Wire-driven hip joint exoskeleton robot

Abstract

Provided is a wire-driven hip exoskeleton robot that is easy to use and has excellent flexibility. 【Solution means】 The drive mechanism includes a support frame 210, a drive motor, a speed reduction unit 230, a wire drive unit 240, and an output unit. One end of the support frame is connected to one end of the back body mechanism, and the other end of the support frame is connected to the leg transmission mechanism 300. The wire drive unit includes a wire and a plurality of guide wheels, and the guide wheels are uniformly installed along the extending direction of the support frame. For the connection between the output unit 250 and the leg transmission mechanism, the wire is wound between the speed reduction unit, the guide wheels, and the output unit. The drive end of the drive motor is connected to the speed reduction unit. The drive motor drives the speed reduction unit to rotate the wire winding speed reduction unit, the guide wheels, and the output unit, and is arranged to drive the output unit to drive the leg transmission mechanism to generate an assisting torque.

Description

[Technical field]

[0001] The present application relates to the field of industrial automation technology, and in particular to a wire-driven hip exoskeleton robot. [Background technology]

[0002] Since the development of exoskeleton robots began in the 1960s, the applications of exoskeleton robots have expanded. Fields have switched from the military sector to the civilian market, often with medical and industrial production as their primary objectives. Currently, robots are used as auxiliary tools to help workers carry out manufacturing and transportation tasks. Research and development is being carried out in the direction of stronger load capacity, greater controllability and flexibility. Among related technologies, exoskeleton robots include upper limb exoskeleton robots and lower limb exoskeleton robots, The hip joint exoskeleton robot is an example of a limb exoskeleton robot. The transmission system usually adopts a direct gear or coaxial reduction type. However, in order to adopt the direct gear drive system, many gears are required, and the coaxial reduction system The adoption of a heavy coaxial reducer makes it difficult to reduce the overall structure of the hip joint exoskeleton robot. It is large, heavy, and has poor flexibility. Summary of the Invention

