate 4 fixed on the binding mechanism, and a connecting block mechanism 7 as shown in FIG. Figure 6 As shown, it comprises a connected stop plate 702 and a mounting block 701. The stop plate 702 is a rectangular plate, and a rotation shaft 703 is fixed to the side of the stop plate 702 facing away from the mounting block 701. That is, the rotation shaft 703, the stop plate 702, and the mounting block 701 are sequentially connected, with the axis of the rotation shaft 703 perpendicular to the stop plate 702. The mounting block 701 has an axial hole for the retractable shaft 8 to pass through, with the axis of the hole perpendicular to the axis of the rotation shaft 703. The retractable shaft 8 is fixedly mounted on the connecting plate 4 and rotatably mounted within the axial hole of the mounting block 701.

[0039] like Figure 6 As shown, the connecting member 5 includes a connecting shell, the side of the connecting shell away from the connecting block mechanism 7 has an opening, the opening is connected to the inner shell cavity of the connecting shell, and the side of the connecting shell facing the connecting block mechanism 7 is provided with a circular hole for the rotation shaft 703 to pass through. Figure 3 and Figure 6 As shown, an internal threaded hole is opened on the rotating shaft 703 along its axial direction, and the end of the rotating shaft 703 away from the limiting plate 702 passes through the circular hole of the connecting shell and enters the shell cavity, and the fixing screw 6 is screwed with the internal threaded hole of the rotating shaft 703, and the fixing screw 6 is located in the shell cavity, and the diameter of the screw head of the fixing screw 6 is larger than the diameter of the circular hole.

[0040] When installing the binding mechanism, first pass the end of the rotating shaft 703 away from the limiting plate 702 through the circular hole of the connecting shell and into the shell cavity, then screw the fixing screw 6 into the threaded hole of the rotating shaft 703. Since the fixing screw 6 cannot pass through the circular hole of the connecting shell, the connecting block mechanism 7 is installed on the connecting shell. Further, pass the retraction and expansion shaft 8 through the axial hole of the mounting block 701, and finally install the retraction and expansion shaft 8 on the connecting plate 4. In this way, the binding mechanism can rotate around the axis of the retraction and expansion shaft 8, and at the same time, the binding mechanism and the connecting block mechanism 7 can also rotate together around the axis of the rotating shaft 703, so that the binding mechanism has two rotational degrees of freedom, thereby improving the flexibility between the limb and the exoskeleton, improving the wearing comfort, and enhancing the human-machine coordination.

[0041] As a preferred embodiment, Figure 3 and Figure 6 As shown, a sleeve 501 is provided on the inner wall of the connecting housing. Sleeve 501 is coaxially arranged with the circular hole in the connecting housing. The inner diameter of sleeve 501 is larger than the outer diameter of rotating shaft 703, and the diameter of the screw head of fixing screw 6 is larger than the inner diameter of sleeve 501. Thus, the end of rotating shaft 703 away from stop plate 702 passes through the circular hole in the connecting housing and enters the interior of sleeve 501. Fixing screw 6 is then screwed into the threaded hole of rotating shaft 703, with the screw head of fixing screw 6 contacting the end surface of sleeve 501. Fixing screw 6 is blocked by sleeve 501, preventing the connecting block mechanism 7 from being separated from the connecting housing.

[0042] In this embodiment, if Figure 6 As shown, the limit plate 702 is arranged horizontally, and an arc groove 704 is provided on its left and right sides respectively. Two limit posts 9 are fixedly installed on the end face of the connecting shell facing the connecting block mechanism 7. The limit posts 9 play the role of limiting the rotation range of the limit plate 702. That is, the binding mechanism can only rotate within a small range around the axis of the rotating shaft 703, so as to ensure that the binding mechanism has flexibility and is in a reasonable position. That is to ensure that the wearing opening of the binding mechanism is always facing upwards (such as Figure 1 The state shown in the figure) allows people to wear it without the wearing opening of the binding mechanism rotating to the side.

[0043] It should be noted that if Figure 6 As shown, a mounting hole 502 is provided at each of the four corners of the connecting shell of the connecting member 5. The mounting hole 502 is used to cooperate with a screw or screws to be installed on the thigh rod or calf rod of the lower limb exoskeleton robot.

[0044] In this embodiment, the binding mechanism includes a plastic binding member 1 and a binding lining 2. Considering that the binding lining 2 is typically glued to the plastic binding member 1, it cannot be easily replaced later, and thus cannot be customized to suit different limbs. In this embodiment, the binding plastic member 1 and the binding lining 2 are detachably connected, allowing for subsequent replacement of the binding lining 2.

