CN110465925B

CN110465925B - Modularized walking-assisting exoskeleton robot driven by elasticity in series

Info

Publication number: CN110465925B
Application number: CN201910888827.3A
Authority: CN
Inventors: 刘刚峰; 石男强; 郑天骄; 房倩倩; 朱延河; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2019-09-19
Filing date: 2019-09-19
Publication date: 2022-10-04
Anticipated expiration: 2039-09-19
Also published as: CN110465925A

Abstract

A modularized walking-aid exoskeleton robot with serial elastic drive relates to a paraplegia walking-aid exoskeleton robot, which comprises a waist, thighs and cruses; the waist is connected with the thighs, the thighs are connected with the shanks, the shanks can rotate relative to the thighs, and the thighs can rotate relative to the waist; the thigh comprises two driving units which are centrosymmetric; each driving unit comprises a cover plate, a bottom plate and a joint series connection elastic driving assembly; the joint series elastic driving assembly is arranged on the bottom plate between the cover plate and the bottom plate, and two driving units which are centrosymmetric are installed in a matched mode through a sliding groove structure and are fixed through a distance adjusting mechanism installed on the bottom plate; the joint series connection elastic driving component is connected with the waist and can rotate relative to the waist, and the crus are connected with the joint series connection elastic driving component and can rotate relative to the thighs. The invention stores and releases energy in the passive elastic element, reduces output impedance, reduces the impact force of the ground to human bodies and improves the safety of man-machine interaction.

Description

Modularized walking-assisting exoskeleton robot driven by elasticity in series

Technical Field

The invention relates to a paraplegia walking aid exoskeleton robot, in particular to a modular walking aid exoskeleton robot with serial elastic drive.

Background

The paraplegia walking-aid exoskeleton robot is bionic intelligent electromechanical equipment for assisting a patient with lower limb disability to walk again and improving muscle and joint strength, and promotes the reorganization of cerebral cortex of the patient through specific repetitive training, so that the patient is stimulated to actively move, realize consciousness and learn a correct movement mode. Although the traditional walking-assisting exoskeleton robot with a rigid structure has good track repeatability and quick response, the walking exoskeleton robot cannot conform to the flexible characteristic of human walking, has large external impact force and more energy consumption, and is not beneficial to safe and efficient human-computer interaction. Moreover, the difference of patients also requires that the walking-assisting exoskeleton robot has higher adaptability and flexibility.

Disclosure of Invention

The invention provides a modular walking-assisting exoskeleton robot with serial elastic drive, which overcomes the defects of the prior art. The series elastic driving is that an elastic driving link is added at a robot joint, the aim of flexible driving is achieved through self elastic deformation, the robot walking assisting exoskeleton has better adaptability for assisting human walking, and through the series elastic driving joint, the walking assisting exoskeleton can store and release energy in a passive elastic element, so that the output impedance is reduced, the impact force of the ground on the human body is reduced, and the safety of human-computer interaction is improved.

The technical scheme of the invention is as follows:

a modular walking-aid exoskeleton robot driven by elasticity in series comprises a waist, thighs and shanks; the waist is connected with the thighs, the thighs are connected with the calves, the calves can rotate relative to the thighs, and the thighs can rotate relative to the waist; the thigh comprises two driving units which are centrosymmetric; each driving unit comprises a cover plate, a bottom plate and a joint series connection elastic driving assembly; the joint series elastic driving assembly is arranged on the bottom plate between the cover plate and the bottom plate, and two driving units which are centrosymmetric are installed in a matched mode through a sliding groove structure and are fixed through a distance adjusting mechanism installed on the bottom plate; the joint series connection elastic driving component is connected with the waist and can rotate relative to the waist, and the crus are connected with the joint series connection elastic driving component and can rotate relative to the thighs.

