Limb rehabilitation exoskeleton device

Abstract

The present invention belongs to the field of exoskeleton technology, and specifically relates to a limb rehabilitation exoskeleton device, in which a first limb segment and a second limb segment are connected via a first joint, a second limb segment and a third limb segment are connected via a second joint, and a third joint is provided at the end of the third limb segment. The limb rehabilitation exoskeleton device also includes a transmission system, which includes a split-axis drive having a drive motor, and also includes a plurality of driven wheel assemblies directly or indirectly meshed with the driving wheel, each driven wheel assembly driving each joint respectively via a universal joint. The transmission system provided by the present invention can drive each joint to move, so the limb rehabilitation exoskeleton device can assist limb movement, and the transmission system used uses a plurality of universal joints and meshing wheels to disperse the output force of a drive motor to each joint, so the limb rehabilitation exoskeleton device has a lighter weight compared to similar products, and its cost is effectively controlled because a plurality of motor assemblies are saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeletons, and in particular relates to an exoskeleton device for limb rehabilitation. Background Art

[0002] Exoskeletons are a primary type of rehabilitation device used to assist with human rehabilitation training. Since most users cannot control limb movements, exoskeletons typically rely on the skeleton to drive limb movements, with the human body coordinating these movements with the assistance of the exoskeleton. Because bones can swing or sway up and down at the joints of the human body, existing exoskeleton devices are equipped with independent drive units at the joints, each of which controls the movement of a specific location. However, this design not only increases production costs but also the weight of the entire exoskeleton, making it bulky and inconvenient for users to use. Summary of the Invention

[0003] The object of the present invention is to provide a limb rehabilitation exoskeleton device that solves the problems raised in the background art by diverting the output power of a drive motor so that it can meet the power requirements of the entire exoskeleton joint.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a limb rehabilitation exoskeleton device comprising a first limb segment, a second limb segment, and a third limb segment, wherein the first limb segment and the second limb segment are connected by a first joint, the second limb segment and the third limb segment are connected by a second joint, and a third joint is provided at the end of the third limb segment. The limb rehabilitation exoskeleton device also includes a transmission system comprising a split-axis drive having a drive motor and a driving wheel driven by the drive motor, and the split-axis drive also includes a plurality of driven wheel assemblies directly or indirectly meshed with the driving wheel, wherein these driven wheel assemblies respectively drive the first joint, the second joint, and the third joint via universal joints.

[0005] In the above technical solution, the limb rehabilitation exoskeleton device has three joints. The three limbs correspond to the upper arm, lower arm, and hand of the human body, and can also correspond to the thigh, calf, and foot. The corresponding parts of the human body are fixed to the corresponding limbs via straps. Thanks to the connection of the joints, the exoskeleton device can move with the limb. Because the transmission system provided in this solution can drive the movement of each joint, the limb rehabilitation exoskeleton device can assist in limb movement. The transmission system uses multiple universal joints and meshing gears to distribute the output force of a single drive motor to each joint. Therefore, the limb rehabilitation exoskeleton device is lighter than similar products. Because multiple motor components are eliminated, its cost is effectively controlled.

[0006] Preferably, the split-axis drive also includes a fixed disk that is fixed relative to the drive motor and has a mounting slot for mounting a driven wheel assembly on the fixed disk. The driven wheel assembly includes an insert that movably engages with the mounting slot, a driven wheel, and a wheel axle fixedly connected to the driven wheel, wherein the wheel axle is longitudinally movably mounted on the insert. The driven wheel assembly has multiple spare specifications. The inserts of driven wheel assemblies of different specifications are the same, but the axles are mounted in different positions on the inserts, and the diameters of the driven wheels are different. By placing the driven wheel assembly into the mounting slot on the fixed disk, the driven wheel and the driven wheel can be engaged. By replacing driven wheel assemblies of different diameters, the transmission ratio can be adjusted. Therefore, the split-axis drive structure of this type can meet the needs of adjusting the movement rate of the limb rehabilitation exoskeleton device.

