CN117919060A - Multi-degree-of-freedom lower limb exoskeleton robot structure - Google Patents

Abstract

The invention relates to the technical field of rehabilitation aids, in particular to a multi-degree-of-freedom lower limb exoskeleton robot structure which comprises a waist, a hip joint, thighs, knee joints, lower legs, ankle joints, foot components (front sole and rear sole) and a front sole connecting component. The lower limb exoskeleton robot is connected with a hip joint from top to bottom, the hip joint is connected with an upper thigh joint, a lower thigh joint is connected with a knee joint, the knee joint is connected with an upper shank joint, the lower shank joint is connected with an ankle joint, the ankle joint is connected with a rear sole, and a front sole is connected with the shank through a connecting component; the invention adopts a compact design, so that the weight of the whole robot is greatly reduced, and compared with the prior art, the robot is lighter and more comfortable, and the burden of a user is reduced. The multi-degree-of-freedom design of the waist and the hip joint is more in line with the motion characteristics of the human body, and the flexibility of the exoskeleton is greatly improved.

Description

Multi-degree-of-freedom lower limb exoskeleton robot structure

Technical Field

The invention relates to the technical field of rehabilitation aids, in particular to a multi-degree-of-freedom lower limb exoskeleton robot structure.

Background

Exoskeleton robots are advanced mechanical devices designed to help those with impaired mobility or need to enhance physical strength to resume normal lifestyle, and lower extremity exoskeleton robots are robots specifically designed to enhance and assist lower extremity function, providing support for walking, standing and balancing to the user. In the past decades, exoskeleton robot technology has made tremendous progress, and the need to develop auxiliary walking equipment is increasing, so that the exoskeleton robot technology is widely applied to the fields of rehabilitation and medical treatment, and provides better quality of life and autonomy for users.

The existing lower limb exoskeleton robots still have some challenges in structural design and active assistance, and the structural design of some robots is complex and the weight is excessive, so that the comfort level of users is limited. Meanwhile, the existing lower limb exoskeleton robots have the problem that flexibility and adaptability are insufficient, and some robots are limited by mechanical structures and cannot be well adapted to individual differences of different users, so that the using effect is poor. On the other hand, some robots have limited motion ranges, and cannot meet the flexible demands of users in different environments.

Therefore, a multi-degree-of-freedom lower limb exoskeleton robot structure is provided.

Disclosure of Invention

The invention aims to solve the problems and provide a multi-degree-of-freedom lower limb exoskeleton robot structure.

The invention realizes the aim through the following technical scheme, and the multi-degree-of-freedom lower limb exoskeleton robot structure comprises a waist, a hip joint, a thigh, a knee joint, a shank, an ankle joint, a foot component (front sole and rear sole) and a front sole connecting component. The lower limb exoskeleton robot is characterized in that the connection relationship from top to bottom is that a waist is connected with a hip joint, the hip joint is connected with an upper thigh section, a lower thigh section is connected with a knee joint, the knee joint is connected with an upper shank section, the lower shank section is connected with an ankle joint, the ankle joint is connected with a rear sole, and a front sole is connected with the lower shank through a connecting component.

The waist component is arranged above the hip joint and comprises an adjusting component capable of adjusting the length of the waist, a rotating component capable of providing a abduction adduction function and a rotating component capable of supporting the external rotation and the internal rotation at the joint of the waist component and the hip joint, and the waist component further comprises a protection pad and a protection pad support frame for the back of a wearer, wherein the protection pad support frame is connected with the middle part of the waist length adjusting rod, the protection pad is fixed on the support frame, and the height of the protection pad can be adjusted through bolts.

The present invention is preferably configured such that the waist, thigh and calf assemblies of the lower extremity exoskeleton robot structure are adjustable and adaptable to wearers of different heights and weights. By adjusting the length of the robot, the robot can be ensured to be matched with the body size of a wearer, and comfortable wearing experience is provided.

The hip joint assembly is preferably connected with thighs, the main body comprises a retainer connected with the waist and a rotary shaft capable of being connected and driven, the retainer has a limiting function, the rotary shaft is connected with a bending and stretching connecting rod, and the connection and driving can provide assistance for the hip joint of a human body.