Furthermore, the joint series elastic driving assembly comprises a small bevel gear, a large bevel gear, a bevel gear shaft, a small cylindrical gear, a large cylindrical gear ring gear, a series elastic body, an output rod, a cylindrical gear shaft, a motor and a driver; the driver is fixed on the bottom plate, the motor is fixed on the bottom plate through the motor bracket, the driver is connected with the motor through a wire, the small bevel gear is installed on the output end of the motor, one side of the large bevel gear is connected with a flange of a bevel gear shaft, the other side of the large bevel gear is rotatably installed on the bottom plate, the large bevel gear is meshed with the small bevel gear, the small cylindrical gear is fixedly installed at the other end of the bevel gear shaft, the bevel gear shaft is rotatably installed on the cover plate, a gear ring of the large cylindrical gear is nested on the series elastomer and the two are fixed together, the cylindrical gear shaft is arranged in concentric holes of the output rod and the series elastomer in a penetrating mode, the series elastomer and the cylindrical gear shaft are respectively connected with the output rod, two ends of the cylindrical gear shaft are rotatably installed on the bottom plate and the cover plate, and the gear ring of the large cylindrical gear is meshed with the small cylindrical gear; one output rod of each driving unit is inserted on the external structural plate, and the other output rod is connected with the lower leg.

Compared with the prior art, the invention has the following technical effects:

1. the hip joint and the knee joint adopt a series elastic driving mode, the walking-assisting exoskeleton robot can store and release energy in the passive elastic element, the output impedance is reduced, the force control stability is improved, the impact force of the ground on the human body is reduced, the safety of man-machine interaction is improved, the operation efficiency of the system is improved, and the walking-assisting exoskeleton robot better conforms to the flexible characteristic of human walking.

2. Walk capable ectoskeleton robot overall structure and adopted the modularized design, mainly include waist, thigh and three major parts of shank, and the design has realized mechanical connection and electric connection's quick plug, and the equipment of being convenient for is worn and is accomodate and carry. Meanwhile, the hip joint and knee joint driving components are symmetrically arranged in the driving thigh, the whole structure is light and compact, the modularization degree is high, and the comfort and the friendliness of the exoskeleton wearing can be effectively improved.

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Drawings

FIG. 1 is an overall structural view of the present invention;

FIG. 2 is a view of the waist looking forward;

FIG. 3 is a structural view of the waist vest;

FIG. 4 is a view showing a structure of a thigh viewed from the inside;

FIG. 5 is a view showing a structure of a thigh viewed from the outside;

FIG. 6 is a view showing the inner structure of the thigh with the cover removed;

FIG. 7 is a view showing a structure of a bottom plate of a driving unit having a through hole and a dovetail groove;

FIG. 8 is a block diagram of a dovetail on the base plate of another drive unit;

FIG. 9 is a structural view of a distance adjustment mechanism;

FIG. 10 is a block diagram of an articulating series elastic assembly;

FIG. 11 is a block diagram of a tandem elastomer;

FIG. 12 is an assembly view of the lower leg;

fig. 13 is an exploded view of the lower leg.

Detailed Description

Referring to fig. 1, 4, 5 and 6, a modular walking-aid exoskeleton robot driven by series elasticity comprises a waist I, thighs II and shanks III; the waist I is connected with the thigh II, the thigh II is connected with the shank III, the shank III can rotate relative to the thigh II, and the thigh II can rotate relative to the waist I;

the thigh II comprises two driving units with central symmetry; each driving unit comprises a cover plate II-1, a bottom plate II-2 and a joint series connection elastic driving component II-A; the cover plate II-1 is connected with the base plate II-2, the joint series connection elastic driving assembly II-A is arranged on the base plate II-2 between the cover plate II-1 and the base plate II-2, and two driving units which are centrosymmetric are installed in a matched mode through a sliding groove structure and are fixed through a distance adjusting mechanism II-B installed on the base plate II-2; the joint series connection elastic driving component II-A is connected with the waist I and can rotate relative to the waist I, and the crus III is connected with the joint series connection elastic driving component II-A and can rotate relative to the crus II.

As shown in figures 7 and 8, the thigh II of the exoskeleton is provided with a left leg part and a right leg part which are mirror images of each other, and a single thigh is composed of two drive units which are centrosymmetric, wherein each drive unit comprises a cover plate II-1, a bottom plate II-2 and a joint series connection elastic drive assembly II-A. The cover plate II-1 and the base plate II-2 are connected through bolts, and the two base plates II-2 in the centrosymmetric relation are spliced through dovetail grooves II-111 and dovetail joints II-112.

