Hoistable lower extremity exoskeleton device

Abstract

This invention relates to the field of exoskeleton technology, specifically a suspended lower limb exoskeleton device. The lifting frame has vertical sections on both sides located outside the lower limb exoskeleton components, with the lower ends of the vertical sections fixedly connected to a base frame. Sliding components are movably mounted on the two vertical sections, each with a rearward-extending cantilever structure. The lower limb exoskeleton components are connected to the corresponding cantilever structures, and a wearing channel is provided between the two lower limb exoskeleton components for the user to enter and exit from the rear. The lower limb exoskeleton device also includes a lifting component that controls the upward or downward movement of the sliding components. This lower limb exoskeleton device can be used with beds, wheelchairs, transfer machines, etc., to transfer users from a lying or sitting position onto the device. After the user completes the wearing of the exoskeleton components, the components can be deformed into a standing position. Therefore, this suspended lower limb exoskeleton device greatly facilitates the onboarding process for users in a sitting or lying position.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically to a suspended lower limb exoskeleton device. Background Technology

[0002] For lower limb exoskeletons used for rehabilitation, most users require the assistance of caregivers to put them on. However, some users with even weaker mobility are bedridden for extended periods. Caregivers first need to help them sit up from the bedside, then carry them into the exoskeleton device from the front. After training, the straps need to be removed with assistance, and then the user is carried back to the bed. This not only increases the physical demands on caregivers but also causes physical and psychological discomfort for the user. This is a common problem with existing lower limb exoskeletons. Therefore, a new type of lower limb exoskeleton device needs to be designed to solve the problem of the inconvenience of wearing existing lower limb exoskeletons. Summary of the Invention

[0003] The purpose of this invention is to provide a rear-entry lower limb exoskeleton device with a hanger, wherein the rear of the lower limb exoskeleton component is open to form an access channel, and the lower limb exoskeleton component is lowered by the hanger to make it in a semi-squatting position, so as to achieve the purpose of connecting with the bed, thereby facilitating the nursing staff to assist the bedridden user in entering and exiting the lower limb exoskeleton device.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a suspended lower limb exoskeleton device, comprising a pair of lower limb exoskeleton components symmetrically distributed on the left and right sides, the lower limb exoskeleton device further comprising a lifting frame, the two sides of which are vertical portions located outside the lower limb exoskeleton components, and the lower ends of the vertical portions are fixedly connected to a base frame; sliding components are movably installed on the two vertical portions, and cantilever structures extending rearward are provided on the sliding components, the lower limb exoskeleton components are connected to the corresponding cantilever structures, and a wearing channel for the user to enter and exit from the rear is reserved between the two lower limb exoskeleton components; the lower limb exoskeleton device further comprises a lifting component, which can control the two sliding components to move synchronously upward to the lower limb exoskeleton components in a standing state, and can also control the two sliding components to move synchronously upward to the lower limb exoskeleton components in a semi-squatting state.

[0005] In the above technical solution, two lower limb exoskeleton components are respectively installed on the lifting frames on both sides, and a wearing channel is reserved between the lower limb exoskeleton components. Therefore, the user can enter and exit the lower limb exoskeleton device from the rear. Since the lifting components can control the lower limb exoskeleton components to move to a semi-squatting position, the lower limb exoskeleton device can be moved to the front of the bed, and the lower limb exoskeleton components can be controlled to descend to a suitable height. Then, the user in a supine position can be dragged into the wearing channel to further complete the wearing of the exoskeleton. Similarly, the device can also be used with wheelchairs, transfer machines and other devices, which can effectively reduce the difficulty for lower limb paralyzed patients to use the lower limb exoskeleton device.

[0006] As a preferred embodiment, the cantilever structure includes an extension arm connected to the sliding assembly, and a mounting arm perpendicular to the extension arm. This mounting arm is a telescopic structure, comprising a fixed arm fixedly connected to the extension arm, and a movably mounted telescopic arm. The lower limb exoskeleton assembly is connected to the corresponding telescopic arm. The extension arm also includes an adjustment structure for adjusting the extension length of the telescopic arm. The cantilever structure allows the lower limb exoskeleton assembly to be moved rearward, thus bringing it closer to the bed when transferring the user between the bed and the user. Additionally, it reduces interference from the vertical sections on both sides to caregivers. The mounting arm allows adjustment of the distance between the two lower limb exoskeleton assemblies, making the lower limb exoskeleton device suitable for users of different body types.

