CN210631469U - Rehabilitation robot based on human lower limb exoskeleton - Google Patents

Abstract

The utility model discloses a rehabilitation robot based on human low limbs ectoskeleton includes: the power energy storage device, the lower limb exoskeleton and the weight bearing shoes; the power energy storage device is fixed in the back basket, and the back basket is provided with a plurality of stages of fixing holes; the lower limb exoskeleton comprises a waist adjusting device, an anti-roll device, a hip joint exoskeleton, a thigh exoskeleton, a knee joint exoskeleton, a shank exoskeleton and an ankle joint exoskeleton; the waist adjusting device and the anti-roll device are provided with holes and chutes and are connected with the hip joint exoskeleton bearing; the hip joint exoskeleton and the thigh exoskeleton are tightly pressed through the expansion sleeve and the nut; the thigh exoskeleton and the knee joint exoskeleton are tightly pressed through the expansion sleeve and the nut; the knee joint exoskeleton and the crus exoskeleton are tightly pressed through the expansion sleeve and the nut; the shank exoskeleton and the ankle joint exoskeleton are tightly pressed through the expansion sleeve and the nut; the ankle exoskeleton is connected with the body shoe through screws; the step-by-step or stepless regulation can be carried out at a plurality of positions.

Description

Rehabilitation robot based on human lower limb exoskeleton

Technical Field

The utility model relates to an ectoskeleton technical field especially relates to a recovered robot of human low limbs ectoskeleton.

Background

With the prominence of the aging problem of the population of the whole society and the improvement of the overall economic level, people pay more and more attention to health and are willing to spend a large amount of money. Among them, the loss of the motor function of the lower limbs has been receiving increasing attention as a problem that seriously affects the normal walking of human beings. The physical injury influences the normal walking of the patient, and easily increases the physiological and psychological pains of the patient, so that the patient often has a low mood and even loses the confidence of life.

In the conventional lower limb rehabilitation process, a physical therapist plays a very important role in the whole process, namely a massage therapist which is generally known by people is not hard to imagine, and the treatment method of massaging by the physical therapist has a plurality of disadvantages. If the training is proper, the patient can slowly recover; if improper, it may cause the patient's lower limb to lose its ability to walk permanently. Therefore, it is necessary to develop an exoskeleton device which is highly economical, easy to wear and suitable for rehabilitation of lower limbs of a human body. This necessity has prompted the application of robotics in the field of rehabilitation medicine. The rehabilitation robot technology is an emerging robot technology which is rapidly developed in recent years and is a new application of the robot technology in the field of rehabilitation medicine.

The lower limb exoskeleton rehabilitation robot is a wearable man-machine integrated mechanical device designed for the old or the disabled with walking disorder on the lower limbs, and integrates the technologies in various fields such as bionics, ergonomics, electronic technology, information processing and the like. The device is mainly applied to the fields of medical rehabilitation, military and the like at present, and aims to provide assistance for walking of patients with dyskinesia of lower limbs, or expand and enhance physiological functions of one person, and provide protection, support and other effects for the human body. For example, the paralytic can re-stand by the lower limb exoskeleton rehabilitation robot, and can drive the human body to walk through the lower limb exoskeleton rehabilitation robot, so that rehabilitation training is performed, and atrophy of muscles of the lower limbs of the human body is slowed down.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a low limbs ectoskeleton robot and recovered robot for the patient that low limbs can not normally walk, simple structure, economic suitability is high, and the followability is good, can provide the helping hand walking for the patient.

The utility model provides a recovered robot of low limbs ectoskeleton, including power energy memory, low limbs ectoskeleton and bearing shoes. The power energy storage device comprises a back basket and an energy storage battery, the back basket is placed above the hip joint of a human body, a user carries the back basket with the power energy storage device, and the energy storage battery is placed inside the back basket; the lower limb exoskeleton sequentially comprises a waist adjusting device, an anti-heeling device, a hip joint exoskeleton, a thigh exoskeleton, a knee joint exoskeleton, a shank exoskeleton and an ankle joint exoskeleton from top to bottom; the waist adjusting device and the anti-roll device are respectively provided with a hole and a sliding chute, the waist adjusting device and the anti-roll device are connected with different hole sites through screws or pins so as to adapt to wearing of different users, and the anti-roll device is rotatably connected with the hip joint exoskeleton around a vertical shaft; the hip exoskeleton and the thigh exoskeleton are rotatably coupled about a vertical axis, and the thigh exoskeleton and the knee exoskeleton are rotatably coupled about a vertical axis; the knee joint exoskeleton and the shank exoskeleton are connected in a rotating way around a vertical axis; the shank exoskeleton is rotatably connected with the ankle joint exoskeleton; the weight bearing shoes comprise body shoes and strap brackets, and the ankle joint exoskeleton is fixedly connected with the body shoes through screws; the hip joint exoskeleton, the knee joint exoskeleton and the ankle joint exoskeleton are matched to realize actions of walking, leg lifting, leg folding, sitting, standing and the like during human body movement.