[0007] Preferably, the split-axis drive also includes a pressure ring, which covers the fixed disk and restricts the insert block in the installation groove; a clamping head is provided on the fixed disk, and a bayonet is correspondingly provided on the pressure ring, and the pressure ring is fixed by engaging the bayonet with the clamping head to prevent the driven wheel assembly from loosening or falling off during the movement of the exoskeleton.

[0008] Preferably, the first joint and the third joint have the same structure, both including a first connecting end I and a second connecting end I, and the first connecting end I and the second connecting end I are connected to adjacent joints; a deflection frame is provided at the front end of the first connecting end I, and the deflection frame is a semi-annular arc-shaped structure with the arc opening pointing to the second connecting end I, and a first deflection axis I is movably provided passing through its diameter, and the second connecting end I is connected to the first deflection axis I and moves synchronously with it; a deflection rail is provided on the periphery of the deflection frame, and a guide rail for positioning and guiding the deflection rail is provided on the first connecting end I, and an arc-shaped meshing rack is provided on the periphery of the deflection frame, and the meshing rack is coaxial with the deflection frame; a first deflection gear I meshing with the meshing rack is provided in the first connecting end I, and the first deflection gear I is installed on the longitudinally arranged second deflection axis I. Based on the first joint and the third joint of the above structure, when the universal joint drives the second deflection axis I, the second connection end I deflects left and right, and when the universal joint drives the first deflection axis I, the second connection end I deflects up and down. Therefore, it can simulate the ball joint of the limbs and meet the multi-directional movement requirements of the feet and hands, for example.

[0009] Preferably, the transmission system further includes a flow splitter having a mounting frame on which a drive axle assembly I is mounted. Drive axle assemblies II and III are respectively disposed on either side of drive axle assembly I. Drive axle assembly I is connected to a split-shaft driver via a universal joint. Drive axle assembly II ultimately drives the second deflection axis I of the third joint, while drive axle assembly III ultimately drives the second deflection axis I of the first joint. The flow splitter of the above structure, connected to the split-shaft driver via a universal joint, can increase the number of power splits while maintaining a limited number of driven wheel assemblies, thereby meeting the power requirements of the multi-directional motion of the first and third joints.

[0010] Preferably, the driving axle assembly II and the driving axle assembly III can move in the axial direction, and the driving axle assembly II or the driving axle assembly III can engage or disengage with the driving axle assembly I through axial movement. By independently adjusting the engagement relationship between the driving axle assembly II and the driving axle assembly III and the driving axle assembly I, the second deflection axis I of the first joint or the third joint can be controlled to move independently, and the two can also be controlled to move simultaneously, that is, the diverter of this structure can meet the user's needs for different movement modes of the first joint or the third joint.

[0011] Preferably, the second joint includes a first connecting end II and a second connecting end II, wherein a first rotating shaft II is fixedly arranged at the end of the first connecting end II, a first meshing wheel II is coaxially fixedly arranged on the first rotating shaft II, and the first rotating shaft II is movably installed in a fixed shaft sleeve fixedly arranged at the end of the second connecting end II; a second deflection shaft II is movably arranged at the end of the second connecting end II, a second meshing wheel II is coaxially fixedly arranged on the second deflection shaft II, and the second meshing wheel II is meshed with the first meshing wheel II.

[0012] Preferably, in the second joint, a first meshing wheel II is provided at each end of the first rotating shaft II, and the two first meshing wheels II are located on both sides of the first connecting end II; the second deflection shaft II moves through the second connecting end II, and a second meshing wheel II is provided at each end; a protective cover is provided on both sides of the second joint, the rear part of the protective cover is fixedly connected to the second connecting end II, and the front part does not contact the first connecting end II, and the first meshing wheel II and the second meshing wheel II are located inside the protective cover, so as to avoid accidental contact with the first meshing wheel II and the second meshing wheel II during the use of the exoskeleton, and at the same time provide a clean working environment for the first meshing wheel II and the second meshing wheel II to ensure smooth movement of the joint.