[0007] As a preferred embodiment, the lifting assembly includes a winch mounted on one side of the lifting frame, with the winch positioned higher than the highest point of the sliding assembly. It also includes at least two guide wheels located at the top of the lifting frame, and pull cables connecting the two sliding assemblies respectively, with the pull cables winding upwards past the guide wheels and then connecting to the winch. By using pull cables to traction the sliding assemblies and manually controlling the pull cables with a winch featuring a self-locking function, caregivers can better control the lifting and lowering of the sliding assemblies. This allows the lower limb exoskeleton assembly to be quickly adapted to devices such as beds, wheelchairs, and transfer machines. Compared to automatic lifting structures, the use of a winch and pull cables effectively improves the flexibility of the lower limb exoskeleton device.

[0008] As a preferred option, four wheels are installed on the lower part of the base frame, and side support rods are set on the base frame, with the upper end of the side support rods fixedly connected to the lower middle part of the corresponding lifting frame.

[0009] As a preferred embodiment, the lower limb exoskeleton device also includes handrail assemblies disposed on both sides of the lower limb exoskeleton assembly. Each handrail assembly includes two forward-extending handrail bars and a horizontal bar positioned between the handrail bars, capable of moving back and forth along the handrail bars. The handrail assemblies provide support for the user's hands, facilitating the user's attempt to maintain balance independently. Simultaneously, the movable horizontal bar allows the user to avoid the user when transferring them from the bed to the device, and during walking training, the user exercises their upper limbs by moving the horizontal bar back and forth.

[0010] As a preferred embodiment, the lower limb exoskeleton device also includes a backrest assembly that spans the wearing channel and is movable to avoid the wearing channel. During the transition of the lower limb exoskeleton from a semi-squatting position to a standing position and during walking training, the backrest assembly provides support to the user's back, thereby helping the user maintain upper body balance.

[0011] As a preferred embodiment, the backrest assembly includes vertical rods on both sides and horizontal rods fixedly connected to the vertical rods, as well as fixed seats corresponding to the two vertical rods. The fixed seats are fixedly installed, wherein the first vertical rod is movably connected to the corresponding fixed seat and can rotate around its own axis, and the second vertical rod is connected to the corresponding fixed seat through a telescopic pin, and the connection between the second vertical rod and the fixed seat can be released by retracting the telescopic pin, which facilitates the caregiver to quickly change the position of the backrest assembly.

[0012] As a preferred embodiment, the lower limb exoskeleton assembly includes a knee support component positioned on the lower leg near the knee joint, with the knee support component contacting the user's lower leg from the front. During the transfer of the user to the lower limb exoskeleton device, the lower leg contacting the knee support component indicates that the leg is in position, at which point the user should be helped into a sitting position. While controlling the lower limb exoskeleton assembly to stand or walk, the knee support component assists the leg straps in securing the leg, ensuring stability during wear.

[0013] As a preferred embodiment, the lower limb exoskeleton assembly also includes a leg support assembly disposed on the thigh and located on the back of the thigh. During the process of transferring the user to the lower limb exoskeleton device and during the process of the lower limb exoskeleton assembly moving to a standing position, the leg support assembly can provide upward support to the user from the thigh. This can effectively reduce the pressure of the leg straps on the legs, reduce discomfort, and ensure that the user does not fall.

[0014] As a preferred embodiment, the extension arm is a telescopic structure. By extending the extension arm, the lower limb exoskeleton component can be moved backward, and at least the part of the lower limb exoskeleton component above the knee joint can be laid flat on the bed. Therefore, the lower limb exoskeleton component can be directly lowered to the bed and located on both sides of the user's legs. This can minimize the dragging of the user in the lying position. Caregivers only need to assist in moving the user's position to complete the wearing. 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 overall structure of the first embodiment of the present invention;

[0017] Figure 2 for Figure 1 The diagram shows the structure of the lower limb exoskeleton device in the standing position.

