A wearable lower limb exoskeleton rehabilitation robot

Abstract

The present invention discloses a wearable lower limb exoskeleton rehabilitation robot, which belongs to the technical field of exoskeleton rehabilitation robots, and comprises a mobile base, on which a telescopic column is vertically mounted, a mounting crossbeam is mounted on the front side of the telescopic column, and an exoskeleton support leg is mounted on both sides of the lower end of the mounting crossbeam, respectively, and the exoskeleton support leg comprises an upper support leg and a lower support leg connected up and down, and a hip support assembly is mounted on the upper end of the upper support leg, and the hip support assembly comprises a hip support pad, and the hip support pad is located at the rear side of the upper support leg; a calf support assembly is mounted on the upper end of the lower support leg, and the calf support assembly comprises a calf support pad, and the calf support pad is located at the front side of the lower support leg. The present invention can conveniently bind the patient's lower limbs to the rehabilitation robot to avoid secondary injuries, and can improve the patient's training experience during training.

Description

Technical Field

[0001] The invention relates to a wearable lower limb exoskeleton rehabilitation robot, belonging to the technical field of exoskeleton rehabilitation robots. Background Art

[0002] Lower limb motor dysfunction is common in patients with stroke, spinal cord injury, bone / joint trauma, muscle weakness, paraplegia, etc. Taking stroke patients as an example, motor function rehabilitation for stroke patients is the focus of daily care after the acute phase. High-frequency and scientific rehabilitation exercise training can help patients effectively restore motor function, achieve self-care, improve the quality of life of patients, and reduce the burden on families and society.

[0003] In order to train the lower limbs of the above patients, the researchers proposed a plan to apply exoskeleton robots to lower limb motion training: the patient's feet, calves, and thighs are respectively tied to the exoskeleton supporting legs with straps, and the patient's lower limbs are trained along with the movement of the exoskeleton supporting legs.

[0004] The invention patent with announcement number CN115944507A discloses a mobile platform-type lower limb exoskeleton rehabilitation robot, including a support platform, a dynamic balancing mechanism, an auxiliary fixing mechanism and a pair of symmetrical mechanical legs. The telescopic bracket, backrest and armrests and other structures are all adjustable to meet the needs of different patients; the dynamic balancing mechanism makes the swing of the center of gravity during walking more natural, and provides assistance for the patient's center of gravity to move upward through the balancing spring and related structures.

[0005] However, the above patent scheme also has inconveniences in the actual training process. For seriously ill patients, since they cannot stand when wearing the robot, medical staff need to support the patients and tie the patients' lower limbs to the exoskeleton support legs, or add a stool of equivalent height between the two exoskeleton support legs, let the patients sit down, adjust the exoskeleton support legs to a sitting position, and then tie the patients' lower limbs to the exoskeleton support legs. This is very troublesome and prone to secondary injuries. During the training process, the patient's lower limbs are only fixed by straps, which is not firm and the patient's training experience is not good.

[0006] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the invention

[0007] In view of the deficiencies in the background technology, the present invention provides a wearable lower limb exoskeleton rehabilitation robot, which can conveniently bind the patient's lower limbs to the rehabilitation robot to avoid secondary injuries and can improve the patient's training experience during the training process.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A wearable lower limb exoskeleton rehabilitation robot comprises a mobile base, a telescopic column is vertically mounted on the mobile base, a mounting crossbeam is mounted on the front side of the telescopic column, an exoskeleton support leg is mounted on both sides of the lower end of the mounting crossbeam, the exoskeleton support leg comprises an upper support leg and a lower support leg connected up and down, a hip support assembly is mounted on the upper end of the upper support leg, the hip support assembly comprises a hip support pad, the hip support pad is located at the rear side of the upper support leg, and after the patient wears the hip support pad, the hip support pad faces the patient's hips;

[0010] A calf support assembly is installed at the upper end of the lower support leg, the calf support assembly includes a calf support pad, the calf support pad is located at the front side of the lower support leg, and after the patient puts on the calf support pad, the calf support pad faces the lower side of the patient's knee;

[0011] Both the hip supporting assembly and the calf supporting assembly are provided with straps for binding the patient's thigh and calf to the upper supporting leg and the lower supporting leg.

