Wheel-based exoskeleton rehabilitation support device

Abstract

The application discloses a wheeled exoskeleton rehabilitation supporting device, which comprises a movable frame structure, a seat cushion arranged on the movable frame structure and used for supporting the hips of a patient, a leg supporting mechanism arranged on the front side of the movable frame structure and used for supporting the legs of the patient, and a gait simulation mechanism arranged on the front and back sides of the movable frame structure and used for simulating the gait of human walking. The leg supporting mechanism arranged on the front side of the movable frame structure cooperates with the gait simulation mechanism arranged on the front and back sides of the movable frame structure, and the powered conditions of the two mechanisms are adjusted to realize the active and passive rehabilitation training of the legs of the patient. In the case that the patient is limited in daily movement or the stability of the legs is poor, the device can be used as a walking wheel, so that the rehabilitation training of the legs is realized, and the inconvenience of the patient in daily life is reduced.

Description

A wheeled exoskeleton rehabilitation support device Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, specifically to a wheeled exoskeleton rehabilitation support device. Background Technology

[0002] Rehabilitation robots are a research hotspot in the international robotics field. Currently, rehabilitation robots have become an important assistive medical device, widely used in rehabilitation nursing, prostheses, and rehabilitation therapy. Lower limb support walking training and range of motion training are of paramount importance in rehabilitation training. However, existing exoskeleton rehabilitation braces, in order to increase stability, mostly restrict the patient's legs. Range of motion and walking training are mostly conducted in rehabilitation centers, where patients sit on treatment beds and remove the braces for training. The training location is limited, the training time is fixed, and it is inconvenient to move around in daily life, causing inconvenience. Therefore, a wheeled exoskeleton rehabilitation support device is proposed. Summary of the Invention

[0003] The purpose of this invention is to provide a wheeled exoskeleton rehabilitation support device. Through a leg support mechanism set on the front side of the movable frame structure, and a gait simulation mechanism set on the front and rear sides of the movable frame structure, the active and passive rehabilitation training of the patient's legs can be realized by adjusting the power supply of the two. When the patient's daily movement is limited or the leg stability is poor, the device can be used as a walking wheel. Therefore, while realizing leg rehabilitation training, it reduces the inconvenience of the patient's daily life, and the training place and time are not limited.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a wheeled exoskeleton rehabilitation support device, comprising: a movable frame structure, a seat cushion disposed on the movable frame structure for supporting the patient's buttocks; and a leg support mechanism disposed on the front side of the movable frame structure for supporting the patient's legs; further comprising a gait simulation mechanism disposed on the front and rear sides of the movable frame structure for simulating human walking gait, wherein when the gait simulation mechanism imitates human walking, the leg support mechanism synchronously drives the patient's legs to move forward alternately, so as to perform rehabilitation training on the patient's legs.

[0005] Preferably, the movable frame mechanism includes a support base, a cushion disposed on the upper surface of the horizontal section of the support base, and mounting frames respectively disposed on both sides of the vertical section of the support base. Two mounting plates are respectively disposed on the opposite side of the mounting frames and the support base. Each mounting plate is equipped with a support wheel structure at its bottom for supporting the operation of the movable frame mechanism. Each support wheel structure includes a second electric telescopic rod fixed to the bottom of the mounting plate and a swivel wheel disposed at the telescopic end of the second electric telescopic rod.

[0006] Preferably, the gait simulation mechanism is provided in two sets, respectively placed on the front and rear sides of two sets of mounting plates distributed front and rear; each set of the gait simulation mechanism includes two sets of sliding block assemblies, and a support rod structure provided on each set of sliding block assemblies; it also includes a transmission rod structure provided on each set of sliding block assemblies, and the transmission rod structure is used to drive the support rod structure to run horizontally and vertically on the sliding block assemblies to simulate the support phase and swing phase of the human body.

[0007] Preferably, the slide block assembly includes a mounting bracket fixed to the outer wall of the mounting plate, a connecting bracket fixed to the side wall of the mounting bracket, a first slide block formed on the outer side of the connecting bracket, a movable plate disposed inside the first slide block, a second slide block formed at the lower part of the movable plate, the second slide block being perpendicular to the first slide block, and a slider body disposed inside the second slide block; it also includes a limiting frame fixed to the side wall of the slider body, and the support rod structure being able to move up and down inside the limiting frame.

