CN112237528A - Wearable lower limb exoskeleton robot for rehabilitation - Google Patents

Abstract

The invention discloses a wearable lower limb exoskeleton robot for rehabilitation, which comprises an adjustable waist mechanism, a hip mechanism with adjustable width, a thigh mechanism with adjustable length, a shank mechanism with adjustable length, a foot bottom plate and various connecting parts, wherein the adjustable waist mechanism is connected with the hip mechanism; the lower limb exoskeleton robot has eleven degrees of freedom in total, the central position of the waist is provided with one rotational degree of freedom, and each leg has five degrees of freedom, wherein the three degrees of freedom of the hip joint are used for completing flexion and extension, abduction and adduction of the hip joint and rotation, the one degree of freedom of the knee joint is used for completing flexion and extension of the knee joint, and the one degree of freedom of the ankle joint is used for completing flexion and extension of the ankle joint. The invention can be used for helping patients with lower limb paralysis caused by diseases such as apoplexy and accidents to do rehabilitation training so as to gradually recover the lower limb movement ability of the patients.

Description

Wearable lower limb exoskeleton robot for rehabilitation

Technical Field

The invention relates to a wearable lower limb exoskeleton robot, in particular to a wearable lower limb exoskeleton robot for rehabilitation.

Background

At the present stage, the problem of aging of the population in China is more and more serious, meanwhile, the number of people with lower limb disabilities caused by diseases such as stroke and accidents is increased year by year, and the demand of the old and the disabled on rehabilitation medical equipment is more and more increased; in addition, medical theory and clinical medicine prove that the cranial nerves of people have plasticity, and can be remodeled through rehabilitation training, so that the symptom of limb dysfunction is effectively relieved or recovered; however, the traditional rehabilitation training is one-to-one training by depending on the experience of physical therapists, which helps patients to realize simple and repeated movements, and has low training efficiency and high labor intensity, and is difficult to realize the rehabilitation training requirements of high intensity, pertinence and high repeatability, thereby not only greatly wasting medical resources, but also not ensuring the medical effect well. With the increase of the number of patients, the supply and demand of the rehabilitation doctors are insufficient, so that the burden of the rehabilitation doctors is increased rapidly, and due to the lack of enough medical equipment, a plurality of patients cannot be treated in time and miss the optimal rehabilitation period, so that the medical equipment for rehabilitation training is particularly important.

Through the search of the prior art, the Chinese invention patent with the application number of 200910088396.9 has the name: a wearable lower extremity exoskeleton device, the technique comprising: the device can be used for enhancing the walking load and long-time walking capacity of a wearer, detecting walking information of the wearer and helping the mild dyskinesia of the lower limbs to walk normally and recover step by step, but the device does not provide a limit groove for each rotational degree of freedom, has poor safety and easily causes secondary injury to a human body when the device breaks down.

The Chinese invention patent with application number 201310034245.1, name: a wearable lower limb exoskeleton walking-aid robot comprises an ankle joint movement module, a knee joint movement module, a hip joint movement module, a driving module, a waist and a support frame module, wherein the knee joint movement module is respectively connected with the ankle joint movement module and the hip joint movement module, the driving module is respectively connected with the knee joint movement module and the hip joint movement module, the hip joint movement module is connected with the waist and the support frame module, hip joint movement and human body movement consistency of the device during walking are good, a good walking-aid effect can be achieved, and the device cannot be used for rehabilitation training.

Therefore, in view of the above technical problems, there is a need to provide an improved wearable lower extremity exoskeleton robot for rehabilitation to overcome the above drawbacks.

Disclosure of Invention

The invention aims to provide a wearable lower limb exoskeleton robot for rehabilitation, which can help a patient to perform rehabilitation training and simultaneously consider safety and anthropomorphic design so as to realize better man-machine cooperative motion.

The invention discloses a wearable lower limb exoskeleton robot for rehabilitation, which is realized by adopting the following technical scheme: a wearable lower limb exoskeleton robot for rehabilitation comprises a mechanical part, a mechanical part and a control part, wherein the mechanical part comprises an adjustable waist mechanism, a hip mechanism with adjustable width, a thigh mechanism with adjustable length, a shank mechanism with adjustable length, a foot bottom plate and connecting pieces of each part; the freedom degree of the internal rotation and external rotation joints is connected with the front and back adjusting and rotating part of the hip joint through a hip joint flexion and extension part, and the axis of the joint freedom degree is along the direction of a vertical axis; the flexion-extension joint freedom degree is connected with the hip joint flexion-extension part through a thigh outer rod, and the joint freedom degree axis is along the frontal axis direction; the knee joint has one degree of freedom, which is coaxial with the knee joint of the human body and is used for completing flexion and extension actions of the knee joint, and the ankle joint has one degree of freedom and is used for completing flexion and extension actions of the ankle joint, wherein the axis of the flexion and extension joint degree of freedom is coaxial with the ankle joint of the human body along a frontal axis.