[0012] Furthermore, a fixed angle plate is installed on the back side of the hip support pad, and the fixed angle plate is installed on the first connecting plate. The front end of the first connecting plate is fixedly installed on the upper supporting leg, and the position of the fixed angle plate relative to the first connecting plate is adjustable.

[0013] Furthermore, the hip support assembly also includes an adapter plate, a first side of the adapter plate is fixedly connected to the fixed angle plate, a second side of the adapter plate is hinged to the middle position of the first connecting plate, a rotating shaft is rotatably installed at the rear end of the first connecting plate, a screw is threadedly installed on the rotating shaft, an inner end of the screw is rotatably installed on the back side of the first side of the adapter plate; a rotating disk is fixed to the outer end of the screw, and a crank is installed on the outer side of the rotating disk.

[0014] Furthermore, a belt is provided on the back side of the hip support pad, the belt is wrapped with a support plate, a mounting block is fixed to the outer surface of the support plate, a convex block is provided on the surface of the mounting block, the convex block is slidably mounted in a sliding groove of the fixed angle plate, a locking bolt is threadedly connected to the convex block, and the mounting block is locked with the fixed angle plate;

[0015] A mounting hole is arranged on the back of the adapter plate, a rotating column is rotatably mounted in the mounting hole, a notch is opened on the rotating column, a protrusion is arranged on the inner end of the screw rod, and the protrusion is sleeved in the notch of the rotating column.

[0016] Furthermore, the calf support assembly also includes an L-shaped connector and a second connecting plate, the L-shaped connector includes two right-angled side plates, one of which is fixedly connected to the back side of the calf support pad, and the outer end of the other side plate is rotatably mounted on the second connecting plate via a hinge shaft.

[0017] Furthermore, a sliding rod is provided for internal sliding at the right-angle turn of the L-shaped connecting piece, and the sliding rod is toggled by a toggle head, and two avoidance holes are provided on the second connecting plate; when the sliding rod slides into one of the avoidance holes, the second connecting plate and the calf supporting pad are in a right-angle state, and when the sliding rod slides into the other avoidance hole, the second connecting plate and the calf supporting pad are in a parallel state.

[0018] Furthermore, it also includes a thigh support assembly, which includes a thigh support pad, a third connecting plate and a strap, the thigh support pad is installed on the rear side of the upper support leg and is arranged on the lower side of the hip support pad, one end of the third connecting plate is fixedly connected to the thigh support pad, and the other end is fixed to the upper support leg.

[0019] Furthermore, the mounting crossbeam is mounted on the telescopic column through a shock-absorbing assembly, and the shock-absorbing assembly includes two upper connecting rods and a lower connecting rod arranged in parallel, one end of the upper connecting rod and the lower connecting rod is hinged on the mounting crossbeam, and the other end is hinged on the telescopic column, so that the mounting crossbeam, the upper connecting rod, the lower connecting rod and the telescopic column form a parallel four-bar mechanism, and a set of parallel four-bar mechanisms is respectively provided on both sides of the telescopic column, and a transverse connecting rod is installed between the lower connecting rods on both sides, and a tension spring is provided on the lower side of the transverse connecting rod, and the lower end of the tension spring is hung on the telescopic column, and the upper end is hung on the transverse connecting rod; the lower connecting rod is provided with a limiting groove, and the limiting groove is located at the rear side of the hinge point between the lower connecting rod and the telescopic column, and the telescopic column is provided with a limiting screw at the corresponding position of the limiting groove.

[0020] Furthermore, walking wheels are installed at the four corners of the mobile base, and a steering system is provided between the two walking wheels at the rear end of the mobile base. The steering system includes a steering wheel, and a synchronous belt transmission system driven by a steering motor is provided at the upper end of the steering wheel to drive the steering wheel to rotate.