[0003] The embodiment of the present application provides a wire-driven hip joint exoskeleton robot, and is different from the hip joint exoskeleton robot in the related art. This solves the technical problem that the overall structure of a skeletal robot is large, heavy, and has poor flexibility. An embodiment of the present application provides a wire-driven hip joint exoskeleton robot, which includes: a back body mechanism; , drive mechanism and leg transmission mechanism, The back body mechanism and the human back structure are compatible with each other; The drive mechanism consists of a support frame, a drive motor, a reduction unit, a wire transmission unit and an output unit. It includes a bracket, one end of the support frame is connected to one end of the back body mechanism, and the other end of the support frame is connected to the leg transmission mechanism. The support frame and the human leg structure are compatible with each other, and the drive mo tor, the reduction unit, the wire transmission unit, and the output unit are sequentially installed on the support frame along the extending direction of the support frame. The wire transmission unit includes a wire and a plurality of guide wheels, and the guide wheels are uniformly installed along the extending direction of the support frame. For the connection between the output unit and the leg transmission mechanism, the wire is wound between the reduction unit, the guide wheels, and the output unit. The drive end of the drive motor is connected to the reduction unit, and the drive motor drives the reduction unit to rotate the wire winding reduction unit, the guide wheels, and the output unit, and drives the output unit to drive the leg transmission mechanism to generate an assisting torque. It is arranged like this. In an executable embodiment, the plurality of guide wheels include a first guide wheel group and a second guide wheel group. The first guide wheel group and the second guide wheel group are installed in parallel, and the guide wire arranged in the first guide wheel group is transmitted to the output unit through the first guide wheel group by the reduction unit. The second guide wheel group is configured as a guide wire driven by the output unit through the second guide wheel group to drive the reduction unit. In an executable embodiment, the first guide wheel group includes a first guide wheel and a second guide wheel provided on the output unit side. A first guide space is defined between the first guide wheel and the second guide wheel, and the wire is transmitted to the output unit along the first guide space. The second guide wheel group includes a third guide wheel and a fourth guide wheel provided on the side of the output unit. A second guide space is defined between the third guide wheel and the fourth guide wheel, and the wire is transmitted from the output unit to the speed reduction unit along the second guide space. In an executable embodiment, the speed reduction unit includes a drive motor and a first gear that mesh with each other to rotationally drive the first gear. The second gear meshes with the first gear and the third gear respectively. Here, the diameter of the second gear is smaller than that of the first gear and smaller than that of the third gear. A reel is provided on the output shaft of the third gear, and the wire is wound around the reel. In an executable embodiment, the output unit includes an output disk and a mounting flange. The output disk is rotatably installed at one end of the back body mechanism of the support frame, and a wire is arranged around the output disk to drive the output disk. A mounting flange is provided on the central axis of the output disk. One side of the mounting flange is attached to the output disk, and the other side of the mounting flange is connected to the leg transmission mechanism. In an executable implementation, the back body mechanism includes a mounting seat and a support structure. The mounting seat and the human back structure are adapted to each other. One end of the mounting seat is connected to the support frame, and the support structure is installed on the mounting seat and extends from the mounting seat to the support frame. In an executable implementation, the back body mechanism further installs a back fixing soft pack. The back fixing soft pack is installed on the side of the back support structure of the mounting seat, and the back fixing soft pack installs a strap. In an executable implementation, the leg transmission mechanism includes a leg force conduction unit, a leg fixing plate, the connection of one end of the leg force conduction unit to the output unit, and the connection of the other end of the leg force conduction unit to the leg fixing plate. The output unit drives the leg fixing plate through the leg force conduction unit to generate an assist moment. The embodiment of the present application provides a wire-driven hip exoskeleton robot. The embodiment of the present application installs a back body mechanism, so that the back body mechanism and the human back structure are compatible with each other. Therefore, the user can easily carry the exoskeleton robot through the back body mechanism. The embodiment of the present application installs a wire transmission unit, and the wire transmission unit includes a wire and a plurality of guide wheels. Through wire transmission and guide wheel guidance, the force of the drive motor is transmitted to the leg transmission mechanism to drive the leg transmission mechanism to generate torque. Compared with the related art, the structure adopted by the embodiment of the present application is relatively compact, the weight of the wire and the guide wheel is relatively light, and the flexibility is relatively good. The embodiment of the present application provides an exoskeleton robot that is easy to use and has excellent flexibility.

Brief Description of the Drawings

[0004] The drawings described here are for providing a further understanding of the present application, which constitutes a part of the present application. The exemplary embodiments of the present application and their descriptions are for interpreting the present application and do not constitute an undue limitation to the present application. Drawings:

Figure 1

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Figure 9

[0005] Description of reference numerals: 100 - Back body mechanism, 200 - Drive mechanism, 300 - Leg drive mechanism, 110 - Mounting seat, 120 - Support structure, 130 - Back fixing soft pack, 131 - Stra p, 210 - Support frame, 220 - Drive motor, 230 - Reduction unit, 231 - First gear wheel, 232 - Second gear, 233 - Third gear, 234 - Reel, 240 - Wire drive unit 、241 - Wire, 242 - First guide wheel group, 242a - First guide wheel, 24 2b - Second guide wheel, 243 - Second guide wheel group, 243a - Third guide wheel l, 243b - Fourth guide wheel, 250 - Output component, 251 - Output disk 、252 - Flange attachment, 310 - Leg force conduction unit, 320 - Foot fixing plate 。

