CN211658677U - Exoskeleton walking-aid robot - Google Patents

Abstract

The utility model of an exoskeleton walking aid robot relates to the technical field of robot walking, in particular to an exoskeleton walking aid robot worn by the elderly. The utility model comprises: a waist wearing device, two sets of hip joint driving devices and two sets of walking devices; two sets of walking devices are symmetrically mounted on both sides of the waist wearing device through the hip joint driving device; the waist wearing device is fixed on the waist of the wearer; The two sets of walking devices are respectively fixed on the legs and feet of the wearer. The technical solution of the utility model solves the problem that the old people in the prior art cause hemiplegia of the lower limbs due to diseases such as cerebral contusion, Parkinson's disease, Alzheimer's disease, etc. walking problem.

Description

Exoskeleton walking robot

technical field

The utility model of an exoskeleton walking aid robot relates to the technical field of robot walking, in particular to an exoskeleton walking aid robot worn by the elderly.

Background technique

At present, the problem of population aging in my country is becoming more and more serious. According to documents released by the National Bureau of Statistics, as of November 2019, the elderly aged 65 and above accounted for 10.75% of the country's total population. It is estimated that by 2030, the proportion of elderly people aged 65 and above in my country will exceed 25%, entering a stage of deep aging, becoming the country with the highest degree of aging in the world. Cerebral contusion, Parkinson's disease, and Alzheimer's disease are common and frequently-occurring diseases of the elderly. About 2 million new patients are diagnosed each year. 80% of the patients will cause hemiplegia of the lower extremities, resulting in weak lower extremity muscles and unable to provide enough energy. The elderly with mild hemiplegia can rely on wheelchairs for exercise, and the elderly with severe hemiplegia need to stay in bed all year round, which often causes bedsores, muscle atrophy, venous thrombosis, urinary tract infection, and osteoporosis. Such complications have endured unimaginable pain in body and mind for many years, bringing a huge burden to the family and society.

In view of the above problems in the prior art, it is very necessary to research and design a new type of exoskeleton walking robot to overcome the problems in the prior art.

SUMMARY OF THE INVENTION

According to the above-mentioned prior art, the elderly due to cerebral palsy, Parkinson's disease, Alzheimer's disease and other diseases cause lower extremity hemiplegia, resulting in weak lower extremity muscles, loss of exercise ability to varying degrees, and inability to walk independently. An exoskeleton walking robot is provided. The utility model mainly uses the lower limb supporting structure to assist the driving device to assist the wearer to walk, thereby helping the elderly with hemiplegia of the lower limbs to achieve standing and walking, meeting the exercise needs of the elderly, promoting blood circulation, avoiding pressure sores, and preventing muscle atrophy. Reduce the incidence of complications, improve the exercise ability of the elderly, and reduce the burden on families and society.

The technical means adopted by the utility model are as follows:

An exoskeleton walking robot comprises: a waist wearing device, two sets of hip joint driving devices and two sets of walking devices; the two sets of walking devices are symmetrically installed on both sides of the waist wearing device through the hip joint driving device; The waist of the wearer; two sets of walking devices are respectively fixed on the legs and feet of the wearer.

Further, the waist wearing device includes: a waist frame, a waist strap, a hip joint connecting rod bolt, a hip joint connecting rod nut, and a hip joint connecting rod; the waist frame is an arc-shaped belt structure made of a certain rigid material, and the waist The arc of the frame is similar to the arc of the wearer's waist, and the two ends are located at the side of the wearer's waist; the waist strap is a belt-like structure made of flexible and elastic material, and a nylon lock is used between the waist strap and the waist frame. It is connected and fixed on the waist of the wearer; the two hip joint connecting rods are symmetrically mounted on both sides of the waist frame through the hip joint connecting rod bolts and the hip joint connecting rod nuts.