The present invention is preferably arranged such that the thigh assembly and knee joint connection comprises a flexion-extension link, a femoral stem, and a thigh strap, the flexion-extension link being connected to the femoral stem, both of which can adjust the thigh length by means of bolts, the thigh strap being secured to the thigh by means of bolts. The knee joint assembly is preferably connected with the lower leg, the main body comprises a knee joint retainer, a turbine shaft, a limiter, a bearing and a worm gear, the upper section of the retainer is connected with the thigh through a bolt, the unique structural design of the retainer can limit the bending and stretching angle of the lower leg, the turbine shaft is connected with the turbine, two ends of the turbine shaft are arranged on the bearing, the bearing is arranged on the retainer, the worm is connected with the turbine, two ends of the worm shaft are connected with the bearing, and the worm can be externally driven to provide bending and stretching assistance for a wearer.

The limiter is preferably arranged to be fixed on the knee joint retainer by using bolts, one side of the limiter is square and convenient to fix, and the other side of the limiter is in arc fit with the appearance of the retainer for limiting the bending and stretching angle of the knee joint of a wearer.

The present invention is preferably configured such that the calf assembly is connected to the ankle joint and includes a tibial connecting plate, an upper tibial stem, a lower tibial stem, and a calf strap, the two tibial stems being adjustable in calf length using bolts.

The ankle joint component is preferably connected with the rear sole of the foot component, the main body comprises an ankle joint retainer, a rotating shaft and a bearing, the upper joint of the retainer is connected with the lower leg, two ends of the rotating shaft are arranged on the bearing, bending and stretching movement can be realized, and the bearing is arranged on the retainer.

The foot assembly is preferably provided in two parts, including a forefoot and a rear sole, the forefoot being connected to the shank using a connecting device, the rear sole being connected to the ankle joint, including a foot connection transition plate, a rear sole plate and a sole rubber pad, the foot connection transition plate being connected to the ankle joint rotation axis.

The invention is preferably arranged that the front sole connecting device is arranged above the foot component and connected between the lower leg and the front sole, and comprises a hydraulic rod supporting frame, a hydraulic rod rotating fixing rod, a hydraulic rod and a spring, wherein the hydraulic rod supporting frame is fixed on the lower leg, the hydraulic rod rotating fixing rod is connected with the hydraulic rod, the two fixing rods are respectively connected with the front sole and the supporting frame, and the hydraulic rod is sleeved by the spring to provide a damping effect.

The beneficial effects of the invention are as follows:

The lower limb exoskeleton robot structure adopts a compact design, so that the weight of the whole robot is greatly reduced, and compared with the prior art, the lower limb exoskeleton robot structure is lighter and more comfortable, and the burden of a user is reduced. The multi-degree-of-freedom design of the waist and the hip joint is more in accordance with the motion characteristics of a human body, the flexibility of the exoskeleton is greatly improved, the hip joint retainer is designed with a larger size in the bending and stretching direction, the exposed area of the motion joint is reduced while the motion range is limited, the waist, the thigh and the shank are both adjustable, the waist, the thigh and the shank are convenient to assemble, disassemble and adjust by using bolts, the operation is simple and easy, the user can carry out personalized adjustment and customization according to the needs of the user, the hip joint and the knee joint can be externally driven, active assistance support is provided, the muscle load of the user can be lightened, and the walking efficiency and the comfort level are improved. Meanwhile, the combined connecting assembly of the hydraulic rod and the spring is adopted in the structure, so that the impact and vibration in the walking process can be relieved and absorbed, and the walking experience of a user is improved.

Drawings

FIG. 1 is a schematic overall view of a multi-degree of freedom lower limb exoskeleton robot structure of the present invention;

FIG. 2 is a diagram showing a waist structure of a multi-degree-of-freedom lower limb exoskeleton robot structure of the present invention;

FIG. 3 is an exploded view of a hip joint of a multi-degree of freedom lower extremity exoskeleton robot structure of the present invention;

FIG. 4 is a schematic diagram of a thigh structure of a multi-degree of freedom lower extremity exoskeleton robot structure of the present invention;

FIG. 5 is a schematic cross-sectional view of a knee joint of a multi-degree of freedom lower extremity exoskeleton robot structure of the present invention;

FIG. 6 is a schematic diagram of a lower leg structure of a multi-degree of freedom lower limb exoskeleton robot structure of the present invention;

FIG. 7 is a schematic view of an ankle joint and rear sole assembly of a multi-degree of freedom lower extremity exoskeleton robot structure of the present invention;

Fig. 8 is a schematic diagram illustrating the assembly of a forefoot and a connection assembly of a multi-degree of freedom lower extremity exoskeleton robot structure of the present invention.

