CN117100562A - Active and passive combined lower limb exoskeleton robot - Google Patents

Abstract

The invention discloses an active and passive combined lower limb exoskeleton robot mechanism which adopts an active and passive combined mode to provide passive gravity compensation and active movement assistance for lower limb movement of a wearer. Firstly, a gravity balance mechanism based on an extension spring, a single connecting rod and a rope is designed, and the adjustable extension spring and the rope fixed on a frame provide corresponding moment for the hip-knee joint of the lower limb exoskeleton so as to balance the moment generated by the gravity of the lower limb and the lower limb exoskeleton, thereby completing passive gravity balance; then, an active auxiliary based on a motor is designed, and a motor driving platform arranged at the rear side of the waist and the back is used for driving a wire wheel to drive a rope to transmit active auxiliary torque to the hip-knee exoskeleton; finally, a portable and compact modularized hip-knee joint is designed, the main and passive moments transmitted by the ropes are integrated and output to the lower limbs of the wearer, and the gravity compensation and the movement assistance of the wearer are completed.

Description

Active and passive combined lower limb exoskeleton robot

Technical Field

The invention belongs to the field of exoskeletons, and particularly relates to a main and passive combined lower limb exoskeletons robot mechanism which can be applied to the motion assistance of patients with lower limb weakness.

Background

Cerebral apoplexy is the first cause of death and disability of adults in China, and has the characteristics of high morbidity, high mortality and high disability rate. The cerebral apoplexy patient is often accompanied with sequelae after operation or drug treatment, which leads to dyskinesia of lower limbs of the patient, and is characterized by abnormal muscular tension, reduced muscle strength, limited movement of lower limb joints and reduced control capacity of a nervous system, so that the daily life of the patient is influenced and psychological burden of the patient is increased. In recent years. With the rapid development of exoskeleton technology, more and more exoskeletons are invented for auxiliary support and rehabilitation of patients, and wearable exoskeletons with dyskinesia for lower limbs are also emerging continuously.

However, at present, most lower limb exoskeleton robots are of pure rigid structures, and a plurality of drivers are directly installed at joints, so that the movement inertia of the affected limb is greatly increased, the weight of the exoskeleton robot is large, the wearing process is complicated, a joint fixed shaft rotating mechanism is adopted in design, and the problems of redundancy in driving, low light weight degree, low man-machine structure and movement matching degree and the like exist.

Aiming at the analysis, the power-assisted lower limb exoskeleton robot for the cerebral apoplexy rehabilitation field is developed, can provide auxiliary support and gravity compensation for lower limb movement of a wearer, relieves the lower limb muscle load of the wearer, meets the characteristics of light weight and smoothness, and has important significance for improving the daily life of lower limb movement dysfunction of patients in the later stage of cerebral apoplexy.

Disclosure of Invention

The invention provides a main and passive combined lower limb wearable exoskeleton, which aims to solve the problems of large weight, redundant driving, low man-machine structure and motion matching degree of the existing lower limb exoskeleton, integrates the characteristics of the exoskeleton for providing auxiliary support for human lower limbs and a gravity balance mechanism, and provides a main and passive combined lower limb wearable exoskeleton through special design of rope driving.

The invention relates to an active and passive combined lower limb exoskeleton robot mechanism, which comprises an exoskeleton body mechanism and a lower limb exoskeleton mechanism, wherein the exoskeleton body mechanism is tied on the waist and the back of a human body, and the lower limb exoskeleton mechanism is tied on a human body leg brushing.

The exoskeleton body mechanism comprises a backboard, a gravity balancing device and a motor driving platform; the gravity balancing device is a guide rail sliding block module which is transversely arranged on the back plate in 4 sets. The sliding blocks of the four sets of guide rail sliding block molds are connected with a gravity balance rope through a tension spring, the gravity balance rope is connected with a bulge designed on the outer edge of a wire wheel in the electric driving platform, and then the pretightening force of the tension spring in the gravity balance device is transmitted to the wire wheel.

The motor driving platform comprises a waist and back binding back plate, a waist rack, a wire wheel driving mechanism and a wire guide mechanism; wherein, the waist frame is arranged on the backboard, and the two sides of the waist mechanism are provided with lower limb exoskeleton mechanism connecting arms; meanwhile, a wire guide mechanism is arranged at the upper and lower positions of the connecting arms of the lower limb exoskeleton mechanisms at the two sides; the wire guide mechanism is a wire guide wheel with two axes longitudinally arranged.

Four through holes are formed in the positions, transversely corresponding to the waist frame, of the back plate to form a wire wheel driving mechanism mounting channel; the wire wheel driving mechanism is respectively a left hip driving mechanism, a left knee driving mechanism, a right hip driving mechanism and a right knee driving mechanism from left to right in the transverse direction; the four wire wheel driving mechanisms have the same structure and are provided with wire wheels driven to rotate by the motor module. The wire wheel is arranged in the through hole on the waist frame through a bearing, and the wire winding groove on the outer surface of the wire wheel is positioned outside the wire wheel driving mechanism installation channel.

The waist and back binding backboard is arranged parallel to the backboard and is fixed with the waist frame; the waist and back binding backboard is provided with an opening for passing through the binding belt.

The lower limb exoskeleton mechanism is composed of a hip joint module, a thigh exoskeleton, a knee joint module, a shank exoskeleton and an ankle joint module.

The hip joint module comprises a knee joint middle rotating wheel, a hip joint driving wheel, a thigh upper end connecting piece, a waist connecting piece and an elastic element, and is sleeved on the hip joint stepped shaft. The knee joint middle rotating wheel is a double-groove line wheel and is installed through a bearing; the hip joint driving wheel is fixedly arranged by a single groove line wheel; the thigh link is mounted by means of bearings. The waist connection is mounted by means of bearings. The elastic element is fixedly arranged, and both ends of the elastic element are fixed with the upper thigh connecting piece. The stepped shaft of the hip joint module with the structure is arranged on the connecting arm at the side of the waist frame through a bearing; and the waist connecting piece is fixedly connected with the connecting arm.

The thigh exoskeleton comprises a hip-joint side thigh connecting rod, a knee-joint side thigh connecting rod and a thigh binding mechanism.

The hip joint side thigh connecting rod is in sliding connection with the knee joint side thigh connecting rod, so that the length of the thigh exoskeleton is adjustable; the top of the thigh connecting rod at the hip joint side is fixed with the connecting piece at the upper end of the thigh in the hip joint module.

The thigh binding mechanism is of an arc plate-shaped structure, is positioned at the outer side of the thigh connecting rod at the knee joint side, and is provided with holes for passing through the binding belt; the outer cambered surface of the thigh binding mechanism is fixed with the thigh connecting rod at the knee joint side.

The knee joint module comprises a thigh end connecting piece, a shank upper end connecting piece, a knee joint elastic element and a knee joint driving wheel which are sleeved on the knee joint stepped shaft. The upper end connecting piece of the shank is installed through the shaft sleeve; the thigh end connecting piece is installed through a bearing; the knee joint driving wheel is a single groove line wheel and is fixedly arranged; the knee joint elastic element is fixedly arranged; simultaneously, the two ends of the elastic element are fixed with the connecting piece at the upper end of the lower leg; in the knee joint module with the above structure, the thigh end connecting piece is fixedly connected with the lower end of the knee joint side thigh connecting rod in the thigh exoskeleton.

The shank exoskeleton consists of a knee joint side shank connecting rod, an ankle joint side shank connecting rod and a shank binding mechanism; wherein the top of the knee joint side shank connecting rod is fixedly connected with a shank upper end connecting piece; the lower part of the knee-joint side shank connecting rod is connected with the ankle-joint side shank connecting rod in a sliding way, so that the length of the shank exoskeleton is adjustable.