Further, the walking device includes: a thigh wearing device, a calf wearing device, a foot wearing device and a knee joint driving device; the thigh wearing device is connected with the hip joint connecting rod through the hip joint driving device, and is driven by the hip joint driving device. Take the joint as the axis to rotate back and forth; the upper part of the calf wear device is connected with the lower part of the thigh wear device through the knee joint drive device, and is driven by the knee joint drive device to rotate back and forth with the joint as the axis; The wearing device is mounted on the bottom of the calf wearing device and moves with the calf wearing device.

Further, the thigh wearing device includes: upper thigh link, thigh link bolt, thigh link nut, thigh strap, and thigh lower link; the lower part of the upper thigh link and the upper part of the lower thigh link are uniformly processed along the length direction. There are a plurality of connecting holes; the lower part of the upper thigh link and the upper part of the lower thigh link are fixedly assembled and connected through the thigh link bolt and the thigh link nut to match the connecting holes; the upper part of the upper thigh link is connected with the hip joint through the hip joint drive device The connecting rods are connected; the thigh straps are arranged on the lower connecting rods of the thighs and are used to bind and fix the thighs of the wearer.

Further, the calf wearing device includes: a calf upper link, a calf strap, a calf link bolt, a calf link nut, a calf lower link and an ankle joint strap; the lower part of the calf upper link and the upper part of the calf lower link A plurality of connecting holes are uniformly processed along the length direction; the lower part of the upper link of the calf and the upper part of the lower link of the lower leg are fixedly assembled and connected through the connection hole of the lower link bolt and the lower link nut; the lower leg strap is installed on the upper link of the lower leg The upper part is used to bind and fix the wearer's calf; the ankle joint strap is fixedly mounted on the lower link of the calf and used to bind and fix the wearer's ankle joint.

Further, the foot wearing device includes: an ankle joint connecting rod, an ankle joint bolt, an ankle joint nut, a foot strap, and a sole plate; the top end of the ankle joint connecting rod is connected with the lower end shaft of the lower leg connecting rod; the ankle joint connecting rod The lower end of the shoe is fixedly connected with the soleplate of the foot through the ankle joint bolt and the ankle joint nut; the foot strap is arranged in the middle of the soleplate of the foot to bind and fix the wearer's foot.

Further, the hip joint driving device includes: hip joint motor, hip joint motor bracket screw, hip joint motor bracket, hip joint motor coupling, hip joint connecting rod screw, hip joint bearing support, hip joint left bearing, hip joint The right bearing of the joint, the end cap of the hip joint, the screw of the end cap of the hip joint; the left bearing of the hip joint and the right bearing of the hip joint are respectively installed on the shafts on the left and right sides of the upper part of the upper thigh connecting rod; the lower end of the hip joint connecting rod is installed in On the right hip joint bearing, the hip joint end cap and the hip joint end cap screw are installed on the right end of the hip joint connecting rod to encapsulate and fix the right hip joint bearing; the hip joint bearing support is installed on the left hip joint bearing, and It is fixed on the hip joint link through the hip joint connecting rod screw; the hip joint motor adopts a DC motor, and is equipped with a control system and a power supply device. The control system has a fixed program and a self-programming system, which is convenient for the wearer to design; The joint motor is installed on the outside of the hip joint motor bracket, and its output end is connected with the input end of the hip joint motor coupling installed inside the hip joint motor bracket, and the output end of the hip joint motor coupling is connected with the upper part of the upper link of the thigh. The shaft of the hip joint is connected with each other; the hip joint motor bracket is fixedly mounted on the hip joint connecting rod through the screw of the hip joint motor bracket.