Referring to fig. 2 and 3, the waist portion I includes a back flexible sheet I-1, an outer structure sheet I-3 and two waist flexible sheets I-2; the back flexible plate I-1 and the waist flexible plate I-2 are both made of flexible materials and are fixed on the inner side of the external structural plate I-3, and interfaces on two sides of the external structural plate I-3 are connected with the joint series connection elastic driving assembly II-A. The back flexible plate I-1 and the waist flexible plate I-2 are made of flexible materials and are bonded to the inner side of the external structure plate I-3 through adhesive materials to protect human bodies from being injured; the external structural plate I-3 is connected with the thigh II through a bolt by utilizing the interfaces at the two sides of the waist, so that the external structural plate is convenient to insert, pull and replace.

Referring to fig. 6 and 10, the joint series connection elastic driving assembly II-a comprises a small bevel gear II-15, a large bevel gear II-12, a bevel gear shaft II-13, a small cylindrical gear II-14, a large cylindrical gear ring gear II-19, a series connection elastic body II-20, an output rod II-21, a cylindrical gear shaft II-22, a motor II-17 and a driver II-18; the driver II-18 is fixed on the bottom plate II-2, the motor II-17 is fixed on the bottom plate II-2 through a motor bracket, the driver II-8 is connected with the motor II-17 through a lead, the small bevel gear II-15 is installed on the output end of the motor II-17, one side of the large bevel gear II-12 is connected with a flange of a bevel gear shaft II-13, the other side is rotatably installed on the bottom plate II-2, the large bevel gear II-12 is meshed with the small bevel gear II-15, the small cylindrical gear II-14 is fixedly installed at the other end of the bevel gear shaft II-13, the bevel gear shaft II-13 is rotatably installed on the cover plate II-1, the large cylindrical gear ring II-19 is nested on the serial connection elastomer II-20 and the two are fixed together, the cylindrical gear shaft II-22 is arranged in a concentric hole of the output rod II-21 and the serial connection elastomer II-20 in a penetrating manner, the serial connection elastomer II-20 and the cylindrical gear shaft II-22 are respectively connected with the output rod II-21, two ends of the cylindrical gear II-22 are rotatably installed on the bottom plate II-2 and the cover plate II-1, and the large cylindrical gear II-19 is meshed with the small cylindrical gear II-14; one output rod II-21 of each driving unit is inserted on the external structural plate I-3, and the other output rod II-21 is connected with the lower leg III. As shown in fig. 4 and 5, the thigh II further comprises a thigh strap II-3 and a sensor cover plate II-5; the thigh bandage II-3 is fixed on the bottom plate II-2, the sensor is arranged at the end part of the cylindrical gear shaft II-22, and the sensor cover plate II-5 covers and arranges the sensor on the bottom plate II-2. Thigh strap II-3 is provided on the thigh side of the wearer.

