Horizontal lower limb rehabilitation training exoskeleton device

Abstract

The application belongs to the technical field of exoskeletons, and particularly relates to an exoskeleton device for rehabilitation training, which comprises a chassis and a lower limb exoskeleton; a moving assembly is arranged at the rear part of the chassis, and a supporting assembly is arranged at the front part of the chassis; the moving assembly comprises a first orientation telescopic rod capable of stretching and retracting along the Z-axis direction and a horizontal adjusting base plate capable of controlling the first orientation telescopic rod to move along the X-axis and / or the Y-axis; the end part of the rear end of the calf bone is connected to a terminal connecting assembly; the first end of the terminal connecting assembly is coaxially movably connected to the top end of the first orientation telescopic rod, the second end of the terminal connecting assembly is hingedly connected to the end part of the calf bone, and the hinge axis I is perpendicular to the first orientation telescopic rod. The lower limb exoskeleton in the exoskeleton device for rehabilitation training can simulate various conventional movement actions of the human leg and assist the user with lower limb dysfunction to perform leg training. Compared with the existing lower limb rehabilitation training exoskeleton device, the embodiment can assist the leg to make more movement actions, thereby producing a better rehabilitation effect.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation exoskeleton technology, specifically a supine lower limb rehabilitation training exoskeleton device. Background Technology

[0002] Existing devices for assisting hemiplegic patients in leg rehabilitation training while lying flat generally only allow for limited movements, typically limited to leg flexion and extension. For example, patent CN213526251U discloses a multi-position rehabilitation training lower limb exoskeleton device, in which the joints of the leg skeleton are driven by independent modules. Although it can meet the training needs of patients in different positions such as lying flat, reclining, and standing, the leg skeleton can only simulate movements such as stepping and forward and backward leg lifting. Invention patent CN102512307B discloses a multi-position lower limb rehabilitation training robot, in which the exoskeleton uses a linkage structure, which still can only assist the legs in performing simple stepping movements. For a normal human leg, the hip joint is a ball joint. In a supine position, the common movements that the entire leg can perform include stepping, flexion and extension, leg raising, and swinging from side to side with the knee joint as the highest point. These movements require the participation of different muscle groups and nerves. Although some patients have lost leg function, normal leg movements can still provide good feedback to the body and play an important role in maintaining the function of the whole body. However, the current type of rehabilitation exoskeleton cannot meet the diverse movement needs of users. Summary of the Invention

[0003] The purpose of this invention is to provide a supine lower limb rehabilitation training exoskeleton device. In this device, the lower limb exoskeleton moves passively under the traction of the moving components and can realistically simulate various movements of the human leg, thereby solving the problem of the limited training movements of existing lower limb rehabilitation devices mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a supine lower limb rehabilitation training exoskeleton device, comprising a base frame and a lower limb exoskeleton located above the base frame, wherein the lower limb exoskeleton has straps for binding the legs. The lower limb exoskeleton includes a thigh bone and a calf bone, the thigh bone being connected to the calf bone via a knee joint; a moving component is provided at the rear of the base frame, and a supporting component is provided at the front, wherein the moving component includes a first directional telescopic rod capable of telescoping along the Z-axis, and a horizontally adjustable base plate provided below the first directional telescopic rod, the horizontally adjustable base plate being capable of controlling the movement of the first directional telescopic rod along the X-axis and / or Y-axis; the front end of the thigh bone is connected to the upper part of the supporting component via a hip joint component, the hip joint component being capable of meeting the multi-angle deflection requirements of the lower limb exoskeleton; the rear end of the calf bone is provided with an end portion, the end portion being connected to an end connection component; the first end of the end connection component is coaxially movably connected to the top end of the first directional telescopic rod, allowing the end connection component to rotate around the axis of the first directional telescopic rod, the second end being hinged to the end portion of the calf bone, and the hinge axis I is perpendicular to the first directional telescopic rod.

