CN106901947B

CN106901947B - Wearable lower limb exoskeleton assisted walking robot mechanism

Info

Publication number: CN106901947B
Application number: CN201510970914.5A
Authority: CN
Inventors: 韩建达; 赵新刚; 赵忆文; 苏陈; 薛增飞
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2015-12-22
Filing date: 2015-12-22
Publication date: 2023-08-18
Anticipated expiration: 2035-12-22
Also published as: CN106901947A

Abstract

The invention relates to the field of novel service and medical rehabilitation training robots, in particular to a wearable lower limb exoskeleton helping hand walking robot mechanism which can be used for lower limb helping hand and rehabilitation training, comprising an ankle joint, a knee joint, a hip joint, a lower leg supporting component, a thigh supporting component and a waist connecting piece, wherein the ankle joint is connected with the knee joint through the lower leg supporting component, the knee joint is connected with the hip joint through the thigh supporting component, the hip joints on the left side and the right side are connected through the waist connecting piece, a plantar pressure sensor which can rotate in the left-right direction and swing in the front-back direction is arranged on the ankle joint, a driving device which drives the lower leg supporting component to swing back and forth is arranged on the knee joint, and the hip joint is arranged at the end part of the waist connecting piece in an up-down swinging manner. The invention has simple structure, low cost and high reliability, and effectively reduces energy consumption.

Description

Wearable lower limb exoskeleton assisted walking robot mechanism

Technical Field

The invention relates to the field of novel service and medical rehabilitation training robots, in particular to a wearable lower limb exoskeleton assisted walking robot mechanism which can be used for lower limb assistance and rehabilitation training.

Background

According to statistics of related departments, the number of people with limb injury or nerve injury caused by traffic accidents and the number of hemiplegic patients caused by nervous system diseases or cardiovascular and cerebrovascular diseases are continuously increasing, and the patients have very important roles in restoring and improving limb movement functions through reasonable rehabilitation training besides necessary early-stage drug treatment and early-stage operation. Common rehabilitation training is usually performed with the help of professional nursing staff, and most patients choose to train themselves at home due to the high medical cost and the lack of nursing staff, but because the training method is not reasonable, many patients miss the optimal time for limb rehabilitation, and even the movement function of the limbs cannot be effectively recovered. Therefore, in order to effectively help the limb wounded person and the elderly and the weak to carry out lower limb assistance and rehabilitation training, it is very necessary to develop a wearable and man-machine integrated intelligent rehabilitation training device. Some research institutions have now developed similar products, but these products have the common drawbacks: the structure is complex, the volume is large, the structural error is large, the cost is high and the energy consumption is high.

Disclosure of Invention

The invention aims to provide a wearable lower limb exoskeleton assisting walking robot mechanism which is suitable for lower limb assistance and rehabilitation training of patients, has a simple structure, is low in cost and high in reliability, and effectively reduces energy consumption.

The aim of the invention is realized by the following technical scheme:

the utility model provides a wearable low limbs ectoskeleton helping hand walking robot mechanism, includes ankle joint, knee joint, hip joint, shank supporting component, thigh supporting component and waist connecting piece, and wherein the ankle joint passes through shank supporting component and knee joint to be connected, and the knee joint passes through thigh supporting component and hip joint to be connected, and the hip joint on left and right both sides passes through waist connecting piece to be connected, be equipped with on the ankle joint and rotate, can follow the sole pressure sensor of fore-and-aft direction wobbling again along the left and right directions, be equipped with the drive arrangement of drive shank supporting component back-and-forth wobbling on the knee joint, be equipped with the drive arrangement of drive thigh supporting component back-and-forth wobbling on the hip joint, the hip joint can install with the tip of waist connecting piece.

The ankle joint comprises a base, a turnover shaft, hinge plates, springs, plantar pressure sensors and a connecting block, wherein the plantar pressure sensors are fixedly arranged at the lower end of the base, the upper end of the base is hinged to the connecting block through the turnover shaft, the connecting block is hinged to the lower leg supporting component through the hinge plates, spring fixing plates are arranged at the lower ends of the connecting block and the lower leg supporting component, the two springs are respectively arranged at the two sides of the lower leg supporting component, and the two ends of each spring are respectively connected with different spring fixing plates.

The shank support assembly comprises a shank sleeve, a shank adjusting rod and a fixing piece, wherein the shank adjusting rod is inserted into the shank sleeve, and the shank adjusting rod is fixedly buckled with the end part of the shank sleeve through the fixing piece.