Further, the knee joint drive device includes: knee joint motor, knee joint motor bracket screw, knee joint motor bracket, knee joint motor coupling, thigh connecting rod screw, knee joint bearing support, knee joint left bearing, knee joint The right bearing, knee joint end cap, and knee joint end cap screw; the knee joint left bearing and the knee joint right bearing are respectively installed on the shafts on the left and right sides of the upper part of the upper link of the lower leg; the lower end of the lower thigh link is installed on the knee On the right bearing of the joint, the knee joint end cap and the knee joint end cap screw are installed on the right end of the lower thigh connecting rod to encapsulate and fix the right knee joint bearing; the knee joint bearing support is installed on the left knee joint bearing, and passes through The thigh connecting rod screw is fixed on the lower thigh connecting rod; the knee joint motor adopts a DC motor with a control system and a power supply device inside. It is installed outside the knee joint motor bracket, and its output end is connected with the input end of the knee joint motor coupling installed inside the knee joint motor bracket, and the output end of the knee joint motor coupling is connected with the shaft on the upper part of the connecting rod The knee joint motor bracket is fixedly mounted on the lower link of the thigh through the knee joint motor bracket screw.

The use process of this utility model:

Before the exercise starts, first measure the length of the thigh and calf of the elderly wearer, and then adjust the thigh link bolt, thigh link nut, calf link bolt, and calf link nut of the exoskeleton walking aid robot to change the exoskeleton walking aid robot. The length of the thigh link and calf link ensures that the rotation axes of the hip, knee and ankle joints of the exoskeleton walking robot are coincident with the corresponding joint axes of the elderly wearer, reducing the pose error and satisfying the wear of the elderly of different heights. By. The waist frame of the exoskeleton walking robot is connected to the waist of the elderly wearer through the waist strap, and the nylon locks at both ends of the waist strap are adjusted to meet the elderly wearers with different waist circumferences. The thigh link of the exoskeleton walking robot is connected to the thigh of the elderly wearer through a thigh strap. The calf link of the exoskeleton walking robot is connected to the calf of the elderly wearer through the calf strap, and is connected to the ankle joint of the elderly wearer through the ankle strap. The foot sole of the exoskeleton walking robot is connected to the feet of the elderly wearer through foot straps. Adjust the wearing angle of the exoskeleton walking robot to improve the comfort of the elderly wearer.

The hip motor and knee motor are equipped with a control system and a power supply device. After the power is turned on, under the coordination and control of the control system, the hip motor drives the thigh link to rotate, and the knee motor drives the calf link to rotate. Realize the exoskeleton walking robot to step forward, provide a certain auxiliary power, and help the elderly wearer to walk.

Compared with the prior art, the utility model has the following advantages:

1. The exoskeleton walking assistance robot provided by the present invention provides certain auxiliary power through the hip joint motor and the knee joint motor, which can help the elderly wearer to walk.

2. In the exoskeleton walking aid robot provided by the present utility model, the nylon locks at both ends of the waist strap can be adjusted, which can meet the needs of elderly wearers with different waist circumferences, and the thigh link and calf link of the exoskeleton walking robot can be adjusted. Length adjustment, can meet different heights of elderly wearers.

3. In the exoskeleton walking aid robot provided by the present invention, the foot bottom plate is installed with straps, which can prevent the feet of the elderly wearer from slipping off the foot bottom plate, ensure the safety during exercise, and improve the walking efficiency.

To sum up, the application of the technical solution of the present utility model solves the problem in the prior art that the elderly in the prior art may suffer from hemiplegia of the lower extremities due to cerebral palsy, Parkinson's disease, Alzheimer's disease and other diseases, resulting in weak muscles of the lower extremities and loss of movement to varying degrees. Ability, inability to walk independently.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the hip joint drive part of the present invention;

FIG. 3 is a schematic structural diagram of the knee joint driving component of the present invention.