[0013] Preferably, the limb rehabilitation exoskeleton device also includes multiple electromagnetic mechanisms, which are arranged at the first joint, the second joint and the third joint, and can control the corresponding universal joints to drive the corresponding joints or disengage from the corresponding joints. By controlling each electromagnetic mechanism to control the movement of each joint, the exoskeleton device has multiple usage modes to meet different usage needs.

[0014] Preferably, the second and third limbs are telescopic structures, and locking bolts are provided for locking the telescopic length. By adjusting the telescopic length of the second and third limbs, the exoskeleton device can meet the needs of people with a variety of different limb proportions, thereby increasing the scope of application of the exoskeleton device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A schematic diagram of the planar structure of an embodiment of a limb rehabilitation exoskeleton device provided by the present invention;

[0017] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the limb rehabilitation exoskeleton device shown;

[0018] Figure 3 for Figure 1 A schematic diagram of the structure of the transmission system in the limb rehabilitation exoskeleton device shown;

[0019] Figure 4 for Figure 3 A schematic diagram of the planar structure of the split-shaft drive in the transmission system shown;

[0020] Figure 5 for Figure 4 A schematic diagram of the three-dimensional structure of the split-axis drive shown;

[0021] Figure 6 for Figure 4 Schematic diagram of the partial split state of the split-axis drive shown;

[0022] Figure 7 for Figure 3 A schematic diagram of the structure of the diverter in the transmission system shown;

[0023] Figure 8 for Figure 7 A schematic diagram of the back structure of the diverter shown;

[0024] Figure 9 for Figure 1 Schematic diagram of the structure of the third joint in the limb rehabilitation exoskeleton device shown;

[0025] Figure 10 for Figure 9 A schematic diagram of the partial cross-section structure of the third joint shown;

[0026] Figure 11 for Figure 9 Schematic diagram of the planar structure of the third joint shown;

[0027] Figure 12 for Figure 1 A schematic structural diagram of the second joint shown;

[0028] Figure 13 This is a schematic diagram of the structure of the automatic on-off control of the drive in the limb rehabilitation exoskeleton device provided by the present invention;

[0029] Figure 14 for Figure 1 The structure diagram of the limb rehabilitation exoskeleton device shown is a usage state diagram for upper limb training;

[0030] Figure 15 A schematic diagram of the structure of the limb rehabilitation exoskeleton device shown in FIG. 1 is used for upper limb training;

[0031] Figure 16 for Figure 1 The structure diagram of the limb rehabilitation exoskeleton device shown is a usage state diagram of the lower limb crawling.

[0032] In the figure, the first limb 1, the second limb 2, the third limb 3, the first joint 4, the second joint 5, the third joint 6, the transmission system 7, the split-shaft driver 8, the diverter 9, the first universal joint 10, the second universal joint 11, the third universal joint 12, the fourth universal joint 13, the drive shaft 14, the fixed plate 15, the driving wheel 16, the driven wheel assembly 17, the pressure ring 18, the lower fixing ring 19, the fixing bolt 20, the drive motor 21, the clamp 22, the insert 23, the driven wheel 24, the wheel axle 25, the slot 26, the mounting bracket 27, and the drive wheel axle assembly 12 8. Driving wheel axle assembly II29, driving wheel axle assembly III30, first connecting end I31, deflection frame 32, first deflection axis I33, second connecting end I34, deflection rail 35, guide rail 36, meshing rack 37, second deflection axis I38, first deflection gear I39, first connecting end II40, second connecting end II41, first rotating shaft II42, fixed sleeve 43, first meshing wheel II44, second deflection axis II45, second meshing wheel II46, protective shell 47, protective cover 48, electromagnetic telescopic shaft 49. DETAILED DESCRIPTION