[0018] Figure 3 for Figure 1 A schematic diagram of the installation structure of the lower limb exoskeleton component in the lower limb exoskeleton device shown;

[0019] Figure 4 for Figure 3 A schematic diagram of the rear structure of the structure shown;

[0020] Figure 5 for Figure 4 Schematic diagram of the mounting arm;

[0021] Figure 6 for Figure 4 A schematic diagram of the backrest assembly;

[0022] Figure 7 A schematic diagram of the structure of the sliding assembly using a telescopic extension arm in the second embodiment of the present invention;

[0023] Figure 8 A schematic diagram of the postures supported by the second embodiment of the present invention for users in a lying position to use the device;

[0024] Figure 9 This is a schematic diagram of the quick-release strap assembly provided by the present invention;

[0025] Figure 10 This is a schematic diagram of the overall structure of the automatic strapping assembly provided by the present invention;

[0026] Figure 11 Figure 10 The diagram shown is a structural schematic of the automatic strapping assembly in the open state;

[0027] Figure 12 Figure 10 The diagram shows the structure of the automatic strapping assembly in the locked state.

[0028] Figure 13 A schematic diagram of the installation position of the drive unit at the top of the guide arm;

[0029] Figure 14 A schematic diagram of the disassembled structure of the drive unit at the top of the guide arm.

[0030] In the diagram, the components are: 1. Base frame; 2. Lifting frame; 3. Lower limb exoskeleton assembly; 4. Sliding assembly; 5. Fixed extension arm; 6. Backrest assembly; 7. Handrail assembly; 8. Cable; 9. Guide wheel; 10. Winch; 11. Walking wheel; 12. Side support rod; 13. Mounting arm; 31. Thigh; 32. Lower leg; 33. Knee support assembly; 34. Leg support assembly; 35. Quick-release strap; 36. Automatic strap; 51. Telescopic extension arm; 52. Fastening bolt; 61. Fixing base; 62. Vertical rod; 63. Horizontal rod; 64. Telescopic insert shaft; 55. Limiting device. Rod 65, limiting hole 66, shaft hole 67, crossbar 71, fixed arm 131, telescopic arm 132, connecting plate 133, adjusting screw assembly 134, magnetic base 351, magnetic plate 352, flexible strap 353, guide arm 361, mounting base 362, storage cavity 363, locking tongue 364, drive device 365, contact port 366, meshing teeth 3641, motor mounting base 3651, fixed cover 3652, cover 3653, motor 3654, worm gear 3655. Detailed Implementation

[0031] 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.

[0032] Figure 1 and Figure 2 As one embodiment of the present invention, a suspended lower limb exoskeleton device, Figure 1 The diagram shows the lower limb exoskeleton component 3 in a semi-squatting position. In this position, the exoskeleton can be used with beds, wheelchairs, transfer devices, etc., to transfer users from a lying or sitting position onto the exoskeleton. After the user has put on the exoskeleton, component 3 can transform into... Figure 2 As shown in the standing position, walking training can be carried out at this time. Therefore, this suspended lower limb exoskeleton device can greatly facilitate the transfer of users who cannot stand.

[0033] Specifically, such as Figure 3As shown, the lower limb exoskeleton component 3 is symmetrically distributed from left to right, including a thigh 31 and a lower leg 32, which are connected by a knee joint. The lower end of the lower leg 32 is connected to the foot structure by an ankle joint. The user wears the corresponding exoskeleton through a strap component on the lower limb exoskeleton component 3. In addition, the entire lower limb exoskeleton component 3 also includes a joint module that controls the movement of the thigh 31 and the lower leg 32.

[0034] The lower limb exoskeleton device also includes a П-shaped lifting frame 2, combined with... Figure 1-3 As shown, the two sides of the lifting frame 2 are vertical sections located outside the lower limb exoskeleton assembly 3, and the lower end of the vertical section is fixedly connected to the base frame 1. To ensure the stability of the lifting frame 2, side support rods 12 are provided on the base frame 1 to reinforce the lifting frame 2. The base frame 1 includes two side connecting rods arranged symmetrically on the left and right, and a front fixing rod fixedly connected to the side connecting rods at the front. The two ends of the side connecting rods extend along the length direction to ensure the balance of the entire device. In addition, walking wheels 11 (preferably self-locking wheels) are installed at both ends of the side connecting rods. That is, the entire lower limb exoskeleton device contacts the ground through four walking wheels 11 to meet the movement requirements of the entire device.