In the picture: 1. Waist frame 2. Waist strap 3. Hip joint connecting rod bolt 4. Hip joint connecting rod nut 5. Hip joint connecting rod 6. Hip joint driving part 7. Upper thigh connecting rod 8. Thigh connecting rod bolt 9. Thigh link nut 10, thigh strap 11, lower thigh link 12, knee joint drive part 13, upper calf link 14, calf strap 15, calf link bolt 16, calf link nut 17, lower calf Connecting rod 18, ankle joint strap 19, ankle joint connecting rod 20, ankle joint bolt 21, ankle joint nut 22, foot strap 23, sole plate;

6-1, hip motor 6-2, hip motor bracket screw 6-3, hip motor bracket 6-4, hip motor coupling 6-5, hip joint connecting rod screw 6-6, hip joint bearing Support 6-7, left bearing of hip joint 6-8, right bearing of hip joint 6-9, end cap of hip joint 6-10, screw of end cap of hip joint;

12-1, Knee joint motor 12-2, Knee joint motor bracket screw 12-3, Knee joint motor bracket 12-4, Knee joint motor coupling 12-5, Thigh link screw 12-6, Knee joint bearing support Seat 12-7, knee joint left bearing 12-8, knee joint right bearing 12-9, knee joint end cover 12-10, knee joint end cap screw.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present utility model will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make the purposes, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. The embodiments described above are only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application or uses in any way. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that the terminology used herein is for describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. The orientation or positional relationship is usually based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientations do not indicate and imply the indicated device unless otherwise stated. Or elements must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be construed as a limitation on the protection scope of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under its device or structure". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood To limit the scope of protection of the present invention.

As shown in FIG. 1, the present utility model provides an exoskeleton walking assistance robot including: a waist wearing device, two sets of hip joint drive devices and two sets of walking devices; two sets of walking devices are symmetrically mounted on the waist through the hip joint drive device and worn on the waist. the two sides of the device; the waist wearing device is fixed on the waist of the wearer; the two sets of walking devices are respectively fixed on the legs and feet of the wearer.

The waist wearing device includes: a waist support 1, a waist strap 2, a hip joint connecting rod bolt 3, a hip joint connecting rod nut 4, and a hip joint connecting rod 5; the waist support 1 is an arc-shaped belt made of a certain rigid material Structure, the radian of the waist support 1 is similar to that of the wearer's waist, and the two ends are located on the side of the wearer's waist; 1 are connected and fixed on the waist of the wearer through nylon locks; two hip joint connecting rods 5 are symmetrically mounted on both sides of the waist frame 1 through the hip joint connecting rod bolts 3 and the hip joint connecting rod nuts 4 .

The walking device includes: a thigh wearing device, a calf wearing device, a foot wearing device and a knee joint driving device; the thigh wearing device is connected with the hip joint link 5 through the hip joint driving device, and is driven by the hip joint driving device to connect. The upper part of the calf wearing device is connected with the lower part of the thigh wearing device through the knee joint driving device, and is driven by the knee joint driving device to rotate back and forth with the joint as the axis; the foot wearing device Attaches to the bottom of the calf wear and moves with the calf wear.

The thigh wearing device includes: upper thigh link 7, thigh link bolt 8, thigh link nut 9, thigh strap 10, lower thigh link 11; the lower part of the upper thigh link 7 and the upper edge of the lower thigh link 11; The length direction is uniformly processed with a plurality of connecting holes; the lower part of the upper thigh link 7 and the upper part of the lower thigh link 11 are fixedly assembled and connected through the thigh link bolt 8 and the thigh link nut 9 with the connection holes; The upper part is connected with the hip joint link 5 through the hip joint driving device; the thigh strap 10 is mounted on the lower thigh link 11 for binding and fixing the thigh of the wearer.

The calf wearing device includes: calf upper link 13, calf strap 14, calf link bolt 15, calf link nut 16, calf lower link 17 and ankle joint strap 18; the lower part of the calf upper link 13 and the lower calf link The upper part of the connecting rod 17 is uniformly processed with a plurality of connecting holes along the length direction; the lower part of the upper shank connecting rod 13 and the upper part of the lower shank connecting rod 17 are fixedly assembled and connected through the shank connecting rod bolt 15 and the lower leg connecting rod nut 16 with the connection holes; The calf strap 14 is mounted on the upper calf link 13 for binding and fixing the wearer's lower leg; the ankle joint strap 18 is fixed on the lower calf link 17 for binding and fixing the wearer's ankle joint.

