Medical rehabilitation assisting exoskeleton

Abstract

The invention discloses a medical rehabilitation assisting exoskeleton which comprises a supporting frame, a backpack is installed on the rear portion of the supporting frame, a storage battery and a controller are fixed in the backpack, first connecting frames are hinged to the upper left portion and the upper right portion of the supporting frame respectively, and the hinge axes of the two first connecting frames are in the front-back horizontal direction. The two second connecting frames are hinged to the two first connecting frames correspondingly, the hinge axes of the two second connecting frames are arranged in the vertical direction, and the two second connecting frames are hinged to main arm frames correspondingly. The main arm frame and the auxiliary arm frame are bound with the arm of a patient through the binding mechanism, then the shoulder strap and the belly binding strap are worn, the purpose that after wearing is completed, a nurse or the patient holds the manipulator by himself / herself, the servo motor is controlled by the manipulator to rotate correspondingly, auxiliary bending of the elbow can be carried out, and the purpose that the elbow is bent is achieved. And under the action of the elastic force of the upper volute spiral spring and the lower volute spiral spring, the trend that the first connecting frame and the main arm frame overcome the gravity is achieved.

Description

Technical Field

[0001] The present invention relates to an exoskeleton, and in particular to a medical rehabilitation assisting exoskeleton. Background Art

[0002] After experiencing certain illnesses, some patients will lose some of their arm muscle strength. In order to restore their normal state, they need to undergo corresponding rehabilitation training. Traditional manual assisted rehabilitation training is time-consuming, labor-intensive, and costly, while the use of exoskeletons can solve this problem well. However, when assisting patients in rehabilitation training, existing exoskeletons often consume a certain amount of energy (usually electrical energy) to assist the bending of part of the patient's upper limbs, which requires the use of a large number of energy-consuming drive mechanisms, such as servo motors and reduction motors, which not only increases energy consumption, but also increases its weight accordingly, thereby increasing the patient's use burden, highlighting the shortcomings of the existing technology. Summary of the invention

[0003] The purpose of the present invention is to provide a medical rehabilitation exoskeleton to solve the technical problems of traditional exoskeletons being energy-consuming and heavy.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A medical rehabilitation assisting exoskeleton comprises a support frame, a backpack is installed at the rear of the support frame, a battery and a controller are fixed in the backpack, a No. 1 connecting frame is hinged to the upper left and upper right parts of the support frame, the hinge axes of the two No. 1 connecting frames are in the front-to-back horizontal direction, and are respectively hinged to a No. 2 connecting frame, the hinge axes of the two No. 2 connecting frames are arranged in the vertical direction, and are respectively hinged to a main arm frame, the hinge axes of the two main arm frames are arranged horizontally in the left-right direction, and sliding seats are respectively installed at the bottom, servo motors are respectively fixed to the opposite ends of the two sliding seats, the servo motors are arranged horizontally left and right, and radial auxiliary arm frames are respectively fixed to their rotating shafts, an abdominal strap is fixed to the bottom of the support frame, shoulder straps are respectively fixed to the left and right parts of the backpack together with the abdominal strap, and two upper arms are fixed to the upper rear part of the support frame A vortex spring, and two lower vortex springs are fixed to the rear lower part, the centripetal parts of the two upper vortex springs are fixed to the No. 1 connecting frame, and the centrifugal parts are fixed to the supporting frame, and the No. 1 connecting frame has a tendency to resist gravity sagging under the elastic force of the upper vortex spring, and the rear ends of the two No. 2 connecting frames are respectively fixed with threading rings, and the upper parts of the two main arm frames are respectively fixed with gate wires, and the two gate wires are fixed to the centrifugal parts of the two lower vortex springs after passing through the two threading rings, and the centripetal parts of the two lower vortex springs are fixed to the supporting frame, and the two lower vortex springs have a tendency to reel in the gate wires under the action of elastic force, the controller is wirelessly or wiredly electrically connected to the manipulator, and is electrically connected to the servo motor, the main arm frame and the auxiliary arm frame are jointly equipped with a binding mechanism for binding the arms, and the exoskeleton is also equipped with a massage mechanism.