In the figure: 1. a waist portion; 2. a hip joint; 3. thigh; 4. a knee joint; 5. a lower leg; 6. an ankle joint; 7. a foot component; 8. a forefoot connection assembly; 9. a cylindrical roller bearing I; 10. a cylindrical roller bearing II; 101. a cushion support; 102. waist protection pad; 103. a abduction adduction assembly; 104. rotating the inner and outer components; 105. a waist adjusting lever; 201. a hip joint holder; 202. a hip joint rotation shaft; 203. an end cap; 204. a sleeve; 301. bending and stretching the connecting rod; 302. thigh straps; 303. a femoral stem; 401. a knee joint holder; 402. a limiter; 403. a turbine shaft; 404. a turbine; 405. a worm upper end cover; 406. a worm; 407. sealing cover; 408. a worm lower end cover; 501. a tibial connecting plate; 502. an upper tibial stem; 503. shank straps; 504. a lower tibial stem; 601. an ankle joint holder; 602. an end cap; 603. an ankle joint rotation axis; 701. a foot connecting plate; 702. a rear sole plate; 703. a rear sole rubber pad; 704. the foot is connected with the transition plate; 705. a front foot sole plate; 706. a front sole rubber pad; 801. a hydraulic rod support; 802. rotating the fixed rod; 803. a hydraulic rod; 804 springs.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, a multi-degree-of-freedom lower limb exoskeleton robot structure is composed of a waist 1, a hip joint 2, a thigh 3, a knee joint 4, a shank 5, an ankle joint 6, a foot component 7 and a connecting component 8, and the exoskeleton robot has ten degrees of freedom as a whole, wherein the hip joint 2 and the knee joint 4 realize active driving of bending and stretching, assistance can be provided by connecting a motor, the ankle joint 6 serves as a passive member to realize bending and stretching movement only, and after a worm 406 of the hip joint rotating shaft 202 and the knee joint 4 is connected with the motor, the motor drives the hip joint rotating shaft 202 and the worm 406 to realize rotating movement, and further, the movement of the joint is realized through the transmission of the connecting key.

In terms of specific structure, the waist 1 is connected with the upper body and the lower limbs to play a role of stabilization and support, the hip joint 2 serves as a key part for connecting the waist 1 and the thigh 3, the thigh 3 is a part connected with the hip joint 2 and the knee joint 4 in the lower limb exoskeleton robot, necessary support and connection are realized, the knee joint 4 is a connecting part between the hip joint and the lower leg, the motor is connected through the worm 406 to realize bending and stretching movement of the knee joint 4, the lower leg 5 is connected with the knee joint 4 and the ankle joint 2 to play a role of stabilization and support when the robot moves, the ankle joint 6 serves as an end part of the whole exoskeleton robot and has bending and stretching movement capability, the foot component 7 is a carrier terminal to provide support and balance, the connecting component 8 is connected with the front sole, and the hydraulic rod 803 and the spring 804 can provide good shock absorption effect.

The exoskeleton robot structure in fig. 1 realizes the movement of each component by providing a plurality of joints and motors, wherein the bending and stretching movements of the hip joint 2 and the knee joint 4 are powered by the motors which are actively driven, and after the hip joint rotating shaft 202 and the worm 406 of the knee joint 4 are connected with the motors, the motors drive the hip joint rotating shaft 202 and the worm 406 to perform rotating movements, and the movement of the joints is realized by transmitting the movements through connecting keys.

Referring to fig. 2, the waist 1 includes a pad support frame 101, a waist pad 102, an abduction and adduction assembly 103, a rotation and internal rotation assembly 104, and a waist adjusting rod 105; the waist adjusting rod 105 is connected with the abduction adduction subassembly 103 for adjust waist length, the cushion strut makes 101 use the bolt fastening on waist adjusting rod 105, is used for fixed waist protection pad 102, supplies the waist to rely on when being convenient for the wearer to use, increases the travelling comfort of dressing, abduction adduction subassembly 103 connects waist adjusting rod 105 and the internal rotation external subassembly soon, passes through bolted connection with waist adjusting rod 105, and the cooperation uses can realize the regulation of waist length, can realize the abduction function of exoskeleton with the connection of the internal rotation external subassembly 104 soon, more fits the motion characteristic of human low limbs hip joint, the internal rotation external subassembly 104 other end and hip joint 2 connection, and both junction can realize rotary motion, fits the internal rotation external rotation of human hip joint.