The foot wearing device includes: an ankle joint connecting rod 19, an ankle joint bolt 20, an ankle joint nut 21, a foot strap 22, and a sole plate 23; the top end of the ankle joint connecting rod 19 is axially connected with the lower end of the lower leg connecting rod 17; The lower end of the ankle joint connecting rod 19 is fixedly connected with the sole plate 23 through the ankle joint bolt 20 and the ankle joint nut 21; the foot strap 22 is installed in the middle of the sole plate 23 for binding and fixing the wearer's foot.

As shown in Figure 2, the hip joint driving device includes: hip joint motor 6-1, hip joint motor bracket screw 6-2, hip joint motor bracket 6-3, hip joint motor coupling 6-4, hip joint connecting rod Screw 6-5, Hip Bearing Support 6-6, Left Hip Bearing 6-7, Right Hip Bearing 6-8, Hip End Cap 6-9, Hip End Cap Screw 6-10; Hip The left bearing 6-7 of the joint and the right bearing 6-8 of the hip joint are respectively installed on the shafts on the left and right sides of the upper part of the upper thigh connecting rod 7; the lower end of the connecting rod 5 of the hip joint is installed on the right bearing 6-8 of the hip joint , the hip joint end cap 6-9 and the hip joint end cap screw 6-10 are installed on the right end of the hip joint connecting rod 5, and the right hip joint bearing 6-8 is packaged and fixed; the hip joint bearing support 6-6 is installed in the hip joint The joint left bearing 6-7 is fixed on the hip joint connecting rod 5 through the hip joint connecting rod screw 6-5; the hip joint motor 6-1 adopts a DC motor, and is equipped with a control system and a power supply device. The control system The fixed program and self-programming system are built-in, which is convenient for the wearer to design by themselves; the hip joint motor 6-1 is installed outside the hip joint motor bracket 6-3, and its output end is connected to the hip joint motor bracket 6-3 inside the hip joint motor bracket 6-3. The input end of the joint motor coupling 6-4 is connected, and the output end of the hip joint motor coupling 6-4 is connected with the shaft of the upper part of the connecting rod 7 on the thigh; the hip joint motor bracket 6-3 passes through the hip joint motor bracket The screw 6.2 is fixedly mounted on the link 5 of the hip joint.

As shown in FIG. 3 , the knee joint drive device includes: a knee joint motor 12-1, a knee joint motor bracket screw 12-2, a knee joint motor bracket 12-3, a knee joint motor coupling 12-4, and a thigh link screw 12-5, knee joint bearing support 12-6, knee joint left bearing 12-7, knee joint right bearing 12-8, knee joint end cover 12-9, knee joint end cap screw 12-10; knee joint The left bearing 12-7 and the right knee bearing 12-8 are respectively mounted on the shafts on the left and right sides of the upper link 13 of the lower leg; the lower end of the lower thigh link 11 is mounted on the right bearing 12-8 of the knee joint, The knee joint end cap 12-9 and the knee joint end cap screw 12-10 are installed on the right end of the lower thigh connecting rod 11 to encapsulate and fix the right knee joint bearing 12-8; the knee joint bearing support 12-6 is installed in the knee joint The left bearing 12-7 is fixed on the lower thigh link 11 through the thigh connecting rod screw 12-5; the knee joint motor 12-1 adopts a DC motor, and is equipped with a control system and a power supply device. The fixed program and self-programming system are convenient for the wearer to design by themselves; the knee motor 12-1 is installed outside the knee motor bracket 12-3, and its output end is connected to the knee motor installed inside the knee motor bracket 12-3 The input end of the coupling 12-4 is connected, and the output end of the knee joint motor coupling 12-4 is connected with the shaft on the upper part of the connecting rod 13 on the lower leg; the knee joint motor bracket 12-3 is connected by the knee joint motor bracket screw 12 -2 is fixedly mounted on the lower thigh link 11.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, but not to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that : it can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the various embodiments of the present utility model Scope of technical solutions.