Preferably, the back basket is provided with a hole for fixing an energy storage battery, a hole for a back strap and a hole for fixing a main control plate, and a user can select the holes at different positions on the back basket to fix the back strap according to the user's own condition.

As the preferred scheme, the waist adjusting device comprises a waist adjusting rod, a waist pin seat and a waist pin, the waist adjusting rod and the waist pin seat are respectively provided with a hole and a sliding groove, and a user can realize level adjustment and joint use according to the self condition.

Preferably, the anti-roll device is rigidly connected with the waist adjusting device through a shaft and a bearing to realize the freedom degree of the human body in the up-and-down motion, the anti-roll device is connected with the upper part of the hip joint exoskeleton through a bearing seat to realize the freedom degree of the human body in the left-and-right motion, holes and sliding grooves are arranged on the brackets at two sides, and the brackets are connected with different hole positions through screws or pins to match the width of the waist and the hip of the user.

As a preferred scheme, the hip joint exoskeleton comprises a gear assembly, a motor assembly, a hip joint bearing seat, a goniometer, an internal and external rotation limiting block and the like, wherein the gear assembly is formed by meshing a pinion and a gearwheel and is used for transmitting motion and power between two intersecting axes, the pinion is a bevel gear, the gearwheel is a bevel gear, the motor assembly is installed at the tail end of the gear assembly and is parallel to a sagittal axis, output power is transmitted to the gear assembly to drive a hip joint to act, the internal and external rotation limiting block is fixed on the hip joint bearing seat to ensure that a hip joint mechanism moves within an allowable angle range, and the goniometer measures the angle rotated by the hip joint when a user moves. The hip joint gear shaft is connected with the hip joint bearing seat in a switching way, so that the leg lifting and leg folding actions of a user are realized.

Preferably, the thigh exoskeleton comprises an expansion sleeve compression nut, a leg wrapping fixing frame, a leg wrapping fixing piece, a leg wrapping, a thigh and a thigh adjusting rod. The leg binding piece is characterized in that the expansion sleeve compression nut is mounted on the thigh adjusting rod, the thigh adjusting rod is assembled with the thigh, stepless adjustment can be achieved, continuous adjustment can be achieved, long groove fixing straps are arranged on the leg binding pieces and closely fit with legs of a user, the leg binding fixing frame and the leg binding fixing piece are fixed through the thigh, and the leg binding fixing piece and the leg binding piece are provided with multiple rows of connecting holes and guide rails for stepped adjustment.

As a preferable scheme, the knee joint exoskeleton comprises a gear assembly, a motor assembly, a goniometer and the like, wherein the motor assembly is arranged at the tail end of the gear assembly and is parallel to a vertical shaft, output power is transmitted to the gear assembly to drive the knee joint to move, and the knee joint large gear shaft is connected in a switching manner and matched with the knee joint bearing seat to realize the folding and unfolding of the crus when a user moves.

According to the preferable scheme, the shank exoskeleton comprises an expansion sleeve compression nut, an expansion sleeve, a shank and a shank adjusting rod, the expansion sleeve compression nut is installed on the shank adjusting rod, the expansion sleeve is arranged between the expansion sleeve and the shank adjusting rod in an expanding mode, and the shank adjusting rod is assembled with the shank, so that continuous adjustment can be achieved.

Preferably, the ankle joint exoskeleton can realize the degree of freedom of plantarflexion and dorsiflexion, the distance measurement is used for measuring the distances between the front side and the rear side of the user and the distance between the front side and the rear side of the user when the user walks, so as to avoid obstacles, and the gas spring is fixed on the gas spring fixing piece which is fixed on the sole connecting piece through screws.