Best Mode for Carrying Out the Invention

[0006] In order for those skilled in the art to better understand the technical aspects of the present application, the following will clearly and completely describe the technical aspects in the embodiments of the present application in relation to the drawings in the embodiments of the present application. However, the described embodiments are only a part of the embodiments of the present application and not all of the embodiments. It is obvious. Based on the embodiments in this application, on the premise that those skilled in the art have not carried out creative work All other embodiments obtained shall fall within the protection scope of this application. In addition, in the following description, many specific details for fully understanding this application will be described. However, This application can also be implemented in other ways different from those described in this specification. Therefore, the protection scope of this application is not limited to the specific embodiments disclosed below. Since the exoskeleton robot began to be developed in the 1960s until now, the application fields of the exoskeleton robot have shifted from the military field to the civilian market, and mainly aim at medical treatment and industrial production. The exoskeleton robot is currently an auxiliary tool to assist in the manufacturing of workers' loads and the execution of transportation tasks. It is being researched and developed in the direction of stronger load capacity, higher control force and flexibility performance. In related technologies, the exoskeleton robot includes an upper limb exoskeleton robot and a lower limb exoskeleton robot. Among the lower limb exoskeleton robots, the hip joint exoskeleton robot is an example. The power transmission system of the hip joint exoskeleton robot usually adopts a direct gear connection or a coaxial reduction form. However, to adopt the direct gear connection form, many gears need to be adopted. To adopt the coaxial reduction form, a heavy coaxial reducer needs to be adopted, resulting in a large and heavy overall structure and poor flexibility of the hip joint exoskeleton robot. Therefore, the embodiments of this application provide a wire-driven hip joint exoskeleton robot to solve the technical problem that the overall structure of the hip joint exoskeleton robot in related technologies is large and heavy and has poor flexibility. Therefore, in order to solve the technical problem that the overall structure of the hip joint exoskeleton robot in related technologies is large and heavy and has poor flexibility, the embodiments of this application provide a wire-driven hip joint exoskeleton robot. FIG. 1 is a front view of a wire-driven hip joint exoskeleton robot provided according to an embodiment of this application. FIG. 2 is a rear view of a wire-driven hip joint exoskeleton robot provided according to an embodiment of this application. FIG. 1 is a front view of a wire-driven hip joint exoskeleton robot provided according to an embodiment of this application. FIG. 2 is a rear view of a wire-driven hip joint exoskeleton robot provided according to an embodiment of this application. That is. Figure 3 is a side view of a wire-driven hip exoskeleton robot provided by an embodiment of the present application. Figure 4 is a plan view of a wire-driven hip exoskeleton robot provided by an embodiment of the present application. Figure 5 is a schematic structural view 1 of a wire-driven hip exoskeleton robot provided by an embodiment of the present application. Figure 6 is a schematic structural view 2 of a wire-driven hip exoskeleton robot provided by an embodiment of the present application. The embodiments of the present application provide a wire-driven hip exoskeleton robot. Referring to FIGS. 1 to 6, a back body mechanism 100, a drive mechanism 200, and a leg transmission mechanism 300. The back body mechanism 100 is adapted to the human back structure. The drive mechanism 200 includes a support frame 210, a drive motor 220, a speed reduction unit 230, a wire transmission unit 240, and an output unit 250. One end of the support frame 210 is connected to one end of the back body mechanism 100, and the other end of the support frame 210 is connected to the leg transmission mechanism 300. The support frame 210 is adapted to the human leg structure. The drive motor 220, the speed reduction unit 230, the wire transmission unit 240, and the output unit 250 are sequentially installed on the support frame 210 along the extending direction of the support frame 210. The wire transmission unit 240 is uniformly arranged along the extending direction of the support frame 210. The wire 241, The output unit 250 and the leg transmission mechanism 300 are such that the wire 241 is wound around the speed reduction unit 230, the guide wheel, and the output unit 250. The drive end of the drive motor 220 is connected to the speed reduction unit 230. The drive motor 220 drives the speed reduction unit 230 to rotate the wire 2 41 around the speed reduction unit 230, the guide wheel, and the output unit 250. The output unit 250 is driven to drive the leg transmission mechanism 300 to generate an assisting moment. It is configured to do so. For example, the drive motor 220 can be set as a servo motor. Specifically, the user can wear the exoskeleton robot on the back through the back body mechanism 100. Thereby, when the drive motor 220 drives the speed reduction unit 230 to rotate the wire 241 around the speed reduction unit 230, the guide wheel, and the output unit 250, the output unit 250 is driven to drive the leg drive mechanism 300 to generate a moment, thereby further promoting the activity of the user's leg structure. From the above description, it can be seen that the present invention realizes the following technical effects: The embodiment of the present application provides that the wire 241 drives the hip joint exoskeleton robot. The embodiment of the present application, by installing the back body mechanism 100, enables the back body mechanism 100 and the human back structure to be mutually adapted. Therefore, it