Referring to fig. 3, the main body of the structural exploded view of the hip joint 2 includes a hip joint holder 201, a hip joint rotation shaft 202, an end cover 203, a first cylindrical roller bearing 9 and a sleeve 204, where the hip joint holder 201 is disposed below the inner rotating outer component 104 and connected with the inner rotating outer component, and can be used to provide support and limit, stabilize the hip joint 2, reduce load and limit rotation angle of the joint, help a user walk more easily and effectively, the hip joint rotation shaft 202 is disposed inside the holder, two ends of the hip joint rotation shaft 202 are disposed on the first cylindrical roller bearing 9, and can be connected with a motor to realize rotation, so that the exoskeleton has free rotation capability when simulating movement of a human hip joint, and can provide assistance to the human hip joint, and the sleeve 204 is sleeved on the outer layer of the rotation shaft, plays a role in protecting the rotation shaft, supporting the first cylindrical roller bearing 9 and reducing friction with other components, and prolongs the service life of the hip joint rotation shaft 202, and the first cylindrical roller bearing 9 is selected as NU 204E.

Referring to fig. 4, the main body of the thigh 3 includes a flexion-extension connecting rod 301, a thigh strap 302 and a femoral stem 303, the flexion-extension connecting rod 301 is connected with a hip joint rotation shaft and the femoral stem 303, and can output rotation motion from the hip joint rotation shaft to realize flexion-extension motion of the thigh, the thigh strap 302 is fixed on the flexion-extension connecting rod 301, and by adjusting and fixing the tightness degree of the thigh strap 302, the exoskeleton robot can be ensured to be stably attached to the thigh of a user, and the femoral stem 303 is a part of the thigh connected with the knee joint 4, can transmit force from an external motor, and drives the exoskeleton to act.

Referring to fig. 5, the main body of the knee joint 4 includes a knee joint holder 401, a limiter 402, a turbine shaft 403, a turbine 404, a worm upper end cover 405, a worm 406, a cylindrical roller bearing 9, a cylindrical roller bearing 10, a sealing cover 407 and a worm lower end cover 408, where the knee joint holder 401 is connected with the thigh and is used to provide support for the knee joint 4 part, stabilize the knee joint 4, the limiter 402 is disposed on the holder and is used to limit the movement of the exoskeleton robot in the bending extension range and prevent excessive movement or improper movement, the worm wheel 404 and the worm 406 are a transmission device of the knee joint 4, the worm 406 can be connected with a motor as a driving member, the turbine 404 is connected with the turbine shaft 403 through a key connection, the structure and shape of the worm upper end cover 405 and the lower end cover 408 are the same, but the upper end cover has openings for connection between the worm 406 and the motor, two ends of the turbine shaft 403 are disposed on the cylindrical roller bearing one 9, and the cylindrical roller bearing two 10 is selected as NU 205E.

In combination with fig. 6, the calf 5 body includes a tibial connecting plate 501, an upper tibial bar 502, a calf strap 503 and a lower tibial bar 504, the tibial connecting plate 501 is provided on the upper calf section, and is fixed on the knee joint turbine by using bolts, for transmitting force from the turbine, driving the whole calf to do bending and stretching movement, the upper tibial bar 502 is positioned on the upper calf section and connects the calf connecting plate 501 and the lower tibial bar 504, when the robot user walks or moves, the upper tibial bar 502 plays a role of supporting and bearing weight, it can stably transmit the load of the knee joint 4 section, keeps the structure of the robot stable, simultaneously lightens the muscle load of the user, provides good mechanical support, the calf strap 503 is used for binding and fixing the calf section muscle, is provided on the middle calf, and is fixed on the calf by an adjustable buckle, the calf strap can provide additional support and stability, the leg is prevented from moving and sliding, the robot can be tightly fitted with the shape of the calf of the user, the lower tibial bar 502 is positioned on the upper calf section and connected with the tibia bar 502 by the upper tibia bar 2, and the calf bar 502 is not applicable to the height of the user.