[0033] The following will describe the implementation methods of the present application in detail with reference to the accompanying drawings and examples, so that the implementation process of how the present application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0034] Figure 1-13 One embodiment of the present invention is a limb rehabilitation exoskeleton device. The exoskeleton device includes a first limb segment 1, a second limb segment 2, and a third limb segment 3, wherein the second limb segment 2 and the third limb segment 3 are telescopic structures and are provided with locking bolts for locking the telescopic length. Figure 1 As shown, the first limb 1 and the second limb 2 are connected by a first joint 4, the second limb 2 and the third limb 3 are connected by a second joint 5, and a third joint 6 is provided at the end of the third limb 3. The limb rehabilitation exoskeleton device also includes a transmission system 7, which includes a split-axis drive 8, which has a drive motor 21 and a driving wheel 16 driven by the drive motor 21. The split-axis drive 8 also includes a plurality of driven wheel assemblies 17 that directly or indirectly engage with the driving wheel 16. These driven wheel assemblies 17 respectively drive the first joint 4, the second joint 5, and the third joint 6 through universal joints.

[0035] like Figure 4 As shown, a lower fixing ring 19 is disposed below the drive motor 21 in the split-shaft driver 8, and bolt holes are provided in the lower fixing ring 19. The split-shaft driver 8 also includes a circular fixing plate 15, which has through-holes that face the bolt holes in the lower fixing ring 19. The two are fixedly connected by fixing bolts 20, the lower ends of which pass through the lower fixing ring 19, thereby securing the entire split-shaft driver 8 in its operating position.

[0036] like Figure 5 As shown, the driven wheel assembly 17 includes a long strip-shaped plug-in block 23, a driven wheel 24 and a wheel shaft 25 fixedly connected to the driven wheel 24, wherein the wheel shaft 25 is longitudinally movably mounted on the plug-in block 23; Figure 6As shown, a slot 26 for installing the plug block 23 is provided on the fixed disk 15. When the plug block 23 is inserted into the slot 26, the driven wheel 24 engages with the driving wheel 16. As can be seen from the figure, the length of the plug block 23 extends along the diameter direction of the fixed disk 15. Based on this structure, driven wheel assemblies 17 of various specifications can be designed. The plug blocks 23 of driven wheel assemblies 17 of different specifications are the same, but the installation positions of the axles 25 on the plug blocks 23 are different, and the diameters of the driven wheels 24 are different. The driven wheel 24 can be engaged with the driven wheel 16 by placing the driven wheel assembly 17 into the installation groove on the fixed disk 15. The transmission ratio can be adjusted by replacing driven wheel assemblies 17 of different diameters. Therefore, the split-axis drive 8 of this structure can meet the requirements of adjusting the movement rate of the limb rehabilitation exoskeleton device. In order to ensure the stable installation of the driven wheel assembly 17 on the fixed disk 15, the present embodiment also provides a pressure ring 18, as shown Figure 4 As shown, the upper part of the pressure ring 18 covers the pressure block 23, and the lower part extends downward from the edge of the fixed plate 15. In addition, a clamping head 22 is provided on the fixed plate 15, and a bayonet is correspondingly provided on the pressure ring 18. The bayonet is engaged with the clamping head 22 to fix the pressure ring 18, thereby preventing the driven wheel assembly 17 from loosening or falling off during the movement of the exoskeleton, thereby ensuring that the plug 23 is stably installed in the slot 26.