[0005] On the basis of the above technical scheme, the binding mechanism includes a main frame and a sub-frame, the main arm frame is fixed with the main frame, the sub-arm frame is fixed with the sub-frame, the main frame and the sub-frame are both fixed with elastic buckles with openings, the elastic buckles are bound with arm straps at the rear, and are provided with strap insertion grooves at the front, the arm straps and abdominal straps are respectively sewn with Velcro that can cooperate with each other, the arm straps can pass through the strap insertion grooves and be bonded using the Velcro thereon, and the abdominal straps can be directly bonded using the Velcro thereon.

[0006] On the basis of the above technical scheme, the massage mechanism includes a blower and an exhaust nozzle, the blower is fixed in the backpack, the air inlet of the blower runs through the rear part of the backpack and is electrically connected to the controller, the hair dryer of the blower is fixedly connected with a plurality of exhaust nozzles, support plates are respectively fixed to the middle of the main frame and the auxiliary frame, the upper and lower parts of the main arm frame are each slidably connected to an upper sliding frame, the upper part of the auxiliary arm frame is slidably connected to a lower sliding frame, the rear parts of the upper sliding frame and the lower sliding frame are respectively rotatably connected to support columns, each of the support columns is respectively fixed with a secondary elastic pull rope, each of the secondary elastic pull ropes is respectively interspaced with a plurality of massage balls, and each end of the secondary elastic pull rope is respectively fixed with a connecting bolt, and each of the connecting bolts is respectively connected to the front or The front part of the lower sliding frame is threadedly connected, and the upper sliding frame and the lower sliding frame are respectively fixed with main elastic ropes, the main elastic rope of the upper sliding frame is fixed to the support plate of the main frame, and the main elastic rope of the lower sliding frame is fixed to the support plate of the auxiliary frame, and the front and rear parts of the upper sliding frame and the lower sliding frame are respectively fixed with through air inlet nozzles, the air inlet nozzle is connected to the exhaust nozzle through a surplus hose, and the other end of the air inlet nozzle is fixedly connected with a retractable bamboo tube, and a through bracket is fixed to the end of the bamboo tube, the bracket corresponding to the upper part of the main arm frame is fixed to the top end of the support plate of the main frame body, the bracket corresponding to the lower part of the main arm frame is fixed to the bottom end of the support plate of the main frame body, and the bracket corresponding to the upper part of the auxiliary arm frame is fixed to the top end of the support plate of the auxiliary frame.

[0007] On the basis of the above technical scheme, a blowing nozzle is fixed on each of the front and rear parts of the elastic buckle, and exhaust grooves are opened on the inner walls of the front and rear parts of the elastic buckle. The exhaust grooves correspond to and are connected with the blowing nozzles. The blowing nozzles are fixedly connected with the exhaust nozzles through the surplus hose. A heating wire is fixed in the blower barrel of the blower, and the heating wire is electrically connected to the controller. A soft wire threading tube is inserted into the gap outside the gate wire.

[0008] On the basis of the above technical scheme, the main frame is connected to the main arm frame by sliding up and down, and a slot is penetrated in the left and right directions of the bottom of the main arm frame, and the rotating shaft of the servo motor is gap-inserted with the slot, the sliding seat is connected to the main arm frame by sliding up and down, and the auxiliary frame is connected to the auxiliary arm frame by sliding up and down, and the front and rear parts of the main frame body and the sliding seat are respectively threadedly connected with a No. 1 tightening bolt, and the No. 1 tightening bolt can be tightened on the outer wall of the main arm frame, and the front and rear parts of the auxiliary frame are each threadedly connected with a No. 2 tightening bolt, and the No. 2 tightening bolt can be tightened on the outer wall of the auxiliary arm frame, the backpack is made of flexible fabric, and a binding strap is fixed at each end, and the binding strap is also sewn with Velcro that can cooperate with each other, and the binding strap can be bonded by using the Velcro on it to achieve the binding of the backward folded main arm frame and the auxiliary arm frame.