[0045] Preferably, Figure 4 and Figure 5 As shown, there is a lining mounting hole in the middle position and on both sides of the binding plastic part 1. For the convenience of description, the lining mounting hole in the middle position of the binding plastic part 1 is named the second lining mounting hole 102, and the two lining mounting holes on both sides of the binding plastic part 1 are named the first lining mounting holes 101. Figure 7 As shown, the binding liner 2 is entirely made of rubber, with a second liner protrusion 202 in the middle of its outer side and a first liner protrusion 201 on each side of the outer side. The first liner protrusion 201 cooperates with the first liner mounting hole 101 on the binding plastic part 1, and the second liner protrusion 202 cooperates with the second liner mounting hole 102 in the middle of the binding plastic part 1. In other words, the cross-sectional profile of the liner mounting hole and the profile of the liner protrusion are identical.

[0046] It should be noted that the first lining protrusion block 201 and the second lining protrusion block 202 are both made of rubber, and the volume of the three lining protrusion blocks is slightly larger than the volume of the lining mounting hole.

[0047] To install the binding liner 2, simply insert the lining protrusions into the corresponding lining mounting holes. To remove, simply pull the lining protrusions out of the corresponding lining mounting holes. Both installation and removal are very convenient. The binding liner 2 can then be customized to suit different limbs and then mounted onto the binding plastic component 1. Because the customized binding liner 2 is more user-friendly, it ensures user comfort and improves the exoskeleton's adaptability to human gait and movements.

[0048] As a preferred embodiment, Figure 7 As shown, the lining protrusion block is composed of a block body and a surrounding edge, and the first end of the block body is connected to the outer side surface of the binding lining 2. There is no specific limitation on the shape of the block body, for example, it can be a rectangular block, a cylindrical block, a polygonal prism block, etc. The surrounding edge is provided on the edge of the second end of the block body. In this way, when installing the binding lining 2, the lining protrusion block on the binding lining 2 is inserted into and passed through the corresponding lining installation hole, and the surrounding edge of the lining protrusion block plays a limiting role, thereby improving the connection stability between the binding lining 2 and the binding plastic part 1 and preventing the binding lining 2 from being separated from the binding plastic part 1.

[0049] Therefore, the binding lining 2 and the binding plastic part 1 adopt a modular interface design, which is convenient for installation and disassembly.

[0050] Exemplarily, the binding lining 2 and the lining protrusion block are integrally formed and are both made of rubber.

[0051] For example, Figure 7 As shown, a plurality of weight-reducing holes 203 are evenly opened at both ends of the binding liner 2 to reduce the weight of the binding liner 2 and save costs.

[0052] For example, Figure 5 As shown, the connecting plate 4 is fixedly installed at the middle position of the outer side surface of the binding plastic component 1 by a plurality of fixing bolts 10 .

[0053] As a preferred embodiment, Figure 5 As shown, the connecting plate 4 includes a plate body. Protruding seats for mounting the retracting and extending shaft 8 are provided on the left and right sides of the middle of the plate body. Axis holes are provided in the two protruding seats. A vertical strip hole is provided in the middle of the plate body to provide clearance for the mounting block 701. Holes for mounting bolts 10 are provided at the four corners of the plate body.

[0054] In this embodiment, if Figure 1 As shown, the multi-degree-of-freedom binding assembly further includes a strap 3, which is an elastic band. The strap 3 is tightened on the outer surface of the binding plastic part 1 and the binding lining 2 to further improve the fit between the binding assembly and the human limbs.

[0055] like Figure 5 As shown, two connecting ears are integrally formed on the left and right sides of the connecting plate 4, and a strap connecting hole 401 is opened on the connecting ear along the vertical direction. Figure 1 As shown, when installing the strap 3, wrap the strap 3 around the outer surface of the binding plastic part 1 and the binding lining 2 and adjust the tightness, and finally insert and fix the end of the strap 3 into the strap connection hole 401 of the connecting ear.

[0056] Example 2:

[0057] The second embodiment of the present invention provides a lower limb exoskeleton robot. The multi-degree-of-freedom binding assembly of the first embodiment is mounted on the inner sides of the thigh and shank rods of the lower limb exoskeleton robot. Specifically, the connecting housing of the multi-degree-of-freedom binding assembly of the first embodiment is secured to the thigh and shank rods using bolts.

[0058] Since the multi-degree-of-freedom binding assembly in Example 1 is installed, and the multi-degree-of-freedom binding assembly uses a dual-degree-of-freedom hinge mechanism designed at the connection between the binding and the connecting member 5, the binding assembly improves the flexibility between the limb and the exoskeleton while retaining a certain degree of binding rigidity, thereby improving wearing comfort, enhancing human-machine coordination, and reducing joint pressure and skin friction.