Preferably, the strap supporter is provided with a groove and fixed on the body shoe, and the strap is inserted into the groove to fix the foot of the user.

The utility model provides a rehabilitation robot based on human lower limb exoskeleton, which can be adjusted in a step or stepless way at multiple positions, such as waist, legging, thigh, shank, ankle joint and the like, and can be suitable for different users; the energy storage system can meet the requirement of long-time energy supply, has the characteristics of light weight, small volume, portability, energy conservation, environmental protection, high efficiency and the like, and meets the requirement of long-time power-assisted walking of a user; the overall mechanical structure is light in material, firm, durable and convenient to wear, can support the gravity of a wearer and the gravity of the wearer, can bear the large impact force of the external environment, and has certain rigidity and strength; the multi-motor power support can lead the limbs to perfectly coordinate; the ergonomic exoskeleton shoulder strap and the strap are designed to be tightly attached to the body of a user, the walking habit can be improved, and the user can conveniently wear and take off the exoskeleton shoulder strap.

Drawings

Fig. 1 is a front view of a rehabilitation robot based on the exoskeleton of the lower limbs of a human body;

fig. 2 is a perspective structure diagram of a vision of the rehabilitation robot based on the exoskeleton of the lower limbs of the human body;

fig. 3 is a three-dimensional structure diagram of the waist adjusting and anti-roll device unit in the rehabilitation robot based on the exoskeleton of the lower limbs of the human body;

fig. 4 is a schematic perspective view of a hip joint exoskeleton of a rehabilitation robot based on a lower limb exoskeleton of a human body;

fig. 5 is a schematic structural view of each angle of a legging unit in a rehabilitation robot based on human lower limb exoskeleton of the utility model;

fig. 6 is a schematic perspective view of a knee joint exoskeleton in a rehabilitation robot based on a lower limb exoskeleton of a human body;

fig. 7 is a schematic view of a three-dimensional structure of a lower leg and an ankle joint exoskeleton in a rehabilitation robot based on a human lower limb exoskeleton of the present invention.

In the figure: 1. a waist bearing shaft; 2. a waist adjusting rod; 3. a waist pin boss 1; 4. a waist pin boss 2; 5. an internal and external rotation limiting block; 6. a hip joint motor base; 7. an outer pressing ring of a hip joint driving wheel bearing; 8. switching over a potentiometer; 9. expanding sleeve compression nuts 32-36; 10. a legging fixing frame 1; 11. a legging fixture; 12. leg binding pieces; 13. wrapping the leg; 14. an air spring seat; 15. waist pins; 16. carrying a basket; 17. an ankle joint axis; 18. an ankle joint bearing; 19. an ankle joint bearing outer pressing ring; 20. an ankle joint reinforcing plate 2; 21. an ankle joint reinforcing plate 1; 22. a sole attachment 1; 23. a body shoe; 24. ankle strengthening 3; 25. a gas spring fixing member 1; 26. a rangefinder support; 27. measuring distance; 28. a large gear shaft; 29. assembling a gear; 30. a hip joint bearing seat; 31. a goniometer; 32. the hip joint gear shaft is connected in a switching way; 33. a shank adjusting rod; 34. an ankle joint seat; 35. an encoder; 36. a motor; 37. a motor base; 38. a knee joint bearing block; 39. the knee joint large gear shaft is connected in a switching way; 40. a waist bearing seat; 41. a waist part; 42. a waist rear cross bar; 43. a motor assembly; 44. a hip exoskeleton; 45. an anti-roll device; 46. a waist adjusting device; 47. a thigh exoskeleton; 48. a knee exoskeleton; 49. a calf exoskeleton; 50. an ankle exoskeleton; 51. a thigh; 52. a thigh adjusting lever; 53. outer leg wrappings; 54. inner legging; 55. a bull gear; 56. a pinion gear; 57. a lower leg; 58. a bandage bracket.

Detailed Description

The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following description.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the utility model can be understood in specific cases to those of ordinary skill in the art.