[0021] Furthermore, the steering wheel is rotatably mounted on the lower steering connecting member, and the lower steering connecting member is hinged on the upper steering connecting member. A positioning bolt is vertically fixed to the upper surface of the horizontal plate at the rear end of the lower steering connecting member, and the positioning bolt passes through the horizontal plate at the rear end of the upper steering connecting member, and a compression spring is installed on the part of the positioning bolt located at the upper part of the horizontal plate of the upper steering connecting member, so that the horizontal plate of the lower steering connecting member is elastically mounted on the horizontal plate of the upper steering connecting member.

[0022] After adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0023] 1. A hip support assembly is installed at the upper end of the upper supporting leg, and the hip support assembly includes a hip support pad, which is located on the rear side of the upper supporting leg. The patient can sit directly on the hip support pad to wear it, and can even complete the wearing without the assistance of medical staff. In addition, during training, the thigh is tied to the hip support assembly with a strap, so that the thigh and the exoskeleton supporting leg are more tightly fixed, and the thigh moves more accurately with the exoskeleton supporting leg, which provides a better training experience and can avoid secondary injuries such as strains and sprains.

[0024] 2. A calf supporting assembly is installed at the upper end of the lower supporting leg, and the calf supporting assembly includes a calf supporting pad, which is located at the front side of the lower supporting leg, and after the patient puts on the brace, the calf supporting pad faces the lower side of the patient's knee; when the sliding rod slides into one of the avoidance holes, the second connecting plate and the calf supporting pad are in a right angle state, and the calf supporting pad is used to block and bind the patient's calf, so that the calf and the exoskeleton supporting leg are more tightly fixed, and the thigh moves more accurately with the exoskeleton supporting leg; when the sliding rod slides into another avoidance hole, the second connecting plate and the calf supporting pad are in a parallel state, which is convenient for the patient to put on and prevents the calf supporting pad from blocking the patient.

[0025] 3. The thigh support pad is installed on the rear side of the upper supporting leg and is set on the lower side of the hip support pad. During training, the patient's thigh is tied to the thigh support pad with a strap to make the leg fixation more firmly and provide a better training experience.

[0026] 4. The mounting crossbeam is installed on the telescopic column through a shock-absorbing assembly. The mounting crossbeam, upper connecting rod, lower connecting rod and telescopic column form a parallel four-bar mechanism. The corresponding position of the telescopic column located in the limit slot is provided with a limit screw. Under the action of the tension spring, the mounting crossbeam and the exoskeleton support leg are reduced in weight, thereby reducing the influence of the gravity of the mounting crossbeam and the exoskeleton support leg on training.

[0027] 5. Travel wheels are installed at the four corners of the mobile base, and a steering system is provided between the two travel wheels at the rear end of the mobile base. The steering wheel in the above steering system is arranged between the two travel wheels. Compared with the triangular steering method in which the steering wheel is arranged at the front end, the steering system of the present invention is more stable and reduces the risk of tipping. In addition, compared with the steering method in the prior art that uses the two travel wheels at the front end as steering wheels, the steering system of the present invention does not need to use a differential.

[0028] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a side view of the present invention;

[0030] Figure 2is a three-dimensional diagram of the present invention at a first angle;

[0031] Figure 3 is a stereogram of the present invention from a second angle;

[0032] Figure 4 yes Figure 3 The enlarged view of point A in the middle;

[0033] Figure 5 It is a schematic diagram of the structure of the steering system in the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the exoskeleton support leg in the present invention;

[0035] Figure 7 is a schematic structural diagram of a buttocks support assembly in the present invention;

[0036] Figure 8 is a top view of the buttocks support assembly of the present invention;

[0037] Fig. 9 It is a schematic diagram of the structure of the support plate in the buttocks support assembly of the present invention;

[0038] Fig.10 It is a structural schematic diagram of the screw and the rotating column in the present invention;

[0039] Fig.11 It is a schematic diagram of the structure of the calf support assembly of the present invention;

[0040] Fig.12 It is a structural schematic diagram of the thigh support assembly in the present invention.