The shank binding mechanism is of an arc plate-shaped structure, is positioned at the outer side of the knee joint side shank connecting rod, and is provided with holes for passing through the binding belt; the outer cambered surface of the shank binding mechanism is fixed with a shank connecting rod at the knee joint side.

The ankle joint module consists of an ankle joint connecting rod, a spring and a foot supporting plate; wherein, the top end of the ankle joint connecting rod is hinged with the bottom end of the ankle joint side shank connecting rod; the bottom end of the ankle joint connecting rod is connected with the bottom end of the ankle joint side shank connecting rod through springs at two sides; the bottom end of the ankle joint connecting rod is fixed on one side of the foot supporting plate. The rear end of the foot supporting plate is provided with a binding plate, and an opening is formed in the binding plate and used for penetrating through the binding belt.

The left and right lower limb exoskeleton mechanisms with the structure are driven to move by two groups of driving ropes; each group of driving ropes consists of two hip joint driving ropes, two knee joint transit ropes and two knee joint driving ropes. The left leg driving mechanism is connected with the left knee driving mechanism and the left leg exoskeleton mechanism.

Wherein, two hip joint driving ropes are reversely wound on a wire wheel in the hip driving mechanism, and the end parts of the two hip joint driving ropes are connected with pins in U-shaped grooves in the circumferential direction of the wire wheel in the left hip driving mechanism; the two hip joint ropes further respectively bypass the wire bearing positioned at the outer side of the upper wire bearing and the lower wire bearing of the left connecting arm of the waist frame along the horizontal transverse direction, horizontally and forwards reach the hip joint driving wheel in the hip joint module, reversely wind on the hip joint driving wheel in the hip joint module, and are connected with pins in the U-shaped groove in the circumferential direction of the hip joint driving wheel at the other end part.

The two knee joint driving ropes are reversely wound on a wire wheel in the left knee driving mechanism, and the end parts of the two knee joint driving ropes are connected with pins in a U-shaped groove in the circumferential direction of the wire wheel in the left knee driving mechanism; the two knee joint ropes further respectively bypass the wire bearing positioned at the inner side of the two wire bearings above and below the connecting arm at the left side of the waist frame along the horizontal and transverse direction, horizontally and forwards reach the knee joint driving wheel in the knee joint module, reversely wind in the U-shaped groove at the inner side of the knee joint transfer wheel in the hip joint module, and are connected with pins in the U-shaped groove at the end part.

The two knee joint transfer ropes are reversely wound on a U-shaped groove at the outer side of a knee joint transfer wheel in the hip joint module and are connected with pins in the U-shaped groove; the two knee joint transfer ropes are further reversely wound on the knee joint driving wheel, and the other end part of the knee joint transfer ropes is fixed on the inner side of the knee joint transfer wheel and connected with the U-shaped groove pin nail.

The other group of driving ropes are right lower limb driving ropes, and are connected with a right hip driving mechanism, a right knee driving mechanism and a right lower limb exoskeleton mechanism in the wire wheel driving mechanism in the same way.

The invention relates to a passive and active combined lower limb exoskeleton robot mechanism which is worn in the following working modes:

A. Wearing type

The whole body is arranged at the right back position of the back of the human body and the outer side of the lower limbs of the human body, so that the wearing of a wearer is facilitated, and auxiliary support is provided for the lower limbs of the wearer;

wherein, the gravity balancing device and the motor driving platform are arranged right behind the back of the human body; the waist and back binding back plate is fixed on the waist of a rigid vest worn by a human body through bolts, and two shoulder straps of the rigid vest are respectively fixed across the shoulders of the human body after being bound with strip-shaped holes at the end parts of the longitudinal plates of the back plate through the waist and back part, so that the waist and back wearing is completed;

the hip joint module, the thigh exoskeleton, the knee joint module, the shank exoskeleton and the ankle joint module are all positioned outside the lower limb of the human body; the rear side of the thigh of the human body is arranged in a thigh binding mechanism, then a velcro binding belt with thorns at two ends is arranged in front of the thigh and passes through strip-shaped holes at two sides of the thigh binding mechanism, and the thorns at two ends of the velcro are further adhered to the middle circular hair of the velcro, so that thigh wearing is completed; the rear side of the shank of the human body is placed in the shank binding mechanism, then a velcro binding belt with thorns at two ends is penetrated through strip-shaped holes at two sides of the shank binding mechanism in front of the shank, and the thorns at two ends of the velcro are further adhered to the circular hair in the middle of the velcro, so that the shank wearing is completed; the human foot is placed on the foot supporting plate, the velcro binding band with the thorns at the two ends passes through the opening of the binding plate, and the thorns at the two ends of the velcro are further adhered to the circular hair in the middle of the velcro, so that foot wearing is completed.

B. Working mode

Passive mode of operation: the gravity balance mechanism balances the moment generated by the human body under the action of the gravity of the lower limbs and the exoskeleton of the lower limbs in the walking process by the corresponding moment provided by the extension spring, and relieves the fatigue of the muscles of the lower limbs in the movement process of the human body; in the working process, the force generated by the tension spring is firstly transmitted to the wire wheel through the gravity balance rope and then transmitted to the corresponding joint driving wheel of the lower limb exoskeleton through the driving rope connected to the wire wheel, so as to provide passive assistance for the lower limb of the human body, thereby completing the gravity compensation for the hip-knee joint flexion-extension movement in the lower limb of the human body; according to the difference of the weight of the lower limbs of the human body, the position of the sliding block can be adjusted by rotating the ball screw, the distance between the sliding block and a fixed point of the gravity balance rope on the driving wire wheel is changed, the stretching length of the stretching spring is adjusted, and finally the moment output by the gravity balance rope to the wire wheel is changed;

in the passive operation mode, an active operation mode is added:

the motor module outputs corresponding auxiliary torque to the driving wire wheel according to feedback signals such as the movement angle and torque of the hip-knee joint in the lower limb, and the corresponding auxiliary torque is transmitted to the hip-knee joint driving wheel in the corresponding lower limb exoskeleton through the driving rope, so that the lower limb of the human body is driven, and the active assistance of the flexion and extension movement of the hip-knee joint in the lower limb of the human body is completed.

The invention has the advantages that:

(1) The lower limb exoskeleton robot mechanism with the active and passive combination is designed with two modes of passive gravity compensation and active torque assistance, and can be independently assisted in the passive mode or combined for assistance, so that the requirements of cerebral apoplexy patients with different conditions can be met;

(2) The active and passive combined lower limb exoskeleton robot mechanism adopts the rope to drive, so that the driving platform is arranged on the waist and the back, and compared with the exoskeleton of which the traditional driver is arranged on the lower limb joint, the weight of the lower limb exoskeleton is reduced, and the movement inertia of the lower limb is reduced when the patient wears the exoskeleton;

(3) The active and passive combined lower limb exoskeleton robot mechanism is provided with an adjusting device, and the length of thigh and lower leg exoskeleton is adjusted according to wearers with different lower limb lengths, so that the robot mechanism is suitable for more wearing users;

(4) The active and passive combined lower limb exoskeleton robot mechanism adopts the modularized joints, so that the device is compact and lightweight, and the comfort of a wearer is improved.

Drawings

Fig. 1 is a schematic general structural view of the actively and passively combined lower extremity exoskeleton robot mechanism of the present invention.

Fig. 2 is a schematic view of the structure of the gravity balance device of the active-passive combined lower limb exoskeleton robot mechanism.

Fig. 3 is an exploded view of the motor driven platform structure of the actively and passively coupled lower extremity exoskeleton robot mechanism of the present invention.

Fig. 4 is a schematic diagram of the connection relationship between the gravity balancing device and the motor driving platform in the active-passive combined lower limb exoskeleton robot mechanism.

Fig. 5 is a schematic view of a hip module of the actively passively combined lower extremity exoskeleton robot mechanism of the present invention.