Further, referring to fig. 11, the series connection elastic body II-20 includes a concentric inner ring II-201, an outer ring II-202 and a plurality of snake-shaped spring pieces II-203, the snake-shaped spring pieces II-203 connected to the inner ring II-201 and the outer ring II-202 are uniformly distributed along the circumferential direction between the inner ring II-201 and the outer ring II-202, the waveform of each snake-shaped spring piece II-203 propagates along the radial direction, a large cylindrical gear ring II-19 is nested on the outer ring of the series connection elastic body II-20 and fixed together, the inner ring II-201 of the series connection elastic body II-20 is fixedly connected to the output rod II-21, a cylindrical gear shaft II-22 is arranged in concentric holes of the output rod II-21 and the inner ring II-201, and the cylindrical gear shaft II-22 is connected to the output rod II-21 through a spline. In the scheme, 3 snake-shaped spring pieces II-203 are usually selected. The driver II-18 is fixedly connected on the base plate II-2 through a screw, the motor II-17 is fixed on a motor support through a screw, the motor support is fixed on the base plate II-2 through a screw, and the bevel pinion II-15 is connected with the motor II-17 through a key. One side of the large bevel gear II-12 is connected with a flange plate of the bevel gear shaft II-13 through four pins for circumferential positioning, the other side of the large bevel gear II-12 is installed on the bottom plate II-2 through a bearing, a bearing gasket is installed between the large bevel gear II-12 and the bearing, and the large bevel gear II-12 and the small bevel gear II-15 are in meshed transmission. One end of the bevel gear shaft II-13 connected with the large bevel gear II-12 through four pins is in clearance fit with an inner hole of the large bevel gear II-12, and the other end is connected with the small cylindrical gear II-14 through a key. The bevel gear shaft II-13 is arranged on the cover plate II-1 through a bearing, and a bearing gasket is arranged between the small cylindrical gear II-14 and the bearing. The large cylindrical gear ring II-19 is nested in an outer ring of the series connection elastic body II-20 and fixedly connected through a screw, the series connection elastic body II-20 is fixedly connected with the output rod II-21 through a bolt, the output rod II-21 is connected with the cylindrical gear shaft II-22 through a spline, and the output shaft II-22 is installed between the bottom plate II-2 and the cover plate II-1 through bearings on two sides. The gear ring II-19 of the big cylindrical gear is in mutual meshing transmission with the gear ring II-14 of the small cylindrical gear. The output rod II-21 is connected with the external structural plate I-3 through quick plug and is locked by a screw. In the embodiment, the outer skeleton body takes a structure-function integrated series elastic driving body as a core component, the hip joint of a single leg and the driving unit of the knee joint are symmetrically arranged on the supporting plate of the thigh, and the complete transmission system is formed by a motor, a planet gear reducer, a reversing bevel gear and a series elastic unit for transmission, so that the whole structure is compact, the weight of the joint is reduced, and the stability of an output rod is improved.

As shown in fig. 6 and 9, in order to adjust the distance between the hip joint and the knee joint flexibly, an operation-portable distance adjusting mechanism II-B is designed, and comprises an adjusting bolt II-6, an adjusting bolt sleeve buckle II-7, a locking nut II-8 and a spring II-9; an adjusting bolt sleeve buckle II-7 is fixed on a nut of an adjusting bolt II-6, the adjusting bolt II-6 is inserted from a side plate through hole II-10 of a bottom plate II-2 of one driving unit, a spring II-9 is sleeved on the adjusting bolt II-6, a locking nut II-8 is screwed on the adjusting bolt II-6, two ends of the spring II-9 are abutted to the locking nut II-8 and a side plate through hole II-10 of the bottom plate II-2 of one driving unit, and the adjusting bolt II-6 can penetrate through and be separated from a side plate through hole II-10 of the bottom plate II-2 of the other driving unit. According to the arrangement, the adjusting bolt II-6 is inserted into the side plate through hole II-10 on one side of the bottom plate II-2, extends out of the side plate through hole II-10 on the opposite side of the bottom plate II-2, and is inserted into the side plate through hole II-10 of the bottom plate II-2 of another driving unit in the same group, so that the distance adjustment between the two driving units in the same group is realized, and the distance adjustment between the hip joint and the knee joint is further realized. The adjusting bolt sleeve buckle II-7 is fixed on a nut of the adjusting bolt II-6 through a pin, the spring II-9 is sleeved on the adjusting bolt II-6, and the axial positioning on the adjusting bolt II-6 is realized through the locking nut II-8. The distance between the hip joint and the knee joint is adjusted within the range of 350mm-480mm.