[0041] In the figure,

[0042] 1-mobile base, 101-walking wheel, 102-steering wheel, 103-lower steering connector, 104-upper steering connector, 105-positioning bolt, 106-compression spring, 2-telescopic column, 3-mounting beam, 4-shock absorption assembly, 401-upper connecting rod, 402-lower connecting rod, 403-lateral connecting rod, 404-tension spring, 405-limiting groove, 5-exoskeleton support leg, 6-hip support assembly, 601-hip support pad, 602-belt, 603-support plate, 604-mounting block, 605-convex Block, 606-fixed angle plate, 607-adapter plate, 6071-mounting hole, 608-first connecting plate, 609-screw, 610-rotating disk, 611-crank, 612-rotating column, 7-calf support assembly, 701-calf support pad, 702-L-shaped connector, 703-second connecting plate, 704-hinge shaft, 705-sliding head, 706-sliding rod, 8-thigh support assembly, 801-thigh support pad, 802-third connecting plate, 9-armrest, 10-direction joystick, 11-steering motor. DETAILED DESCRIPTION

[0043] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0044] like Figure 1-Figure 3 As shown, the present invention provides a wearable lower limb exoskeleton rehabilitation robot, including a mobile base 1, a telescopic column 2 is vertically installed on the mobile base 1, a mounting crossbeam 3 is installed on the front side of the telescopic column 2, and an exoskeleton support leg 5 is respectively installed on both sides of the lower end of the mounting crossbeam 3, and the exoskeleton support leg 5 includes an upper support leg and a lower support leg connected up and down.

[0045] like Figure 6 A buttocks supporting assembly 6 is installed at the upper end of the upper supporting leg, and the buttocks supporting assembly 6 includes a buttocks supporting pad 601, and the buttocks supporting pad 601 is located at the rear side of the upper supporting leg, and after the patient puts on the buttocks supporting pad 601, it faces the patient's buttocks;

[0046] A calf support assembly 7 is installed at the upper end of the lower support leg, and the calf support assembly 7 includes a calf support pad 701. The calf support pad 701 is located at the front side of the lower support leg, and after the patient puts on the calf support pad 701, the calf support pad 701 faces the lower side of the patient's knee;

[0047] The hip support assembly 6 and the calf support assembly 7 are both provided with straps for binding the patient's thigh and calf to the upper support leg and the lower support leg. When the patient wears the exoskeleton support leg 5, he or she adjusts the exoskeleton support leg 5 to a sitting position. At this time, the hip support pads 601 on both sides are in a horizontal state. The patient can directly sit on the hip support pads 601 to wear the exoskeleton support leg 5, and can even complete the wearing without the assistance of medical staff. In addition, during the training process, the thigh is tied to the hip support assembly 6 with a strap, so that the thigh and the exoskeleton support leg 5 are more tightly fixed, and the thigh moves more accurately with the exoskeleton support leg 5, which provides a better training experience and can avoid secondary injuries such as strains and sprains.

[0048] like Figure 7-10 A fixed angle plate 606 is installed on the back side of the hip support pad 601, and the fixed angle plate 606 is installed on the first connecting plate 608. The front end of the first connecting plate 608 is fixedly installed on the upper supporting leg, and the position of the fixed angle plate 606 relative to the first connecting plate 608 is adjustable.

[0049] The hip support assembly 6 also includes an adapter plate 607, a first side of which is fixedly connected to the fixed angle plate 606, a second side of which is hinged to the middle position of the first connecting plate 608, a rotating shaft is rotatably mounted at the rear end of the first connecting plate 608, a screw rod 609 is threadedly mounted on the rotating shaft, and the inner end of the screw rod 609 is rotatably mounted on the back of the first side of the adapter plate 607; a rotating disk 610 is fixed to the outer end of the screw rod 609, and a crank 611 is mounted on the outer side of the rotating disk 610. The rotating disk 610 is rotated by the crank 611, and the screw rod 609 is driven to rotate relative to the rotating shaft, so that the inner end of the screw rod 609 pushes and pulls the adapter plate 607, so that the adapter plate 607, the fixed angle plate 606, and the hip support pad 601 swing relative to the first connecting plate 608, so that the angle of the hip support pad 601 can be adjusted according to the patient's body shape.