Fig. 6 is an axial cross-sectional view of a hip module of the actively passively coupled lower extremity exoskeleton robot mechanism of the present invention.

Fig. 7 is a schematic diagram of a hip joint module motion limiting mode in the active-passive combined lower limb exoskeleton robot mechanism of the present invention.

Fig. 8 is a schematic diagram of thigh exoskeleton structure in a passive-active combined lower limb exoskeleton robot mechanism of the present invention.

Fig. 9 is a schematic view of a knee joint module structure of the active-passive combination lower limb exoskeleton robot mechanism of the present invention.

Figure 10 is an axial cross-sectional view of a knee joint module in the actively passively coupled lower extremity exoskeleton robot mechanism of the present invention.

Fig. 11 is a schematic diagram of a calf exoskeleton and ankle joint module of the actively and passively coupled lower extremity exoskeleton robot mechanism of the present invention.

Fig. 12 is a schematic view of the hip and ankle joint drive cable connection in the active-passive combined lower limb exoskeleton robot mechanism of the present invention.

Fig. 13 is a schematic diagram of a knee joint transfer rope connection in a passive and active combination lower extremity exoskeleton robot mechanism of the present invention.

In the figure:

1-exoskeleton body mechanism 101-back plate 102-gravity balance device

103-Motor drive platform 102 a-slide rail 102 b-slide block

101 a-drive mounting hole

102 c-ball screw 102 d-two ball nuts 102 e-fixed block

102 f-angular contact bearing 102 g-extension spring 102 h-U-shaped slider

102 i-gravity balance rope 102 j-wire slider 102 k-pin

102 l-wire guide 102 m-wire bearing A103 a-waist and back binding backboard

103B-lumbar frame 103 c-wire wheel drive 103 d-wire bearing B

103 e-support table 103a 1-transverse plate 103a 2-longitudinal plate

103a 3-through hole 103b 1-bottom plate 103b2-L type connecting arm

103b 3-wire wheel mounting hole 103b 4-lower limb connecting hole 103b 5-limiting table

103b 6-annular positioning groove 103c 1-motor body 103c 2-speed reducer

103c 3-Motor frame 103c 4-coupling 103c 5-wire wheel

103c 6-connecting protrusion

2-hip joint module 201-knee joint middle runner 202-hip joint driving wheel

203-hip joint elastic element 204-hip joint stepped shaft 205-h type thigh upper end connecting piece

206-lumbar connection plate 207-hip joint encoder mounting plate A

208-hip joint encoder mounting plate B209-waist connection bearing

3-thigh exoskeleton 301-hip-side thigh link 302-knee-side thigh link

303-thigh binding mechanism 304-thigh distance adjusting fixing block 305-rope furling device

4-knee module 401-h thigh end connector 402-h calf upper end connector

403-knee elastic element 404-knee driving wheel 405-knee stepped shaft

406-knee encoder mounting plate A407-knee encoder mounting plate B

5-calf exoskeleton 501-knee-side calf link 502-ankle-side calf link

503-shank binding mechanism 502 a-U-shaped connector

6-ankle module 601-ankle connecting rod 602-spring

603-heel binding plate 604-heel plate 605-sole plate

601a-U type connecting seat

Detailed Description

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

The invention relates to a passive and active combined lower limb exoskeleton robot mechanism, which comprises an exoskeleton body mechanism 1 and lower limb exoskeleton mechanisms which are arranged on the left side and the right side of the exoskeleton body 1 and correspond to lower limbs on the two sides of a human body. Both sets of lower extremity exoskeleton mechanisms are composed of hip joint module 2, thigh exoskeleton 3, knee joint module 4, calf exoskeleton 5 and ankle joint module 6, as shown in fig. 1.

The exoskeleton body mechanism 1 comprises a back plate 101, a gravity balance device 102 and a motor drive platform 103.

The gravity balancing device 102 is composed of four guide rail slide blocks with the same structure. The four guide rail slide block modules are arranged on the front side surface of the back plate 101 at equal intervals in parallel, and the sliding direction of the slide blocks is along the up-down direction of the back plate 101. Each of the above-described rail-slider modules includes a rail-slider mechanism, a ball screw mechanism, and an extension spring adjustment mechanism, as shown in fig. 2.

The guide rail and slide block mechanism consists of one slide rail 102a and two slide blocks 102 b. The slide rail 102a is provided with equally spaced counter-sunk holes, and is fixed on the back plate 101 by matching with screws. The sliding rail 102a is connected with two sliding blocks 102b in a sliding fit manner, threaded holes are formed in the surfaces of the two sliding blocks 102b, and the sliding blocks are connected with the sliding rail 102a to form a moving pair.

The ball screw mechanism is composed of one ball screw 102c, two ball nuts 102d, and a fixed block 102 e. Two ball nuts 102d are screwed with the ball screw 102c and fixed to the two sliders 102b, respectively. The top end of the ball screw 102c is connected with a fixed block 102e through an angular contact bearing 102f to form a revolute pair; the bottom end of the ball screw 102c is connected to the lumbar frame 3 through an angular contact bearing 102 f.

The tension spring adjusting mechanism comprises a tension spring 102g, a U-shaped sliding block 102h, a gravity balance rope 102i and a wire sliding block 102j. The U-shaped sliding block 102h is provided with a left side plate and a right side plate which are parallel to the ball screw 102c, and the bottom of the U-shaped sliding block is fixedly connected with a ball nut 102d positioned on one side of the fixed block 102e through a bolt; and two ends of the plugging pin 102k are fixed through holes at corresponding positions of the left side plate and the right side plate. The wire sliding block 102j is provided with a side plate perpendicular to the ball screw 102c, a wire hole 102l is formed in the side plate, two wire bearings A102m are arranged side by side left and right on the plane of the top surface of the wire sliding block 102j, wire grooves are formed in the circumference of the two wire bearings A102m, and the axis is perpendicular to the top surface of the wire sliding block 102 j; and the two wire bearings A102m are attached to each other along the circumferential side wall, and the wire grooves on the two wire bearings A102m are opposite to each other to form a wire channel. The extension spring 102g is arranged between the U-shaped slide block 102h and the wire slide block 102j, and is hung on the pin 102k through a hook at the upper end of the extension spring 102 g. The end of the gravity balance rope 102i is tied on the hook at the lower end of the tension spring 102g, and then sequentially passes through the wire guide hole 102l and the wire guide channel between the two wire guide bearings A102m along the axial direction of the spring and is connected to the electric driving platform 103.

In the gravity balancing device 102, the slide rail 102a and the fixing block 102e are fixed on the back plate 101 by bolts, and the gravity balancing device 2 is fixed on the front side of the platform back plate 101; the position of the U-shaped sliding block 102h is adjusted by rotating the upper end of the ball screw 102c so as to adjust the stretching length of the stretching spring 102g, and pretightening force adjustment of the stretching spring 102g is achieved.

The motor driving platform 103 comprises a waist and back binding back plate 103a, a waist frame 103b, a wire wheel driving mechanism 103c and a wire guiding mechanism 103d, as shown in fig. 3.

The lumbar frame 103b is a U-shaped frame composed of a bottom plate 103b1 and two L-shaped connecting arms 103b 2. The bottom plate 103b1 is fixed to the back plate front side. Four wire wheel mounting holes 103b3 are transversely and equally arranged on the bottom plate 103b1 at intervals; four annular positioning grooves 103b6 are transversely formed in the top surface of the bottom plate 103b 1; at the same time, four equal-sized driving mounting holes 101a corresponding to the reel mounting holes 103b3 are formed in the back plate 101. When the bottom plate 103b1 is mounted on the back plate 101, the bottom ends of the ball screws 102c in the four guide rail slider modules are respectively inserted into the four positioning grooves 103b6 on the bottom plate 103b1, and are connected through angular bearings to form a revolute pair.