Claims (8)

1. An exoskeleton walk-aiding robot, comprising: the waist wearing device, the two sets of hip joint driving devices and the two sets of walking devices; the two sets of walking devices are symmetrically arranged at two sides of the waist wearing device through the hip joint driving device; the waist wearing device is fixed on the waist of a wearer; the two sets of walking devices are respectively fixed on the legs and the feet of the wearer.

2. An exoskeleton walking aid robot according to claim 1 wherein said waist wearing means comprises: a waist frame (1), a waist binding belt (2), a hip joint connecting rod bolt (3), a hip joint connecting rod nut (4) and a hip joint connecting rod (5); the waist frame (1) is an arc-shaped belt-shaped structure made of a certain rigid material, the radian of the waist frame (1) is close to that of the waist of a wearer, and two ends of the waist frame are positioned at the waist side part of the wearer; the waist bandage (2) is a flexible belt-shaped structure made of a certain elastic material, and the waist bandage (2) and the waist frame (1) are connected through nylon buckles and fixed on the waist of a wearer; two hip joint connecting rods (5) are symmetrically arranged at two sides of the waist frame (1) through hip joint connecting rod bolts (3) and hip joint connecting rod nuts (4).

3. An exoskeleton walking robot as claimed in claim 1 wherein said walking means comprises: a thigh wearing device, a shank wearing device, a foot wearing device and a knee joint driving device; the thigh wearing device is connected with a hip joint connecting rod (5) through a hip joint driving device and rotates forwards and backwards by taking the connecting part as an axis under the driving of the hip joint driving device; the upper part of the shank wearing device is connected with the lower part of the thigh wearing device through a knee joint driving device and rotates forwards and backwards by taking the connecting part as an axis under the driving of the knee joint driving device; the foot wearing device is arranged at the bottom of the shank wearing device and moves together with the shank wearing device.

4. An exoskeleton walking robot as claimed in claim 3 wherein said thigh-wearing means comprises: a thigh upper connecting rod (7), a thigh connecting rod bolt (8), a thigh connecting rod nut (9), a thigh binding belt (10) and a thigh lower connecting rod (11); a plurality of connecting holes are uniformly processed on the lower part of the upper thigh connecting rod (7) and the upper part of the lower thigh connecting rod (11) along the length direction; the lower part of the upper thigh connecting rod (7) is fixedly assembled and connected with the upper part of the lower thigh connecting rod (11) through a thigh connecting rod bolt (8) and a thigh connecting rod nut (9) in a matching connection hole; the upper part of the thigh upper connecting rod (7) is connected with the hip joint connecting rod (5) through a hip joint driving device; the thigh bandage (10) is arranged on the thigh lower connecting rod (11) and is used for binding and fixing the thigh of the wearer.

5. An exoskeleton walking robot as claimed in claim 3 wherein said lower leg wearing means comprises: a shank upper connecting rod (13), a shank binding band (14), a shank connecting rod bolt (15), a shank connecting rod nut (16), a shank lower connecting rod (17) and an ankle binding band (18); a plurality of connecting holes are uniformly processed on the lower part of the shank upper connecting rod (13) and the upper part of the shank lower connecting rod (17) along the length direction; the lower part of the lower leg upper connecting rod (13) is fixedly assembled and connected with the upper part of the lower leg lower connecting rod (17) through a lower leg connecting rod bolt (15) and a lower leg connecting rod nut (16) which are matched with the connecting hole; the shank binding belt (14) is arranged on the shank upper connecting rod (13) and is used for binding and fixing the shank of the wearer; the ankle joint bandage (18) is fixedly arranged on the lower leg connecting rod (17) and is used for binding and fixing the ankle joint part of a wearer.