[0005] In this technical solution, the front end of the lower limb exoskeleton is connected to the support component via a hip joint assembly, enabling it to perform multi-directional movements like a human leg. The rear end of the exoskeleton is connected to a first-direction telescopic rod in the Y-axis direction via an end-connecting component. Since the moving component also includes a horizontally adjustable base, which can control the movement of the first-direction telescopic rod in the X and Y-axis planes, the moving component can control the end-connecting component to move laterally, longitudinally, and forward and backward. The coordinated movement of the horizontally adjustable base and the first-direction telescopic rod allows for compound movements of the end-connecting component in any direction. Based on the connection method between the front end of the lower limb exoskeleton and the hip joint assembly, and the connection method between the rear end and the end-connecting component, when the end-connecting component moves, the lower limb exoskeleton is also pulled and moves, capable of flexion, extension, lateral swing, up-and-down swing, and rocking movements. Compared with existing lower limb rehabilitation training exoskeleton devices, this technical solution can assist the leg in performing more movements, thereby producing better rehabilitation results.

[0006] As a preferred embodiment, the distal end of the calf bone includes an intermediate connector, the second end of which is connected to the back of the intermediate connector, and the front of the intermediate connector is hinged to the calf bone, with the hinge axis II being perpendicular to both the hinge axis I and the extension line of the calf bone. The distal end also includes a telescopic rod disposed on the left or right side of the calf bone, and a side arm disposed in the middle of the calf bone and extending toward the side of the telescopic rod. The distal end of the telescopic rod is hinged to the extension end of the intermediate connector, and the distal end is hinged to the extension end of the side arm. The hinge axes at both ends of the telescopic rod are parallel to the hinge axis II. The intermediate connector is hinged to the lower leg bone, allowing the lower leg bone to deflect around hinge axis II. The telescopic rod on one side is used to control the deflection angle of the lower leg bone relative to the intermediate connector. Since the entire lower limb exoskeleton is connected to the support assembly through a ball joint, when the length of the telescopic rod changes, the lower leg bone will deflect to one side around hinge axis II, and the connected thigh bone will move accordingly, thereby realizing the left and right swinging movement of the entire lower limb exoskeleton. Furthermore, by controlling the knee flexion degree of the lower limb exoskeleton through the moving assembly, the lower limb exoskeleton can perform left and right swinging movements at any knee flexion angle.

[0007] As a preferred embodiment, the hip joint assembly includes a joint sleeve having a hemispherical cavity and a joint head installed within the cavity, the joint head being rotatable in situ within the cavity; the joint sleeve is installed at the end of the femoral bone, a downwardly extending mounting rod is provided on one side of the joint head, and a mounting plate is provided in the middle of the mounting rod, the mounting plate being bolted to the support assembly.

[0008] As a preferred embodiment, the horizontal adjustment chassis includes an X-axis translation structure and a Y-axis translation structure, wherein the Y-axis translation structure controls the movement of the X-axis translation structure along the Y-axis; the X-axis translation structure includes a movable base disposed at the bottom of the first directional telescopic rod, and a threaded sleeve and a bushing with non-coaxial axes are disposed on the back of the movable base; the X-axis translation structure also includes a lead screw and a guide rod disposed along the X direction and respectively cooperating with the threaded sleeve and the bushing, and further includes a drive motor assembly for controlling the rotation of the lead screw. When the lead screw rotates, the movable base moves to the left or right under the guidance of the bushing and the guide rod, thereby controlling the first directional telescopic rod above to translate along the X-axis direction.

[0009] As a preferred embodiment, the Y-axis translation structure includes two slide rails arranged on the base frame along the Y-axis direction, with the two slide rails distributed left and right. The X-axis translation structure is mounted on the slide rails via slide blocks that cooperate with the slide rails, and the two slide blocks are connected by a crossbeam. The Y-axis translation structure also includes a second directional telescopic rod arranged along the Y-axis direction, with one end of the second directional telescopic rod connected to the base frame and the other end connected to the crossbeam. The second directional telescopic rod controls the forward and backward movement of the X-axis translation structure above by pushing the crossbeam.