One end of the connecting arm 103b2 on two sides of the waist frame 103b is connected with the bottom plate 103b1, and the other end faces the front side of the bottom plate 103b 1; and the corresponding positions of the end parts of the connecting arms 103b2 at the two sides are provided with lower limb connecting holes 103b4 for connecting the lower limb exoskeleton mechanisms at the two sides. Meanwhile, a wire guide mechanism is designed and installed at the bending part of the connecting arms 103b2 at both sides for guiding the rope. The four wire mechanisms are respectively arranged at the upper and lower positions of the bending positions of the back plate connecting arms 103B2 at the two sides and are two wire bearings B103d which are transversely arranged, the wire mechanisms are arranged on a supporting table 103e at the bending positions through rotating shafts, and the axes of the wire mechanisms are arranged along the upper and lower directions of the back plate 101. The two wire bearings B103d are circumferentially provided with rope winding grooves.

The back binding back plate 103a is a T-shaped plate composed of a transverse plate 103a1 and a longitudinal plate 103a2, and is arranged parallel to the back plate 101. Wherein, the transverse plate 103a1 is overlapped with a limiting table 103b5 which is arranged on the bottom plate 103b1 of the waist frame 103b at equal intervals, and the two are fixed by screws. Therefore, a driving installation inlet is provided through the driving installation hole 101a, and a certain distance is reserved between the waist and back binding back plate 103a and the back plate 101 through the design of the limiting table 103b5 on the waist frame 103b, so that the installation requirement of the wire wheel driving mechanism 103c in the axial direction is met.

The end part of a longitudinal plate 103a2 of the waist and back binding back plate 103a is designed into a hexagonal structure, and strip-shaped holes arranged along the side edges are formed at four side edges at intervals in the circumferential direction and used for penetrating through the back binding band. Meanwhile, a fixing hole is formed in the intersection position of the transverse plate and the longitudinal plate of the waist and back binding back plate 103a, and the waist bandage is transversely arranged and fixed on the waist and back binding back plate 103a through the fixing hole in cooperation with a bolt. Thus, the waist and back binding back plate 103a is attached to the waist and back of the human body by binding the waist and back binding bands to the waist and back of the human body.

The four wire wheel driving mechanisms 103c comprise a left hip driving mechanism, a left knee driving mechanism, a right hip driving mechanism and a right knee driving mechanism, which are arranged from left to right and respectively correspondingly realize the driving of the left hip joint, the left knee joint, the right hip joint and the right knee joint of the lower limb of the human body. The four wire wheel driving mechanisms 103c have the same structure and comprise a motor module, a coupler 103c4 and a wire wheel 103c5; each motor module is composed of a motor body 103c1, a speed reducer 103c2 and a motor frame 103c 3. The speed reducer 103c2 is installed inside the motor frame, the motor body 103c1 is fixed on the rear side surface of the motor frame, and the output shaft is coaxially connected with the speed reducer 103c 2. The output end of the speed reducer 103c2 is coaxially connected with the wire wheel 103c5 through a coupler.

As shown in fig. 4, the four wire wheel driving mechanisms 103c with the above structure are respectively installed in the four driving installation channels, wherein the motor frames 103c3 in the four motor modules are fixedly installed at the rear side of the back plate 101 at equal intervals through bolts, so that the axis of the motor main body 103c1 is perpendicular to the back plate 101. Meanwhile, the wire wheel 103c5 is mounted in the wire wheel mounting hole 103b3 on the waist frame 103b through a deep groove ball bearing, the outer surface of the wire wheel is positioned outside the wire wheel mounting hole 103b3, and meanwhile, a connecting protrusion 103c6 is designed on the outer edge of the surface; the front ends of the gravity balance ropes 102i in the four gravity balance devices 102 are respectively sleeved on the connecting protrusions 103c6 of the wire wheels 103c5 in the four wire wheel driving mechanisms 103 c. The pretightening force of the tension springs 102g in the four gravity balance devices 102 can be transmitted to the four wire wheels 103c5; and satisfies the radius of the rope going along the wire reel 103c5 when the connecting protrusion 103c6 is located at the lowest of the wire reel 103c 5.

Four through holes 103a3 are formed in the middle back binding back plate 103a1 of the waist and back binding back plate 103a at equal intervals in the transverse direction; the four through holes 103a3 are positioned corresponding to the four drive mounting holes 101a on the back plate 101, and the rotation of the inner wheel 103c5 is visible through the through holes 103a3, while the weight of the back plate is reduced.

As shown in fig. 5 and 6, in the lower limb exoskeleton mechanism, the hip joint module 2 is composed of a knee joint middle runner 201, a hip joint driving wheel 202, a knee joint elastic element 203, a hip joint stepped shaft 204, an h-type thigh upper end connector 205, a waist connecting plate 206, and two encoder mounting plates, as shown in fig. 4.

The knee joint middle rotating wheel 201 is a double-groove line wheel, two arc-shaped limiting grooves are formed in the circumferential direction of the outer wall, and bolts are arranged in the grooves and used for connecting ropes; the hip joint driving wheel 202 is a single-groove line wheel, an arc-shaped limiting groove is formed in the circumferential direction, and bolts are installed in the groove and used for connecting ropes. The knee joint middle rotating wheel 201 is coaxially sleeved on the hip joint stepped shaft 204, and the knee joint middle rotating wheel and the hip joint stepped shaft are connected through a deep groove ball bearing to form a revolute pair. The hip joint driving wheel 202 is coaxially sleeved on the hip joint stepped shaft 204, and is circumferentially positioned with the hip joint stepped shaft 204 through key connection, so that the hip joint stepped shaft 204 can be driven to rotate. The knee joint middle rotating wheel 201 and the hip joint driving wheel 202 are positioned between two opposite sides of the upper end connecting piece 205 of the h-shaped thigh, the two opposite ends of the upper end connecting piece 205 of the h-shaped thigh are connected with the hip joint stepped shaft 204 through bearings to form a revolute pair, and the other independent end is used for connecting thigh exoskeleton. The front end of the waist connecting plate 206 is sleeved on the hip joint stepped shaft 204 through a bearing and is positioned between the hip joint driving wheel 202 and the upper end connecting piece of the h-shaped thigh; the waist connection plate 206 is terminated to connect the waist frame 103b.

The hip joint elastic element 203 is a planar torsion spring, the central part is provided with a connecting hole, and meanwhile, the relative position of the central part is provided with two elastic branches which respectively rotate around the central part by taking the relative position of the central part as a starting point to form a scroll structure; the outermost side of the elastic element structure is provided with two end parts, and the two end parts are opposite. (refer to the patent of the invention with the application number of CN 202110710593.0), the central hole of the hip joint elastic element 203 is fixedly connected with the end part of the hip joint stepped shaft 204 and is positioned on one side of the rotating wheel 201 in the knee joint; the two ends of the elastic piece 203 are fixedly connected with the side wall of the h-shaped thigh upper end connecting piece 205 and a hip joint encoder support plate A207 arranged on the outer side of the elastic piece 203 through bolts; the moment of the hip joint stepped shaft 204 is transmitted to the upper end connector 205 of the h-shaped thigh through the hip joint elastic element 203 so as to drive the thigh exoskeleton 3 to move. Meanwhile, a limiting pin is mounted on the waist connecting plate 206, and is inserted into an arc-shaped groove designed on the circumference of the side wall of the hip joint driving wheel 202, and the limiting pin and the arc-shaped groove are matched to limit the movement angle of the thigh exoskeleton 3, as shown in fig. 7.