[0037] In this embodiment, the three limbs correspond to the upper arm, lower arm and hand of the human body, and can also correspond to the thigh, calf and foot. Since the upper arm (shoulder), hand, thigh (hip) and foot are all ball joint structures, in order to make the exoskeleton device meet the flexible movement requirements of the limbs, the first joint 4 and the third joint 6 provided in this embodiment have the same structure, which can achieve up and down swing and left and right offset. Taking the third joint 6 as an example, Figure 9 As shown, it includes a first connecting end I31 and a second connecting end I34, and the first connecting end I31 and the second connecting end I34 connect adjacent joints; a deflection frame 32 is provided at the front end of the first connecting end I31, and the deflection frame 32 is a semi-annular arc-shaped structure with an arc opening pointing to the second connecting end I34, and a first deflection axis I33 is movably provided passing through its diameter, the second connecting end I34 is connected to the first deflection axis I33 and moves synchronously therewith, and a driven wheel assembly 17 on the split-axis driver 8 is connected to the first deflection axis I33 through the fourth universal joint 13, and an electromagnetic telescopic shaft 49 is provided on the third joint 6, which can drive the end of the fourth universal joint 10 to contact or disengage from the first deflection axis I33; a deflection rail 35 is provided on the periphery of the deflection frame 32, and a guide rail 36 is provided on the first connecting end I31 for positioning and guiding the deflection rail 35, and an arc-shaped meshing rack 37 is provided on the periphery of the deflection frame 32, and the meshing rack 37 is coaxial with the deflection frame 32; as shown Figure 10As shown, a first deflection gear 139 is disposed within the first connecting end 131 and meshes with the meshing rack 37. This first deflection gear 139 is mounted on a longitudinally arranged second deflection axis 138. Based on the above-described structure of the first joint 4 and the third joint 6, when the universal joint drives the second deflection axis 138, the second connecting end 134 deflects left and right. When the universal joint drives the first deflection axis 133, the second connecting end 134 deflects up and down. The first deflection axis 133 and the second deflection axis 138 can move simultaneously, and the deflection center of the deflection frame 32 is located on the axis of the first deflection axis 133. Therefore, the first joint 4 and the third joint 6 can simulate a limb ball joint, meeting the multi-directional movement requirements of, for example, the foot and hand. Based on the structural features of the third joint 6, a driven wheel assembly 17 on the split-shaft driver 8 passes through the first deflection axis 133 of the first universal joint 10. An electromagnetic telescopic shaft 49 is disposed on the first joint 4, capable of driving the end of the first universal joint 10 into or out of contact with the first deflection axis 133. It should be noted that the limb rehabilitation exoskeleton device provided in this embodiment is an exoskeleton device specifically for arms or legs, which can be independently installed on other rehabilitation devices or treatment platforms for use, or can be used in combination with a transfer machine or walking exoskeleton. Figure 9 As shown, in this embodiment, a plug-in structure is provided on the first connection end I31 of the third joint 6 to facilitate expansion and installation of the device.

[0038] In order to meet the power requirements of the multi-directional movement of the first joint 4 and the third joint 6, the transmission system 7 provided in this embodiment also includes a diverter 9, which has a mounting frame 27 and is installed on the back of the third joint 6. A driving axle assembly I28 is provided on the mounting frame 27, and a driving axle assembly II29 and a driving axle assembly III30 are respectively provided on both sides of the driving axle assembly I28, wherein the driving axle assembly I28 is connected to the driving shaft 14 in the split-axis driver 8 through the fourth universal joint 13, the driving axle assembly II29 directly drives the second deflection axis I38 of the third joint 6, and the driving axle assembly III30 drives the second deflection axis I38 of the first joint 4 through the third universal joint 12. The diverter 9 of the above structure is connected to the split-axis driver 8 through the universal joint, which can increase the number of power diversion shares when the number of driven wheel assemblies 17 is limited, and as Figure 7 As shown, the drive axle assembly II29 and the drive axle assembly III30 can move in the axial direction (the mounting shaft has a margin and can move longitudinally), and the drive axle assembly II29 or the drive axle assembly III30 can engage or disengage with the drive axle assembly I28 through axial movement. Figure 8As shown, two electromagnetic telescopic shafts 49 are disposed on the back of the mounting frame 27, respectively controlling the longitudinal movement of the drive axle assembly II29 and the drive axle assembly III30. The exoskeleton device is also equipped with a control device that controls each electromagnetic telescopic shaft 49 and the entire transmission system 7. By independently adjusting the meshing relationship between the drive axle assembly II29 and the drive axle assembly III30 and the drive axle assembly I28, the second deflection axis I38 of the first joint 4 or the third joint 6 can be controlled to move independently or simultaneously. This structure of the diverter 9 can meet the user's needs for different movement modes of the first joint 4 or the third joint 6.