[0050] The back side of the hip support pad 601 is provided with a belt 602, and the belt 602 is wrapped with a support plate 603. A mounting block 604 is fixed to the outer surface of the support plate 603, and a protrusion 605 is provided on the surface of the mounting block 604. The protrusion 605 is slidably mounted in the sliding groove of the fixed angle plate 606. The protrusion 605 is threadedly connected with a locking bolt to lock the mounting block 604 and the fixed angle plate 606. The position of the protrusion 605 in the sliding groove of the fixed angle plate 606 is adjustable, so that the lateral position of the hip support pad 601 is adjustable, so that the lateral position of the hip support pad 601 can be adjusted according to the patient's body shape.

[0051] The back side of the adapter plate 607 is provided with a mounting hole 6071 , in which a rotating column 612 is rotatably mounted. The rotating column 612 is provided with a slot, and the inner end of the screw rod 609 is provided with a protrusion, which is sleeved in the slot of the rotating column 612 .

[0052] like Fig.11 The calf support assembly 7 also includes an L-shaped connecting piece 702 and a second connecting plate 703. The L-shaped connecting piece 702 includes two right-angled side plates, one of which is fixedly connected to the back side of the calf support pad 701, and the outer end of the other side plate is rotatably mounted on the second connecting plate 703 through a hinge shaft 704; a sliding rod 706 is provided for sliding inside the right-angle turn of the L-shaped connecting piece 702, and the sliding rod 706 is toggled by a toggle head 705. Two avoidance holes are provided on the second connecting plate 703. When the sliding rod 706 slides into one of the avoidance holes, the second connecting plate 703 and the calf support pad 701 are in a right-angle state. At this time, the calf support pad 701 is used to block and bind the patient's calf. When the sliding rod 706 slides into the other avoidance hole, the second connecting plate 703 and the calf support pad 701 are in a parallel state. At this time, it is convenient for the patient to wear and prevent the calf support pad 701 from blocking the patient.

[0053] like Fig.12 The present invention also includes a thigh support assembly 8, which includes a thigh support pad 801, a third connecting plate 802 and a strap. The thigh support pad 801 is installed on the rear side of the upper support leg and is arranged on the lower side of the hip support pad 601. One end of the third connecting plate 802 is fixedly connected to the thigh support pad 801, and the other end is fixed to the upper support leg. During training, the patient's thigh is bound to the thigh support pad 801 by using a strap, so that the leg is fixed more firmly and the training experience is better.

[0054] like Figure 4 The mounting crossbeam 3 is mounted on the telescopic column 2 through a shock absorbing assembly 4. The shock absorbing assembly 4 includes two upper connecting rods 401 and a lower connecting rod 402 arranged in parallel. One end of the upper connecting rod 401 and the lower connecting rod 402 is hinged on the mounting crossbeam 3, and the other end is hinged on the telescopic column 2, so that the mounting crossbeam 3, the upper connecting rod 401, the lower connecting rod 402 and the telescopic column 2 form a parallel four-bar mechanism. A set of parallel four-bar mechanisms is respectively provided on both sides of the telescopic column 2. A transverse connecting rod 403 is installed between the lower connecting rods 402 on both sides. The transverse connecting rods A tension spring 404 is provided on the lower side of the rod 403, the lower end of the tension spring 404 is hung on the telescopic column 2, and the upper end is hung on the transverse connecting rod 403; the lower connecting rod 402 is provided with a limiting groove 405, and the limiting groove 405 is located on the rear side of the hinge point between the lower connecting rod 402 and the telescopic column 2, and the telescopic column 2 is provided with a limiting screw at the corresponding position of the limiting groove 405. Under the action of the tension spring 404, the mounting beam 3 and the exoskeleton support leg 5 are reduced in weight, thereby reducing the influence of the gravity of the mounting beam 3 and the exoskeleton support leg 5 on training.