The hip-joint encoder mounting plate a207 is provided with an encoder mounting groove, in which an encoder is mounted, and the encoder is a magnet encoder for measuring the deformation angle of the hip-joint elastic element 203. The hip joint encoder mounting plate B208 is an L-shaped plate, one end of which is fixed to the waist connecting plate 206, and the other end of which is provided with an encoder mounting groove in which an encoder is mounted, and the encoder is a magnet encoder for measuring the rotation angle of the hip joint stepped shaft 204.

The hip joint modules with the structure are arranged at the end parts of the connecting arms 103b2 at the two sides of the waist frame 103 b; the lower limb connecting hole 103b4 at the end of the connecting arm 103b2 is sleeved on the hip joint stepped shaft 204, is positioned between the knee joint middle rotating wheel 201 and the hip joint driving wheel 202, and is connected with the hip joint stepped shaft 204 through the waist connecting bearing 209 to form a revolute pair. And is fixedly connected with the outer side surface of the connecting arm 103b2 through screws by the tail end of the waist connecting plate 206.

As shown in fig. 8, the thigh exoskeleton 3 includes a hip-side thigh link 301, a knee-side thigh link 302, a thigh binding mechanism 303, a thigh adjustment fixing block 304, and a rope retractor 305.

The upper end of the hip-joint-side thigh link 301 is fixed to the independent end of the h-shaped thigh upper end connector 205 in the hip joint module 2 by bolting. The lower end is overlapped with a thigh connecting rod 302 at the knee joint side and is arranged in a thigh distance adjusting fixed block 304 with a U-shaped structure, and the transverse positions of the thigh distance adjusting fixed block and the thigh connecting rod are limited by the thigh distance adjusting fixed block; simultaneously, two screw holes with opposite positions are longitudinally designed on the thigh adjusting fixed block 304 and the knee joint thigh connecting rod 302, the opposite screw holes are fixed through bolts, and meanwhile, the bolts also pass through strip-shaped holes longitudinally designed on the hip joint thigh connecting rod 301; thereby, the longitudinal position of the hip-joint thigh connecting rod 301 is adjustable through the strip-shaped hole, and when the hip-joint thigh connecting rod 301 reaches a proper position, the hip-joint thigh connecting rod 301 is pressed and fixed through tightening the bolt, so that the length adjustment of the thigh exoskeleton 3 is completed.

Thigh binding mechanism 303 is an arc plate-like structure, is located outside knee-joint side thigh connecting rod 302, and opposite straight edge department trompil is used for passing the binding belt, binds in human thigh department through the binding belt. The thigh binding mechanism 303 is provided with a connecting piece at a position close to the straight edge on the outer arc surface, the connecting piece is sleeved on the knee-joint thigh connecting rod 302 and is fixed with the knee-joint thigh connecting rod 302 through bolts.

The rope furling device 505 is fixedly arranged in the middle of the inner sides of the hip joint side thigh connecting rod 301 and the knee joint side thigh connecting rod 302, and consists of two wire wheels which are arranged on a pedestal through rotating shafts, wherein the left and right positions of the two wire wheels correspond to each other, and the axis is perpendicular to the hip joint side thigh connecting rod 301 and the knee joint side thigh connecting rod 302; while the up-down positions of the wire wheels on the hip-side thigh link 301 and the knee-side thigh link 302 correspond.

As shown in fig. 9 and 10, the knee module 4 includes an h-type thigh end connector 401, an h-type shank upper end connector 402, a knee elastic member 403, a knee driving wheel 404, a knee stepped shaft 405, and a knee encoder mounting plate.

Wherein, the opposite ends of the h-shaped upper calf connector 402 are sleeved on the knee joint stepped shaft 405 through shafts to form a revolute pair. The h-shaped thigh end connecting piece 401 is positioned at the inner side of the h-shaped calf upper end connecting piece 402, and the opposite ends are sleeved on the knee joint stepped shaft 405 through bearings to form a revolute pair. The knee joint driving wheel 404 is a single-groove line wheel, is positioned at the inner side of the h-shaped thigh end connecting piece 401, is fixedly connected with the knee joint stepped shaft 405 through a key, and can drive the knee joint stepped shaft 405 to rotate.

The knee elastic element 403 has the same structure as the hip elastic element 203 and is fixedly arranged at one end of the knee stepped shaft 405; a knee encoder mounting plate A406 is arranged outside the knee elastic element 403, and is fixedly connected with the two ends of the knee elastic element 403 and the h-shaped upper calf connector 402. Moment of the knee stepped shaft 405 is transmitted to the h-shaped upper calf-end connector 402 through the knee elastic element 403 to move the calf exoskeleton 5. Meanwhile, as with the hip joint module 2, a limit pin is installed on the upper end connector 402 of the h-shaped lower leg and is inserted into an arc-shaped groove designed on the circumference of the side wall of the knee joint driving wheel 404, and the limit pin is matched with the arc-shaped groove to limit the movement angle of the lower leg exoskeleton 5.

The knee joint encoder mounting plate a406 is provided with an encoder mounting groove, in which an encoder is mounted, and the encoder is a magnet encoder for measuring the deformation angle of the knee joint elastic element 403. The knee joint encoder mounting plate B407 is an L-shaped plate, one end of the plate B is fixed with the upper end connecting piece 402 of the h-shaped calf, the other end of the plate B is provided with an encoder mounting groove, and an encoder is arranged in the groove and is a magnet encoder for measuring the rotation angle of the knee joint stepped shaft 405.

In the knee joint module 4 having the above-described structure, the independent end of the h-shaped thigh end connector 401 is fixed by being connected with the lower end of the knee-joint-side thigh link 302 in the thigh exoskeleton 5 by bolts. The independent end of the h-shaped upper calf connector 402 connects to the calf exoskeleton 5.

As shown in fig. 11, the lower leg exoskeleton 5 is composed of a knee-joint side lower leg link 501, an ankle-joint side lower leg link 502, and a lower leg tying mechanism 503.

The top of the knee-joint side shank link 501 is fixedly connected with the h-shaped shank upper end connector 402 by bolts. The lower part of the knee-joint side shank link 501 is inserted into a rectangular hole designed along the length direction of the link at the upper part of the ankle-joint side shank link 502; the quick-release bolt 504 passes through an opening designed on the inner side of the upper part of the ankle joint shank connecting rod 502, and then further passes through a strip-shaped hole longitudinally designed on the knee joint side shank connecting rod 501 to be in threaded connection with a screw hole formed on the upper part of the ankle joint shank connecting rod 502. The knee-joint side lower leg link 501 and the ankle-joint side lower leg link 502 are tightly pressed and fixed by screwing the quick-release bolt 504; after the quick-release bolts 504 are loosened, the longitudinal position of the knee-joint side shank connecting rod 501 can be adjusted along the strip-shaped holes, so that the superposition length between the knee-joint side shank connecting rod 501 and the ankle-joint side shank connecting rod 502 can be adjusted, and the length adjustment of the shank exoskeleton 5 can be realized.

The shank binding mechanism 503 is of an arc plate structure, is positioned on the outer side of the knee joint side shank connecting rod 501, is connected with a binding belt through an opening at the opposite straight edge, and is bound at the shank of a human body through the binding belt. The outer arc surface of the shank binding mechanism 503 is designed with a connecting piece near the straight edge, the connecting piece is sleeved on the knee-joint side shank connecting rod 501, and is fixed with the knee-joint side shank connecting rod 501 through a bolt.

As shown in fig. 11, the ankle module 6 is composed of an ankle connecting rod 601, a spring 602, a heel binding plate 603, a heel plate 604, and a sole plate 605.