[0035] Sliding components 4 are movably installed on the two vertical parts. Fixed extension arms 5 extending rearward are provided on the sliding components 4, such as... Figure 4 As shown, a mounting arm 13 is laterally arranged at the end of the fixed extension arm 5. (As indicated...) Figure 5 As shown, the mounting arm 13 is a telescopic structure, including a fixed arm 131 that is fixedly connected to the extension arm 5, and a telescopic arm 132 that is movably set. A connecting plate 133 is provided at the front end of the telescopic arm 132. The aforementioned lower limb exoskeleton components are mounted on the corresponding connecting plate 133, and a wearing channel is reserved between the two lower limb exoskeleton components 3 for the user to enter and exit from the rear. Additionally, an adjusting screw assembly 134 with a handle is installed through the end of the fixed arm 131. This adjusting screw assembly 134 is fitted with a threaded hole in the middle of the telescopic arm 132. Therefore, by rotating the adjusting screw assembly 134, the distance between the two lower limb exoskeleton components 3 can be adjusted to accommodate users of different body types. The lower limb exoskeleton device also includes a lifting assembly, such as... Figure 2 As shown, the lifting assembly includes a winch 10 installed on one side of the lifting frame 2, and the winch 10 has a self-locking function. Its installation position is higher than the highest position of the sliding assembly 4. It also includes two guide wheels 9 set at the two corners of the top of the lifting frame 2, and pull lines 8 that connect the two sliding assemblies 4 respectively. The two pull lines 8 are respectively connected to the winch 10 after passing over the corresponding guide wheels 9 upwards.

[0036] In the aforementioned suspended lower limb exoskeleton device, caregivers control the height of the sliding component 4 via a hand-cranked winch 10, thereby controlling the posture of the lower limb exoskeleton. This allows caregivers to observe while cranking, stopping at any time and enabling the device to be used with beds, wheelchairs, and transfer machines of varying heights. Taking a user lying supine in bed as an example, the entire lower limb exoskeleton device is moved until the wearing channel faces the edge of the bed (the rear of the suspended lower limb exoskeleton device is against the bed). The lower limb exoskeleton component is then lowered until the upper part of the thigh is level with or slightly pressed against the bed edge. The user's leg is then dragged through the wearing channel into the lower limb exoskeleton component, and the lower limb is then secured. After securing, the lower limb exoskeleton component is deformed to a standing position. During this process, a stool can be placed under the thigh, close to the edge of the bed.

[0037] To ensure a safer transfer of the user from the bed to the lower limb exoskeleton components, a knee support component 33 is positioned near the knee joint on the lower leg. After the user is moved into the lower limb exoskeleton components, the knee support component 33 presses against the user's lower leg from the front, preventing the user from slipping forward when sitting up from a lying position. Additionally, a leg support component 34 is positioned on the thigh. After the user is moved into the lower limb exoskeleton components, the leg support component 34 provides upward support to the user's thigh from below, effectively relieving the tightness of the leg straps and ensuring the user does not fall. During standing or walking with the lower limb exoskeleton components, the knee support component 33 and the leg support component 34 assist the leg straps in securing the legs, ensuring stability while wearing the device.

[0038] The lower limb exoskeleton device provided in this embodiment also includes armrest components 7 disposed on both sides of the lower limb exoskeleton component 3 and a backrest component 6 disposed at the rear of the lower limb exoskeleton component 3, such as Figure 6As shown, the armrest assembly 7 includes two armrest bars fixedly installed at the front of the fixed arm 131, and a horizontal bar 71 horizontally arranged between the armrest bars, and the horizontal bar 71 can move back and forth along the armrest bars; the backrest assembly 6 includes vertical bars 62 on both sides and a horizontal bar 63 fixedly connected to the vertical bars 62, and two fixed seats 61 fixedly installed at the rear of the fixed arm 131, wherein the first vertical bar 62 is movably connected to the corresponding fixed seat 61 and can rotate around its own axis, the second vertical bar 62 is hollow, and a telescopic insert 64 that can extend from the lower end is installed inside it, and the corresponding fixed seat 61 is provided with a shaft hole 67, and the second vertical bar 62 is fixed by inserting the telescopic insert 64 into the shaft hole 67, at which time the entire backrest assembly 6 can support the user from the back. Additionally, a through-hole 66 is provided on the side wall of the vertical rod 62. A limiting rod 65 passes through the limiting hole 66 and is fixedly connected to the telescopic insertion shaft 64. By lifting the limiting rod 65, the telescopic insertion shaft 64 can be retracted into the second vertical rod 62. At this time, the upper part of the backrest assembly 6 can be opened and deflected to the wearing channel side. After transferring the user between the lower limb exoskeleton assemblies, it is reset and fixed, and then the legs are bound.