The fixing piece is semi-cylindrical, a bump is arranged in the fixing piece, and a groove matched with the bump in the fixing piece is formed in the shank adjusting rod; the shank sleeve is provided with a binding plate.

The knee joint comprises a driving device A, a swinging plate A, a sliding block A, a ball screw A, a connecting rod A and a mounting seat A, wherein the mounting seat A is fixedly connected with a thigh supporting component, the driving device A and the ball screw A are both arranged on the mounting seat A and are driven to rotate by the driving device A, the sliding block A is sleeved on the ball screw A and is internally provided with a nut matched with the ball screw A, the sliding block A is hinged with the connecting rod A, the connecting rod A is hinged with the swinging plate A, the swinging plate A is fixedly connected with the shank supporting component, and the shank supporting component is hinged with the thigh supporting component.

A guide shaft A is arranged in the mounting seat A, and a through hole for the guide shaft A to pass through is formed in one end of the sliding block A; the lower leg supporting assembly is hinged with the thigh supporting assembly through a bending and stretching rotating shaft A, and an angle sensor A is arranged on the bending and stretching rotating shaft A.

The thigh supporting assembly comprises a thigh sleeve, a thigh adjusting rod and a fixing piece, wherein the thigh adjusting rod is inserted into the thigh sleeve, and the thigh adjusting rod is fixedly buckled with the end part of the thigh sleeve through the fixing piece.

The fixing piece is semi-cylindrical, a lug is arranged in the fixing piece, and an annular groove matched with the lug in the fixing piece is arranged on the thigh adjusting rod; the thigh sleeve is provided with a binding plate.

The hip joint comprises a driving device B, a guide shaft B, a swinging plate B, a sliding block B, a ball screw B, a connecting rod B, a hinging seat B and a mounting seat B, wherein the mounting seat B is fixedly connected with the hinging seat B and hinged with the waist connecting piece, the driving device B and the ball screw B are both installed on the mounting seat B, the ball screw B is driven to rotate by the driving device B, the sliding block B is sleeved on the ball screw B, a nut matched with the ball screw B is arranged in the sliding block B, the sliding block B is hinged with the connecting rod B, the connecting rod B is hinged with the swinging plate B, the swinging plate B is fixedly connected with the thigh supporting assembly, and the thigh supporting assembly is hinged with the hinging seat B.

A guide shaft B is arranged in the mounting seat B, and a through hole for the guide shaft B to pass through is formed in one end of the sliding block B; the thigh support assembly is hinged with the hinge seat B through a bending and stretching rotating shaft B, and an angle sensor B is arranged on the bending and stretching rotating shaft B; the mounting seat B is provided with a width adjusting plate which is connected with the waist connecting piece through a swinging connecting plate, one end of the swinging connecting plate is fixedly arranged on the width adjusting plate, the other end of the swinging connecting plate is hinged with the waist connecting piece, and the width adjusting plate is provided with a plurality of rows of mounting holes for adjusting the mounting position of the swinging connecting plate; the waist connecting piece is provided with a binding plate.

The invention has the advantages and positive effects that:

1, the invention has high efficiency, low cost and energy conservation. According to the invention, the ball screw is directly connected with the rotating shaft of the driving device at the driving joint, no speed reducer is used for reducing speed, and in view of the higher transmission efficiency of the ball screw, the power output can be maximally realized, the loss is reduced, and the energy-saving effect is further achieved. In addition, the driving device is not connected with a speed reducer, so that the cost can be reduced, and the cost is effectively reduced.

2, the invention has simple structure. If a gear transmission mode is used, a relatively complex aligning mechanism is needed because the gear transmission has a relatively high requirement on the installation of the center distance of the gear set, and if a belt transmission mode is used, a belt tensioning device is also needed generally, so that the complexity of the structure is increased, and the mechanism can well avoid the problems and greatly simplify the structure because of using a ball screw transmission.

And 3, the structure of the invention has high reliability. Compared with a gear or belt transmission mode, if the aligning device or the belt tensioning device is used, the structure is complicated, if the aligning device or the belt tensioning device is not used, the structure error caused by the return difference of the gear or the tension force difference of two sides of the belt transmission is larger, the crank sliding block structure is adopted in the mechanism, and the joints are all hinged, so that the mechanism almost has no structural error, unstable transmission and other conditions during operation.