[0059] Secondly, a modular binding lining 2 structure that is easy to disassemble is designed, which can be customized according to the wearer's limb contours. While ensuring the user's wearing comfort, the exoskeleton improves its adaptability to human gait and movement.

[0060] In the description of this utility model, it should be noted that the terms "upper" and "lower" and other terms indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom binding assembly, characterized in that: It comprises a connecting piece (5), a two-degree-of-freedom hinge mechanism and a binding mechanism, wherein the connecting piece (5) is used to be connected to the thigh or calf of a lower limb exoskeleton robot; The dual-freedom hinge mechanism comprises a connecting block mechanism (7), a retractable shaft (8) and a rotational shaft (703); the binding mechanism and the connecting block mechanism (7) are rotationally connected via the retractable shaft (8), so that the binding mechanism can rotate around the axis of the retractable shaft (8); the connecting member (5) and the connecting block mechanism (7) are rotationally connected via the rotational shaft (703), so that the connecting block mechanism (7) can rotate around the axis of the rotational shaft (703); The axis of the rotating shaft (703) is perpendicular to the connecting member (5), and the axis of the retracting and expanding shaft (8) is perpendicular to the axis of the rotating shaft (703).

2. A multi-degree-of-freedom binding assembly according to claim 1, characterized in that: The dual-freedom hinge mechanism comprises a connecting plate (4) and a fixing screw (6) fixed to the binding mechanism; the connecting block mechanism (7) comprises a limit plate (702) and a mounting block (701) connected to each other; the rotating shaft (703) is fixed to a side of the limit plate (702) away from the mounting block (701); the mounting block (701) and the connecting plate (4) are rotatably connected via the retraction and expansion shaft (8); the connecting member (5) comprises a connecting shell, a shell cavity is formed inside the connecting shell, and a circular hole for the rotating shaft (703) to pass through is provided on the connecting shell; An internal threaded hole is provided on the rotating shaft (703) along its axial direction. The end of the rotating shaft (703) away from the limiting plate (702) passes through the circular hole of the connecting shell and enters the shell cavity. The fixing screw (6) is screwed to the internal threaded hole of the rotating shaft (703), and the fixing screw (6) is located in the shell cavity. The diameter of the screw head of the fixing screw (6) is larger than the diameter of the circular hole.

3. A multi-degree-of-freedom binding assembly according to claim 2, characterized in that: The inner wall of the connecting shell is provided with a sleeve (501) coaxial with the circular hole, the inner diameter of the sleeve (501) is larger than the outer diameter of the rotating shaft (703), and the diameter of the screw head of the fixing screw (6) is larger than the inner diameter of the sleeve (501).

4. A multi-degree-of-freedom binding assembly according to claim 3, characterized in that: At least one arc-shaped groove (704) is respectively provided on both sides of the limiting plate (702), and a limiting column (9) corresponding to the arc-shaped groove (704) is installed on the outer surface of the connecting shell, and one end of the limiting column (9) extends into the corresponding arc-shaped groove (704) to limit the rotation range of the limiting plate (702).

5. The multi-degree-of-freedom binding assembly according to claim 2, characterized in that: The binding mechanism comprises a binding plastic part (1) and a binding lining (2), and the binding plastic part (1) and the binding lining (2) are detachably connected.

6. A multi-degree-of-freedom binding assembly according to claim 5, characterized in that: The binding plastic part (1) is provided with at least one lining mounting hole along its length direction, and the outer surface of the binding lining (2) is provided with at least one lining protrusion block corresponding to the lining mounting hole one by one, and the lining protrusion block is an elastic block.

7. A multi-degree-of-freedom binding assembly according to claim 6, characterized in that: The lining raised block comprises a connected block body and a surrounding edge, wherein a first end of the block body is connected to the binding lining (2), and the surrounding edge is arranged at the edge of the second end of the block body.

8. The multi-degree-of-freedom binding assembly according to claim 2, characterized in that: The binding mechanism further comprises an elastic binding belt (3), and binding belt connection holes (401) for connecting to the binding belt (3) are respectively provided on both sides of the connecting plate (4).

9. The multi-degree-of-freedom binding assembly according to claim 6, characterized in that: The outer side surface of the binding lining (2) is provided with a plurality of lining protrusion blocks, and the plurality of lining protrusion blocks are arranged in sequence around the length direction of the binding lining (2), and the binding plastic part (1) is provided with a plurality of lining installation holes along its length direction.

10. A lower limb exoskeleton robot, characterized in that: A multi-degree-of-freedom binding assembly comprising any one of claims 1-9.

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