Wherein, the top end of the ankle joint connecting rod 601 is arranged in a U-shaped connector 502a designed at the bottom end of the ankle joint side shank connecting rod 502, and a revolute pair is formed by connecting an ankle joint shaft with two sides of the U-shaped connector. The bottom end of the ankle joint connecting rod 601 is provided with a U-shaped connecting seat 601a, and pins are fixedly arranged between two sides of the U-shaped connecting seat 601a and the side wall of the ankle joint connecting rod 601. One end of each of the two springs 602 is sleeved on pins on two sides of the ankle joint connecting rod 601, and the other end of each of the two springs is sleeved on pins fixedly installed in grooves at two ends of the U-shaped joint 502 a.

The heel binding plate 603, heel plate 604, and sole plate 605 form a foot support. Wherein the rear side of sole plate 605 is adhesively secured to the front side of heel plate 604; form an integral bottom plate for supporting the sole of the human body. The heel binding plate 603 is an arc-shaped plate, is arranged perpendicular to the bottom plate, and the bottom end of the heel binding plate is fixedly adhered to the rear edge of the heel plate 604 for limiting the heel of a human body. The heel plate 603 is provided with strip-shaped holes at both left and right sides, and a binding strap is fixed at the hole, and the heel plate 604 is bound at the ankle of the human body through the binding strap. The sole plate 605, the heel plate 604 and the heel binding plate 603 are made of different materials according to the abrasion and strength of the foot position of the human body contacted by the sole plate 605 and the heel binding plate; wherein the sole plate 605 is made of rubber material, the heel plate 604 is made of carbon fiber material, and the heel binding plate 603 is made of resin material. The inner side of the heel plate 604 is provided with a connecting plate extending inwards, and a U-shaped connecting seat 601a at the bottom end of the ankle connecting rod 601 is fixed on the connecting plate through bolts, so that the shank binding mechanism 503 is positioned right above the heel binding plate 603.

The left and right lower limb exoskeleton mechanisms with the structure are driven to move through the two groups of driving ropes. Each group of driving ropes consists of two hip joint driving ropes, two knee joint transit ropes and two knee joint driving ropes. Wherein, one group of driving ropes is a left lower limb driving rope and is connected with a left hip driving mechanism, a left knee driving mechanism and a left lower limb exoskeleton mechanism in the wire wheel driving mechanism 103 c; the other group of driving ropes are right lower limb driving ropes, and are connected with a right hip driving mechanism, a right knee driving mechanism and a right lower limb exoskeleton mechanism in the wire wheel driving mechanism 103 c. And the two groups of driving ropes are connected in the same way, the following description is made by the left driving rope connection way:

as shown in fig. 12 and 13, the two hip joint driving ropes are reversely wound on the wire wheel 103c5 in the left hip driving mechanism, and the end parts of the two hip joint driving ropes are connected with pins in U-shaped grooves in the circumferential direction of the wire wheel 103c5 in the left hip driving mechanism; the two further hip joint ropes respectively bypass the wire bearing B103d positioned on the outer side in the upper and lower wire bearings B103d at the left bending position of the backboard connecting arm 103B2 along the horizontal and transverse direction, then horizontally and forwards reach the hip joint driving wheel 202 in the hip joint module 2, reversely wind on the hip joint driving wheel 202 in the hip joint module 2, and are connected with pins in U-shaped grooves in the circumferential direction of the hip joint driving wheel 202 at the other end.

The two knee joint driving ropes are reversely wound on a wire wheel 103c5 in the left knee driving mechanism, and the end parts of the two knee joint driving ropes are connected with pins in a U-shaped groove in the circumferential direction of the wire wheel 103c5 in the left knee driving mechanism; after further two knee joint ropes respectively bypass the wire bearing B103d positioned at the inner side in the upper and lower parts of the left bending part of the backboard connecting arm 103B2 along the horizontal and transverse directions, the two knee joint ropes horizontally and forwards reach the knee joint driving wheel 404 in the knee joint module 4 and reversely wind in the U-shaped groove at the inner side of the knee joint transit 201 in the hip joint module 2, and the end part of the two knee joint ropes is connected with the pin in the U-shaped groove. In order to ensure that the ropes horizontally enter each rope winding wheel in the winding process, the dimension of the wire wheel 103c5 in the left hip driving mechanism and the left knee driving mechanism and the vertical position of the two wire bearings B103d above and below the left bending part of the backboard connecting arm 103B2 can be reasonably designed.

The two knee joint transit ropes are reversely wound on the U-shaped groove on the outer side of the knee joint middle rotating wheel 201 in the hip joint module 2 and are connected with pins in the U-shaped groove. The two knee joint transfer ropes pass through the two wire wheels in the rope gathering device 505 on the hip joint side thigh connecting rod 301 and the knee joint side thigh connecting rod 302 in the thigh exoskeleton 3, respectively pass through the wire wheels on the same side in the rope gathering device 505 on the hip joint side thigh connecting rod 301 and the knee joint side thigh connecting rod 302 in parallel, then reach the knee joint driving wheel 404 in the knee joint module 4, further reversely wind on the knee joint driving wheel 404, and the other end is connected with a U-shaped groove pin nail fixed on the inner side of the rotating wheel 201 in the knee joint.

The invention relates to a passive and active combined lower limb exoskeleton robot mechanism which is worn in the following working modes:

A. wearing type

The active and passive combined lower limb exoskeleton robot mechanism is integrally arranged at the position right behind the back of the human body and outside the lower limbs of the human body, so that a wearer can conveniently wear the robot and auxiliary support is provided for the lower limbs of the wearer.

Wherein, the gravity balancing device 102 and the motor driving platform 103 are arranged right behind the back of the human body. The waist and back binding back plate 103a is fixed on the waist of a rigid vest worn by a human body through bolts, and two shoulder straps of the rigid vest are respectively fixed across the shoulders of the human body after passing through strip-shaped holes at the end parts of the longitudinal plates of the waist and back binding back plate 103a, so that the waist and back wearing is completed.

The hip joint module 2, the thigh exoskeleton 3, the knee joint module 4, the shank exoskeleton 5 and the ankle joint module 6 are all positioned outside the lower limb of the human body. The rear side of the thigh of the human body is placed in the thigh binding mechanism 303, then the velcro binding belt with the thorns at the two ends is put through the strip-shaped holes at the two sides of the thigh binding mechanism 5 in front of the thigh, and the thorns at the two ends of the velcro are stuck to the middle circular hair of the velcro, so that thigh wearing is completed. The rear side of the shank of the human body is placed in the shank binding mechanism 503, then a velcro binding belt with thorns at two ends is penetrated through strip-shaped holes at two sides of the shank binding mechanism 503 in front of the shank, the thorns at two ends of the velcro are adhered to the circular hair in the middle of the velcro, and the shank wearing is completed. The human foot is placed on the bottom plate consisting of the heel binding plate 603, the heel plate 604 and the sole plate 605, then in front of the ankle, the velcro binding band with the thorns at the two ends is passed through the strip-shaped holes at the two sides of the heel binding plate 603, the thorns at the two ends of the velcro are adhered to the circular hair in the middle of the velcro, and foot wearing is completed.

The wearer can adjust the lengths of the thigh exoskeleton 3 and the calf exoskeleton 5 according to physiological characteristics such as the length of the lower limbs, so that the lower limb exoskeleton robot mechanism can adapt to the requirements of different people.