[0009] Compared with the prior art, the present invention has the following advantages: the present invention utilizes a binding mechanism to bind the main arm frame and the auxiliary arm frame to the patient's arm, and then the shoulder strap and the abdominal strap are worn, and the wearing is completed. The caregiver or the patient himself holds the controller and controls the servo motor to rotate accordingly through the controller, so as to perform auxiliary bending of the elbow. Under the elastic force of the upper spiral spring and the lower spiral spring, the No. 1 connecting frame and the main arm frame have a tendency to overcome gravity. On the one hand, it can reduce the burden of its weight on the hand. On the other hand, it is more convenient for patients to perform shoulder rehabilitation training, reduces energy consumption and the use of energy-consuming drive mechanisms, thereby reducing weight and alleviating the burden on patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the axial side structure of the present invention.

[0011] Figure 2 The figure is a rear view schematic diagram of the backpack of the present invention after being cut away from the rear.

[0012] Figure 3 It is a schematic diagram of the cooperation between the connecting bolt and the upper sliding frame of the present invention.

[0013] Figure 4 It is a schematic diagram of the structure of the bracket and the support plate of the present invention.

[0014] Figure 5 It is a schematic diagram of the state in which the second connecting frame of the present invention is pushed backwards.

[0015] In the figure: 1, support frame, 2, backpack, 3, battery, 4, controller, 5, No. 1 connecting frame, 6, No. 2 connecting frame, 7, main arm frame, 701, sliding seat 701, 8, auxiliary arm frame, 9, servo motor, 10, abdominal strap, 11, shoulder strap, 12, upper scroll spring, 13, lower scroll spring, 14, threading ring, 15, brake line, 18, main frame, 19, auxiliary frame, 20, elastic buckle, 21, arm strap, 22, threading slot, 23, Velcro , 24, blower, 25, exhaust nozzle, 26, support plate, 27, upper sliding frame, 28, lower sliding frame, 29, support column, 30, auxiliary elastic rope, 31, massage ball, 32, connecting bolt, 33, main elastic rope, 34, air inlet nozzle, 35, bamboo tube, 36, bracket, 37, blowing nozzle, 38, exhaust groove, 39, heating wire, 40, threading tube 41, No. 1 tightening bolt, 42, No. 2 tightening bolt, 43, restraint strap, 44, slot. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] like Figure 1-Figure 5A medical rehabilitation assisting exoskeleton is shown, comprising a support frame 1, a backpack 2 is installed at the rear of the support frame 1, a battery 3 and a controller 4 are fixed in the backpack 2, and the controller 4 is a known prior art, such as a single chip microcomputer and a PLC, etc., a No. 1 connecting frame 5 is hinged to the upper left and upper right parts of the support frame 1, the hinge axes of the two No. 1 connecting frames 5 are in the front-to-back horizontal direction, and are respectively hinged to a No. 2 connecting frame 6, the hinge axes of the two No. 2 connecting frames 6 are arranged in the vertical direction, and are respectively hinged to a main boom frame 7, the hinge axes of the two main boom frames 7 are arranged horizontally in the left-right direction, and sliding seats 701 are respectively installed at the bottom, servo motors 9 are respectively fixed to the opposite ends of the two sliding seats, the servo motors 9 are arranged horizontally in the left-right direction, and radial auxiliary boom frames 8 are respectively fixed to their rotating shafts, an abdominal strap 10 is fixed to the bottom of the support frame 1, and shoulder straps 11 are fixed to the left and right parts of the backpack 2 together with the abdominal strap 10, and two upper vortexes are fixed to the upper rear part of the support frame 1. The two upper volute springs 12 are fixed with two lower volute springs 13 at the rear lower part, the centripetal parts of the two upper volute springs 12 are fixed with the No. 1 connecting frame 5, and the centrifugal parts are fixed with the support frame 1, the No. 1 connecting frame 5 has a tendency to resist gravity sagging under the elastic force of the upper volute spring 12, the rear ends of the two No. 2 connecting frames 6 are respectively fixed with threading rings 14, the upper parts of the two main arm frames 7 are respectively fixed with brake wires 15, and the two brake wires 15 pass through the two threading rings 14 and connect with the two lower volute springs The centrifugal parts of the two lower volute springs 13 are fixed to each other, and the centripetal parts of the two lower volute springs 13 are fixed to the support frame 1. The two lower volute springs 13 have a tendency to retract the shutter line 15 under the action of elastic force. The controller 4 is wirelessly or wiredly electrically connected to a manipulator (drawn in the accompanying drawings, which is a common prior art in the field), and is electrically connected to the servo motor 9. The main arm frame 7 and the auxiliary arm frame 8 are jointly equipped with a binding mechanism for binding the arms, and the exoskeleton is also equipped with a massage mechanism.