[0010] As a preferred embodiment, this lower limb rehabilitation training exoskeleton device has two lower limb exoskeletons, specifically a left leg exoskeleton and a right leg exoskeleton, and has corresponding moving components and supporting components connected to the left and right leg exoskeletons. The left and right leg exoskeletons are symmetrically arranged with respect to the Y-axis, and the two hip joint components form a body avoidance position. The two lower limb exoskeletons can simultaneously bind the left and right legs. After the device is activated, the two moving components move independently and control the two lower limb exoskeletons to simulate leg movements, thereby driving the movement of both legs. For users in a supine position, this can avoid the body incoordination that occurs when moving only one leg. At the same time, the simultaneous movement of both legs is a human limb movement habit and conforms to human anatomy. This kind of rehabilitation training is of great significance for promoting blood circulation and increasing the body's perception of limb movements.

[0011] As a preferred embodiment, the support assembly includes a support column longitudinally fixed to the base frame. A width adjustment member is provided at the top of the support column, and the hip joint assembly is mounted on this width adjustment member. The width adjustment member allows adjustment of the width of the clearance position. The width adjustment member is used to adjust the position of the hip joint assembly. For example, increasing the width between the two components can eliminate the obstruction of the hip joint assembly to the user's hip, allowing for unimpeded pre-wearing preparation movements and facilitating the user's departure from the clearance position. Additionally, the distance between the hip joint components can be adjusted to accommodate patients of different body types.

[0012] As a preferred embodiment, the width adjustment component includes a telescopic structure consisting of a fixed arm and a telescopic arm. The fixed arm has a mounting cavity in its middle section that mates with the telescopic arm. The hip joint assembly is mounted on the end of the telescopic arm near the clearance position. A rear threaded hole along the length direction is provided at the end of the telescopic arm where it inserts into the mounting cavity, and an adjusting screw is installed in the rear threaded hole. This adjusting screw passes through the end of the fixed arm and can only rotate around its own axis under the restriction of the fixed arm. An adjusting handle is installed on the exposed end of the adjusting screw. The telescopic structure consisting of the fixed arm and the telescopic arm not only meets the requirements for supporting the hip joint assembly but also allows adjustment of the extension length of the telescopic arm by rotating the adjusting handle at the end, thereby adjusting the distance between the two hip joint assemblies. By mounting the hip joint assembly at the clearance position of the telescopic arm, the hip joint assembly fits snugly against the user's hip joint after the user wears the lower limb exoskeleton. This reduces the displacement difference between the lower limb exoskeleton and the human body, improves user comfort, and allows for more precise control of leg movements.

[0013] As a preferred embodiment, the lower limb rehabilitation training exoskeleton device also includes a movable support platform for the user to lie flat. This movable support platform is independently configured, comprising a lower movable frame and an upper reclining board. The entire movable support platform is freely movable and can be moved to a parking position at the front of the base frame and locked. In this position, when the user lies flat on the reclining board, the user's buttocks are in a clearance position and directly facing the hip joint assembly. This training device has a built-in reclining mechanism, eliminating the need for use with other beds. The movable support platform facilitates the transfer of the user between the rehabilitation training exoskeleton device and other equipment. Furthermore, the independently configured movable support platform, once the reclining board is out of the clearance position, prevents interference with the user's movement when entering or exiting the device, compared to a fixed movable support platform.

[0014] As a preferred embodiment, the reclining platform of the mobile support table is divided into a fixed part and a flipping part. The fixed part is horizontally positioned at the user's hip, while the flipping part is positioned above the user's hip. The flipping part is hinged, allowing it to flip to be flush with the fixed part or tilted towards the fixed part, and the angle between it and the fixed part can be adjusted. The mobile support table is independently designed and movable, facilitating the transfer of the user between other devices. The flipping part helps the user lie flat or sit upright, enabling the user to perform leg exercises in either a lying or sitting position. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 This is a schematic diagram of the planar structure of the supine lower limb rehabilitation training exoskeleton device provided by the present invention.