Referring to fig. 1, 12 and 13, the lower leg III comprises a sliding connecting rod III-1, a sliding block III-2, a bearing base III-3, an orthosis connecting rod III-4 and an orthosis III-5;

one end of the sliding connecting rod III-1 is fixedly connected with the other output rod II-21, the other end of the sliding connecting rod III-1 is sleeved with a slidable sliding block III-2, the sliding block III-2 is fixedly connected with a base III-3, the upper end of an orthosis connecting rod III-4 is rotatably arranged in the base III-3, and the lower end of the orthosis connecting rod III-4 is fixedly connected with an orthosis III-5 matched with the lower leg of a wearer. The sliding block III-2 is provided with a sliding groove, the other end of the sliding connecting rod III-1 is arranged in the sliding groove of the sliding block III-2 in a sliding mode and locked through a screw, the thrust ball bearing III-8 is arranged between the bearing cover plate III-7 and the bearing base III-3, the fastening screw III-6 is connected with the bearing cover plate III-7 and the orthosis connecting rod III-4, and the orthosis connecting rod III-4 and the back sliding groove of the orthosis III-5 are arranged in a sliding mode and locked through a screw. According to the arrangement, one end of the sliding connecting rod III-1 is connected with the output rod II-21 of the thigh driving module II in a sleeved mode and fixed through a screw, and the other end of the sliding connecting rod III-1 is made into a sliding rail shape, so that the sliding block III-2 can freely slide and is locked through the screw. The bottom end of the sliding block III-2 is fixedly connected with the bearing base III-3. The thrust ball bearing III-8 is arranged between the bearing cover plate III-7 and the bearing base III-3, the set screw III-6 is connected with the bearing cover plate III-7 and the orthosis connecting rod III-4, and the cylindrical part at the top end of the orthosis connecting rod III-4 is in clearance fit with the thrust ball bearing III-8, so that the installation of the thrust ball bearing III-8 in the bearing base III-3 is completed. The orthopedic device connecting rod III-4 and the orthopedic device III-5 back sliding groove can slide mutually and are locked through screws. The shank III only provides passive rotary motion around a vertical shaft for the shank of a wearer, so that the shank III can help the foot of a patient to shape, the problems of pronation, foot drop and the like are solved, the shank III can adapt to the rotary motion of the shank of the patient in the walking process, and the discomfort of the patient in the motion process is relieved.

Working process

A motor II-17 of the joint series connection elastic driving assembly II-A works to drive a small bevel gear II-15 to rotate, a large bevel gear II-12 is meshed with the small bevel gear II-15 to achieve vertical reversing rotation, a bevel gear shaft II-13 is driven to rotate through a pin, the bevel gear shaft II-13 drives a small cylindrical gear II-14 to rotate through a key driving belt, a large cylindrical gear ring gear II-19 and the small cylindrical gear II-14 are meshed with each other to drive to rotate, further, a driving torque is generated for the series connection elastic body II-20, when the driving torque exceeds the maximum deformation bearing torque of the snake-shaped elastic sheet II-203 of the series connection elastic body II-20, the series connection elastic body II-20 and an output rod II-21 rotate together with the large cylindrical gear ring gear II-19, and therefore the rotation output of the tail end output rod II-21 of the joint series connection elastic driving assembly II-A is achieved.

When the motor II-17 works, the output rod II-21 is driven to rotate, and the thigh II rotates relative to the waist I and the shank III rotates relative to the thigh driving unit II. The thigh II and the shank III drive the thigh and the shank of a wearer to swing through a thigh bandage and a shank bandage respectively, so that the old or the disabled is helped to swing the legs through the exoskeleton system; by the control method, the exoskeleton drives the wearer to swing and support efficiently and flexibly, so that the basic lower limb functions required by daily life such as standing, walking, ascending and descending slopes, ascending and descending stairs and the like can be enhanced or realized again for the old or the disabled.

In a distance adjusting mechanism II-B between a hip joint and a knee joint, two driving units which are in central symmetry on one side are inserted through a dovetail groove II-111 and a dovetail joint II-112, when an adjusting bolt II-6 on one side is manually pulled to extend out of a locking hole of the driving unit on the opposite side through an adjusting bolt sleeve fastener II-7, the two driving units can stagger up and down along the dovetail groove, the two driving units are stretched to a determined proper position according to a position mark on a cover plate II-2, the adjusting bolt sleeve fastener II-7 is loosened, and an adjusting bolt II-6 extends into a side plate through hole II-10 on the opposite side to be locked under the action of restoring force of a spring II-9, so that distance adjustment between the hip joint and the knee joint is completed.