The adjustable waist mechanism comprises a radian connecting piece, a waist width adjusting rod piece, a hip joint abduction and adduction rotating part, a right waist rotating part and a left waist rotating part; a limiting groove is formed in the rear side of the body of the hip joint abduction and adduction rotating part; the right waist rotating part and the left waist rotating part are connected through a bolt, and the connecting position is the bilateral symmetry center position of the robot.

The waist width adjusting rod piece is provided with a threaded hole capable of adjusting the installation position, is connected with the radian connecting piece through a bolt, can adjust the waist width to adapt to people with different body types, can rotate around the hip joint abduction and adduction rotating part along the sagittal axis direction, and limits the movement of the robot through a limiting groove at the rear side of the hip joint abduction and adduction rotating part; the waist rotating part can rotate around a vertical axis of a human body, and when the lower limb exoskeleton robot is not used, the left side and the right side of the robot can be rotated inwards through the waist rotating part, so that the occupied space is reduced.

The inner part of the radian connecting piece is of a partial hollow structure, the turning part is of a solid structure, and the outer sides of the two ends of the radian connecting piece are provided with threaded holes so as to be connected with the hip joint front and back adjusting rotating part and the waist width adjusting rod piece.

The front and back adjusting rotating parts of the hip joint are provided with threaded holes capable of adjusting the installation positions, so that the hip width can be adjusted to adapt to people of different body types, and the hip joint of the lower limb exoskeleton robot and the hip joint of a human body can be ensured to be at the same position.

The thigh outer rod is connected with the thigh inner rod through the bolt, threaded holes are formed in the lower end of the thigh outer rod and the upper end of the thigh inner rod, the length of a robot thigh can be adjusted, the robot thigh outer rod is suitable for people of different heights, and the coaxiality of a knee joint of the robot and the knee joint of a human body is guaranteed.

The shank outer rod and the shank inner rod are connected through the bolts, and threaded holes are formed in the lower end of the shank outer rod and the upper end of the shank inner rod and used for adjusting the length of a shank of the robot so as to adapt to crowds with different heights and guarantee the coaxiality of an ankle joint of the robot and an ankle joint of a human body.

The ankle joint flexion and extension part is arranged at the tail end of the shank rod and rotates around the central axis of the tail end of the shank rod, and the lower end of the ankle joint flexion and extension part is connected with the foot bottom plate.

The installation position of the motor is the outer side of the flexion and extension freedom degree of the hip and knee joint, and the rotation axis of the motor is coaxial with the axis of the flexion and extension joint.

The tail end of one side, without the threaded hole, of the waist width adjusting rod piece is provided with a threaded hole, a bolt penetrates through a limiting groove of the hip joint abduction and adduction rotating part to be matched with the threaded hole to serve as a limiting bolt, and the diameter of the threaded hole is slightly smaller than the width of the limiting groove of the hip joint abduction and adduction rotating part; the inner sides of the tail end of the thigh inner rod and the tail end of the shank inner rod are provided with limit bolts, and the diameters of the limit bolts are slightly smaller than the widths of the limit grooves, so that the limit bolts can move in the limit grooves.

The limiting groove is formed in the rear side of the body of the hip joint abduction and adduction rotating part, the limiting groove is formed in the upper side of the tail end of the hip joint front and rear adjusting part, the limiting groove is formed in the inner side of the top end of the thigh outer rod, the limiting groove is formed in the inner side of the top end of the shank outer rod, the limiting groove is formed in the inner side of the ankle joint flexion and extension part, and the limiting groove is used for limiting the movement of the robot and preventing the occurrence of faults to cause secondary damage to the human body.

The sole plate is connected with the ankle joint flexion and extension part, and the connecting position is the outer side of the heel.

The lower limb exoskeleton robot is of a bilateral symmetry structure, and when a human body wears the robot, the robot can be better attached to the human body and can be fixed by using the elastic straps.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a top view of the overall structure of the present invention.