[0039] Since the elbow joint and knee joint can only swing back and forth, the second joint 5 used in this embodiment includes a first connecting end II40 and a second connecting end II41, wherein the end of the first connecting end II40 is fixedly provided with a first rotating shaft II42, the middle part of the first rotating shaft II42 is movably installed in a fixed shaft sleeve 43 fixedly provided at the end of the second connecting end II41, and the end of the second connecting end II41 is movably passed through a second deflection shaft II45; a first meshing wheel II44 is provided at each end of the first rotating shaft II42, and the two first meshing wheels II44 are located on both sides of the first connecting end II40; the second deflection shaft II45 movably passes through the second connecting end II41, and a second meshing wheel II46 meshing with the first meshing wheel II44 is provided at each end; a driven wheel assembly 17 on the split-axis drive 8 is connected to the second deflection shaft II45 through a second universal joint 11, and an electromagnetic telescopic shaft 49 is provided on the second joint 5, which can drive the end of the second universal joint 11 to contact or disengage from the second deflection shaft II45.

[0040] Furthermore, the exoskeleton is designed for portable use. To prevent accidents, a protective shell 47 is placed on either side of the second joint 5. A protective cover 48 on the side of the shell 47 can be opened. The rear portion of the shell 47 is fixedly connected to the second connection end II41, while the front portion does not contact the first connection end II40. The first and second meshing wheels II44 and II46 are located within the protective cover. In addition to protecting the user, the shell 47 also provides a clean working environment for the first and second meshing wheels II44 and II46, ensuring smooth joint movement.

[0041] The electromagnetic telescopic shafts 49 provided at the first joint 4, the second joint 5, the third joint 6, and the diverter 9 are controlled by a control device, respectively, and can control the corresponding universal joints to drive or disengage the corresponding joints. Therefore, the movement of each joint can be controlled by controlling each electromagnetic telescopic shaft 49, so that the exoskeleton device has multiple usage modes (for ease of demonstration, the transmission system and the like are omitted) to meet different usage requirements. The exoskeleton device can be used to exercise the human arm, for example Figure 14As shown, the upper arm, lower arm and hand of the human body are respectively bound to the third limb segment, the second limb segment and the first limb segment by means of straps, so that the user can perform training actions such as bending arms and swinging hands; or Figure 15 As shown, the user lies flat with the exoskeleton device strapped to the legs, and then performs leg training; Figure 16 As shown, the exoskeleton device is bound to the legs to assist the patient in crawling action training.

[0042] In the above technical solution, the limb rehabilitation exoskeleton device has three joints. The three limb segments correspond to the human upper arm, lower arm, and hand, and may also correspond to the thigh, calf, and foot. The corresponding parts of the human body are fixed to the corresponding limb segments via straps. Thanks to the connection of the joints, the exoskeleton device can move with the limb. Because the transmission system 7 provided in this solution can drive the movement of each joint, the limb rehabilitation exoskeleton device can assist in limb movement. The transmission system 7 uses multiple universal joints and meshing gears to distribute the output force of a single drive motor 21 to each joint. Therefore, the limb rehabilitation exoskeleton device is lighter than similar products. Due to the elimination of multiple motor components, its cost is effectively controlled.

[0043] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of the components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0044] It should be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0045] The foregoing description shows and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A limb rehabilitation exoskeleton device comprising a first limb segment, a second limb segment, and a third limb segment, wherein the first limb segment and the second limb segment are connected by a first joint, the second limb segment and the third limb segment are connected by a second joint, and a third joint is provided at the end of the third limb segment, characterized in that: The limb rehabilitation exoskeleton device also includes a transmission system, which includes a split-axis drive, the split-axis drive having a drive motor and a driving wheel driven by the drive motor, and the split-axis drive also includes a plurality of driven wheel assemblies that are directly or indirectly meshed with the driving wheel, and these driven wheel assemblies respectively drive the first joint, the second joint, and the third joint through universal joints; the first joint and the third joint have the same structure, both including a first connecting end I and a second connecting end I, and the first connecting end I and the second connecting end I are connected to adjacent joints; a deflection frame is provided at the front end of the first connecting end I The deflection frame has a semi-annular arc-shaped structure with an arc-shaped opening pointing to the second connecting end I. A first deflection axis I is movably provided through its diameter. The second connecting end I is connected to the first deflection axis I and moves synchronously therewith. A deflection rail is provided on the periphery of the deflection frame, and a guide rail is provided on the first connecting end I to position and guide the deflection rail. An arc-shaped meshing rack is provided on the periphery of the deflection frame, and the meshing rack is coaxial with the deflection frame. A first deflection gear I is provided within the first connecting end I and meshes with the meshing rack. The first deflection gear I is mounted on the second deflection axis I arranged longitudinally.