[0008] Preferably, the support rod structure includes a support rod body, which is slidably installed inside the limiting frame, and two first electric telescopic rods fixed to the bottom of the support rod body, with a support plate fixed to the telescopic end of each first electric telescopic rod.

[0009] Preferably, the transmission rod structure includes a first mounting block and a second mounting block fixed to the top of the movable plate, with the first and second mounting blocks distributed internally and externally; and a first transmission rod and a second transmission rod rotatably connected to the first and second mounting blocks respectively via a first pin, with the two sets of transmission rod structures centrally symmetrically distributed on the first transmission rod; it also includes a third transmission rod rotatably connected to the second transmission rod via a second pin away from the end of the second mounting block, with the middle of the second and third transmission rods connected; the two ends of the third transmission rod are rotatably connected to the ends of the first transmission rod and the support rod body respectively via a third pin; and it also includes a drive mechanism disposed between the two sets of slide block assemblies for driving the two first transmission rods to rotate.

[0010] Preferably, the driving mechanism includes a mounting base fixed to the bottom of one of the movable plates, a servo motor mounted on the mounting base, and a first transmission wheel fixed to the output end of the servo motor; a driving rod rotatably connected to the opposite surfaces of the two first mounting blocks, with both ends of the driving rod passing through the first mounting blocks and fixedly connected to the first transmission rod; and a second transmission wheel fixed to both ends of the driving rod, with a transmission belt sleeved between the second transmission wheel near the servo motor and the first transmission wheel, so that when the servo motor is running, it can drive the driving rod to rotate, thereby causing the first transmission rod to rotate.

[0011] Preferably, the leg support mechanism includes connecting blocks fixed at both ends of the horizontal section of the support base, with a support shaft rotatably connected to the opposite ends of the two connecting blocks, and a mounting component fixed to the lower part of the support shaft. It also includes a support pad fixed to the upper part of the support shaft, the support pad being used to support the patient's groin. Furthermore, it includes two connecting components, each with a connecting shaft at its upper and lower outer ends, and two sets of support bars rotatably connected to the two sets of connecting shafts. The end of the upper support bar of each connecting component away from its connecting shaft is rotatably connected to the mounting shaft on the mounting component. The end of the lower support bar of each connecting component away from its connecting shaft is connected to... The system includes a connecting rod; a first support plate and a second support plate fixed to the front of the two sets of support bars, with the first and second support plates distributed vertically and used to support the patient's thigh and calf respectively; a meshing transmission assembly disposed between the two sets of support bars for adjusting the deflection angle of the first and second support plates; a second motor disposed on the side of the mounting member away from the support bars, with the output shaft of the second motor passing through the mounting member and fixed to the support bars to provide power for the rotation of the upper support bars; and a first motor disposed on the outer wall of the connecting block to provide power for the rotation of the support shaft.

[0012] Preferably, the meshing transmission assembly includes two incomplete gears, which are respectively fixed on the upper and lower front support bars, and the two incomplete gears mesh.

[0013] Preferably, the first support plate and the second support plate are also provided with hook and loop fasteners.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. This invention uses a leg support mechanism set on the front side of the movable frame structure, in conjunction with a gait simulation mechanism set on the front and rear sides of the movable frame structure. By adjusting the power supply of the two, active and passive rehabilitation training of the patient's legs can be achieved. When the patient's daily movement is limited or the leg stability is poor, the device can be used as a walking wheel. Thus, while achieving leg rehabilitation training, it also reduces the inconvenience of the patient's daily life.

[0016] 2. As another embodiment of the present invention, when the transmission rod structure is running, it can drive the support rod structure to move vertically or horizontally. The support rod structures on the same side move forward alternately, and the two sets of support rod structures on the oblique side move synchronously to simulate the support phase and swing phase of human leg walking, thereby realizing actions such as forward stride, support, and backward lift.