[0018] When in use, the main arm frame 7 and the auxiliary arm frame 8 are tied to the patient's arm using the binding mechanism, and then the shoulder strap 11 and the abdominal strap 10 are worn. The wearing is completed, and the nursing staff or the patient himself holds the controller and controls the servo motor 9 to rotate accordingly through the controller, thereby auxiliary bending of the elbow part can be performed. Under the elastic force of the upper spiral spring 12 and the lower spiral spring 13, there is a tendency for the No. 1 connecting frame 5 and the main arm frame 7 to overcome gravity. On the one hand, it can reduce the burden of its weight on the arm, and on the other hand, it is more convenient for patients to perform shoulder rehabilitation training, reducing energy consumption and the use of energy-consuming drive mechanisms, thereby reducing weight and alleviating the burden on patients.

[0019] The binding mechanism includes a main frame 18 and a sub-frame 19, the main arm frame 7 is fixed with the main frame 18, the sub-arm frame 8 is fixed with the sub-frame 19, the main frame 18 and the sub-frame 19 are both fixed with elastic buckles 20 with openings, the elastic buckles 20 are bound with arm straps 21 at the rear, and are provided with strap insertion grooves 22 at the front, the arm straps 21 and the abdominal straps 10 are respectively sewn with Velcro 23 that can cooperate with each other, the arm straps 21 can pass through the strap insertion grooves 22 and be bonded using the Velcro 23 thereon, and the abdominal straps can be directly bonded using the Velcro 23 thereon.

[0020] Furthermore, the elastic buckle 20 is first buckled with the arm, and then the arm strap 21 is passed through the strap slot 22 and then bonded with the Velcro 23 thereon, so as to realize the binding of the main arm frame 7 and the auxiliary arm frame 8 to the arm, and the Velcro 23 can also be used to bind the abdominal strap 10 to the patient's abdomen, so as to ensure that the exoskeleton is worn and fits firmly.

[0021] The massage mechanism includes a blower 24 and an exhaust nozzle 25. The blower 24 is fixed in the backpack 2. The air inlet of the blower 24 runs through the rear part of the backpack 2 and is electrically connected to the controller 4. The hair dryer of the blower 24 is fixedly connected with a plurality of exhaust nozzles 25. Support plates 26 are respectively fixed in the middle of the main frame 18 and the auxiliary frame 19. The upper and lower parts of the main arm frame 7 are respectively slidably connected with an upper sliding frame 27. The upper part of the auxiliary arm frame 8 is slidably connected with a lower sliding frame 28. The rear parts of the upper sliding frame 27 and the lower sliding frame 28 are respectively rotatably connected with support columns 29. Each of the support columns 29 is respectively fixed with a secondary elastic pull rope 30. Each of the secondary elastic pull ropes 30 is respectively interspaced with a plurality of massage balls 31. The end of each of the secondary elastic pull ropes 30 is respectively fixed with a connecting bolt 32. Each of the connecting bolts 32 is respectively threadedly connected with the front part of the upper sliding frame 27 or the front part of the lower sliding frame 28. The upper sliding frame 27 and the lower sliding frame 28 are respectively fixed with main elastic pull ropes 33, and the main elastic pull ropes 33 of the upper sliding frame 27 are fixed to the support plate 26 of the main frame body 18, and the main elastic pull ropes 33 of the lower sliding frame 28 are fixed to the support plate 26 of the auxiliary frame body 19. The front and rear parts of the upper sliding frame 27 and the lower sliding frame 28 are respectively fixed with penetrating air inlet nozzles 34, and the air inlet nozzles 34 are connected to the exhaust nozzles 25 through surplus hoses. The other end of the air inlet nozzle 34 is fixedly connected with a retractable bamboo tube 35, and a penetrating bracket 36 is fixed to the end of the bamboo tube 35. The bracket 36 corresponding to the upper part of the main boom 7 is fixed to the top end of the support plate 26 of the main frame body 18, the bracket 36 corresponding to the lower part of the main boom 7 is fixed to the bottom end of the support plate 26 of the main frame body 18, and the bracket 36 corresponding to the upper part of the auxiliary boom 8 is fixed to the top end of the support plate 26 of the auxiliary frame body 19.