[0055] The four corners of the mobile base 1 are equipped with running wheels 101, and a steering system is provided between the two running wheels 101 at the rear end of the mobile base 1. Figure 5 The steering system includes a steering wheel 102. The upper end of the steering wheel 102 is provided with a synchronous belt transmission system driven by a steering motor 11, which drives the steering wheel 102 to rotate to achieve steering. The steering wheel 102 in the above steering system is arranged between the two running wheels 101. Compared with the triangular steering method in which the steering wheel 102 is arranged at the front end, the steering system of the present invention is more stable and reduces the risk of tipping. In addition, compared with the steering method in the prior art that uses the two front running wheels as steering wheels, the steering system of the present invention does not need to use a differential.

[0056] The steering wheel 102 is rotatably mounted on the lower steering connector 103, and the lower steering connector 103 is hinged on the upper steering connector 104. A positioning bolt 105 is vertically fixed to the upper surface of the horizontal plate at the rear end of the lower steering connector 103. The positioning bolt 105 penetrates the horizontal plate at the rear end of the upper steering connector 104, and the part of the positioning bolt 105 located at the upper part of the horizontal plate of the upper steering connector 104 is provided with a compression spring 106, so that the horizontal plate of the lower steering connector 103 is elastically mounted on the horizontal plate of the upper steering connector 104, so that the steering wheel 102 can move up and down elastically; the above design enables the steering wheel 102 to have good contact with the ground when encountering uneven ground, and still achieve good steering function.

[0057] A handrail 9 is installed on the front side of the mounting crossbeam 3 , and a steering lever 10 is provided at the front end of the handrail 9 , through which the steering angle and direction are controlled.

[0058] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on the content of the claims, and any equivalent transformation based on the technical enlightenment of the present invention is also within the protection scope of the present invention.

Claims

1. A wearable lower limb exoskeleton rehabilitation robot, comprising a mobile base (1), a telescopic column (2) vertically mounted on the mobile base (1), a mounting crossbeam (3) mounted on the front side of the telescopic column (2), an exoskeleton support leg (5) mounted on both sides of the lower end of the mounting crossbeam (3), the exoskeleton support leg (5) comprising an upper support leg and a lower support leg connected up and down, characterized in that: A buttocks support assembly (6) is installed at the upper end of the upper supporting leg, the buttocks support assembly (6) comprising a buttocks support pad (601), and the buttocks support pad (601) is located at the rear side of the upper supporting leg; A calf support assembly (7) is installed at the upper end of the lower supporting leg, wherein the calf support assembly (7) comprises a calf support pad (701), and the calf support pad (701) is located at the front side of the lower supporting leg; Both the hip support component (6) and the calf support component (7) are provided with straps; A fixed angle plate (606) is installed on the back side of the hip support pad (601), and the fixed angle plate (606) is installed on the first connecting plate (608). The front end of the first connecting plate (608) is fixedly installed on the upper supporting leg, and the position of the fixed angle plate (606) relative to the first connecting plate (608) is adjustable; The hip support assembly (6) further comprises an adapter plate (607), a first side of which is fixedly connected to the fixed angle plate (606), a second side of which is hinged to the middle position of the first connecting plate (608), a rotating shaft being rotatably mounted at the rear end of the first connecting plate (608), a screw rod (609) being threadedly mounted on the rotating shaft, an inner end of which is rotatably mounted on the back side of the first side of the adapter plate (607); a rotating disk (610) being fixed to the outer end of the screw rod (609), a crank handle (611) being mounted on the outer side of the rotating disk (610); The back side of the hip support pad (601) is provided with a belt (602), the belt (602) is wrapped with a support plate (603), a mounting block (604) is fixed to the outer surface of the support plate (603), a surface of the mounting block (604) is provided with a protrusion (605), the protrusion (605) is slidably mounted in a sliding groove of a fixed angle plate (606), a locking bolt is threadedly connected to the protrusion (605), and the mounting block (604) is locked with the fixed angle plate (606); The back side of the adapter plate (607) is provided with a mounting hole (6071), a rotating column (612) is rotatably mounted in the mounting hole (6071), the rotating column (612) is provided with a notch, and the inner end of the screw rod (609) is provided with a protrusion, and the protrusion is sleeved in the notch of the rotating column (612).