Fig. 3 is a left side view of the overall structure of the present invention.

Fig. 4 is a schematic structural view of a waist rotating part.

Fig. 5 is a front view of the adjustable lumbar mechanism with the arc link and the lumbar width adjustment lever omitted.

Figure 6 is a schematic diagram of the structure of the abduction-adduction rotating elements of the hip joint.

Fig. 7 is a schematic structural view of the adjustable lumbar mechanism, in which hip abduction-adduction rotation parts, right lumbar rotation parts, and left lumbar rotation parts are omitted.

Fig. 8 is a top view of the adjustable lumbar mechanism with hip abduction-adduction rotation features, right lumbar rotation features, and left lumbar rotation features omitted.

Fig. 9 is a front view of the adjustable lumbar mechanism with hip abduction-adduction rotation features, right lumbar rotation features, and left lumbar rotation features omitted.

Figure 10 is a schematic diagram of the structure of the adjustable width hip mechanism.

Figure 11 is a top view of an adjustable width hip mechanism.

Figure 12 is a schematic view of the structure of the hip flexion and extension component.

Fig. 13 is a schematic structural view of the drive motor.

Fig. 14 is a schematic view of the thigh link, including an outer thigh link and an inner thigh link.

FIG. 15 is a schematic view of a knee joint.

FIG. 16 is a schematic view of the construction of the lower leg link, including the outer lower leg rod and the inner lower leg rod.

Fig. 17 is a structural view of an ankle joint.

In the figure, 1-right waist rotating part, 2-waist width adjusting rod part, 3-radian connecting part, 4-hip joint bending and stretching part, 5-thigh outer rod, 6-thigh inner rod, 7-driving motor, 8-shank outer rod, 9-shank inner rod, 10-ankle joint bending and stretching part, 11-sole plate, 12-ankle joint, 13-knee joint, 14-threaded hole for adjusting position, 15-hip joint front and back adjusting rotating part, 16-bolt, 17-hip joint abduction and adduction rotating part, 18-left waist rotating part, 19-limit bolt, 20-hip joint abduction and adduction shaft, 21-limit groove, 22-waist rotating shaft, 23-hip joint abduction and adduction limit hole and 24-limit disc, 25-bearing cover, 26-limit bolt.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1 to 17, the present invention is a wearable lower extremity exoskeleton robot for rehabilitation, which comprises an adjustable waist mechanism consisting of aradian connector 3, a waistwidth adjusting rod 2, a hip joint abduction andadduction rotating part 17, a rightwaist rotating part 1 and a leftwaist rotating part 18, an adjustable width hip mechanism consisting of theradian connector 3 and a hip joint front and back adjusting rotatingpart 15, a hip joint flexion and extension part 4,thigh connecting rods 5 and 6, shank connectingrods 8 and 9, an ankle joint flexion andextension part 10, adriving motor 7 and asole plate 11. The leftwaist rotating part 18 and the rightwaist rotating part 1 are connected together through awaist rotating shaft 22, the leftwaist rotating part 18, the rightwaist rotating part 1 and the hip joint abduction andadduction rotating part 17 are respectively provided with four threaded holes, thewaist rotating parts 1 and 17 and the hip joint abduction andadduction rotating part 17 are connected together through abolt 16, the hip joint abduction and adduction shaft connects 20 the hip joint abduction andadduction rotating part 17 and a waist width adjustingrod member 2 together, theradian connecting member 3, the waist width adjustingrod member 2 and the hip joint front and back adjusting rotatingpart 15 are connected through abolt 16, the waist width adjustingrod member 2 and the hip joint front and back adjusting rotatingpart 15 are installed with different threadedholes 14 for adjusting positions, the left and right waist width and the front and back hip width to adapt to different body types of people, and theinner thigh rod 6, Thedrive motor 7 and the shankouter rod 8 form a knee joint, the shankinner rod 9 and the ankle joint flexion andextension part 10 form an ankle joint, and thesole plate 11 is connected with the ankle joint flexion andextension part 10.

The hip flexion and extension part 4 has a limitingdisc 24 at the top and abearing cover 25 inside.

The 17-position function of the hip joint abduction-adduction rotating part is realized by installing alimit bolt 19 on a hip joint abduction-adduction limit hole 23, and the hip joint abduction-adduction limit hole 23 is positioned on the waist width adjustingrod piece 2.