[0017] Figure 2 for Figure 1 A three-dimensional structural diagram of the supine lower limb rehabilitation training exoskeleton device shown;

[0018] Figure 3 for Figure 2 A schematic diagram of the training device after the movable support platform has been removed.

[0019] Figure 4 This is a schematic diagram of the installation structure of a unilateral lower limb exoskeleton;

[0020] Figure 5 A schematic diagram of the connection structure between the lower leg bone and the first-position telescopic rod;

[0021] Figure 6This is a schematic diagram of the installation structure of the hip joint assembly and the width adjustment component;

[0022] Figure 7 This is a schematic diagram of the internal structure of the width adjustment component;

[0023] Figure 8 This is a schematic diagram of the disassembled structure of the hip joint assembly;

[0024] Figure 9 This is a structural diagram of the moving component;

[0025] Figure 10 A schematic diagram showing the deformation state of the movable support platform;

[0026] Figure 11 A schematic diagram illustrating a user's use of the rehabilitation training exoskeleton device.

[0027] In the diagram, 1 is the base frame, 2 is the lower limb exoskeleton, 3 is the moving assembly, 4 is the support assembly, 5 is the moving support platform, 6 is the controller, 7 is the parking space, 8 is the body clearance space, 9 is the electric telescopic rod, 21 is the thigh bone, 22 is the lower leg bone, 23 is the knee joint, 24 is the strap, 25 is the hip joint assembly, 26 is the pedal assembly, 28 is the end connection assembly, 31 is the first-position telescopic rod, 32 is the horizontal adjustment chassis, 33 is the second-position telescopic rod, 41 is the support column, 42 is the width adjustment component, 43 is the fixed arm, 44 is the adjustment handwheel, 45 is the telescopic arm, 46 is the mounting cavity, 47 is the adjustment screw, 51 is the fixing part, 52 is the flipping part, 211 is the mounting groove, 212 is the mounting screw hole, 221 is the side arm, 251 is the joint sleeve, 252 is the mounting bolt, 253 is the internal hex socket, 254 is the joint ball head, 255 is the mounting rod, 256 is the mounting plate, 281 is the intermediate connector, 282 is the mounting sleeve, 283 is the hinge joint I, and 284 is the hinge joint I. I284, crossbeam 311, movable base 321, threaded sleeve 322, bushing 323, lead screw 324, guide rod 325, slide block 326, slide rail 327, lead screw mounting base 328, shaft end fixing base 329, drive motor assembly 330, mounting position 451, center insertion hole 452, bolt hole 453, rear screw hole 454. Detailed Implementation

[0028] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0029] Figure 1 and Figure 2This is a schematic diagram of the overall structure of the horizontal lower limb rehabilitation training exoskeleton device provided by the present invention. As shown in the figure, the rehabilitation training exoskeleton device includes a base frame 1 and a pair of lower limb exoskeletons 2 located above the base frame 1, wherein the two lower limb exoskeletons 2 are symmetrically distributed from left to right. The feet of the lower limb exoskeletons 2 are positioned facing the rear of the rehabilitation training exoskeleton device. In this embodiment, the rear of the base frame 1 is provided with two sets of moving components 3 corresponding to the two lower limb exoskeletons 2, and the front of the base frame 1 is provided with two sets of supporting components 4 corresponding to the two lower limb exoskeletons 2, such as... Figure 3 As shown, there is a clearance space 8 between the two support components 4, and a parking space 7 is located below the clearance space 8. A mobile support platform 5 for users to lie down is provided at the parking space 7.

[0030] like Figure 4 As shown, the aforementioned moving component 3 includes a first directional telescopic rod 31 capable of extending and retracting along the Z-axis, and a horizontally adjustable base 32 disposed below the first directional telescopic rod 31 (which is electrically operated). This horizontally adjustable base 32 can control the first directional telescopic rod 31 to move along the X-axis or Y-axis, and can also perform combined movements along the X-axis and Y-axis. The aforementioned lower limb exoskeleton 2 is similar to existing lower limb exoskeletons, such as... Figure 3 As shown, the system includes a thigh bone 21 and a calf bone 22. A foot pedal assembly 26 is also provided on the calf bone 22 near the foot. Both the thigh bone 21 and the calf bone 22 have straps 24 for securing the legs. The front end of the thigh bone 21 is connected to the upper part of the support assembly 4 via a hip joint assembly 25, and the rear end is connected to the front end of the calf bone 22 via a knee joint 23. The rear end of the calf bone 22 is provided with an end portion, which is connected to the first directional telescopic rod 31 via an end connection assembly 28.