[0022] Furthermore, when the arm is bound by the binding mechanism, the connecting bolt 32 is removed, the secondary elastic rope 30 is half-wrapped around the arm, and then the connecting bolt 32 is reinstalled. At this time, the massage ball 31 fits against the inner side of the arm, and the blower 24 is controlled by the controller to perform intermittent blowing operation, so that the wind can pass through the exhaust nozzle 25, the surplus hose, the air inlet nozzle 34 and the bamboo tube 35 and then be discharged from the bracket 36, so that the support plate 26 can be blown, and then a reverse thrust is formed to make the upper sliding frame 27 The upper and lower sliding frames 27 and 28 overcome the pulling force of the main elastic rope 33 and slide in the direction away from the support plate 26. After the air blowing is finished, the upper and lower sliding frames 27 and 28 are reset under the pulling force of the main elastic rope 33, thereby realizing reciprocating sliding. When the upper and lower sliding frames 27 and 28 slide back and forth, they can drive the secondary elastic rope 30 to move, thereby dragging the massage balls 31 to move, and then realizing massage of the inner side of the arm, promoting blood circulation, and reducing the patient's muscle fatigue.

[0023] The front and rear parts of the elastic buckle 20 are each fixed with a penetrating air blowing nozzle 37, and the inner walls of the front and rear parts of the elastic buckle 20 are provided with exhaust grooves 38, and the exhaust grooves 38 correspond to and are connected with the air blowing nozzle 37, and the air blowing nozzle 37 is fixedly connected with the exhaust nozzle 25 through a surplus hose, and a heating wire 39 is fixed in the hair dryer of the blower 24, and the heating wire 39 is electrically connected to the controller 4, and a soft threading tube 40 is inserted into the outer gap of the gate wire 15.

[0024] Furthermore, when the blower 24 is working, by controlling whether the heating wire 39 is working or not, it can blow hot air or normal air into the blowing nozzle 37 and the exhaust groove 38. When hot air is blown in, it has a better heating effect on the arm area, can better promote blood circulation and local temperature rise, and is more beneficial to the recovery of muscle strength. When normal air is blown, it can cool down the arm area, reduce the production of sweat, and improve the patient's comfort. The threading tube 40 is used to protect the brake wire 15.

[0025] The main frame 18 is connected to the main arm 7 for sliding up and down, and a slot 44 is penetrated in the left and right directions of the bottom of the main arm 7, and the rotating shaft of the servo motor 9 is gap-inserted with the slot 44, and the sliding seat 701 is connected to the main arm 7 for sliding up and down, and the auxiliary frame 19 is connected to the auxiliary arm 8 for sliding up and down, and the front and rear parts of the main frame 18 and the sliding seat 701 are respectively threadedly connected with a No. 1 tightening bolt 41, and the No. 1 tightening bolt 41 can be tightened on the outer wall of the main arm 7, and the front and rear parts of the auxiliary frame 19 are each threadedly connected with a No. 2 tightening bolt 42, and the No. 2 tightening bolt 42 can be tightened on the outer wall of the auxiliary arm 8. The backpack 2 is made of flexible fabric, and a binding strap 43 is fixed at each end on the left and right sides, and the binding strap 43 is also sewn with Velcro 23 that can cooperate with each other. The binding strap 43 can be bonded with the Velcro 23 thereon to achieve the binding of the main arm 7 and the auxiliary arm 8 folded backward.