The foregoing detailed description is to be construed as illustrative and not restrictive, and the invention is not to be limited thereto, since various modifications and equivalent arrangements may be made without departing from the spirit and scope of the invention, as defined by the appended claims.

Claims

1. A modular walking-aid exoskeleton robot driven by series elasticity comprises a waist part (I), thighs (II) and shanks (III); the waist (I) is connected with the thigh (II), the thigh (II) is connected with the shank (III), the shank (III) can rotate relative to the thigh (II), and the thigh (II) can rotate relative to the waist (I); the method is characterized in that:

the thigh (II) comprises two drive units which are centrosymmetric; each driving unit comprises a cover plate (II-1), a bottom plate (II-2) and a joint series connection elastic driving assembly (II-A); the cover plate (II-1) is connected with the bottom plate (II-2), the joint series connection elastic driving assembly (II-A) is arranged on the bottom plate (II-2) between the cover plate (II-1) and the bottom plate (II-2), two driving units which are centrosymmetric are installed in a matched mode through a sliding groove structure and fixed through a distance adjusting mechanism (II-B) installed on the bottom plate (II-2), and the distance adjusting mechanism (II-B) comprises an adjusting bolt (II-6), an adjusting bolt sleeve buckle (II-7), a locking nut (II-8) and a spring (II-9); an adjusting bolt sleeve buckle (II-7) is fixed on a nut of an adjusting bolt (II-6), the adjusting bolt (II-6) is inserted from a side plate through hole (II-10) of a bottom plate (II-2) of one driving unit, a spring (II-9) is sleeved on the adjusting bolt (II-6), a locking nut (II-8) is screwed on the adjusting bolt (II-6), two ends of the spring (II-9) are abutted against the locking nut (II-8) and the side plate through hole (II-10) of the bottom plate (II-2) of one driving unit, the adjusting bolt (II-6) can penetrate through and be separated from a side plate through hole (II-10) of the bottom plate (II-2) of the other driving unit, two driving units which are in central symmetry at one side are inserted through a dovetail groove (II-111) and a dovetail (II-112), when the adjusting bolt sleeve buckle (II-7) manually pulls the adjusting bolt (II-6) at one side to extend out of the opposite side through the dovetail groove through the through hole (II-10), the two driving units can be inserted into the dovetail groove along the adjusting bolt sleeve buckle (II-10) after the adjusting bolt sleeve buckle (II-7) is manually pulled, the adjusting bolt sleeve buckle (II-6) is loosened, the adjusting bolt sleeve can be inserted into the adjusting bolt (II-6), and the adjusting bolt sleeve can be inserted into the adjusting bolt sleeve and the adjusting bolt (II-6) and the adjusting bolt sleeve can be loosened, the distance between the hip joint and the knee joint is adjusted, the joint series connection elastic driving component (II-A) is connected with the waist (I) and can rotate relative to the waist (I), and the crus (III) is connected with the joint series connection elastic driving component (II-A) and can rotate relative to the thighs (II);