[0031] In the above connection, the hip joint component 25 is a ball joint, which can meet the multi-angle deflection requirements of the lower limb exoskeleton 2; such as Figure 5As shown, the first end of the end connecting component 28 is movably connected to the top end of the first directional telescopic rod 31 via the mounting sleeve 282, so that the end connecting component 28 can rotate around the axis of the first directional telescopic rod 31. The second end is hinged to the end of the calf bone 22 via the hinge joint I283, and the hinge axis I of the hinge joint I283 is perpendicular to the first directional telescopic rod 31, so that the included angle between the calf bone 22 and the first directional telescopic rod 31 can be adjusted. Therefore, when the first telescopic rod 31 extends or retracts longitudinally along the Z-axis, the entire lower limb exoskeleton 2 will passively move up and down, simulating the up-and-down movement of a person's legs in a supine position; when the horizontal adjustment base 32 controls the first telescopic rod 31 to move forward or backward along the Y-axis, the entire lower limb exoskeleton 2 will passively flex and extend, simulating the flexion and extension movement of a person's legs in a supine position; when the horizontal adjustment base 32 controls the first telescopic rod 31 to move left or right along the X-axis, the entire lower limb exoskeleton 2 will passively move to one side, simulating the lateral movement of a person's legs in a supine position.

[0032] In addition to the aforementioned movements, the lower limb exoskeleton 2 can also simulate the left-right swinging motion of the knee. Specifically, for example... Figure 5 As shown, the end portion of the calf bone 22 includes an intermediate connector 281. The second end of the end connecting component 28 is connected to the back of the intermediate connector 281 via a hinge joint I 283. The front of the intermediate connector 281 is hinged to the calf bone 22 via a hinge joint II 284. The hinge axis II of the hinge joint I 284 is perpendicular to both the hinge axis I and the length extension line of the calf bone 22. The end portion also includes an electric telescopic rod 9 located on the outside of the calf bone 22 (the side away from the human body) and a side arm 221 located in the middle of the calf bone 22 and extending towards the side where the electric telescopic rod 9 is located. The end of the electric telescopic rod 9 is hinged to the extension end of the intermediate connector 281, and the top end is hinged to the extension end of the side arm 221. The hinge axes at both ends of the electric telescopic rod 9 are parallel to the hinge axis II. The intermediate connector 281 is hinged to the lower leg bone 22, allowing the lower leg bone 22 to deflect around the hinge axis II. When the length of the electric telescopic rod 9 changes, the lower leg bone 22 will deflect to one side around the hinge axis II, and the thigh bone 21 connected to it will move accordingly, thereby realizing the left and right swinging motion of the entire lower limb exoskeleton 2 (manifested as the entire lower limb exoskeleton swinging left and right with the knee). Furthermore, by controlling the knee flexion degree of the lower limb exoskeleton 2 through the moving component 3, the lower limb exoskeleton 2 can swing left and right at any knee flexion angle.

[0033] Therefore, the lower limb exoskeleton in the rehabilitation training exoskeleton device provided in this embodiment can simulate a variety of common movements of the human leg and assist users with lower limb dysfunction in leg training. Compared with existing lower limb rehabilitation training exoskeleton devices, this embodiment can assist the leg in making more movements, thereby producing better rehabilitation results.