[0017] 3. As another embodiment of the present invention, the support pad, the first support plate and the second support plate can provide auxiliary support for the patient's hip, thigh and calf. The rotatable support pad and the meshing transmission component can adjust the angle of the patient's hip and knee, and further conduct active and passive training of leg mobility and walking. This design is simple in structure and highly flexible. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the structure of the present invention;

[0019] Figure 2 is a three-dimensional structural diagram of Figure 1 from another perspective;

[0020] Figure 3 is a side view of the structure in Figure 1;

[0021] Figure 4 is a schematic diagram of the front view of the structure in Figure 1;

[0022] Figure 5 is a partially enlarged structural diagram of Figure 1;

[0023] Figure 6 is a partially enlarged structural diagram of Figure 1;

[0024] Figure 7 is an enlarged schematic diagram of the leg support mechanism;

[0025] Figure 8 is a three-dimensional structural diagram of Figure 7 from another perspective;

[0026] Figure 9 is a schematic diagram of the rear view structure of Figure 7;

[0027] Figure 10 is a side view of the structure shown in Figure 7.

[0028] In the diagram: 1. Support base; 2. Cushion; 3. Mounting frame; 4. Mounting plate; 5. Mounting bracket; 6. Connecting bracket; 8. Movable plate; 9. Second mounting block; 10. First mounting block; 11. First transmission rod; 12. Second transmission rod; 13. Support rod body; 14. First electric telescopic rod; 15. Support plate; 16. Second slide rail; 17. Slider body; 18. Third transmission rod; 19. Limiting frame; 20. Second electric telescopic rod; 21. Caster wheel; 22. First slide rail; 23. Drive rod; 24. Mounting base; 25. Servo motor; 26. Second transmission wheel; 27. First transmission wheel; 28. Transmission belt; 29. ​​Support pad; 30. Connecting block; 31. First motor; 32. Mounting component; 33. Second motor; 34. Support bar; 35. Hook and loop fastener; 36. Incomplete gear; 37. First support plate; 38. Connecting component; 39. Second support plate; 40. Connecting rod; 41. Support shaft. Detailed Implementation

[0029] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings.

[0030] Example 1

[0031] Please refer to Figures 1 to 10. The present invention preferably provides the following technical solution: a wheeled exoskeleton rehabilitation support device, comprising: a movable frame structure; a seat cushion 2 disposed on the movable frame structure for supporting the patient's buttocks; and a leg support mechanism disposed on the front side of the movable frame structure for supporting the patient's legs; and further comprising a gait simulation mechanism disposed on the front and rear sides of the movable frame structure for simulating human walking gait. When the gait simulation mechanism imitates human walking, the leg support mechanism synchronously drives the patient's legs to move forward alternately to perform rehabilitation training on the patient's legs.

[0032] In this embodiment, as shown in Figures 1-4, the leg support mechanism located on the front side of the movable frame structure, in conjunction with the gait simulation mechanisms located on the front and rear sides of the movable frame structure, allows the patient to perform passive leg training when both are powered on. When the leg support mechanism is not powered on, the patient can perform active leg training, thus achieving both active and passive rehabilitation training for the patient's legs. Furthermore, if the patient's leg stability is insufficient, the patient can sit on the cushion 2 located on the upper surface of the movable frame structure to achieve leg mobility training in a seated position. This design can also serve as a walking wheelchair for the patient's daily mobility at home, thereby achieving leg rehabilitation training while reducing inconvenience in the patient's daily life.

[0033] Furthermore, the movable frame mechanism includes a support base 1, a cushion 2 disposed on the upper surface of the horizontal section of the support base 1, and mounting frames 3 respectively disposed on both sides of the vertical section of the support base 1. Two mounting plates 4 are respectively disposed on the opposite side of the mounting frames 3 and the support base 1. Each mounting plate 4 is equipped with a support wheel structure at its bottom for supporting the operation of the movable frame mechanism. Each support wheel structure includes a second electric telescopic rod 20 fixed to the bottom of the mounting plate 4, and a universal wheel 21 disposed at the telescopic end of the second electric telescopic rod 20.