The thighinner rod 6 and the shankinner rod 6 are respectively provided with a threadedhole 14 which can be used for adjusting the installation position, the connection position of the connecting rod can be adjusted, the device is suitable for wearers with different heights, and the knee joint and the ankle joint of the lower limb exoskeleton robot are ensured to be coaxial with the knee joint and the ankle joint of a human body.

Thethigh connecting rods 5 and 6 and theshank connecting rods 8 and 9 are provided with limitingbolts 26 which are matched with the correspondinglimiting grooves 21, so that the robot is prevented from being out of order in the operation process and causing secondary damage to a human body.

Thesole plate 11 is connected to the lower part of the ankle joint flexion andextension part 10, thesole plate 11 is a flexible sole plate which is comfortable to wear, and the sole plate can be fixedly connected with the sole plate of a human body by using an elastic bandage in the wearing process.

The invention is suitable for patients with lower limb paralysis caused by diseases such as apoplexy and accidents, and helps the patients to do rehabilitation training so that the patients gradually recover the lower limb movement ability. In implementation, a wearer is connected with the lower limb exoskeleton robot through the restraint of the waist, the legs and the feet, and the mounting positions of the connecting rods of all parts are adjusted, so that the wearer can use people with different body types, and the coaxiality of hip, knee and ankle joints is ensured.

What is not described in the exoskeleton of the present invention applies to the prior art.

It should be noted that: the examples of the invention are preferred embodiments and are not limiting thereof. It should be noted that, for those skilled in the art, modifications to the specific embodiments or equivalent replacements of parts of technical features may be made without departing from the principle of the present invention, and all the modifications should be considered as within the protection scope of the present invention.

Claims (9)