[0034] In addition, such as Figure 3 In this embodiment, the support component 4 includes a support column 41 that is longitudinally fixedly connected to the base frame 1. A width adjustment component 42 is provided at the top of the support column 41, and the hip joint component 25 is mounted on this width adjustment component 42. Specifically, in conjunction with... Figure 6 and Figure 7 The width adjusting component 42 includes a telescopic structure consisting of a fixed arm 43 and a telescopic arm 45. The fixed arm 43 has a mounting cavity 46 in its middle section that mates with the telescopic arm 45. A rear threaded hole 454 along the length direction is provided at the end of the telescopic arm 45 where it inserts into the mounting cavity 46. An adjusting screw 47 is installed in the rear threaded hole 454. This adjusting screw 47 passes through the end of the fixed arm 43 and can only rotate around its own axis under the constraint of the fixed arm 43. An adjusting handwheel 44 is installed at the exposed end of the adjusting screw 47. The hip joint assembly 25 is installed at the end of the telescopic arm 45 near the clearance position 8. Specifically, a recessed circular mounting position 451 is provided at the end of the telescopic arm 45. A downwardly extending central insertion hole 452 is provided in the center of the mounting position 451, and four bolt holes 453 are provided around the central insertion hole 452.

[0035] like Figure 8 As shown, the hip joint assembly 25 includes a joint sleeve 251 with a hemispherical cavity and a joint head 254 that is fitted into the cavity, and the joint head 254 can rotate in place within the cavity; a mounting bolt 252 passing through the center of the outer spherical surface of the joint sleeve 251 is provided, and an internal hexagonal socket 253 coaxial with the mounting bolt 252 is provided at the bottom of the hemispherical cavity; a mounting groove 211 that mates with the outer spherical surface of the joint sleeve 251 is provided at the end of the femoral bone 21, and a mounting screw hole 212 that mates with the mounting bolt 252 is provided at the bottom of the mounting groove 211, that is, the joint sleeve 251 is installed in the mounting groove 211 and fixed by the mounting bolt 252. A downwardly extending mounting rod 255 is provided on one side of the joint ball head 254, and a mounting plate 256 is provided in the middle of the mounting rod 255. The lower end of the mounting rod 255 is inserted into the central insertion hole 452. The mounting plate 256 is installed in conjunction with the mounting position 451 and fixed by bolts, so that the femoral bone 21 will not touch the mounting plate 256 and the telescopic arm 45 within a reasonable range of motion.

[0036] The horizontally adjustable chassis 32 used in this embodiment includes an X-axis translation structure and a Y-axis translation structure, wherein the Y-axis translation structure controls the movement of the X-axis translation structure along the Y-axis; for example Figure 9 As shown, the Y-axis translation structure includes two slide rails 327 arranged on the base frame 1 along the Y-axis direction. The two slide rails 327 are distributed on the left and right sides, and each is provided with a matching slide seat 326. The two slide seats 326 are connected by a crossbeam 311. The Y-axis translation structure also includes a second directional telescopic rod 33 arranged along the Y-axis direction. The rear end of the second directional telescopic rod 33 (which is an electric telescopic rod) is connected to the base frame 1, and the front end is connected to the crossbeam 311. The X-axis translation structure includes a movable base 321 located at the bottom of the first-position telescopic rod 31. A threaded sleeve 322 is provided in the middle of the back of the movable base 321, and a bushing 323 is provided on each of the front and rear sides of the threaded sleeve 322. The X-axis translation structure also includes a lead screw 324 and a guide rod 325 arranged along the X direction and respectively cooperating with the threaded sleeve 322 and the bushing 323. The two ends of the lead screw 324 and the guide rod 325 are respectively mounted on the slide 326 through the shaft end fixing seat 329 and the lead screw mounting seat 328. A drive motor assembly 330 for controlling the rotation of the lead screw 324 is provided on one side of the slide 326.