[0034] As shown in Figure 1, the movable frame structure can be used when the gait simulation mechanism retracts and the second electric telescopic rod 20 extends, so that the device can be used as a wheelchair. The universal wheel 21 is equipped with a braking system, which is existing technology. During daily leg training, it can be adjusted according to the patient's condition. When it is extended and flush with the bottom of the gait simulation mechanism, it can serve as a support structure to increase the stability of the patient during training.

[0035] Example 2

[0036] In another embodiment of the present invention, the gait simulation mechanism is provided in two sets, which are respectively placed on the front and rear sides of the two sets of mounting plates 4 distributed in front and behind; each set of gait simulation mechanism includes two sets of sliding block assemblies and a support rod structure provided on each set of sliding block assemblies; it also includes a transmission rod structure provided on each set of sliding block assemblies, and the transmission rod structure is used to drive the support rod structure to run horizontally and vertically on the sliding block assemblies to simulate the support phase and swing phase of the human body.

[0037] In this embodiment, two sets of gait simulation mechanisms are provided and distributed on the front and rear sides of the movable frame structure, as shown in Figures 1 and 2. Each set of gait simulation mechanisms includes two sets of sliding block assemblies and a support rod structure set on each set of sliding block assemblies. The support rod structure is used as a walking leg. When the transmission rod structure set on the sliding block assembly is running, it can drive the support rod structure to move vertically or horizontally. The support rod structure on the same side moves forward alternately, and the two sets of support rod structures on the oblique side move synchronously to simulate the support phase and swing phase of human leg walking, thereby realizing the forward stride, support, and backward lift movements.

[0038] Furthermore, the slide block assembly includes a mounting bracket 5 fixed to the outer wall of the mounting plate 4, a connecting bracket 6 fixed to the side wall of the mounting bracket 5, and a first slide block 22 opened on the outer side of the connecting bracket 6, as well as a movable plate 8 disposed inside the first slide block 22. It also includes a second slide block 16 opened at the lower part of the movable plate 8, and the second slide block 16 is perpendicular to the first slide block 22. A slider body 17 is also disposed inside the second slide block 16. It also includes a limiting frame 19 fixed to the side wall of the slider body 17, and the support rod structure can move up and down inside the limiting frame 19.

[0039] As shown in Figures 5 and 6, since the movable plate 8 is slidably installed inside the first slide groove 22, and the slider body 17 is slidably installed inside the second slide groove 16, and the second slide groove 16 is perpendicular to the first slide groove 22, and the support rod structure is connected to the slider body 17 through the limiting frame 19, when the transmission rod structure drives the support rod structure to run, the slider body 17 can move horizontally inside the second slide groove 16, and the movable plate 8 can move vertically inside the first slide groove 22, further enabling the support rod structure to move horizontally and vertically.

[0040] Furthermore, the support rod structure includes a support rod body 13, which is slidably installed inside the limiting frame 19, and two first electric telescopic rods 14 fixed to the bottom of the support rod body 13, with a support plate 15 fixed to the telescopic end of each first electric telescopic rod 14.

[0041] As shown in Figure 5, the two first electric telescopic rods 14 set at the bottom of the support rod body 13, together with the support plate 15 fixed at the bottom, can extend the first electric telescopic rods 14 when leg training is required, and stop the first electric telescopic rods 14 without using them. The first electric telescopic rods 14 can be used as a fixed frame, and when the movable frame structure is used, the first electric telescopic rods 14 retract.

[0042] Furthermore, the transmission rod structure includes a first mounting block 10 and a second mounting block 9 fixed to the top of the movable plate 8, with the first mounting block 10 and the second mounting block 9 distributed internally and externally; and a first transmission rod 11 and a second transmission rod 12 respectively rotatably connected to the first mounting block 10 and the second mounting block 9 via a first pin, with the two sets of transmission rod structures located on the first transmission rod 11 being centrally symmetrically distributed; it also includes a third transmission rod 18 rotatably connected to the second transmission rod 12 via a second pin away from the end of the second mounting block 9, with the middle of the second transmission rod 12 and the third transmission rod 18 connected; the two ends of the third transmission rod 18 are respectively rotatably connected to the ends of the first transmission rod 11 and the support rod body 13 via a third pin; it also includes a drive mechanism disposed between the two sets of slide block assemblies for driving the two first transmission rods 11 to rotate.