Drawings

Figure 1 is a schematic view of the structure of the present invention,

figure 2 is a schematic view of the ankle joint of figure 1,

figure 3 is a schematic view of the calf support assembly of figure 1,

figure 4 is a schematic view of the knee joint of figure 1,

fig. 5 is a schematic view of the thigh support assembly of fig. 1.

Fig. 6 is a schematic view of the hip joint of fig. 1.

Wherein 1 is ankle joint, 2 is knee joint, 3 is hip joint, 4A is drive device a,4B is drive device B,5 is binding plate, 6 is shank support assembly, 7 is thigh support assembly, 8 is waist connector, 9 is base, 10 is tilting axis, 11 is hinged plate, 12 is flexion and extension axis, 13 is spring, 14 is spring fixed plate, 15 is plantar pressure sensor, 16 is shank sleeve, 17 is shank adjusting rod, 18 is fixed piece, 19A is guide axis a,20A is swing plate a,21A is slider a,22A is ball screw a,23A is connecting rod a,24A is hinging seat a,25A is angle sensor a,19B is guide axis B,20B is swing plate B,21B is slider B,22B is ball screw B,23B is connecting rod B,24B is hinging seat B,25B is angle sensor B,26 is flexion and extension axis a,27 is thigh sleeve, 28 is thigh adjusting rod B, 29 is flexion and extension axis B,30 is swing width adjusting plate, 31 is side plate, 34 is connecting plate, 32 is connecting plate.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1, the invention comprises an ankle joint 1, a knee joint 2, a hip joint 3, a shank support assembly 6, a thigh support assembly 7 and a waist connecting piece 8, wherein the ankle joint 1 is connected with the knee joint 2 through the shank support assembly 6, the knee joint 2 is connected with the hip joint 3 through the thigh support assembly 7, the hip joints 3 on the left side and the right side are connected through the waist connecting piece 8, the ankle joint 1 is provided with a plantar pressure sensor 15 which can rotate in the left-right direction and can swing in the front-back direction, the knee joint 2 is provided with a driving device 4 which drives the shank support assembly 6 to swing back-and-forth, the hip joint 3 is provided with a driving device 4 which drives the thigh support assembly 7 to swing back-and-forth, and the hip joint 3 is arranged at the end part of the waist connecting piece 8 in an up-down swinging manner.

As shown in fig. 2, the ankle joint 1 includes a base 9, a turnover shaft 10, a hinge plate 11, a bending and stretching shaft 12, a spring 13, a spring fixing plate 14, a plantar pressure sensor 15 and a connecting block 32, wherein the plantar pressure sensor 15 is fixedly mounted at the lower end of the base 9, the upper end of the base 9 is hinged with the connecting block 32 through the turnover shaft 10, the base 9 rotates around the turnover shaft 10 to drive the plantar pressure sensor 15 to rotate along the left and right directions, a lower leg sleeve 16 is arranged on a lower leg supporting component 6, the connecting block 32 is connected with the lower leg sleeve 16 through the hinge plate 11, one end of the hinge plate 11 is fixedly mounted on the connecting block 32 through three screws, the other end of the hinge plate 11 is hinged at the lower end of the lower leg sleeve 16 through the bending and stretching shaft 12, the hinge plate 11 rotates around the bending and stretching shaft 12 to drive the connecting block 32, the base 9 swings along the front and back directions together with the plantar pressure sensor 15, the lower ends of the connecting block 32 and the lower leg sleeve 16 are respectively provided with the spring fixing plate 14, the two springs 13 are respectively arranged at two sides of the lower leg sleeve 16, and the lower leg sleeve 16 are respectively connected with the lower leg sleeve 16 through the hinge plate 13, and the real-time impact force of the lower leg 16 is buffered, and the lower leg 16 is respectively, and the lower leg 16 is connected with the lower leg 16 through the hinge plate and the hinge plate is fixedly connected with the lower end of the connecting plate, and the lower leg 16. In this embodiment, the sole pressure sensor 15 is IMS-00005-C40, and the manufacturer is Ailing group Co.