[0039] Figure 1-6 In the first embodiment, the fixed extension arm 5 connecting the sliding component 4 is not adjustable in length, therefore the position of the lower limb exoskeleton component cannot be moved back and forth. For this type of lower limb exoskeleton device, the lower limb exoskeleton component is generally lowered to the bedside, and then the user is moved onto the device. To further meet the need for quick device access, the present invention also provides a second embodiment. Unlike the first embodiment, the second embodiment uses a telescopic extension arm 51 to connect the sliding component 4, thus allowing the lower limb exoskeleton component to be moved backward, so that it lies flat on the bed and is positioned on either side of the user. This telescopic extension arm 51 can use an automatic telescopic mechanism for automated adjustment, or it can use... Figure 7 The manual telescopic mechanism shown has a locking bolt 52 on the telescopic extension arm 51 to lock the telescopic part. Before adjustment, the locking bolt 52 is loosened, and after adjustment, the forward and backward movement of the lower limb exoskeleton assembly is restricted by tightening the locking bolt 52. In addition, in order to allow the lower limb exoskeleton assembly to lie more on the bed, the height of the side support rod 12 at the rear of the lifting frame 2 can be lowered to below the bed surface, or the side support rod 12 can be omitted from the rear.

[0040] The second embodiment of the suspended lower limb exoskeleton device, in addition to the usage method of the first embodiment, also has two other usage methods to achieve [the desired effect]. Figure 8The illustrated configurations are as follows: First, with the lower limb exoskeleton in a standing position, loosen the fastening bolt 52 and extend the telescopic extension arm 51, moving the lower limb exoskeleton assembly to its rearmost position. Then, lock the fastening bolt 52, and move the entire device backward until the lifting frame 2 contacts the edge of the bed. Next, lower the sliding component 4 until the lower limb exoskeleton assembly (at least above the knee) lies flat on the bed, positioned on either side of the user's legs. Second, control the sliding component 4 to descend until the area above the knee is above the bed surface, then extend the telescopic extension arm 51 and bring the lifting frame 2 to the edge of the bed. At this point, the lower limb exoskeleton assembly (at least above the knee) lies flat on the bed. Both configurations allow the lower limb exoskeleton assembly to lie flat on the bed, reducing the distance the user needs to move, thus improving user comfort and reducing the difficulty of operation for caregivers.

[0041] For the two types of lower limb exoskeleton devices described above, this embodiment provides two types of strap assemblies. The first type is as follows: Figure 9 The quick-release strap 35 shown includes an electromagnet-type magnetic base 351 installed on the exoskeleton, and a flexible strap 353 connected at both ends by hook and loop fasteners. A magnetic plate 352 that cooperates with the magnetic base 351 is provided in the middle of the flexible strap 353. First, the flexible strap 353 is tied to the leg, and then the magnetic plate 352 is attracted to the magnetic base 351 when it is powered on.

[0042] This embodiment also provides another strap component, namely, as shown below. Figure 10 The automatic leg-binding strap 36 shown can automatically bind to the user's legs once the user is properly positioned with the lower limb exoskeleton component.

[0043] like Figure 11 As shown, the automatic strap 36 includes an arc-shaped guide arm 361, with a mounting base 362 for connecting the exoskeleton on its back. The guide arm 361 has an arc-shaped storage cavity 363 in its middle, open at both ends, and an arc-shaped locking tongue 364 is movably mounted within the storage cavity 363. Both the guide arm 361 and the locking tongue 364 are made of hard metal, and the virtual rings they occupy are concentric rings. Figure 12 As shown, engaging teeth 3641 are provided on the outer arc-shaped surface of the locking tongue 364, and a driving device 365 is provided on the top of the guide arm 361. The driving device can control the locking tongue 364 from... Figure 11 The state shown has been moved to Figure 12 In the state shown, the front end of the locking tongue 364 is inserted into the lower port of the storage cavity 363, thus binding the legs. Regarding the drive device 365, firstly, as... Figure 13As shown, a contact port 366 communicating with the receiving cavity 363 is provided at the top of the guide arm 361, and a motor mounting base 3651 is provided on the right side directly opposite the contact port 366. Figure 14 As shown, the drive device 365 includes a motor 3654 mounted on a motor mounting base 3651, and a worm gear 3655 located at the contact port 366 and driven by the motor 3654. The worm gear 3655 engages with the meshing teeth 3641 on the outer arc surface of the locking tongue 364. A fixing cover 3652 and a cover 3653 are also provided to cover the motor 3654 and the worm gear 3655, respectively. After the user is aligned with the leg bones, the outer side of the leg is brought into contact with the inner arc surface of the arc-shaped guide arm 361. Then, the motor 3654 is started by a control switch. At this time, the locking tongue 364 passes over the leg from top to bottom and inserts into the lower port of the storage cavity 363, thereby completing the leg binding. This can effectively improve the efficiency of the machine setup.