2. A wearable lower limb exoskeleton rehabilitation robot as claimed in claim 1, characterized in that: The calf support assembly (7) further comprises an L-shaped connecting member (702) and a second connecting plate (703), wherein the L-shaped connecting member (702) comprises two right-angled side plates, wherein one of the side plates is fixedly connected to the back side of the calf support pad (701), and the outer end of the other side plate is rotatably mounted on the second connecting plate (703) via a hinge shaft (704).

3. A wearable lower limb exoskeleton rehabilitation robot as claimed in claim 2, characterized in that: A sliding rod (706) is provided inside the right-angled bend of the L-shaped connecting member (702) for sliding movement. The sliding rod (706) is toggled by the toggle head (705), and two avoidance holes are provided on the second connecting plate (703); when the sliding rod (706) slides into one of the avoidance holes, the second connecting plate (703) and the calf supporting pad (701) are in a right-angle state; when the sliding rod (706) slides into the other avoidance hole, the second connecting plate (703) and the calf supporting pad (701) are in a parallel state.

4. A wearable lower limb exoskeleton rehabilitation robot as claimed in claim 1, characterized in that: It also includes a thigh support assembly (8), the thigh support assembly (8) including a thigh support pad (801), a third connecting plate (802) and a strap, the thigh support pad (801) is installed on the rear side of the upper support leg and is arranged on the lower side of the hip support pad (601), one end of the third connecting plate (802) is fixedly connected to the thigh support pad (801), and the other end is fixed to the upper support leg.

5. The wearable lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The mounting crossbeam (3) is mounted on the telescopic column (2) via a shock absorbing assembly (4). The shock absorbing assembly (4) comprises two upper connecting rods (401) and a lower connecting rod (402) arranged in parallel. One end of the upper connecting rod (401) and the lower connecting rod (402) are hinged on the mounting crossbeam (3), and the other end is hinged on the telescopic column (2). The mounting crossbeam (3), the upper connecting rod (401), the lower connecting rod (402) and the telescopic column (2) form a parallel four-bar mechanism. A set of parallel four-bar mechanisms are respectively provided on both sides of the telescopic column (2). The invention relates to a telescopic structure, wherein a transverse connecting rod (403) is installed between the lower connecting rods (402) on both sides, a tension spring (404) is provided on the lower side of the transverse connecting rod (403), the lower end of the tension spring (404) is hung on the telescopic column (2), and the upper end is hung on the transverse connecting rod (403); the lower connecting rod (402) is provided with a limiting groove (405), the limiting groove (405) is located at the rear side of the hinge point between the lower connecting rod (402) and the telescopic column (2), and the telescopic column (2) is provided with a limiting screw at a corresponding position of the limiting groove (405).

6. A wearable lower limb exoskeleton rehabilitation robot as claimed in claim 1, characterized in that: Travel wheels (101) are installed at the four corners of the mobile base (1), and a steering system is provided between the two travel wheels (101) at the rear end of the mobile base (1). The steering system includes a steering wheel (102), and a synchronous belt transmission system driven by a steering motor (11) is provided at the upper end of the steering wheel (102), driving the steering wheel (102) to rotate.

7. A wearable lower limb exoskeleton rehabilitation robot as claimed in claim 6, characterized in that: The steering wheel (102) is rotatably mounted on the lower steering connector (103), and the lower steering connector (103) is hinged on the upper steering connector (104). A positioning bolt (105) is vertically fixed on the upper surface of the horizontal plate at the rear end of the lower steering connector (103). The positioning bolt (105) passes through the horizontal plate at the rear end of the upper steering connector (104), and a compression spring (106) is mounted on the portion of the positioning bolt (105) located on the upper portion of the horizontal plate of the upper steering connector (104), so that the horizontal plate of the lower steering connector (103) is elastically mounted on the horizontal plate of the upper steering connector (104).

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