As shown in fig. 3, the calf support assembly 6 includes a calf sleeve 16, a calf adjusting lever 17 and a fixing member 18, wherein the calf adjusting lever 17 is inserted into the calf sleeve 16, and the calf adjusting lever 17 is fixedly connected with the calf sleeve 16 through the fixing member 18. The fixing piece 18 is semi-cylindrical and can be buckled at one end, far away from the ankle joint 1, of the shank sleeve 16, the length of the shank adjusting rod 17 inserted into the shank sleeve 16 is adjustable, after the insertion length of the shank adjusting rod 17 is determined, the fixing piece 18 and the end part of the shank sleeve 16 are buckled and fixed on the shank adjusting rod 17, wherein the fixing piece 18 is fixed on the shank sleeve 16 through screws, a bump is arranged in the fixing piece 18, a plurality of grooves 33 which can be matched with the bump in the fixing piece 18 are formed in the shank adjusting rod 17, and the bump in the fixing piece 18 is embedded into the corresponding groove on the shank adjusting rod 17 to limit the movement of the shank adjusting rod 17.

As shown in fig. 4, the knee joint 2 includes a driving device A4A, a guide shaft a19A, a swing plate a20A, a slider a21A, a ball screw a22A, a link a23A, an angle sensor a25A, a flexion-extension rotation shaft 26, and a mount a. Wherein the driving device A4A, the guide shaft A19A, the sliding block A21A and the ball screw A22A are all arranged on the mounting seat, the mounting seat A comprises side plates 34 on two sides, an upper mounting plate and a lower mounting plate, the upper end and the lower end of the side plates 34 are respectively connected through the upper mounting plate and the lower mounting plate, the thigh supporting component 7 is provided with a thigh sleeve 27, one end of the thigh sleeve 27 connected with the knee joint 2 is provided with a hinging seat A24A, the mounting seat A is fixedly connected with the hinging seat A24A, the driving device A4A is a direct current brush motor, the driving device A4A is arranged on the upper mounting plate of the mounting seat A, the ball screw A22A and the guide shaft A19A are fixedly arranged in the mounting seat A in parallel, the ball screw A22A is driven to rotate by the driving device A4A, the sliding block A21A is provided with two through holes respectively allowing the ball screw A22A and the guide shaft A19A to pass through, the slide block A21A is sleeved on the ball screw A22A and the guide shaft A19A, a screw nut matched with the ball screw A22A is arranged in the slide block A21A, the driving device A4A drives the ball screw A22A to rotate, namely drives the slide block A21A to move along the ball screw A22A, the guide shaft A19A plays a role in balancing the radial force and the guide of the ball screw A22A, one end of the slide block A21A close to the thigh sleeve 27 is hinged with one end of the connecting rod A23A, the other end of the connecting rod A23A is hinged with one end of the swinging plate A20A, the swinging plate A20A is in an inverted L shape, the other end of the swinging plate A20A is fixedly connected with a shank adjusting rod 17 on the shank supporting component 6, one end of the shank adjusting rod 17, which is far away from the ankle joint 1, is hinged with a hinging seat A24A on the thigh sleeve 27 through a stretching shaft A26, the slide block A21A slides along the lifting ball screw A22A, and the shank adjusting rod 17 is driven to swing back and forth around the extending rotating shaft A26 through the connecting rod A23A and the swinging plate A20A, an angle sensor A25A for measuring the swinging angle of the shank supporting component 6 is arranged on the extending rotating shaft A26, in the embodiment, the model of the angle sensor A25A is R24HS, and the manufacturer is Shenzhen Mino electronic Co.

As shown in fig. 5, the thigh support assembly 7 includes a thigh sleeve 27, a thigh adjusting lever 28, and a fixing member 18, wherein the thigh adjusting lever 28 is inserted into the thigh sleeve 27, and the thigh adjusting lever 28 is fixedly connected with the thigh sleeve 27 by the fixing member 18. The thigh adjusting rod 28 and the thigh sleeve 27 are connected in the same way as the shank adjusting rod 17 and the shank sleeve 16, but the thigh adjusting rod (28) is provided with an annular groove matched with a lug inside the fixing piece (18), so that the thigh adjusting rod 28 and the thigh sleeve 27 can rotate relatively after being fixed.