6. An exoskeleton walking robot as claimed in claim 3 wherein said foot-worn device comprises: an ankle joint connecting rod (19), an ankle joint bolt (20), an ankle joint nut (21), a foot binding band (22) and a foot bottom plate (23); the top end of the ankle joint connecting rod (19) is connected with the lower end shaft of the lower shank connecting rod (17); the lower end of the ankle joint connecting rod (19) is fixedly connected with the foot bottom plate (23) through an ankle joint bolt (20) and an ankle joint nut (21); the foot bandage (22) is arranged in the middle of the foot bottom plate (23) and is used for binding and fixing the feet of a wearer.

7. An exoskeleton walking aid robot according to claim 1 wherein said hip joint drive means comprises: a hip joint motor (6-1), a hip joint motor support screw (6-2), a hip joint motor support (6-3), a hip joint motor coupler (6-4), a hip joint connecting rod screw (6-5), a hip joint bearing support (6-6), a hip joint left side bearing (6-7), a hip joint right side bearing (6-8), a hip joint end cover (6-9) and a hip joint end cover screw (6-10); the hip joint left side bearing (6-7) and the hip joint right side bearing (6-8) are respectively arranged on the shafts at the left side and the right side of the upper part of the thigh upper connecting rod (7); the lower end of the hip joint connecting rod (5) is arranged on a hip joint right side bearing (6-8), a hip joint end cover (6-9) and a hip joint end cover screw (6-10) are arranged at the right end of the hip joint connecting rod (5), and the hip joint right side bearing (6-8) is packaged and fixed; the hip joint bearing support (6-6) is arranged on a hip joint left side bearing (6-7) and is fixedly arranged on a hip joint connecting rod (5) through a hip joint connecting rod screw (6-5); the hip joint motor (6-1) adopts a direct current motor, a control system and a power supply device are arranged in the hip joint motor, a fixed program and a self-programming system are arranged in the control system, and the hip joint motor is convenient for a wearer to design; the hip joint motor (6-1) is arranged outside the hip joint motor support (6-3), the output end of the hip joint motor (6-1) is connected with the input end of a hip joint motor coupling (6-4) arranged inside the hip joint motor support (6-3), and the output end of the hip joint motor coupling (6-4) is connected with a shaft at the upper part of the thigh connecting rod (7); the hip joint motor bracket (6-3) is fixedly arranged on the hip joint connecting rod (5) through a hip joint motor bracket screw (6-2).

8. An exoskeleton walking robot as claimed in claim 3 wherein said knee joint drive means comprises: a knee joint motor (12-1), a knee joint motor support screw (12-2), a knee joint motor support (12-3), a knee joint motor coupler (12-4), a thigh connecting rod screw (12-5), a knee joint bearing support (12-6), a knee joint left side bearing (12-7), a knee joint right side bearing (12-8), a knee joint end cover (12-9) and a knee joint end cover screw (12-10); the knee joint left side bearing (12-7) and the knee joint right side bearing (12-8) are respectively arranged on the shafts on the left side and the right side of the upper part of the shank upper connecting rod (13); the lower end of the thigh lower connecting rod (11) is arranged on a knee joint right side bearing (12-8), a knee joint end cover (12-9) and a knee joint end cover screw (12-10) are arranged at the right end of the thigh lower connecting rod (11), and the knee joint right side bearing (12-8) is packaged and fixed; the knee joint bearing support (12-6) is arranged on a knee joint left side bearing (12-7) and is fixedly arranged on a thigh lower connecting rod (11) through a thigh connecting rod screw (12-5); the knee joint motor (12-1) adopts a direct current motor, a control system and a power supply device are arranged in the knee joint motor, a fixed program and a self-programming program system are arranged in the control system, and the knee joint motor is convenient for a wearer to design; the knee joint motor (12-1) is arranged outside the knee joint motor support (12-3), the output end of the knee joint motor is connected with the input end of a knee joint motor coupling (12-4) arranged inside the knee joint motor support (12-3), and the output end of the knee joint motor coupling (12-4) is connected with a shaft at the upper part of the shank upper connecting rod (13); the knee joint motor bracket (12-3) is fixedly arranged on the thigh lower connecting rod (11) through a knee joint motor bracket screw (12-2).

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