As shown in fig. 1 to 6, a rehabilitation robot based on the exoskeleton of the lower limbs of a human body. The energy-saving device comprises a power energy storage device, a lower limb exoskeleton and weight-bearing shoes, wherein the power energy storage device comprises a back basket 16 and an energy storage battery, the back basket 16 is placed above the human hip joint exoskeleton, and the energy storage battery is placed inside the back basket; the lower limb exoskeleton sequentially comprises a waist adjusting device 46, an anti-heeling device 45, a hip joint exoskeleton 44, a thigh exoskeleton 47, a knee joint exoskeleton 48, a shank exoskeleton 49 and an ankle joint exoskeleton 50 from top to bottom, wherein the waist adjusting device 46 and the anti-heeling device 45 are respectively provided with a hole and a sliding groove and are connected with different hole sites through screws or pins so as to adapt to wearing by different users, the anti-heeling device 45 is rotatably connected with the hip joint exoskeleton 44 around a vertical shaft, and the hip joint exoskeleton is provided with a limiting device, so that the users can only rotate a certain angle in the left-right movement process to ensure safety; the hip joint exoskeleton 44 and the thigh exoskeleton 47 are connected in a rotating mode around a vertical shaft, the joint is compressed through the expansion sleeve and the expansion sleeve compression nut 9, when the hip joint exoskeleton bears load, the joint is compressed through friction force transmission torque or axial force generated by the expansion sleeve and the thigh adjusting rod 52, and the installation mode is easy to install, convenient to detach, high in strength and stable and reliable in connection; the thigh exoskeleton 47 and the knee joint exoskeleton 48 are connected in a rotating mode around a vertical shaft, and the joint is compressed through an expansion sleeve and an expansion sleeve compression nut 9; the knee joint exoskeleton 48 and the shank exoskeleton 49 are connected in a rotating mode around a vertical shaft, and the joint is compressed through an expansion sleeve and an expansion sleeve compression nut 9; the lower leg exoskeleton 49 is rotatably connected with the ankle exoskeleton 50; the weight bearing shoe comprises a body shoe 23 and a strap bracket 58, wherein the ankle joint exoskeleton 50 is fixedly connected with the body shoe 23 through screws; the hip joint exoskeleton 44, the knee joint exoskeleton 48 and the ankle joint exoskeleton 50 are matched to realize actions of walking, leg lifting, leg folding, sitting, standing and the like during human body movement.

The back basket 16 is provided with a fixing energy storage battery hole, a back belt hole and a fixing main control plate hole, and a user can select back belt holes at different positions on the back basket 16 according to the self condition to fix the back belt.

As shown in fig. 3, the waist adjusting device 46 includes a waist adjusting rod 2, waist pin seats 3 and 4, and a waist pin 15, wherein holes and sliding grooves are formed on the waist adjusting rod 2 and the waist pin seats 3 and 4, the waist adjusting rod 2 slides in the grooves of the waist pin seats 3 and 4, and a user can implement the level adjustment according to his own situation.

As shown in fig. 3, the anti-roll device 45 is rigidly connected with the waist adjusting device 46 through the 61807 bearing shaft 1, the waist rear cross bar 42 and the waist 41 to realize the freedom degree of the human body in the up-and-down motion, the anti-roll device 45 is rotatably connected with the upper part of the hip exoskeleton 44 along the vertical shaft through the 7007 bearing seat 40 to realize the freedom degree of the human body in the left-and-right motion, holes and sliding grooves are arranged on the waist 41 and the 7007 bearing seat 40, and different hole sites are connected through screws or pins to adapt to the waist and hip widths of different people.

As shown in fig. 4, the hip exoskeleton 44 comprises a gear assembly 29, a motor assembly 43, a hip bearing seat 30, a goniometer 31, a hip gear shaft adapter 32, a connecting member, and internal and external rotation limiting blocks 5, wherein the gear assembly 29 is formed by meshing a small gear 56 and a large gear 55, and is used for transmitting motion and power between two intersecting axes, the small gear 56 is a bevel gear, the large gear 55 is a bevel gear, the motor assembly 43 is mounted at the end of the small gear 56 and is parallel to a sagittal axis, so that the use space is saved, output power is transmitted to the gear assembly 29, the hip exoskeleton 44 is driven to act, the internal and external rotation limiting blocks 5 are fixed on the hip bearing seat 30, so that the hip mechanism can move left and right within a safety-allowable angle range, the goniometer 31 is mounted on the large gear 55, and measures the angle rotated by the hip joint during the motion of a user, the hip joint gear shaft adapter 32 is provided with a plurality of weight reduction grooves, so that the weight can be reduced, reinforcing ribs formed by the weight reduction grooves are removed, and the strength of the structural part is enhanced, and the hip joint gear shaft adapter 32 is matched with the hip joint bearing seat 30, so that the freedom degrees of leg lifting and leg folding during human body movement are realized.