As shown in fig. 6, the hip joint 3 includes a driving device B4B, a guide shaft B19B, a swinging plate B20B, a slider B21B, a ball screw B22B, a connecting rod B23B, a hinge seat B24B, an angle sensor B25B, a bending and stretching rotating shaft B29 and a mounting seat B, wherein the mounting seat B includes two side plates 34 and upper and lower mounting plates on two sides, the upper and lower ends of the two side plates 34 are respectively connected through the upper and lower mounting plates, the mounting seat B is fixedly connected with the hinge seat B24B, the driving device B4B is a direct current brush motor, the driving device B4B is mounted on the upper mounting plate of the mounting seat B, the guide shaft B19B and the ball screw B22B are fixedly arranged in the mounting seat B in parallel, the ball screw B22B is driven to rotate by the driving device B4B, two through holes respectively allowing the ball screw B22B and the guide shaft B19B to pass through are arranged on the slider B21B, the slide block B21B is sleeved on the guide shaft B19B and the ball screw B22B, a screw nut matched with the ball screw B22B is arranged in the slide block B21B, the driving device B4B drives the ball screw B22B to rotate, namely drives the slide block B21B to move along the ball screw B22B, the guide shaft B19B plays a role in balancing the radial force and the guide of the ball screw B22B, one end of the slide block B21B close to the hinging seat B24B is hinged with one end of the connecting rod B23B, the other end of the connecting rod B23B is hinged with one end of the swinging plate B20B, the swinging plate B20B is in an inverted L shape, the other end of the swinging plate B20B is fixedly connected with a thigh adjusting rod 28 on the thigh supporting assembly 7, one end of the thigh adjusting rod 28 far away from the knee joint 2 is hinged with the hinging seat B24B through a bending and stretching shaft B29, the sliding block B21B slides up and down along the ball screw B22B, drives the thigh adjusting lever 28 to swing back and forth around the flexion and extension rotating shaft B29 through the connecting rod B23B and the swinging plate B20B, and an angle sensor B25B for measuring the swinging angle of the thigh supporting assembly 7 is arranged on the flexion and extension rotating shaft B29. The width adjusting plate 30 is arranged on the mounting seat B, the width adjusting plate 30 is connected with the end part of the waist connecting piece 8 through the swing connecting plate 31, one end of the swing connecting plate 31 is fixedly arranged on the width adjusting plate 30, the other end of the swing connecting plate is hinged with the waist connecting piece 8, and a plurality of rows of mounting holes for adjusting the mounting position (namely, the adjustment width) of the swing connecting plate 31 are arranged on the width adjusting plate 30.

Binding plates 5 are provided on the lumbar connection 8, the calf sleeve 16 and the thigh sleeve 27.

The working principle of the invention is as follows:

when the invention is used, the sole of a user is propped against the plantar pressure sensor 15 on the ankle joint 1, then the expansion and contraction amount of the lower leg adjusting rod 17 and the thigh adjusting rod 28 and the distance between the two hip joints 3 are adjusted according to the physical condition of the user, then the invention is bound with a human body through the binding plate 5, the human body is required to maintain balance by virtue of the crutch, then the power supply is used for supplying power to enable each driving device 4 to rotate, thereby driving the lower limb of the human body to move, and the output of each driving device 4 is controlled through the signals fed back by the angle sensor and the plantar pressure sensor 15, so as to achieve the aim of controlling gait.

Claims

1. The utility model provides a wearable low limbs ectoskeleton helping hand walking robot mechanism which characterized in that: the ankle joint (1) is connected with the knee joint (2) through the lower leg supporting component (6), the knee joint (2) is connected with the hip joint (3) through the upper leg supporting component (7), the hip joints (3) on the left side and the right side are connected through the waist connecting component (8), plantar pressure sensors (15) capable of rotating in the left-right direction and swinging in the front-back direction are arranged on the ankle joint (1), a driving device (4) for driving the lower leg supporting component (6) to swing back and forth is arranged on the knee joint (2), a driving device (4) for driving the lower leg supporting component (7) to swing back and forth is arranged on the hip joint (3), and the hip joints (3) are arranged at the end part of the waist connecting component (8) in an up-down swinging mode;

the knee joint (2) comprises a driving device A (4A), a swinging plate A (20A), a sliding block A (21A), a ball screw A (22A), a connecting rod A (23A) and a mounting seat A, wherein the mounting seat A is fixedly connected with a thigh supporting component (7), the driving device A (4A) and the ball screw A (22A) are both arranged on the mounting seat A, the ball screw A (22A) is driven to rotate through the driving device A (4A), the sliding block A (21A) is sleeved on the ball screw A (22A), a screw nut matched with the ball screw A (22A) is arranged in the sliding block A (21A), the sliding block A (21A) is hinged with one end of the connecting rod A (23A), the other end of the connecting rod A (23A) is hinged with one end of the swinging plate A (20A), the other end of the swinging plate A (20A) is fixedly connected with a shank supporting component (6), and the shank supporting component (6) is hinged with the thigh supporting component (7);