can facilitate the user to carry the exoskeleton robot through the back body mechanism 100. The embodiment of the present application, by installing the wire transmission unit 240, the wire transmission unit 240 includes the wire 241 and a plurality of guide wheels. Through the wire 241 transmission and the guide wheel guidance, the force of the drive motor 220 is transmitted to the leg transmission mechanism 300, driving the leg transmission mechanism 300 to generate a force moment. Compared with the related art, whether gears are directly connected or the coaxial speed reducer method is adopted, the structure adopted by the embodiment of the present application is relatively compact. The weights of the wire 241 and the guide wheel are relatively light, and the flexibility is relatively good. According to the embodiment of the present application, an exoskeleton robot that is easy to use and has excellent flexibility is provided. It is a partial enlarged schematic diagram 1 of the drive mechanism in FIG. 1. The partial enlarged schematic of the drive mechanism in FIG. 1 It is FIG. 2. It is a partial configuration enlarged schematic diagram in FIG. 7. In some examples, referring to FIGS. 7-9, the plurality of guide wheels include a first guide wheel group 242 and a second guide wheel group 243, and the first guide wheel group 242 and the second guide wheel group 243 are arranged in parallel, The guide wire 241 arranged by the first guide wheel group 242 is driven by the reduction unit 230 through the first guide wheel group 242 to the output unit 250, The second guide wheel group 243 is configured as the guide wire 241 transmitted from the output unit 250 through the second guide wheel group 243 to the reduction unit 230. Note that both the first guide wheel group 242 and the second guide wheel group 243 are provided with a plurality of guide wheels. In the embodiment of the present application, due to the installation of the first guide wheel group 242, the guide wire 241 can be transmitted by the reduction unit 230 through a plurality of guide wheels of the first guide wheel group 242 to the output unit 250. In the embodiment of the present application, due to the installation of the second guide wheel group 243, the guide wire 241 can be transmitted by the output unit 250 through a plurality of guide wheels of the second guide wheel group 243 to the reduction unit 230. The embodiment of the present application can guide the wire 241 due to the installation of the first guide wheel group 242 and the second guide wheel group 243. Exemplarily, the first guide wheel group 242 includes a first guide wheel 242a and a second guide wheel 242b arranged on the side of the output unit 250. The first guide wheel 2 ​​Between the 42a and the second guide wheel 242b, a first guide space for transmitting to the output unit 250 along the first guide space is defined, and the wire 241 is along the first guide space transmitted to the output unit 250. The second guide wheel group 243 includes a third guide wheel 243a and a fourth guide wheel 243b provided on the side of the output unit 250. A second guide space is defined between the third guide wheel 243a and the fourth guide wheel 243b, and the wire 241 is transmitted by the output unit 250 to the reduction unit 230 along the second guide space. In the embodiment of the present application, due to the arrangement of the first guide wheel 242a and the second guide wheel 242b, a first guide space is formed between the first guide wheel 242a and the second guide wheel 242b, so that the wire 241 can be output to the output unit 250 along the first guide space, defining the transmission direction of the wire 241 and preventing the wire 241 from being output to the output unit 250. Similarly, in the embodiment of the present application, due to the arrangement of the third guide wheel 243a and the fourth guide wheel 243b, a second guide space is defined to be formed between the third guide wheel 243a and the fourth guide wheel 243b, and the wire 241 of the output unit 250 can be output to other guide wheels along the second guide space and finally output to the reduction unit 230, thereby defining the transmission direction of the wire 241 by the installation of the second guide space. Between the third guide wheel 243a and the fourth guide wheel 243b, a second guide space is defined, and the wire 241 is transmitted by the output unit 250 to the reduction unit 230 along the second guide space. In other examples, the reduction unit 230 includes a drive motor 220 and a first gear 231 that mesh with each other to rotationally drive the first gear 231, a second gear 232, the first gear 231, and a third gear 2. The embodiment of the present application, by the arrangement of the first guide wheel 242a and the second guide wheel 242b, forms a first guide space between the first guide wheel 242a and the second guide wheel 242b, so that the wire 241 can be output to the output unit 250 along the first guide space, defining the transmission direction of the wire 241 and preventing the wire 241 from being output to the output unit 250. Along the first guide space, the wire 241 can be output to the output unit 250, defining the transmission direction of the wire 241 and preventing the wire 241 from being output to the output unit 250. The transmission direction of the wire 241 can be defined, and the wire 241 can be prevented from being output to the output unit 250. Similarly, in the embodiment of the present application, By arranging the third guide wheel 243a and the fourth guide wheel 243b, a second guide space is formed between the third guide wheel 243a and the fourth guide wheel 243b, and the wire 241 of the output unit 250 can be output to other guide wheels along the second guide space and finally output to the reduction unit 230, thereby defining the transmission direction of the wire 241 by the installation of the second guide space. In the embodiment of the present application, due to the arrangement of the third guide wheel 243a and the fourth guide wheel 243b, a second guide space is formed between the third guide wheel 243a and the fourth guide wheel 243b, so