[0043] As shown in Figures 1, 5, and 6, since one end of the third transmission rod 18 is rotatably connected to the support rod body 13, and the other end is rotatably connected to the first transmission rod 11, and the middle part is rotatably connected to the second transmission rod 12, when the first transmission rod 11 rotates, the second transmission rod 12, the support rod body 13, and the third transmission rod 18 will deflect accordingly. The support rod body 13 can move horizontally and vertically through the limiting frame 19, thereby completing the gait simulation process.

[0044] Furthermore, the drive mechanism includes a mounting base 24 fixed to the bottom of one of the movable plates 8, a servo motor 25 mounted on the mounting base 24, and a first transmission wheel 27 fixed to the output end of the servo motor 25; and a drive rod 23 rotatably connected to the opposite sides of the two first mounting blocks 10, with both ends of the drive rod 23 passing through the first mounting blocks 10 and fixedly connected to the first transmission rod 11; it also includes second transmission wheels 26 fixed to both ends of the drive rod 23, and a transmission belt 28 is sleeved between the second transmission wheel 26 near the servo motor 25 and the first transmission wheel 27. When the servo motor 25 is running, it can drive the drive rod 23 to rotate, thereby causing the first transmission rod 11 to rotate.

[0045] Since the two ends of the drive rod 23 pass through the first mounting block 10 and are fixedly connected to the first transmission rod 11, and the two first transmission rods 11 are centrally symmetrically distributed as shown in Figure 1, the two support rod structures on one side move forward alternately, while the oblique support rod structures distributed in front and behind move forward synchronously to realize the process of moving forward and backward. The support rod structure can also move vertically and horizontally, which can simulate the actions of stepping, supporting, and lifting backward, and further realize the gait simulation process.

[0046] In addition, a transmission belt 28 is sleeved between the second transmission wheel 26 fixed at the end of the drive rod 23 and the first transmission wheel 27 fixed at the output end of the servo motor 25, as shown in Figure 6. Therefore, the gait simulation mechanism can be made to run by the power provided by the servo motor 25.

[0047] Example 3

[0048] In another embodiment of the present invention, the leg support mechanism includes connecting blocks 30 fixed at both ends of the horizontal section of the support base 1, a support shaft 41 rotatably connected to the opposite ends of the two connecting blocks 30, and a mounting member 32 fixed to the lower part of the support shaft 41. It also includes a support pad 29 fixed to the upper part of the support shaft 41, and the support pad 29 is used to support the patient's groin. It further includes two connecting members 38, each with a connecting shaft at its upper and lower outer ends, and two sets of support bars 34 rotatably connected to the two sets of connecting shafts. The end of the support bar 34 at the upper end of the connecting member 38 away from it is rotatably connected to the mounting shaft on the mounting member 32. The end of the support bar 34 at the lower end of the connecting member 38 away from it passes through… The system includes a connecting rod 40; a first support plate 37 and a second support plate 39 fixed to the front of the two sets of support bars 34, with the first support plate 37 and the second support plate 39 distributed vertically and used to support the patient's thigh and calf respectively; a meshing transmission assembly disposed between the two sets of support bars 34 for adjusting the deflection angle of the first support plate 37 and the second support plate 39; a second motor 33 disposed on the side of the mounting member 32 away from the support bar 34, with the output shaft of the second motor 33 passing through the mounting member 32 and fixed to the support bar 34 to provide power for the rotation of the upper support bar 34; and a first motor 31 disposed on the outer wall of the connecting block 30 to provide power for the rotation of the support shaft 41.