Translated fromChinese

1.一种用于康复的穿戴式下肢外骨骼机器人，其机械部分包括可调整腰部机构、可调整宽度髋部机构、可调整长度大腿机构、可调整长度小腿机构、脚底板以及各部分连接件；其特征在于下肢外骨骼机器人一共有十一个自由度，腰部中心位置有一个旋转自由度，单腿有五个自由度，其中髋关节三个自由度，用于完成髋关节的外展内收、旋内旋外以及屈伸动作，其中外展内收关节自由度通过髋关节外展内收旋转零件（17）与腰部宽度调节杆件（2）连接在一起，关节自由度轴线沿矢状轴方向；旋内旋外关节自由度通过髋关节屈伸零件（4）与髋关节前后调节旋转零件（15）连接在一起，关节自由度轴线沿垂直轴方向；屈伸关节自由度通过大腿外杆（5）与髋关节屈伸零件（4）连接在一起，关节自由度轴线沿额状轴方向；膝关节一个自由度，与人体膝关节同轴线，用于完成膝关节的屈伸动作，踝关节一个自由度，用于完成踝关节的屈伸动作，其中屈伸关节自由度轴线沿额状轴，与人体踝关节同轴。1. A wearable lower extremity exoskeleton robot for rehabilitation, the mechanical part of which includes an adjustable waist mechanism, an adjustable width hip mechanism, an adjustable length thigh mechanism, an adjustable length calf mechanism, a foot bottom plate, and various parts of the connecting piece ;It is characterized in that the lower limb exoskeleton robot has a total of eleven degrees of freedom, one rotation degree of freedom at the center of the waist, five degrees of freedom for a single leg, three degrees of freedom for the hip joint, which are used to complete the abduction and internalization of the hip joint. Retraction, internal rotation, external rotation, and flexion and extension actions, wherein the abduction and adduct joint degrees of freedom are connected with the waist width adjustment rod (2) through the hip joint abduction and adduct rotation part (17), and the joint freedom axis is along the sagittal direction. Axial direction; the degree of freedom of the external rotation and internal rotation is connected with the hip joint flexion and extension part (4) and the hip joint front and rear adjustment and rotation part (15), and the joint degree of freedom axis is along the vertical axis direction; 5) It is connected with the hip joint flexion and extension part (4), the axis of the joint degree of freedom is along the direction of the frontal axis; the knee joint has one degree of freedom, which is coaxial with the human knee joint, which is used to complete the flexion and extension of the knee joint, and the ankle joint has one degree of freedom. The degree of freedom is used to complete the flexion and extension of the ankle joint. The axis of the freedom of the flexion and extension joint is along the frontal axis and is coaxial with the human ankle joint.2.根据权利要求1所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于，所述的可调整腰部机构包括弧度连接件（3）、腰部宽度调节杆件（2）、髋关节外展内收旋转零件（17）、右腰部旋转零件（1）和左腰部旋转零件（18），其中腰部宽度调节杆件（2）一端与弧度连接件（3）连接在一起，另一端与髋关节外展内收旋转零件（17）连接在一起，且腰部宽度调节杆件（2）上有可调节安装位置的螺纹孔（14），可调节腰部宽度以适应体型不同的人群，实现穿戴的舒适性，体现良好的人机交互性，右腰部旋转零件（1）右端和左腰部旋转零件（18）左端均与髋关节外展内收旋转零件（17）通过螺栓连接，左腰部旋转零件（18）和右腰部旋转零件（1）通过腰部旋转轴（22）连接在一起，并且可以绕人体垂直轴旋转，当不使用下肢外骨骼机器人时，可以通过腰部旋转零件将机器人左右两侧向内部旋转，以减少占用空间。2. A wearable lower limb exoskeleton robot for rehabilitation according to claim 1, characterized in that the adjustable waist mechanism comprises a curved connecting member (3), a waist width adjusting rod (2), The hip joint abduction and adduction rotating part (17), the right waist rotating part (1) and the left waist rotating part (18), wherein one end of the waist width adjusting rod (2) is connected with the arc connecting part (3), and the other One end is connected with the hip joint abduction and adduction rotating part (17), and the waist width adjusting rod (2) is provided with a threaded hole (14) for adjusting the installation position, so that the waist width can be adjusted to suit people of different body shapes, The comfort of wearing is realized, which reflects good human-computer interaction. The rotating part (18) and the right waist rotating part (1) are connected together by the waist rotating axis (22), and can rotate around the vertical axis of the human body. When the lower limb exoskeleton robot is not used, the left and right sides of the robot can be rotated by the waist rotating part. Swivel sideways to reduce footprint.3.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于，所述的可调整宽度髋部机构包括弧度连接件（3）和髋关节前后调节旋转零件（15），两者通过螺栓（16）连接在一起，髋关节前后调节旋转零件（15）上有可调节安装位置的螺纹孔（14），可以调整髋部宽度以适应不同体型的人群，以保证下肢外骨骼机器人的髋关节和人体的髋关节在同一位置。3. A wearable lower extremity exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that the adjustable width hip mechanism comprises a curved connecting piece (3) and a front and rear adjustment rotation of the hip joint The parts (15) are connected together by bolts (16), and the rotating parts (15) for adjusting the front and rear of the hip joint are provided with threaded holes (14) for adjustable installation positions, so that the width of the hips can be adjusted to suit people of different body types, In order to ensure that the hip joint of the lower limb exoskeleton robot and the hip joint of the human body are in the same position.4.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于：所述的可调整长度大腿机构由大腿外杆（5）和大腿内杆（6）组成，在大腿外杆（5）的下端和大腿内杆（6）的上端分布有可调整安装位置的螺纹孔（14）以及用于与限位槽（21）相配合的限位栓（26），大腿外杆（5）和大腿内杆（6）通过螺栓（16）连接，用于调整机器人大腿的长度，以适应不同身高的人群，保证机器人的膝关节和人体的膝关节的同轴性。