As shown in fig. 5, the thigh exoskeleton 47 comprises an expansion sleeve compression nut 9, a leg wrapping fixing frame 10, a leg wrapping fixing piece 11, a leg wrapping piece 12, a leg wrapping 13, a thigh 51 and a thigh adjusting rod 52. The expansion sleeve compression nut 9 is installed on the thigh adjusting rod 52, the thigh adjusting rod 52 and the thigh 51 are assembled in a rotating mode along a vertical shaft, stepless adjustment is achieved through the expansion sleeve compression nut 9 and the expansion sleeve, the expansion sleeve is expanded at the rotating and combining position, continuous adjustment can be achieved, the leg wrapping fixing frame 10 penetrates through the leg wrapping 13 and is fixed on the leg wrapping fixing piece 11, the leg wrapping 13 is provided with a long groove in a binding band design, the binding band closely fits the body of a user, the leg wrapping fixing frame 10 penetrates through and is fixed on the thigh 51, the leg wrapping fixing piece 11 and the leg wrapping piece 12 are provided with multiple rows of connecting holes and guide rails, stepped adjustment is conducted, the leg wrapping device is suitable for users with different bodies, and the users can adjust the suitable position for use and fix the leg wrapping device.

As shown in fig. 6, the knee exoskeleton 48 comprises a gear assembly 29, a motor assembly 43, a knee joint bearing block 38, a knee joint pinion shaft adapter 39, a goniometer 31 and a connecting member, wherein the gear assembly 29 is formed by meshing a pinion 56 and a gearwheel 55 and is used for transmitting motion and power between two intersecting shafts, the pinion 56 is a bevel gear, the gearwheel 55 is a bevel gear, the motor assembly 43 is installed at the tail end of the pinion 56 and is parallel to a vertical shaft, the space is used reasonably, output power is transmitted to the gear assembly 29 to drive the knee joint to act, the goniometer 31 is fixed on the gearwheel 55 and is used for measuring the rotating angle of the knee joint when a user moves, a plurality of weight reduction grooves are arranged on the knee joint pinion shaft adapter 39, so that the weight can be reduced, reinforcing ribs formed by the weight reduction grooves are removed, and the strength of the, the knee joint pinion shaft adapter 39 is matched with the knee joint bearing seat 38, so that the folding and unfolding actions of the lower leg during the movement of the human body are realized.

As shown in fig. 7, the lower leg exoskeleton 49 comprises an expansion sleeve gland nut 9, a lower leg 57 and a lower leg adjusting rod 33, wherein the expansion sleeve gland nut 9 is installed on the lower leg adjusting rod 33, the lower leg adjusting rod 33 and the lower leg 57 are assembled in a rotating manner along a vertical shaft, and the expansion sleeve gland nut 9 and the expansion sleeve are screwed and tightened at the rotating position to realize stepless adjustment, i.e. continuous adjustment is realized.

As shown in fig. 7, the ankle exoskeleton 50 comprises an ankle flange, an ankle seat 34, an ankle bearing 18, an ankle shaft 17, an ankle reinforcing plate 20, a gas spring fixing member 25, a distance measuring machine support 26, a distance measuring 27 and a sole connecting member 22, the ankle exoskeleton 50 can realize the degrees of freedom of plantarflexion (standing on the toe) and dorsiflexion (hooking on the toe), the distance measuring 27 is fixed on the distance measuring machine support 26 to measure the distance between the front side and the back side and the outer side of a user when walking to avoid obstacles, the gas spring is fixed on the gas spring fixing member 25, the gas spring fixing member 25 is fixed on the sole connecting member 22 by screws, so that the impact force caused by the moment when the person lands on the ground when the exoskeleton robot walks can be relieved, the effect of foot buffering landing is achieved, and the knee joint and the ankle joint of the user can be protected from being injured, the walking process is more comfortable.