that the wire 241 of the output unit 250 can be output to other guide wheels along the second guide space and finally output to the reduction unit 230, and thereby, the transmission direction of the wire 241 can be defined by the installation of the second guide space. In other examples, the reduction unit 230 includes a drive motor 220 and a first gear 231 that mesh with each other to rotationally drive the first gear 231, a second gear 232, the first gear 231, and a third gear 2. . In other examples, the reduction unit 230 includes a drive motor 220 and a first gear 231 that mesh with each other to rotationally drive the first gear 231, a second gear 232, the first gear 231, and a third gear 2. In other examples, the reduction unit 230 includes a drive motor 220 and a first gear 231 that mesh with each other to rotationally drive the first gear 231, a second gear 232, the first gear 231, and a third gear 2. A first gear 231 that meshes with 33, where the diameter of the second gear 232 is smaller than the diameter of the first gear 2 31 and smaller than the diameter of the third gear 233, A reel 234 is provided on the output shaft of the third gear 233, and the wire 241 is arranged around the circumference of the reel 234. In the embodiment of the present application, in order to facilitate the rotation of the stable drive output unit 250 of the wire 241 the diameter of the second gear 232 is made smaller than the diameter of the first gear 231 and smaller than the diameter of the third gear 233, so that the rotation speed of the drive motor 220 can be decelerated thereby driving the leg transmission mechanism 300 more stably and further enhancing the stability of the exoskeleton robot. In some examples, the output unit 250 includes an output disk 251 and a mounting flange 252, and in order to drive the output disk 251 to rotate the output disk 251 to drive the output disk 251, the rotation of the output disk 251 arranged at one end of the back body mechanism 100 of the support frame 210 is rotated, A mounting flange 252 is provided on the central axis of the output disk 251, and one side of the mounting flange 252 is attached to the output disk 251, and the other side of the mounting flange 252 is connected to the leg transmission mechanism 300. In the embodiment of the present application, due to the installation of the output disk 251, the wire 241 is installed around the circumference of the output disk 251 and the output disk 251 can be rotated. In the embodiment of the present application, due to the installation of the mounting flange 252, the mounting flange 252 and the leg transmission mechanism 300 are connected, so that the output disk 251 can be rotated through the wire 241. The output disk 2 51 rotates the mounting flange 252 and further drives the leg transmission mechanism 300 to generate a moment 51 rotates the mounting flange 252 and further drives the leg transmission mechanism 300 to generate a moment It is possible to generate For example, the back body mechanism 100 includes a mounting seat 110, and the mounting seat 110 and the human back structure are adapted to each other, one end of the mounting seat 110 is installed on the mounting seat 110, and a support structure 120 extending from the mounting seat 110 to the support frame 21 0 is included. In the embodiment of the present application, by installing the mounting seat 110, the mounting seat 110 and the human back structure are adapted to each other and it becomes easy to wear the exoskeleton robot. In the embodiment of the present application, by installing the support structure 120 it plays a role in supporting the mounting seat 110 and the support frame 210. Also, for example, on the back body mechanism 100, a back fixing soft pack 130 provided on the side facing away from the support structure 120 of the mounting seat 110 is provided, and a strap 131 is provided on the back fixing soft pack 130. In the embodiment of the present application, by installing the soft pack 130 for back fixing, the material of the soft pack 130 for back fixing is relatively soft, and when it is attached to the user's back, it can bring a good experience to the user. Also, a strap 131 is provided on the back fixing bag 130, and the wearing of the exoskeleton robot can be realized by the strap 131 and the wearing of the exoskeleton robot can be made easier. In some other embodiments, the leg transmission mechanism 300 includes a leg force conduction unit 310 and a leg fixing plate 320, one end of the leg force conduction unit 310 is connected to the output unit 250, and the other end of the leg force conduction unit 310 is connected to the leg fixing plate 320. The output unit 250 drives the leg fixing plate 320 through the leg force conduction unit 310 to generate an assist moment. In the embodiment of the present application, the output unit 250 drives the leg fixing plate 320 through the leg force conduction unit 310 to generate an assist moment. In the embodiment of the present application, the output unit 250 drives the leg fixing plate 320 through the leg force conduction unit 310 to generate an assist moment. Move the rate 320 to generate an assisting moment and further move the user's leg movement The leg can be fixed by installing the leg force conduction unit 310 and the leg fixing plate 320 to achieve this. Based on several embodiments provided by the present application, those skilled in the art can combine, split , reorganize, etc. to obtain other embodiments, and it is easy to understand that none of these embodiments exceed the protection scope of the present application. The above specific embodiments further elaborate on the objectives, technical solutions, and beneficial effects of the embodiments of the present application in more detail. However, the above are only specific embodiments of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Based on the technical solutions of the embodiments of the present application, any modifications, equivalent substitutions, improvements, etc. should be understood to be included within the protection scope of the embodiments of the present application. It should be understood.