[0037] The mobile support platform 5 is independently configured, including a lower movable frame and an upper reclining board. The entire mobile support platform 5 can move freely and can be moved to the parking position 7 at the front of the base frame 1 and locked. At this time, when the user lies flat on the reclining board, the user's buttocks are in the avoidance position 8 and are directly facing the hip joint assembly 25. Figure 10 As shown, the reclining platform 5 of the movable support platform 5 is divided into a fixed part 51 and a flipping part 52. The fixed part 51 is horizontally positioned at the user's hip, and the flipping part 52 is positioned above the user's hip. The flipping part 52 is hinged and can be flipped to be flush with the fixed part 51 or tilted towards the fixed part 51, and the angle between it and the fixed part 51 can be adjusted. The movable support platform 5 facilitates the transfer of the user between this rehabilitation training exoskeleton device and other equipment, while the flipping part 52 helps the user lie flat or sit upright, allowing the user to perform leg training in a lying, semi-reclining, or sitting position.

[0038] For the rehabilitation training exoskeleton device with the above-described structure, caregivers use the movable support platform 5 to transfer the user from other equipment or the bed. After the movable support platform 5 returns to its original position, the width of the body clearance position 8 is adjusted by adjusting the handwheel 44 to fit the user's body shape. Then, the legs are secured to the lower limb exoskeleton using the straps 24. This rehabilitation training exoskeleton device has a controller 6 that controls all the above-mentioned electrical components and requires a control terminal for use. It can be operated by the user or by a caregiver. Therefore, when the user is in a position... Figure 11Once in the correct state, the user can control the movement of the rehabilitation training exoskeleton device via the control terminal, thereby assisting the user's lower limbs in performing various rehabilitation movements. This embodiment adopts a structure that allows both legs to participate in movement simultaneously, conforming to the human body's movement habits. It is of great significance for promoting blood circulation and increasing the body's perception of limb movements, and can greatly reduce the impact of leg dysfunction on overall bodily function.

[0039] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0040] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0041] The foregoing description illustrates 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. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A horizontal lower limb rehabilitation training exoskeleton device, comprising a chassis and a lower limb exoskeleton located above the chassis, wherein the lower limb exoskeleton has a binding belt for binding the leg, characterized in that: The lower extremity exoskeleton comprises a thigh bone and a shank bone, the thigh bone is connected to the shank bone through a knee joint; a moving assembly is arranged at the rear part of the chassis, and a supporting assembly is arranged at the front part of the chassis, wherein the moving assembly comprises a first orientation telescopic rod which can be telescopically extended along the Z-axis direction, and further comprises a horizontal adjusting base arranged below the first orientation telescopic rod, the horizontal adjusting base can control the first orientation telescopic rod to move along the X-axis and / or the Y-axis; the front end of the thigh bone is connected to the upper part of the supporting assembly through a hip joint assembly, the hip joint assembly can meet the requirement of multi-angle deflection of the lower extremity exoskeleton, and the rear end of the shank bone is provided with a terminal part, the terminal part is connected to a terminal connecting assembly; the first end of the terminal connecting assembly is coaxially movably connected to the top end of the first orientation telescopic rod, so that the terminal connecting assembly can rotate around the axis of the first orientation telescopic rod, and the second end is hingedly connected to the terminal part of the shank bone, and the hinging axis I is perpendicular to the first orientation telescopic rod; the terminal part of the shank bone comprises an intermediate connecting piece, the second end of the terminal connecting assembly is connected to the back surface of the intermediate connecting piece, and the front surface of the intermediate connecting piece is hingedly connected to the shank bone, and the hinging axis II is perpendicular to the hinging axis I and the length extension line of the shank bone; the terminal part further comprises a telescopic rod arranged at the left side or the right side of the shank bone, and a side arm arranged at the middle part of the shank bone and extending to the side where the telescopic rod is arranged, wherein the top end of the telescopic rod is hingedly connected to the extension end of the intermediate connecting piece, and the bottom end of the telescopic rod is hingedly connected to the extension end of the side arm, and the hinging axes of the two ends of the telescopic rod are parallel to the hinging axis II. ​ 2. The horizontal lower limb rehabilitation training exoskeleton device according to claim 1, characterized in that: The hip joint assembly comprises a joint sleeve with a semi-spherical accommodating cavity and a joint ball head arranged in the accommodating cavity, and the joint ball head can rotate in situ in the accommodating cavity; the joint sleeve is arranged at the end of the thigh bone, one side of the joint ball head is provided with a downwardly extending mounting rod, and a mounting disc is arranged at the middle part of the mounting rod, the mounting disc is arranged on the supporting assembly through bolts. 3.The horizontal lower limb rehabilitation training exoskeleton device of claim 1, wherein: The horizontal adjusting base comprises an X-axis translation structure and a Y-axis translation structure, wherein the Y-axis translation structure controls the X-axis translation structure to move along the Y-axis; the X-axis translation structure comprises a moving base arranged at the bottom of the first orientation telescopic rod, the back surface of the moving base is provided with a non-coaxial threaded sleeve and a shaft sleeve; the X-axis translation structure further comprises a lead screw and a guide rod arranged along the X-axis direction and matched with the threaded sleeve and the shaft sleeve respectively, and further comprises a driving motor assembly for controlling the rotation of the lead screw.