[0049] In this embodiment, the second motor 33 and the first motor 31 are preferably ordinary DC geared motors, which are driven when powered on and rotate freely when powered off, as shown in Figures 7-10. The support pad 29 fixed to the upper part of the support shaft 41 provides auxiliary support to the patient's leg root. The first support plate 37 and the second support plate 39 fixed to the two upper and lower support bars 34 respectively provide auxiliary support to the patient's thigh and calf. The two support bars 34 are connected by a connector 38. The upper support bar 34 is rotatably connected to the mounting piece 32 at the bottom of the support shaft 41, and a connecting rod 40 is connected between the bottom ends of the lower support bars 34. The meshing transmission assembly between the strips 34 can adjust the rotation angle of the first support plate 37 and the second support plate 39, thereby adjusting the range of motion of the patient's knee. In conjunction with the support pad 29, it can realize rehabilitation training of hip and knee extension and flexion, and walk training in conjunction with the gait simulation mechanism. This design can provide auxiliary support for the patient's hip, thigh and calf through the set support pad 29, the first support plate 37 and the second support plate 39. Furthermore, through the rotatable support pad 29 and the set meshing transmission assembly, the angle of the patient's hip and knee can be adjusted, further conducting active and passive training of leg range of motion and walking. This design has a simple structure and high flexibility.

[0050] Furthermore, the meshing transmission assembly includes two incomplete gears 36, which are respectively fixed on the upper and lower distributed front support bars 34, and the two incomplete gears 36 mesh.

[0051] Since the two incomplete gears 36 are fixed on the two support bars 34 distributed above and below, as shown in Figure 10, and the two incomplete gears 36 are placed on the two support bars 34 on the front side, through the meshing of the incomplete gears 36, when the upper support bar 34 deflects, the lower support bar 34 moves in the opposite direction to realize the knee extension and knee flexion movements.

[0052] Furthermore, the first support plate 37 and the second support plate 39 are respectively provided with hook and loop fasteners 35 for limiting and fixing the patient's legs.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Detachable installation can take many forms, such as through a combination of plug-in and snap-fit ​​connections, or through bolted connections, etc.

[0054] The foregoing, in conjunction with embodiments and accompanying drawings, has clearly and completely described the concept, specific structure, and resulting technical effects of the present invention, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the possibility of forming a better connection structure by adding or reducing connecting accessories, depending on the specific implementation.

[0055] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A wheeled exoskeleton rehabilitation support device, characterized in that, include: A movable frame structure, with a seat cushion (2) mounted on the movable frame structure for supporting the patient's buttocks; The system includes a leg support mechanism located on the front side of the movable frame structure for supporting the patient's legs; it also includes a gait simulation mechanism located on the front and rear sides of the movable frame structure for simulating human walking gait. When the gait simulation mechanism imitates human walking, the leg support mechanism synchronously drives the patient's legs to move forward alternately to provide rehabilitation training for the patient's legs; the gait simulation mechanism is provided in two sets, respectively located on the front and rear sides of two sets of mounting plates (4) distributed in front and rear; each set of the gait simulation mechanism includes two sets of sliding block assemblies and a support rod structure located on each set of sliding block assemblies; it also includes a transmission rod structure located on each set of sliding block assemblies, and the transmission rod... The structure is used to drive the support rod structure to move horizontally and vertically on the slide block assembly to simulate the support phase and swing phase of the human body; the movable frame structure includes a support base (1), the leg support mechanism includes connecting blocks (30) fixed at both ends of the horizontal section of the support base (1), the opposite ends of the two connecting blocks (30) are rotatably connected to a support shaft (41), and an installation part (32) fixed to the lower part of the support shaft (41), and also includes a support pad (29) fixed to the upper part of the support shaft (41), and the support pad (29) is used to support the patient's thigh root; it also includes two connecting parts (38), and the upper and lower ends of each connecting part (38) are connected to each other. Each set is provided with a connecting shaft and two sets of support bars (34) rotatably connected to the two sets of connecting shafts. The end of the support bar (34) at the upper end of the connecting member (38) away from it is rotatably connected to the mounting shaft on the mounting member (32). The end of the support bar (34) at the lower end of the connecting member (38) away from it is connected by a connecting rod (40). A first support plate (37) and a second support plate (39) are fixed to the front of the two sets of support bars (34), and the first support plate (37) and the second support plate (39) are distributed vertically and are used to support the patient's thigh and calf respectively. It also includes a meshing transmission assembly set between the two sets of support bars (34) for adjusting the first support bar (34). The deflection angles of a support plate (37) and a second support plate (39); and a second motor (33) disposed on the side of the mounting member (32) away from the support bar (34), wherein the output shaft of the second motor (33) passes through the mounting member (32) and is fixed to the support bar (34) to provide power for the rotation of the upper support bar (34); and a first motor (31) disposed on the outer wall of the connecting block (30) to provide power for the rotation of the support shaft (41); the meshing transmission assembly includes two incomplete gears (36), which are respectively fixed on the upper and lower distributed front support bars (34) and mesh with each other.