Claims

1. A wire-driven hip exoskeleton robot, including a back body mechanism 100, a drive mechanism 200, and a leg transmission mechanism 300, wherein the back body mechanism 100 is adapted to the human back structure, the drive mechanism 200 includes a support frame 210, a drive motor 220, a speed reduction unit 230, a wire drive unit 240, and an output unit 250, one end of the support frame 210 is connected to one end of the back body mechanism 100, the other end of the support frame 210 is connected to the leg transmission mechanism 300, the support frame 210 is adapted to the human leg structure, and the drive motor 220, the speed reduction unit 2 30, the wire transmission unit 240, and the output unit 250 are sequentially installed on the support frame 210 along the extending direction of the support frame 210, the wire transmission unit 240 includes a wire 241 and a plurality of guide wheels, and the guide wheels are uniformly installed along the extending direction of the support frame 210, the output unit 250 is connected to the leg transmission mechanism 300, the wire 241 is arranged between the speed reduction unit 230, the guide wheels, and the output unit 250, and is installed, the drive end of the drive motor 220 is connected to the speed reduction unit 230, the drive motor 220 is configured to drive the speed reduction unit 230 to rotate the wire 241 around the speed reduction unit 230, the guide wheels, and the output unit 250, drive the output unit 250 to drive the leg transmission mechanism 300 to generate an assisting torque, a wire-driven hip exoskeleton robot.