The strap support 58 is provided with a slot and is fixed on the body shoe 23, and the strap passes through the slot to fix the user's foot.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the spirit of the present invention, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A rehabilitation robot based on a human lower limb exoskeleton is characterized by comprising: the power energy storage device comprises a back basket (16) and an energy storage battery, the back basket (16) is placed above hip joints of a human body, and the energy storage battery is placed inside the back basket (16); the lower limb exoskeleton sequentially comprises a waist adjusting device (46), an anti-heeling device (45), a hip joint exoskeleton (44), a thigh exoskeleton (47), a knee joint exoskeleton (48), a shank exoskeleton (49) and an ankle joint exoskeleton (50) from top to bottom; the waist adjusting device (46) and the anti-roll device (45) are respectively provided with a hole and a sliding groove, different hole positions are connected through screws or pins to adapt to wearing of different users, and the anti-roll device (45) is rotatably connected with the hip joint exoskeleton (44) around a vertical shaft; the hip joint exoskeleton (44) is connected with the thigh exoskeleton (47) in a rotating mode around a vertical shaft, and the joint is compressed through an expansion sleeve and an expansion sleeve compression nut (9); the thigh exoskeleton (47) and the knee joint exoskeleton (48) are connected in a rotating mode around a vertical shaft, and the joint is compressed through an expansion sleeve and an expansion sleeve compression nut (9); the knee joint exoskeleton (48) and the shank exoskeleton (49) are connected in a rotating mode around a vertical shaft, and the joint is compressed through an expansion sleeve and an expansion sleeve compression nut (9); the lower leg exoskeleton (49) is rotatably connected with the ankle joint exoskeleton (50); the weight bearing shoes comprise body shoes (23) and strap brackets (58), and the ankle joint exoskeleton (50) is fixedly connected with the body shoes (23) through screws; the hip joint exoskeleton (44), the knee joint exoskeleton (48) and the ankle joint exoskeleton (50) are matched to realize actions of walking, leg lifting, leg folding, sitting, standing and the like during human body movement.

2. The rehabilitation robot for exoskeleton of lower limbs of human body as claimed in claim 1, wherein said back basket (16) is provided with holes for fixing energy storage battery, holes for back strap and holes for fixing main control board, and the user can select different positions of holes for back strap on said back basket (16) according to his/her own condition to fix the back strap.

3. The rehabilitation robot for the exoskeleton of human lower limbs as claimed in claim 1, wherein the waist adjusting device (46) comprises a waist adjusting rod (2), a waist pin seat (3), (4) and a waist pin (15), the waist adjusting rod (2) and the waist pin seat (3), (4) are respectively provided with a hole and a sliding groove, the waist adjusting rod (2) slides in the groove of the waist pin seat (3), (4), and the user can realize the level adjustment according to the condition of the user.

4. The rehabilitation robot for the exoskeleton of the lower limbs of the human body as claimed in claims 1 and 3, wherein the anti-roll device (45) and the waist adjusting device (46) are rigidly connected through a waist bearing shaft (1), a waist rear cross bar (42) and a waist (41) to realize the up-and-down degree of freedom during the movement of the human body, the anti-roll device (45) and the hip joint exoskeleton (44) are connected through a bearing seat (40) to realize the left-and-right degree of freedom during the movement of the human body, and holes and sliding grooves are formed in the waist (41) and the bearing seat (40) and are connected with different hole positions through screws or pins to match the width of the waist and the hip of the user.

5. The rehabilitation robot for the exoskeleton of the lower limbs of the human body as claimed in claim 1, wherein the hip joint exoskeleton (44) comprises a gear assembly (29), a motor assembly (43), a hip joint bearing seat (30), a goniometer (31), a hip joint gear shaft adapter (32), a connecting piece, an internal and external rotation limiting block (5), the gear assembly (29) is formed by meshing a small gear (56) and a large gear (55) and is used for transmitting the motion and the power between two intersecting axes, the small gear (56) is a bevel gear, the large gear (55) is a bevel gear, the motor assembly (43) is installed at the tail end of the small gear (56) and is parallel to a horizontal axis, namely a sagittal axis, and the output power is transmitted to the gear assembly (29) to drive the hip joint exoskeleton (44) to move; the internal and external rotation limiting blocks (5) are fixed on the hip joint bearing seat (30) to ensure that a hip joint mechanism moves left and right within a safety-permitted angle range, the angle meter (31) is installed on the large gear (55) to measure the angle of the hip joint rotated by a user during movement, a plurality of weight reduction grooves are formed in the hip joint gear shaft adapter (32) to reduce weight, reinforcing ribs formed by the weight reduction grooves are removed to enhance the strength of the structural member, the hip joint gear shaft adapter (32) is matched with the hip joint bearing seat (30) to realize the actions of lifting and retracting the legs of the user, a plurality of weight reduction grooves are formed in the hip joint bearing seat (30) to reduce weight, reinforcing ribs formed by the weight reduction grooves are removed, and the strength of the structural member is enhanced.