B. Working mode

The active and passive combined lower limb exoskeleton robot mechanism can be divided into two modes of providing passive gravity compensation and active moment assistance for the lower limb of a human body and assisting the flexion and extension of the hip and knee joints in the lower limb of the human body, so that the driving part of the whole mechanism mainly comprises a gravity balance mechanism 102 and a motor driving platform 103. The gravity balance mechanism 102 balances the moment generated by the gravity action of the lower limbs and the exoskeleton of the lower limbs of a human body in the walking process through the corresponding moment provided by the extension spring 102, and relieves the fatigue of the muscles of the lower limbs in the human body movement process. In the working process, the force generated by the tension spring 102g is firstly transmitted to the wire wheel 103c5 through the gravity balance rope 102i, and then transmitted to the corresponding joint driving wheel of the lower limb exoskeleton through the driving rope connected to the wire wheel 103c5, so as to provide passive assistance for the lower limb of the human body, thereby completing gravity compensation for hip-knee joint flexion and extension movements in the lower limb of the human body. According to the difference of the weight of the lower limbs of the human body, the position of the U-shaped sliding block 102h can be adjusted by rotating the ball screw 102c, the distance between the U-shaped sliding block 102h and the fixed point of the gravity balance rope 102i on the driving wire wheel is changed, the stretching length of the stretching spring 102g is adjusted, and finally the moment output by the gravity balance rope 102i to the wire wheel 103c5 is changed, wherein the moment provided for the lower limbs of the human body in the process is provided by the stretching spring 102 g.

The active assistance is that the motor module outputs corresponding assistance torque to the driving wire wheel 103c5 according to feedback signals such as movement angle and torque of the hip-knee joint in the lower limb, and the assistance torque is transmitted to the driving wheel of the hip-knee joint in the corresponding lower limb exoskeleton through the driving rope, so as to drive the lower limb of the human body, and complete the active assistance of the hip-knee joint flexion and extension movement in the lower limb of the human body. The exoskeleton mechanism can dismantle the motor module or put the motor in an enabling state, works independently in a purely passive gravity compensation mode, and provides passive assistance for human lower limbs through the gravity balance mechanism 2 so as to relieve the fatigue of muscles of the human lower limbs; the active working mode can be added on the basis of the passive mode working, and the active and passive auxiliary forces can be simultaneously provided for the corresponding lower limbs of the human body for exercise assistance.

Claims (9)

1. The lower limb exoskeleton robot mechanism comprises an exoskeleton body mechanism and a lower limb exoskeleton mechanism, wherein the exoskeleton body mechanism is bound on the waist and the back of a human body, and the lower limb exoskeleton mechanism is bound on a human body leg brushing; the method is characterized in that:

the exoskeleton body mechanism comprises a backboard, a gravity balancing device and a motor driving platform;

the gravity balancing device is 4 sets of guide rail slide block modules transversely arranged on the back plate; the sliding blocks of the four sets of guide rail sliding block molds are connected with a gravity balance rope through a tension spring, the gravity balance rope is connected with a bulge designed on the outer edge of a wire wheel in the electric driving platform, and then the pretightening force of the tension spring in the gravity balance device is transmitted to the wire wheel;

The motor driving platform comprises a waist and back binding back plate, a waist rack, a wire wheel driving mechanism and a wire guide mechanism; wherein, the waist frame is arranged on the backboard, and the two sides of the waist mechanism are provided with lower limb exoskeleton mechanism connecting arms; meanwhile, a wire guide mechanism is arranged at the upper and lower positions of the connecting arms of the lower limb exoskeleton mechanisms at the two sides; the wire guide mechanism is a wire guide wheel with two axes longitudinally arranged;

four through holes are formed in the positions, transversely corresponding to the waist frame, of the back plate to form a wire wheel driving mechanism mounting channel; the wire wheel driving mechanism is respectively a left hip driving mechanism, a left knee driving mechanism, a right hip driving mechanism and a right knee driving mechanism from left to right in the transverse direction; the four wire wheel driving mechanisms have the same structure and are provided with wire wheels driven to rotate by the motor module; the wire wheel is arranged in the through hole on the waist frame through a bearing, and the wire winding groove on the outer surface of the wire wheel is positioned outside the wire wheel driving mechanism installation channel;

the waist and back binding backboard is arranged parallel to the backboard and is fixed with the waist frame; the waist and back binding backboard is provided with an opening for passing through the binding belt;

the lower limb exoskeleton mechanism consists of a hip joint module, a thigh exoskeleton, a knee joint module, a shank exoskeleton and an ankle joint module;

The hip joint module comprises a knee joint middle rotating wheel, a hip joint driving wheel, a thigh upper end connecting piece, a waist connecting piece and an elastic element, which are sleeved on the hip joint stepped shaft; the knee joint middle rotating wheel is a double-groove line wheel and is installed through a bearing; the hip joint driving wheel is fixedly arranged by a single groove line wheel; the thigh connecting piece is installed through a bearing; the waist connecting piece is installed through a bearing; the elastic element is fixedly arranged, and both ends of the elastic element are fixed with the upper thigh connecting piece; the stepped shaft of the hip joint module with the structure is arranged on the connecting arm at the side of the waist frame through a bearing; simultaneously, the waist connecting piece is fixedly connected with the connecting arm;

the thigh exoskeleton comprises a hip joint side thigh connecting rod, a knee joint side thigh connecting rod and a thigh binding mechanism; the hip joint side thigh connecting rod is in sliding connection with the knee joint side thigh connecting rod, so that the length of the thigh exoskeleton is adjustable; the top of the thigh connecting rod at the hip joint side is fixed with a connecting piece at the upper end of the thigh in the hip joint module; the thigh binding mechanism is of an arc plate-shaped structure, is positioned at the outer side of the thigh connecting rod at the knee joint side, and is provided with holes for passing through the binding belt; the outer cambered surface of the thigh binding mechanism is fixed with a thigh connecting rod at the knee joint side;

The knee joint module comprises a thigh end connecting piece, a shank upper end connecting piece, a knee joint elastic element and a knee joint driving wheel which are sleeved on the knee joint stepped shaft; the upper end connecting piece of the shank is installed through the shaft sleeve; the thigh end connecting piece is installed through a bearing; the knee joint driving wheel is a single groove line wheel and is fixedly arranged; the knee joint elastic element is fixedly arranged; simultaneously, the two ends of the elastic element are fixed with the connecting piece at the upper end of the lower leg; in the knee joint module with the structure, the thigh end connecting piece is fixedly connected with the lower end of the knee joint side thigh connecting rod in the thigh exoskeleton;

the shank exoskeleton consists of a knee joint side shank connecting rod, an ankle joint side shank connecting rod and a shank binding mechanism; wherein the top of the knee joint side shank connecting rod is fixedly connected with a shank upper end connecting piece; the lower part of the knee-joint side shank connecting rod is in sliding connection with the ankle-joint side shank connecting rod, so that the length of the shank exoskeleton is adjustable; the shank binding mechanism is of an arc plate-shaped structure, is positioned at the outer side of the knee joint side shank connecting rod, and is provided with holes for passing through the binding belt; the outer cambered surface of the shank binding mechanism is fixed with a knee joint side shank connecting rod;

the ankle joint module consists of an ankle joint connecting rod, a spring and a foot supporting plate; wherein, the top end of the ankle joint connecting rod is hinged with the bottom end of the ankle joint side shank connecting rod; the bottom end of the ankle joint connecting rod is connected with the bottom end of the ankle joint side shank connecting rod through springs at two sides; the bottom end of the ankle joint connecting rod is fixed on one side of the foot supporting plate; the rear end of the foot supporting plate is provided with a binding plate, and an opening is formed in the binding plate and used for penetrating through the binding belt;