2. The wire-driven hip exoskeleton robot according to Claim 1, wherein the plurality of guide wheels include a first guide wheel group 242 and a second guide wheel group 243, and are included, the first guide wheel group 242 and the second guide wheel group 243 are provided in parallel, the guide wire 241 on which the first guide wheel group 242 is arranged is transmitted to the output unit 250 through the first guide wheel group 242 by the speed reduction unit 230, and is transmitted, the second guide wheel group 243 is arranged as a guide wire 241 that drives the speed reduction unit 230 through the second guide wheel group 24 3 by the output unit 250, a wire-driven hip exoskeleton robot.

3. The wire-driven hip exoskeleton robot according to Claim 2, wherein the first guide wheel group 242 includes a first guide wheel 242a and a second guide wheel 242b provided on the output unit 250 side, and are included, A first guide space is defined between the first guide wheel 242a and the second guide wheel 242b, specified, and the wire 241 is transmitted to the output unit 250 along the first guide space, The second guide wheel group 243 is provided on the output unit 250 side and includes a third guide wheel 2 43a and a fourth guide wheel 243b, A second guide space is defined between the third guide wheel 243a and the fourth guide wheel 243b, specified, and the wire 241 is transmitted from the output unit 250 to the speed reduction unit 230 along the second guide space, transmitted, A wire-driven hip exoskeleton robot.

4. The wire-driven hip exoskeleton robot according to claim 1, wherein the speed reduction unit 230 includes a first gear 231, a second gear 232, and a third gear 233, including, the drive motor 220 and the first gear 231 rotationally drive the first gear 231 that meshes with each other, the second gear 232, the first gear 231, and the third gear 233 mesh with each other respectively, the diameter of the second gear 232 is smaller than the diameter of the first gear 231 and smaller than the diameter of the third gear 233, smaller, a reel 234 is provided on the output shaft of the third gear 233, and the wire 241 is wound around the reel 234, A wire-driven hip exoskeleton robot.

5. The wire-driven hip exoskeleton robot according to claim 1, wherein the output unit 250 includes an output disk 251 and a mounting flange 252, the output disk 251 is rotatably provided at one end of the back body mechanism 100 of the support frame 210, provided, the wire 241 is provided around the output disk 251 to rotationally drive the output disk 251, provided, a mounting flange 252 is provided on the central axis of the output disk 251, the flange 252 is attached to the output disk 251, the other side of the mounting flange 252 is connected to the leg transmission mechanism 300, A wire-driven hip exoskeleton robot.

6. The wire-driven hip exoskeleton robot according to claim 1, wherein the back body mechanism 100 includes a mounting seat 110 and a support structure 120, the mounting seat 110 and the human back structure are adapted to each other, one end of the mounting seat 110 is connected to the support frame 210, the support structure 120 is provided on the mounting seat 110 and extends from the mounting seat 110 to the support frame 210, extending, A wire-driven hip exoskeleton robot.

7. The wire-driven hip exoskeleton robot according to claim 6, wherein a back fixing soft pack 130 is provided on the back body mechanism 100, The back fixing soft pack 130 is provided on the side of the back support structure 120 of the mounting seat 110. The back fixing soft pack 130 is provided with a strap 131. Wire-driven hip exoskeleton robot.

8. The wire-driven hip exoskeleton robot according to claim 1, The leg transmission mechanism 300 includes a leg force conduction unit 310 and a leg fixing plate 320. One end of the leg force conduction unit 310 is connected to the output unit 250. The other end of the leg force conduction unit 310 is connected to the leg fixing plate 320. The output unit 250 drives the leg fixing plate 320 via the leg force conduction unit 310 to generate an assisting moment. Wire-driven hip exoskeleton robot.

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