a guide shaft A (19A) is arranged in the mounting seat A, and a through hole for the guide shaft A (19A) to pass through is formed in one end of the sliding block A (21A); the lower leg supporting component (6) is hinged with the thigh supporting component (7) through a bending and stretching rotating shaft A (26), and an angle sensor A (25A) is arranged on the bending and stretching rotating shaft A (26);

the thigh support assembly (7) comprises a thigh sleeve (27), a thigh adjusting rod (28) and a fixing piece (18), wherein the thigh adjusting rod (28) is inserted into the thigh sleeve (27), and the thigh adjusting rod (28) is fixedly buckled with the end part of the thigh sleeve (27) through the fixing piece (18);

the hip joint (3) comprises a driving device B (4B), a swinging plate B (20B), a sliding block B (21B), a ball screw B (22B), a connecting rod B (23B), a hinging seat B (24B) and a mounting seat B, wherein the mounting seat B is fixedly connected with the hinging seat B (24B) and hinged with the waist connecting piece (8), the driving device B (4B) and the ball screw B (22B) are both arranged on the mounting seat B, the ball screw B (22B) is driven to rotate through the driving device B (4B), the sliding block B (21B) is sleeved on the ball screw B (22B), a screw nut matched with the ball screw B (22B) is arranged in the sliding block B (21B), one end of the connecting rod B (23B) is hinged, the other end of the connecting rod B (23B) is hinged with one end of the swinging plate B (20B), the other end of the swinging plate B (20B) is fixedly connected with a thigh support component (7) and the hinging seat (24B);

a guide shaft B (19B) is arranged in the mounting seat B, and a through hole for the guide shaft B (19B) to pass through is formed in one end of the sliding block B (21B); the thigh support assembly (7) is hinged with the hinging seat B (24B) through a bending and stretching rotating shaft B (29), and an angle sensor B (25B) is arranged on the bending and stretching rotating shaft B (29); the width adjusting plate (30) is arranged on the mounting seat B, the width adjusting plate (30) is connected with the waist connecting piece (8) through a swinging connecting plate (31), one end of the swinging connecting plate (31) is fixedly arranged on the width adjusting plate (30), the other end of the swinging connecting plate is hinged with the waist connecting piece (8), and a plurality of rows of mounting holes for adjusting the mounting position of the swinging connecting plate (31) are formed in the width adjusting plate (30); the waist connecting piece (8) is provided with a binding plate (5).

2. The wearable lower limb exoskeleton assisted walking robot mechanism of claim 1, wherein: ankle joint (1) include base (9), pivot (10), articulated slab (11), spring (13), plantar pressure sensor (15) and connecting block (32), plantar pressure sensor (15) are adorned admittedly in base (9) lower extreme, base (9) upper end pass through pivot (10) with connecting block (32) are articulated, connecting block (32) pass through articulated slab (11) with shank supporting component (6) are articulated connecting block (32) and shank supporting component (6)'s lower extreme all are equipped with spring fixed plate (14), and two springs (13) are located shank supporting component (6) both sides, and the both ends of every spring (13) link to each other with different spring fixed plate (14) respectively.

3. The wearable lower limb exoskeleton assisted walking robot mechanism of claim 1 or 2, wherein: the shank support assembly (6) comprises a shank sleeve (16), a shank adjusting rod (17) and a fixing piece (18), wherein the shank adjusting rod (17) is inserted into the shank sleeve (16), and the shank adjusting rod (17) is fixedly buckled with the end part of the shank sleeve (16) through the fixing piece (18).

4. The wearable lower limb exoskeleton assisted walking robot mechanism of claim 3, wherein: the fixing piece (18) is semi-cylindrical, a bump is arranged in the fixing piece (18), and a groove (33) matched with the bump in the fixing piece (18) is arranged on the shank adjusting rod (17); the shank sleeve (16) is provided with a binding plate (5).

5. The wearable lower limb exoskeleton assisted walking robot mechanism of claim 1, wherein: the fixing piece (18) is semi-cylindrical, a bump is arranged in the fixing piece (18), and an annular groove matched with the bump in the fixing piece (18) is arranged on the thigh adjusting rod (28); the thigh sleeve (27) is provided with a binding plate (5).