6. The rehabilitation robot for the exoskeleton of lower limbs of a human body as claimed in claim 1, wherein the thigh exoskeleton (47) comprises an expansion sleeve compression nut (9), a leg wrapping fixing frame (10), a leg wrapping fixing piece (11), a leg wrapping piece (12), a leg wrapping (13), a thigh (51) and a thigh adjusting rod (52), the expansion sleeve compression nut (9) is mounted on the thigh adjusting rod (52), the thigh adjusting rod (52) and the thigh (51) are assembled in a rotating mode along a vertical shaft, stepless adjustment is achieved by the expansion sleeve compression nut (9) and the expansion sleeve being tightened at the rotating position of the expansion sleeve compression nut and the expansion sleeve, continuous adjustment is achieved, the leg wrapping fixing frame (10) is connected with the leg wrapping fixing piece (11), an elongated slot fixing bandage is arranged on the leg wrapping fixing piece (13) and is tightly attached to the leg of a user, a plurality of rows of connecting holes and guide rails are arranged on the leg wrapping fixing piece (11) and the leg wrapping piece (12, the user can adjust the position suitable for use and fix the position by screws.

7. The rehabilitation robot for the exoskeleton of lower limbs of a human body as claimed in claim 1, wherein the exoskeleton (48) of the knee joint comprises a gear assembly (29), a motor assembly (43), a bearing seat (38) of the knee joint, a gear shaft adapter (39) of the knee joint, a goniometer (31) and a connecting piece, the gear assembly (29) is formed by meshing a small gear (56) and a large gear (55) and is used for transmitting the motion and power between two intersecting shafts, the small gear (56) is a bevel gear, the large gear (55) is a bevel gear, the motor assembly (43) is arranged at the tail end of the small gear (56) and is parallel to a vertical shaft, the output power is transmitted to the gear assembly (29) to drive the knee joint to move, the goniometer (31) is fixed on the large gear (55) to measure the angle rotated by the knee joint when a user, the knee joint pinion shaft switching (39) is provided with a plurality of weight reduction grooves, so that the weight can be reduced, reinforcing ribs formed by the weight reduction grooves are removed, the strength of the structural part is enhanced, the knee joint pinion shaft switching (39) is matched with the knee joint bearing seat (38), the folding and unfolding actions of crus of a user during movement are realized, the knee joint bearing seat (38) is provided with a plurality of weight reduction grooves, the weight can be reduced, the reinforcing ribs formed by the weight reduction grooves are removed, and the strength of the structural part is enhanced.

8. The rehabilitation robot for the exoskeleton of lower limbs of the human body as claimed in claim 1, wherein the lower leg exoskeleton (49) comprises an expansion sleeve gland nut (9), a lower leg (57) and a lower leg adjusting rod (33), the expansion sleeve gland nut (9) is installed on the lower leg adjusting rod (33), the lower leg adjusting rod (33) and the lower leg (57) are assembled in a rotating mode along a vertical shaft, and the expansion sleeve gland nut (9) and the expansion sleeve are screwed and tightened at the rotating position to achieve stepless adjustment, namely continuous adjustment.

9. The rehabilitation robot for the exoskeleton of lower limbs of a human body according to claim 1, wherein the ankle exoskeleton (50) comprises an ankle flange, an ankle seat (34), an ankle bearing (18), an ankle reinforcing plate 2 (20), a gas spring fixing member (25), a distance measuring machine support (26), a distance measuring device (27) and a sole connecting member (22), the ankle exoskeleton (50) can realize the freedom of plantarflexion, i.e. toe-up and dorsiflexion, i.e. toe-hooking, the distance measuring device (27) is fixed on the distance measuring machine support (26), the distance of the outer side surface of a user before and after walking is measured, the gas spring obstacle is avoided, the gas spring fixing member (25) is fixed on the sole connecting member (22) through screws, and the ankle exoskeleton (50) is fixed on the gas spring fixing member (25).

10. The rehabilitation robot for the exoskeleton of human lower limbs according to claim 1, wherein the strap bracket (58) is provided with a slot and fixed on the body shoe (23), and the strap is inserted through the slot to fix the foot of the user.

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