Referring to fig. 7, the ankle joint 2 and the rear sole assembly body includes an ankle joint cage 601, end caps 602, an ankle joint rotation shaft 603, a foot connection plate 701, a rear sole plate 702, a rear sole plate rubber pad 703, a foot connection transition plate 704 and a cylindrical roller bearing two 10, wherein the upper joint of the ankle joint cage 601 is connected with the lower leg for providing support and stability, preventing sprain or accidental displacement of the ankle joint 2, the end caps 602 are arranged at two sides of the ankle joint cage 601 for providing a certain tightness for the bearings, the ankle joint rotation shaft 603 is arranged inside the cage, two ends of the ankle joint rotation shaft 603 are arranged on the cylindrical roller bearing two 10, so that bending and stretching movement can be realized, the ankle joint rotation shaft 202 is different from the rotation shaft of the hip knee joint 4, the joint is a passive member, no additional assistance can be provided, the upper joint of the rear sole foot connection plate 701 is connected with the ankle joint rotation shaft 202, the rotational movement of the ankle joint can be transmitted to the rear sole, the support and stability are provided, the balance and the movement of the foot can be prevented, the connection transition plate 704 is a structure connecting the rear sole plate and the foot connection plate and the sole plate, a certain tightness is provided, the impact can be realized, the impact can be absorbed by the sole plate is provided with the support and the sole plate is designed, and the sole plate is in contact with the sole plate with the ground, and the sole plate is provided with the sole support and the sole plate has a concave surface and the impact pad is provided.

In combination with fig. 8, the front sole and connecting assembly body comprises a hydraulic rod support frame 801, a rotary fixing rod 802, a hydraulic rod 803, a spring 804, a front sole plate 705 and a front sole plate rubber pad 706, wherein the hydraulic rod support frame 801 is fixed on a lower leg, one end of the hydraulic rod support frame is provided with an opening, the rotary fixing rod 802 can be installed on the upper surface and can support the whole device, so that the whole device can bear the weight of a wearer, the rotary fixing rod 802 is installed on the opening of the hydraulic rod support frame 801 and is used for fixing the hydraulic rod support frame 801 and providing a rotary function, firm and reliable connection between the hydraulic rod support frame and other assemblies is ensured, the hydraulic rod 803 is positioned between the front sole plate and the hydraulic rod support frame 801, a damping effect is achieved, one end of the hydraulic rod is connected with the hydraulic rod support frame 801, the other end of the hydraulic rod is connected with the front sole plate 705, when the wearer walks, the hydraulic rod can be pressed by the weight of the body, thereby exerting a damping effect, the design can reduce the shock of the wearer in the walking process, provide a more comfortable experience, the spring 804 is sleeved on the hydraulic rod, the shock absorbing and relieving the impact force of the body when the wearer walks, and the wearer can further utilize the practical shock absorbing effect in the practical application energy. The front sole rubber pad 706 is disposed on the concave surface of the bottom of the front sole, and can provide additional cushioning and support, thereby further enhancing the shock absorbing effect.