4. A wearable lower extremity exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that: the adjustable-length thigh mechanism consists of an outer thigh rod (5) and an inner thigh rod (6) The lower end of the outer thigh rod (5) and the upper end of the inner thigh rod (6) are distributed with threaded holes (14) for adjusting the installation position and a limit bolt (26) for matching with the limit groove (21). ), the outer thigh rod (5) and the inner thigh rod (6) are connected by bolts (16), which are used to adjust the length of the thigh of the robot to adapt to people of different heights and ensure the coaxiality of the knee joint of the robot and the knee joint of the human body sex.5.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于：所述的可调整长度小腿机构由小腿外杆（8）和小腿内杆（9）组成，在小腿外杆（8）的下端和小腿内杆（9）的上端分布有可调整安装位置的螺纹孔（14）以及用于与限位槽（21）相配合的限位栓（26），小腿外杆（8）和小腿内杆（9）通过螺栓（16）连接，用于调整机器人小腿的长度，以适应不同身高的人群，保证机器人的踝关节和人体的踝关节的同轴性。5. A wearable lower extremity exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that: the adjustable-length calf mechanism is composed of an outer calf rod (8) and an inner calf rod (9) The lower end of the outer rod (8) of the lower leg and the upper end of the inner rod (9) of the lower leg are distributed with threaded holes (14) for adjusting the installation position and a limit bolt (26) for matching with the limit groove (21). ), the outer calf rod (8) and the inner calf rod (9) are connected by bolts (16), which are used to adjust the length of the calf of the robot to adapt to people of different heights and ensure the coaxiality of the ankle joint of the robot and the ankle joint of the human body sex.6.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于：所述的踝关节屈伸零件（10）上端与小腿内杆（9）末端相连，下端与脚底板（11）相连。6. A wearable lower extremity exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that: the upper end of the ankle joint flexion and extension part (10) is connected with the end of the inner rod (9) of the calf, and the lower end Connect to the foot bottom plate (11).7.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于：所述的下肢外骨骼机器人的髋膝关节的屈伸关节为驱动自由度，为机器人提供动力，驱动方式为电机驱动，其余自由度均为被动自由度，驱动电机（7）的位置在双腿的髋膝关节屈伸自由度的外侧，电机旋转轴线与屈伸关节轴线同轴。7. A wearable lower extremity exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that: the flexion and extension joints of the hip and knee joints of the lower extremity exoskeleton robot are driving degrees of freedom, providing the robot with Power, the drive mode is motor drive, and the remaining degrees of freedom are passive degrees of freedom. The position of the drive motor (7) is outside the flexion and extension degrees of freedom of the hip and knee joints of both legs, and the motor rotation axis is coaxial with the axis of the flexion and extension joints.8.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于：所述的下肢外骨骼机器人各关节的各个自由度均设有限位槽（21），其中髋关节外展内收自由度的限位槽（21）位于髋关节外展内收旋转零件（17）的体后侧，髋关节旋内旋外自由度的限位槽（21）位于髋关节前后调节旋转零件（15）的上侧，髋关节的屈伸自由度的限位槽（21）位于大腿外杆（5）顶端的体内侧，膝关节的屈伸自由度的限位槽（21）在小腿外杆（8）顶端，位于膝关节体内侧，踝关节的屈伸自由度的限位槽（21）位于踝关节屈伸零件（10）的体内侧，踝关节屈伸零件（10）的旋转轴线与小腿内杆（9）的末端旋转轴线同轴，在下肢外骨骼各关节设置限位槽（21）的目的是为了保证机器人在人体正常运动范围内运转，防止穿戴下肢外骨骼机器人对人体造成二次伤害。8. A wearable lower extremity exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that: each degree of freedom of each joint of the lower extremity exoskeleton robot is provided with a limit slot (21), The limiting groove (21) of the freedom of hip joint abduction and adducting degrees of freedom is located on the rear side of the hip joint abduction, adducting and rotating parts (17), and the limiting groove (21) of the hip joint rotation, internal rotation and external degrees of freedom is located at the hip joint. The upper side of the rotating part (15) for adjusting the front and rear of the joint, the limiting groove (21) for the freedom of flexion and extension of the hip joint is located on the inside of the body at the top of the outer thigh rod (5), and the limiting groove (21) for the freedom of flexion and extension of the knee joint At the top of the calf outer rod (8), located on the inside of the knee joint body, the limiting groove (21) for the flexion and extension degree of freedom of the ankle joint is located on the inside of the ankle joint flexion and extension part (10), and the rotation axis of the ankle joint flexion and extension part (10) Coaxial with the rotation axis of the end of the inner rod (9) of the lower leg, the purpose of setting limit slots (21) in each joint of the lower limb exoskeleton is to ensure that the robot operates within the normal motion range of the human body and prevent the wearing of the lower limb exoskeleton robot from causing damage to the human body. secondary damage.9.根据权利要求1或2所述的一种用于康复的穿戴式下肢外骨骼机器人，其特征在于：所述的脚底板（11）与踝关节屈伸零件（10）连接在一起，连接位置为脚后跟的体外侧，为了使机器人能够很好的和人体贴合，使用机器人过程中可以使用弹性绑带将下肢外骨骼机器人固定在人体上。9. A wearable lower limb exoskeleton robot for rehabilitation according to claim 1 or 2, characterized in that: the foot bottom plate (11) is connected with the ankle joint flexion and extension part (10), and the connection position For the outside of the heel, in order to make the robot fit well with the human body, elastic straps can be used to fix the lower limb exoskeleton robot on the human body during the use of the robot.

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