2. The wheeled exoskeleton rehabilitation support device according to claim 1, characterized in that: The movable frame structure includes a support base (1), a cushion (2) is disposed on the upper surface of the horizontal section of the support base (1), and mounting frames (3) are respectively disposed on both sides of the vertical section of the support base (1). The mounting frames (3) and the support base (1) are respectively provided with two mounting plates (4) on opposite sides. Each mounting plate (4) is equipped with a support wheel structure at the bottom for supporting the operation of the movable frame structure. Each support wheel structure includes a second electric telescopic rod (20) fixed to the bottom of the mounting plate (4), and a universal wheel (21) disposed at the telescopic end of the second electric telescopic rod (20).

3. The wheeled exoskeleton rehabilitation support device according to claim 2, characterized in that: The slide block assembly includes a mounting bracket (5) fixed to the outer wall of the mounting plate (4), a connecting bracket (6) fixed to the side wall of the mounting bracket (5), and a first slide block (22) opened on the outer side of the connecting bracket (6), and a movable plate (8) disposed inside the first slide block (22). It also includes a second slide block (16) opened at the lower part of the movable plate (8), and the second slide block (16) is perpendicular to the first slide block (22). A slider body (17) is also disposed inside the second slide block (16). It also includes a limiting frame (19) fixed to the side wall of the slider body (17), and the support rod structure can move up and down inside the limiting frame (19).

4. The wheeled exoskeleton rehabilitation support device according to claim 3, characterized in that: The support rod structure includes a support rod body (13), which is slidably installed inside the limiting frame (19), and two first electric telescopic rods (14) fixed at the bottom of the support rod body (13), and each first electric telescopic rod (14) has a support plate (15) fixed at its telescopic end.

5. The wheeled exoskeleton rehabilitation support device according to claim 3, characterized in that: The transmission rod structure includes a first mounting block (10) and a second mounting block (9) fixed to the top of the movable plate (8), with the first mounting block (10) and the second mounting block (9) distributed in an inner and outer manner; and a first transmission rod (11) and a second transmission rod (12) respectively rotatably connected to the first mounting block (10) and the second mounting block (9) by a first pin, with the two sets of transmission rod structures being centrally symmetrically distributed in the first transmission rod (11), and also includes a third transmission rod (18) rotatably connected to the second transmission rod (12) by a second pin away from the end of the second mounting block (9), with the second transmission rod (12) and the third transmission rod (18) connected at the middle; the two ends of the third transmission rod (18) are respectively rotatably connected to the ends of the first transmission rod (11) and the support rod body (13) by a third pin; and also includes a drive mechanism disposed between the two sets of slide block assemblies for driving the two first transmission rods (11) to rotate.

6. The wheeled exoskeleton rehabilitation support device according to claim 5, characterized in that: The drive mechanism includes a mounting base (24) fixed to the bottom of one of the movable plates (8), a servo motor (25) is provided on the mounting base (24), and a first transmission wheel (27) is fixed to the output end of the servo motor (25); and a drive rod (23) rotatably connected to the opposite sides of the two first mounting blocks (10), and the two ends of the drive rod (23) pass through the first mounting block (10) and are fixedly connected to the first transmission rod (11); it also includes a second transmission wheel (26) fixed to the two ends of the drive rod (23), and a transmission belt (28) is sleeved between the second transmission wheel (26) near the servo motor (25) and the first transmission wheel (27). When the servo motor (25) runs, it can drive the drive rod (23) to rotate, so that the first transmission rod (11) can rotate.

7. A wheeled exoskeleton rehabilitation support device according to claim 6, characterized in that: The first support plate (37) and the second support plate (39) are also provided with hook and loop fasteners (35).

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