In the scheme, in terms of adjusting mode, the bolts are used for adjusting rather than screws, the bolts are more suitable for occasions needing to be frequently disassembled, the waist adjusting adopts a rod-shaped structure instead of a plate shape, the adjusting device connecting rods are sleeved one by one instead of being stacked together like plates, the thigh 3 and the shank adjusting connecting rods adopt a plate-shaped sleeve structure, the bolts are used for adjusting, the bolt adjusting mode is relatively simple, the exoskeleton length adjusting mode is widely used, a complex control system and power supply are not needed, the operation and maintenance are easy, the active driving implementation mode of the hip joint 2 is different, the hip joint 2 is positioned below the waist 1, is connected with the waist 1 through a retainer, the hip joint 2 has three degrees of freedom, has very important functions in the movement of lower limbs of a human body, and the main movement freedom degree during walking is designed as active driving, so that the boosting effect is realized, the structure of active driving is different from knee joint, the hip joint bearing is placed on the retainer, two ends of the rotating shaft are placed on the bearing, the force of the motor is transmitted to the thigh connecting rod through key connection to drive thigh to rotate, one end of the rotating shaft extends out of the retainer and is used for connecting an external motor or a speed reducer, the extending end is provided with a key slot for connecting and transmitting torque, the knee joint 4 is the largest bearing joint in a human body, an active driving mode is adopted, so that the rotating shaft adopts a larger shaft diameter when in structural design, therefore, a bearing with larger inner diameter is required to be selected, if the same structural design as the hip joint 2 is selected, the radial dimension of the knee joint is overlarge, the transmission mode of worm gear and worm is adopted, the worm gear and the rotating shaft are connected through keys, the shank connecting rod is directly fixed on the worm gear through a screw connection mode, the movement range of the ankle joint 6 is smaller, the joint stability is high, excessive external driving is not needed for improving the safety, the design of the retainer of the hip-knee joint is structurally continued, but the ankle joint 6 bears larger exoskeleton weight, the knee joint is referred to, a bearing larger than the hip joint 2 is selected, so that the inner diameter of the rotating shaft is larger, the bearing effect of the ankle joint 6 is improved, the ankle joint 6 is driven passively and does not need to extend out of the retainer as the hip joint shaft, the ankle joint shaft is designed shorter, the radial dimension of the ankle joint 6 is reduced, the connecting mode of the ankle joint 6 and the foot plate is key connection, and the disassembly and maintenance are relatively square.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. The utility model provides a multi freedom low limbs ectoskeleton robot structure which characterized in that: including waist (1), hip joint (2), thigh (3), knee joint (4), shank (5), ankle joint (6) and foot subassembly (7) have been connected gradually from top to bottom to both sides lower extreme of waist (1), foot subassembly (7) are including preceding sole and back sole two parts, the back sole includes foot connecting plate (701), foot connection cab apron (704), back sole (702) and back sole rubber pad (703), foot connecting plate (701) upper segment is connected with ankle joint (6) axle, and foot connecting plate (701) lower segment is connected with foot connection cab apron (704) upper segment, foot connection cab apron (704) lower segment is connected back sole (702), preceding sole passes through preceding sole coupling assembling (8) and links to each other with shank (5), preceding sole includes preceding sole (705) and preceding sole rubber pad (706), preceding sole rubber pad (706) are located the concave surface department of back sole (702) and preceding sole (705) respectively, contact with ground.

2. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 1, wherein: the waist part (1) comprises a cushion support frame (101), a waist cushion (102), an abduction and adduction assembly (103), a rotation and internal rotation assembly (104) and a waist adjusting rod (105); the waist adjusting rod (105) is connected with the abduction adduction assembly (103) and is used for adjusting the length of the waist, the cushion support frame enables (101) to be fixed on the waist adjusting rod through bolts and is used for fixing the waist protecting cushion (102), the waist is convenient to depend on when a wearer uses, the wearing comfort is improved, the abduction adduction assembly (103) is connected with the waist adjusting rod (105) and the internal rotation external assembly (104), the other end of the internal rotation external assembly (104) is connected with the hip joint (2), and the joint of the two can realize rotary motion and is in fit with the internal rotation external of the hip joint of the human body.

3. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 2, wherein: the abduction adduction subassembly (103) is connected with the waist adjusting rod (105) through a bolt, and the waist length can be adjusted by cooperation.

4. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 2, wherein: the hip joint (2) comprises a hip joint retainer (201), a hip joint rotating shaft (202), an end cover (203), a cylindrical roller bearing I (9) and a sleeve (204), wherein the hip joint retainer (201) is arranged below the rotary inner and outer assembly (104) and is connected with the rotary inner and outer assembly and can be used for providing support and limiting, stabilizing the hip joint, reducing load and limiting joint rotating angle, the hip joint rotating shaft (202) is arranged inside the hip joint retainer (201), two ends of the hip joint rotating shaft are arranged on the cylindrical roller bearing I (9), a connecting motor is used for realizing rotating motion, the exoskeleton has free rotation capability when simulating the motion of a human hip joint, and can provide assistance for the human hip joint, and the sleeve (204) is sleeved on the outer layer of the hip joint rotating shaft (202) to play a role in protecting the first cylindrical roller bearing (9) and reducing friction with other parts, so that the service life of the hip joint rotating shaft (202) is prolonged.

5. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 4, wherein: the cylindrical roller bearing (9) is selected from NU 204E.

6. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 1, wherein: thigh (3) are including crooked extension connecting rod (301), thigh bandage (302) and femoral stem (303), crooked extension connecting rod (301) are being connected hip joint (2) and femoral stem (303), realize crooked extension motion of thigh, thigh bandage (302) are fixed on crooked extension connecting rod (301), through the elasticity degree of adjustment and fixed thigh bandage (302), can ensure the stable laminating of exoskeleton robot on user's thigh, femoral stem (303) are the part of knee joint (4) is connected to thigh (3), can transmit the strength from external motor, drive the exoskeleton and act.

7. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 1, wherein: knee joint (4) including knee joint holder (401), stopper (402), turbine axle (403), turbine (404), worm upper end cover (405), worm (406), sealed lid (407) and worm lower end cover (408), knee joint (4) also includes a cylindrical roller bearing one (9) and a vertically placed cylindrical roller bearing two (10), knee joint holder (401) are connected with thigh (3) for provide support for knee joint (4) part, stabilize knee joint, stopper (402) are located on knee joint holder (401) for restrict the motion of ectoskeleton robot in the bending extension scope, worm wheel (404), worm (406) are the transmission of knee joint (4), worm (406) can connect the motor as the driving part, turbine (404) are connected with axle (403) through the key connection, worm upper end cover (405) and worm lower end cover (408) are the same structure and shape, but have trompil motor (405) to be used for between turbine end cover (403) and worm (403), place cylinder roller bearing (9) both ends in connection.

8. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 1, wherein: the calf (5) comprises a tibia connecting plate (501), an upper tibia rod (502), a calf strap (503) and a lower tibia rod (504), wherein the tibia connecting plate (501) is arranged on the upper joint of the calf (5), the tibia connecting plate is fixed on the knee joint (4) by bolts to drive the whole calf (5) to do bending and stretching movement, the upper tibia rod (502) is positioned on the upper joint of the calf (5) and is connected with the calf tibia connecting plate (501) and the lower tibia rod (504), when a robot user walks or moves, the upper tibia rod (502) plays a role of supporting and bearing weight, the load of the knee joint part can be stably transmitted, the structural stability of the robot is kept, meanwhile, the muscular load of the user is lightened, good mechanical support is provided, the calf strap (503) is used for binding and fixing the muscle of the calf part, the calf is arranged in the middle of the calf (5), the calf strap is fixed on the calf through an adjustable buckle belt, the calf strap can provide extra support and stability, the leg can be prevented from shaking and sliding in the movement, the robot can be attached to the calf (5) and can be tightly fit between the tibia rod (504) and the upper tibia rod (502) and the calf rod (6) and the calf rod (502) and the calf leg (502) through the upper joint.

9. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 1, wherein: the ankle joint (6) comprises an ankle joint retainer (601), end covers (602) and an ankle joint rotating shaft (603), the ankle joint (6) also comprises a cylindrical roller bearing (10), an upper joint of the ankle joint retainer (601) is connected with a lower leg (5) and used for providing support and stability, sprains or accidental displacement of the ankle joint (6) are prevented, the end covers (602) are arranged on two sides of the ankle joint retainer (601) and provide certain tightness for the cylindrical roller bearing (10), the ankle joint rotating shaft (603) is arranged inside the retainer, two ends of the ankle joint rotating shaft are arranged on the cylindrical roller bearing (10), bending and stretching movement can be achieved, the upper joint of a rear sole foot connecting plate (701) is connected with the ankle joint rotating shaft (603), the rotating movement of the ankle joint (6) can be transmitted to the rear sole, support and stability are provided, the balance and the foot control movement are assisted, and the foot connecting transition plates (704) are structures for connecting the rear sole foot connecting plate (701) and the rear sole plate (702).

10. The multi-degree of freedom lower extremity exoskeleton robot structure of claim 1, wherein: the front sole connecting assembly (8) comprises a hydraulic rod supporting frame (801), a rotary fixing rod (802), a hydraulic rod (803) and a spring (804), wherein the hydraulic rod supporting frame (801) is fixed on a lower leg (5), one end of the hydraulic rod supporting frame is provided with a hole, the rotary fixing rod (802) can be installed on the hydraulic rod supporting frame, the whole device can be supported, the rotary fixing rod (802) can bear the weight of a wearer, the rotary fixing rod (802) is installed on the hole of the hydraulic rod supporting frame (801) and is used for fixing the hydraulic rod supporting frame (801) and providing a rotary function, firm and reliable connection between the hydraulic rod supporting frame (801) and other components is ensured, the hydraulic rod (803) is located between the front sole and the hydraulic rod supporting frame (801) and plays a role in shock absorption, one end of the hydraulic rod supporting frame (801) is connected, the other end of the hydraulic rod is connected with a front sole plate (705), when the wearer walks, the hydraulic rod can be pressed by the body weight, and therefore the spring (804) is sleeved on the hydraulic rod (803).