the joint series elastic driving assembly (II-A) comprises a small bevel gear (II-15), a large bevel gear (II-12), a bevel gear shaft (II-13), a small cylindrical gear (II-14), a large cylindrical gear ring (II-19), a series elastic body (II-20), an output rod (II-21), a cylindrical gear shaft (II-22), a motor (II-17) and a driver (II-18); the driver (II-18) is fixed on the bottom plate (II-2), the motor (II-17) is fixed on the bottom plate (II-2) through a motor bracket, the driver (II-8) is connected with the motor (II-17) through a lead, the small bevel gear (II-15) is installed on the output end of the motor (II-17), one side of the large bevel gear (II-12) is connected with a flange of the bevel gear shaft (II-13), the other side is rotatably installed on the bottom plate (II-2), the large bevel gear (II-12) is meshed with the small bevel gear (II-15), the small cylindrical gear (II-14) is fixedly installed at the other end of the bevel gear shaft (II-13), the bevel gear shaft (II-13) is rotatably arranged on the cover plate (II-1), the large cylindrical gear ring gear (II-19) is nested on the series elastomer (II-20) and fixed together, the series elastomer (II-20) comprises an inner ring (II-201), an outer ring (II-202) and a plurality of snake-shaped shrapnels (II-203) which are concentric, the plurality of snake-shaped shrapnels (II-203) connected with the inner ring (II-201) and the outer ring (II-202) are uniformly distributed along the circumferential direction between the inner ring (II-201) and the outer ring (II-202), the wave form of each snake-shaped shrapnel (II-203) is spread along the radial direction, and the large cylindrical gear ring gear (II-19) is nested on the series elastomer (II- 20 The outer ring and the inner ring of the series connection elastic body (II-20) are fixed together, an inner ring (II-201) of the series connection elastic body (II-20) is fixedly connected with an output rod (II-21), a cylindrical gear shaft (II-22) penetrates through the output rod (II-21) and a concentric hole of the inner ring (II-201), the cylindrical gear shaft (II-22) is connected with the output rod (II-21) through a spline, the cylindrical gear shaft (II-22) penetrates through the output rod (II-21) and the concentric hole of the series connection elastic body (II-20), the series connection elastic body (II-20) and the cylindrical gear shaft (II-22) are respectively connected with the output rod (II-21), two ends of the cylindrical gear shaft (II-22) are rotatably installed on a bottom plate (II-2) and a cover plate (II-1), and a gear ring gear (II-19) of a large cylindrical gear is meshed with a small cylindrical gear (II-14); one output rod (II-21) of each driving unit is inserted on the external structural plate (I-3), and the other output rod (II-21) is connected with the lower leg (III).

2. The tandem elastic driven modular walking assist exoskeleton robot of claim 1, wherein: the waist part (I) comprises a back flexible plate (I-1) and two waist flexible plates (I-2); the back flexible plate (I-1) and the waist flexible plate (I-2) are both made of flexible materials and are fixed on the inner side of the external structural plate (I-3), and interfaces on two sides of the external structural plate (I-3) are connected with the joint series connection elastic driving assembly (II-A).

3. The tandem elastic driven modular walking assist exoskeleton robot of claim 1, wherein: the shank (III) comprises a sliding connecting rod (III-1), a sliding block (III-2), a bearing base (III-3), an orthopedic device connecting rod (III-4) and an orthopedic device (III-5);

one end of the sliding connecting rod (III-1) is fixedly connected with the other output rod (II-21), the other end of the sliding connecting rod is sleeved with a sliding block (III-2) which can slide, the sliding block (III-2) is fixedly connected with the base (III-3), the upper end of the orthopedic device connecting rod (III-4) is rotatably arranged in the base (III-3), and the lower end of the orthopedic device connecting rod (III-4) is fixedly connected with an orthopedic device (III-5) matched with the lower leg of a wearer.

4. The tandem elastic driven modular walking assist exoskeleton robot of claim 3, wherein: the thigh (II) also comprises a thigh strap (II-3) and a sensor cover plate (II-5); the thigh bandage (II-3) is fixed on the bottom plate (II-2), the sensor is arranged at the end part of the cylindrical gear shaft (II-22), and the sensor cover plate (II-5) covers and is arranged on the bottom plate (II-2).

5. The tandem elastic drive modular walker exoskeleton robot of claim 4, wherein: the distance between the hip joint and the knee joint is adjusted within the range of 350mm-480mm.

6. The tandem elastic driven modular walking assist exoskeleton robot of claim 5, wherein: the sliding block (III-2) is provided with a sliding groove, the other end of the sliding connecting rod (III-1) is arranged in the sliding groove of the sliding block (III-2) in a sliding mode and locked through a screw, the thrust ball bearing (III-8) is installed between the bearing cover plate (III-7) and the bearing base (III-3), the fastening screw (III-6) is connected with the bearing cover plate (III-7) and the orthopedic device connecting rod (III-4), the orthopedic device connecting rod (III-4) and the back sliding groove of the orthopedic device (III-5) are arranged in a sliding mode and locked through a screw.