The left and right lower limb exoskeleton mechanisms with the structure are driven to move by two groups of driving ropes; each group of driving ropes consists of two hip joint driving ropes, two knee joint transit ropes and two knee joint driving ropes; wherein, a group of driving ropes are left lower limb driving ropes and are connected with a left hip driving mechanism, a left knee driving mechanism and a left lower limb exoskeleton mechanism in the wire wheel driving mechanism;

wherein, two hip joint driving ropes are reversely wound on a wire wheel in the hip driving mechanism, and the end parts of the two hip joint driving ropes are connected with pins in U-shaped grooves in the circumferential direction of the wire wheel in the left hip driving mechanism; the two hip joint ropes respectively bypass the wire bearings positioned at the outer sides of the upper wire bearing and the lower wire bearing of the left connecting arm of the waist frame along the horizontal transverse direction, horizontally and forwards reach the hip joint driving wheel in the hip joint module, reversely wind on the hip joint driving wheel in the hip joint module, and connect the other end part with pins in the U-shaped groove of the circumference of the hip joint driving wheel;

the two knee joint driving ropes are reversely wound on a wire wheel in the left knee driving mechanism, and the end parts of the two knee joint driving ropes are connected with pins in a U-shaped groove in the circumferential direction of the wire wheel in the left knee driving mechanism; the two knee joint ropes respectively bypass the wire bearing positioned at the inner side of the two wire bearings above and below the connecting arm at the left side of the waist frame along the horizontal and transverse direction, horizontally and forwards reach the knee joint driving wheel in the knee joint module, reversely wind in the U-shaped groove at the inner side of the knee joint rotating wheel in the hip joint module, and are connected with pins in the U-shaped groove at the end part;

The two knee joint transfer ropes are reversely wound on a U-shaped groove at the outer side of a knee joint transfer wheel in the hip joint module and are connected with pins in the U-shaped groove; further reversely winding the two knee joint transfer ropes on a knee joint driving wheel, and fixing the other end part of the knee joint transfer ropes on the inner side of the knee joint transfer wheel through a U-shaped groove pin;

the other group of driving ropes are right lower limb driving ropes, and are connected with a right hip driving mechanism, a right knee driving mechanism and a right lower limb exoskeleton mechanism in the wire wheel driving mechanism in the same way.

2. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: the guide rail slide block module is also provided with a guide wire bearing seat, and two guide wire bearings are arranged on the guide wire bearing seat side by side; the two wire bearings are circumferentially provided with wire grooves, the circumferential side walls of the two wire bearings are attached to each other, and meanwhile the wire grooves on the two wire bearings are opposite to each other to form a wire passage, so that a gravity balance rope passes through the wire passage.

3. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: when the bulge on the wire wheel of the wire wheel driving mechanism is positioned at the lowest part of the wire wheel, the gravity balance rope moves towards the radius of the wire wheel.

4. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: the waist and back binding backboard is provided with a boss support through a design on the waist rack; the waist binding backboard is provided with holes corresponding to the wire wheel in the wire wheel driving mechanism, and the rotation action of the wire wheel is observed.

5. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: in the hip joint module, a waist connecting plate is provided with a limit pin which is inserted into an arc-shaped groove designed on the circumference of the side wall of a hip joint driving wheel, and the limit pin is matched with the arc-shaped groove to limit the movement angle of thigh exoskeleton; meanwhile, in the knee joint module, a limit pin is arranged on a connecting piece at the upper end of the lower leg and is inserted into an arc-shaped groove designed in the circumferential direction of the side wall of the knee joint driving wheel, and the limit pin is matched with the arc-shaped groove to limit the movement angle of the lower leg exoskeleton.

6. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: two magnet encoders are mounted on the hip joint module, and the two encoders respectively measure the deformation angle of the elastic element in the hip joint module and the rotation angle of the hip joint stepped shaft; meanwhile, two magnet encoders are arranged on the knee joint module, and the two encoders respectively measure the deformation angle of the elastic element in the knee joint module and the rotation angle of the knee joint stepped shaft.

7. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: the middle parts of the inner sides of the thigh connecting rods at the hip joint side and the thigh connecting rods at the knee joint side are also provided with rope furling devices which are composed of two transversely arranged wire wheels, the left and right positions of the wire wheels correspond to each other, and the wire wheels on the thigh connecting rods at the hip joint side and the thigh connecting rods at the knee joint side correspond to each other in upper and lower positions; the two knee joint transfer ropes pass through two wire wheels in the two sets of rope gathering devices and respectively pass through the hip joint side thigh connecting rod and the wire wheels on the same side in the rope gathering devices on the knee joint side thigh connecting rod in parallel to reach knee joint driving wheels in the knee joint module.

8. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: the foot supporting plate consists of a heel binding plate, a heel plate and a sole plate; wherein the rear side of the sole plate is bonded and fixed with the front side of the heel plate; forming an integral bottom plate for supporting the sole of a human body; the heel binding plate is an arc-shaped plate and is perpendicular to the bottom plate, and the bottom end of the heel binding plate is fixedly adhered to the rear edge of the heel plate and used for limiting the heel of a human body; the left side and the right side of the heel binding plate are provided with strip-shaped holes, binding belts are fixed at the holes, and the heel plate is bound at the ankle of a human body through the binding belts; and the sole plate is made of rubber material, the heel plate is made of carbon fiber material, and the heel binding plate is made of resin material.

9. A passively and actively engaged lower extremity exoskeleton robot mechanism according to claim 1, wherein: the wearing and working modes are as follows:

A. wearing type

The whole body is arranged at the right back position of the back of the human body and the outer side of the lower limbs of the human body, so that the wearing of a wearer is facilitated, and auxiliary support is provided for the lower limbs of the wearer;

wherein, the gravity balancing device and the motor driving platform are arranged right behind the back of the human body; the waist and back binding back plate is fixed on the waist of a rigid vest worn by a human body through bolts, and two shoulder straps of the rigid vest are respectively fixed across the shoulders of the human body after being bound with strip-shaped holes at the end parts of the longitudinal plates of the back plate through the waist and back part, so that the waist and back wearing is completed;

the hip joint module, the thigh exoskeleton, the knee joint module, the shank exoskeleton and the ankle joint module are all positioned outside the lower limb of the human body; the rear side of the thigh of the human body is arranged in a thigh binding mechanism, then a velcro binding belt with thorns at two ends is arranged in front of the thigh and passes through strip-shaped holes at two sides of the thigh binding mechanism, and the thorns at two ends of the velcro are further adhered to the middle circular hair of the velcro, so that thigh wearing is completed; the rear side of the shank of the human body is placed in the shank binding mechanism, then a velcro binding belt with thorns at two ends is penetrated through strip-shaped holes at two sides of the shank binding mechanism in front of the shank, and the thorns at two ends of the velcro are further adhered to the circular hair in the middle of the velcro, so that the shank wearing is completed; the human foot is placed on the foot supporting plate, the velcro binding band with the thorns at the two ends passes through the opening of the binding plate, and the thorns at the two ends of the velcro are further adhered to the circular hair in the middle of the velcro, so that foot wearing is completed.

B. Working mode

Passive mode of operation: the gravity balance mechanism balances the moment generated by the human body under the action of the gravity of the lower limbs and the exoskeleton of the lower limbs in the walking process by the corresponding moment provided by the extension spring, and relieves the fatigue of the muscles of the lower limbs in the movement process of the human body; in the working process, the force generated by the tension spring is firstly transmitted to the wire wheel through the gravity balance rope and then transmitted to the corresponding joint driving wheel of the lower limb exoskeleton through the driving rope connected to the wire wheel, so as to provide passive assistance for the lower limb of the human body, thereby completing the gravity compensation for the hip-knee joint flexion-extension movement in the lower limb of the human body; according to the difference of the weight of the lower limbs of the human body, the position of the sliding block can be adjusted by rotating the ball screw, the distance between the sliding block and a fixed point of the gravity balance rope on the driving wire wheel is changed, the stretching length of the stretching spring is adjusted, and finally the moment output by the gravity balance rope to the wire wheel is changed;

in the passive operation mode, an active operation mode is added:

the motor module outputs corresponding auxiliary torque to the driving wire wheel according to feedback signals such as the movement angle and torque of the hip-knee joint in the lower limb, and the corresponding auxiliary torque is transmitted to the hip-knee joint driving wheel in the corresponding lower limb exoskeleton through the driving rope, so that the lower limb of the human body is driven, and the active assistance of the flexion and extension movement of the hip-knee joint in the lower limb of the human body is completed.