2. The limb rehabilitation exoskeleton device according to claim 1, characterized in that: The split-axis drive also includes a fixed disk, which is fixed relative to the drive motor, and a mounting groove for mounting a driven wheel assembly is provided on the fixed disk; the driven wheel assembly includes an insert block movably engaged with the mounting groove, and also includes a driven wheel and a wheel axle fixedly connected to the driven wheel, wherein the wheel axle is longitudinally movably mounted on the insert block; the driven wheel assembly has multiple spare specifications, and the insert blocks of driven wheel assemblies of different specifications are the same, but the installation positions of the wheel axle on the insert block are different, and the diameters of the driven wheels are different.

3. The limb rehabilitation exoskeleton device according to claim 2, characterized in that: The split-axis driver also includes a pressure ring, which covers the fixed disk and limits the insert block in the installation slot; a clamping head is provided on the fixed disk, and a bayonet is correspondingly provided on the pressure ring, and the pressure ring is fixed by engaging the bayonet with the clamping head.

4. The limb rehabilitation exoskeleton device according to claim 1, wherein: The transmission system also includes a diverter, which has a mounting frame, on which a drive axle assembly I is arranged, and a drive axle assembly II and a drive axle assembly III are respectively arranged on both sides of the drive axle assembly I, wherein the drive axle assembly I is connected to the split-axis driver through a universal joint, the drive axle assembly II ultimately drives the second deflection axis I of the third joint, and the drive axle assembly III ultimately drives the second deflection axis I of the first joint.

5. The limb rehabilitation exoskeleton device according to claim 4, characterized in that: The driving wheel axle assembly II and the driving wheel axle assembly III can move in the axial direction, and the driving wheel axle assembly II or the driving wheel axle assembly III can engage with or disengage from the driving wheel axle assembly I through axial movement.

6. The limb rehabilitation exoskeleton device according to claim 1, wherein: The second joint includes a first connecting end II and a second connecting end II, wherein a first rotating shaft II is fixedly arranged at the end of the first connecting end II, a first meshing wheel II is coaxially fixedly arranged on the first rotating shaft II, and the first rotating shaft II is movably installed in a fixed shaft sleeve fixedly arranged at the end of the second connecting end II; a second deflection shaft II is movably arranged at the end of the second connecting end II, a second meshing wheel II is coaxially fixedly arranged on the second deflection shaft II, and the second meshing wheel II is meshed with the first meshing wheel II.

7. A limb rehabilitation exoskeleton device according to any one of claims 1 to 6, characterized in that: In the second joint, a first meshing wheel II is provided at each end of the first rotating shaft II, and the two first meshing wheels II are located on both sides of the first connecting end II; the second deflection shaft II moves through the second connecting end II, and a second meshing wheel II is provided at each end; a protective cover is provided on each side of the second joint, the rear part of the protective cover is fixedly connected to the second connecting end II, the front part does not contact the first connecting end II, and the first meshing wheel II and the second meshing wheel II are located inside the protective cover.

8. The limb rehabilitation exoskeleton device according to claim 7, characterized in that: The limb rehabilitation exoskeleton device also includes a plurality of electromagnetic mechanisms, which are arranged at the first joint, the second joint and the third joint, and can control the corresponding universal joints to drive the corresponding joints or disengage from the corresponding joints.

9. The limb rehabilitation exoskeleton device according to any one of claims 7, wherein: The second limb section and the third limb section are telescopic structures, and are provided with locking bolts for locking the telescopic length.

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