[0044] If certain terms are used in the specification and claims 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" as used 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.

[0045] 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.

[0046] 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 suspended lower limb exoskeleton device, comprising a pair of lower limb exoskeleton components symmetrically distributed on both sides, characterized in that: The lower limb exoskeleton device also includes a lifting frame, with vertical sections on both sides located outside the lower limb exoskeleton components, and the lower ends of the vertical sections fixedly connected to a base frame. Sliding components are movably mounted on the two vertical sections, and cantilever structures extending rearward are provided on the sliding components. The lower limb exoskeleton components are connected to the corresponding cantilever structures, and a wearing channel is reserved between the two lower limb exoskeleton components for the user to enter and exit from the rear. The lower limb exoskeleton device also includes a lifting component, which can control the two sliding components to move synchronously upwards to a standing position and also to a semi-squatting position. The cantilever structure includes an extension arm connecting the sliding components and a mounting arm perpendicular to the extension arm. The mounting arm is a telescopic structure, including a fixed arm that is fixedly connected to the extension arm, and a telescopic arm that is movably set. The lower limb exoskeleton assembly is connected to the corresponding telescopic arm. The mounting arm also includes an adjustment structure for adjusting the extension length of the telescopic arm. The lower limb exoskeleton device also includes a backrest assembly that spans the wearing channel, and the backrest assembly can be moved to avoid the wearing channel. The backrest assembly includes vertical rods on both sides and horizontal rods fixedly connected to the vertical rods, as well as fixed seats corresponding to the two vertical rods. The fixed seats are fixedly installed, wherein the first vertical rod is movably connected to the corresponding fixed seat and can rotate around its own axis, and the second vertical rod is connected to the corresponding fixed seat through a telescopic insert, and the connection between the second vertical rod and the fixed seat can be released by retracting the telescopic insert.

2. The suspended lower limb exoskeleton device as described in claim 1, characterized in that: The lifting assembly includes a winch installed on one side of the lifting frame, and the installation position of the winch is higher than the highest position of the sliding assembly; it also includes at least two guide wheels set on the top of the lifting frame, and pull lines connecting the two sliding assemblies respectively, and the pull lines go upward around the guide wheels and then connect to the winch.

3. The suspended lower limb exoskeleton device as described in claim 1, characterized in that: Four wheels are installed on the lower part of the base frame, and side support rods are set on the base frame, with the upper end of the side support rods fixedly connected to the lower middle part of the corresponding lifting frame.

4. The suspended lower limb exoskeleton device as described in claim 1, characterized in that: The lower limb exoskeleton device also includes handrail assemblies disposed on both sides of the lower limb exoskeleton assembly. The handrail assembly includes two handrail bars extending forward and a horizontal bar disposed between the handrail bars, and the horizontal bar can move back and forth along the handrail bars.

5. The suspended lower limb exoskeleton device as described in any one of claims 1-4, characterized in that: The lower limb exoskeleton assembly includes a knee-supporting component positioned on the lower leg near the knee joint, and the knee-supporting component presses against the user's lower leg from the front.

6. The suspended lower limb exoskeleton device as described in claim 5, characterized in that: The lower limb exoskeleton assembly also includes a leg support assembly disposed on the thigh and supporting the user's thigh from behind.

7. The suspended lower limb exoskeleton device as described in any one of claims 1-4, characterized in that: The extension arm is a telescopic structure. By extending the extension arm, the lower limb exoskeleton assembly can be moved backward, and at least the part of the lower limb exoskeleton assembly above the knee joint can lie flat on the bed.

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