4. The horizontal lower limb rehabilitation training exoskeleton device according to claim 3, characterized in that: The Y-axis translation structure comprises two slide rails arranged on the chassis along the Y-axis direction, the two slide rails are distributed left and right, the X-axis translation structure is arranged on the slide rails through slide seats matched with the slide rails, and the two slide seats are connected through a cross beam; the Y-axis translation structure further comprises a second orientation telescopic rod arranged along the Y-axis direction, one end of the second orientation telescopic rod is connected to the chassis, and the other end is connected to the cross beam.

5. The horizontal lower limb rehabilitation training exoskeleton device according to any one of claims 1-4, characterized in that: The lower extremity rehabilitation training exoskeleton device has two lower extremity exoskeletons, specifically a left leg exoskeleton and a right leg exoskeleton, and has a moving assembly and a supporting assembly connected with the left leg exoskeleton and the right leg exoskeleton respectively; the left leg exoskeleton and the right leg exoskeleton are arranged left and right relative to the Y-axis symmetrically, and the two hip joint assemblies form a body avoiding position. 6.The horizontal lower extremity rehabilitation training exoskeleton device according to claim 5, characterized in that: The support assembly comprises support columns fixedly connected with the bottom frame, and the top ends of the support columns are provided with width adjusting members on which the hip joint assembly is mounted, and the width of the avoidance position can be adjusted by the two width adjusting members.

7. The horizontal lower limb rehabilitation training exoskeleton device according to claim 6, characterized in that: The width adjusting member comprises a telescopic structure composed of a fixed arm and a telescopic arm, wherein the middle part of the fixed arm is provided with a mounting cavity matched with the telescopic arm, and the hip joint assembly is mounted on the end of the telescopic arm close to the avoidance position; the end of the part of the telescopic arm inserted into the mounting cavity is provided with a rear screw hole along the length direction, and an adjusting screw rod is matched and mounted in the rear screw hole, the adjusting screw rod passes through the end of the fixed arm and can only rotate around its own axis under the limitation of the fixed arm, and an adjusting handle is mounted on the exposed end of the adjusting screw rod. 8.The horizontal lower limb rehabilitation training exoskeleton device of claim 5, wherein: The lower limb rehabilitation training exoskeleton device further comprises a moving support table for the user to lie on, which is independently arranged and comprises a moving frame at the lower part and a lying plate at the upper part, the whole moving support table can be freely moved and can be moved to and locked at a parking position at the front part of the bottom frame, at this time, when the user lies on the lying plate, the hip of the user is located at the avoidance position and faces the hip joint assembly. 9.The horizontal lower extremity rehabilitation training exoskeleton device of claim 8, wherein: The lying plate of the moving support table is divided into a fixed part and a turnover part, wherein the fixed part is horizontally arranged at the position corresponding to the hip of the user, and the turnover part is arranged at the position corresponding to the part above the hip of the user; the turnover part is hingedly arranged and can be turned over to be flush with the fixed part, can also be turned over to be inclined to the fixed part, and can adjust the included angle between the turnover part and the fixed part.

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