[0026] Furthermore, by sliding the sliding seat 701 up and down, the position of the auxiliary boom 8 relative to the main boom 7 can be adjusted, and by sliding the main frame 18 up and down, the position of the main frame 18 relative to the main boom 7 can be adjusted, and by sliding the auxiliary frame 19 up and down, the position of the auxiliary frame relative to the auxiliary boom 8 can be adjusted, and then by tightening the No. 1 tightening bolt 41 and the No. 2 tightening bolt 42, the positions of the sliding seat 701, the main frame 18 and the auxiliary frame 19 can be limited to adapt to arms of different lengths and improve adaptability. By sliding the sliding seat 701 up and tightening it with the No. 1 tightening bolt 41, and then pushing the No. 2 connecting frame 6 backwards, and using the binding strap 43 to tie the main boom 7 and the auxiliary boom 8, folding and storage can be achieved for easy carrying and storage.

[0027] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. A medical rehabilitation assisting exoskeleton, comprising a support frame (1), a backpack (2) being mounted at the rear of the support frame (1), a storage battery (3) and a controller (4) being fixed in the backpack (2), a No. 1 connecting frame (5) being hingedly connected to the upper left and upper right portions of the support frame (1), the hinge axes of the two No. 1 connecting frames (5) being in the front-to-back horizontal direction, and being hingedly connected to the No. 2 connecting frames (6), respectively, the hinge axes of the two No. 2 connecting frames (6) being arranged in the vertical direction, and being hingedly connected to the main connecting frames (6), respectively. The arm frame (7) is provided with hinge axes of the two main arm frames (7) arranged horizontally in the left-right direction, and sliding seats (701) are respectively installed at the bottom, servo motors (9) are respectively fixed at the opposite ends of the two sliding seats, the servo motors (9) are arranged horizontally in the left-right direction, and the rotating shafts thereof are respectively fixed with radial auxiliary arm frames (8), an abdominal strap (10) is fixed at the bottom of the support frame (1), and the left and right parts of the backpack (2) are respectively fixed with shoulder straps (11) together with the abdominal strap (10), characterized in that: The support frame (1) is fixed with two upper volute springs (12) at the upper rear portion, and two lower volute springs (13) at the lower rear portion. The centripetal parts of the two upper volute springs (12) are fixed to the No. 1 connecting frame (5), and the centrifugal parts are fixed to the support frame (1). The No. 1 connecting frame (5) has a tendency to resist gravity sagging under the elastic force of the upper volute springs (12). The rear ends of the two No. 2 connecting frames (6) are respectively fixed with threading rings (14). The upper parts of the two main arm frames (7) are respectively fixed with brake wires (15). The gate wire (15) passes through two threading rings (14) and is fixed to the centrifugal parts of the two lower spiral springs (13). The centripetal parts of the two lower spiral springs (13) are fixed to the support frame (1). The two lower spiral springs (13) have a tendency to reel in the gate wire (15) under the action of elastic force. The controller (4) is wirelessly or wiredly electrically connected to a manipulator and is electrically connected to a servo motor (9). The main arm frame (7) and the auxiliary arm frame (8) are jointly equipped with a binding mechanism for binding the arms. The exoskeleton is also equipped with a massage mechanism.

2. A medical rehabilitation exoskeleton according to claim 1, characterized in that: The binding mechanism comprises a main frame (18) and a sub-frame (19); the main arm frame (7) is mounted with the main frame (18); the sub-arm frame (8) is mounted with the sub-frame (19); the main frame (18) and the sub-frame (19) are both fixed with an elastic buckle (20) provided with an opening; the elastic buckle (20) is bound with an arm strap (21) at the rear and is provided with a strap threading slot (22) at the front; the arm strap (21) and the abdominal strap (10) are respectively sewn with Velcro (23) capable of cooperating with each other; the arm strap (21) can pass through the strap threading slot (22) and be bonded using the Velcro (23) thereon; and the abdominal strap can be directly bonded using the Velcro (23) thereon.

3. A medical rehabilitation exoskeleton according to claim 2, characterized in that: The massage mechanism comprises a blower (24) and an exhaust nozzle (25). The backpack (2) is fixed with the blower (24). The air inlet of the blower (24) passes through the rear of the backpack (2) and is electrically connected to the controller (4). The blower cylinder of the blower (24) is fixedly connected to a plurality of exhaust nozzles (25). The middle of the main frame (18) and the auxiliary frame (19) are respectively fixed with support plates (26). The upper and lower parts of the main arm frame (7) are each slidably connected to an upper sliding frame (27). The upper part of the auxiliary arm frame (8) is A lower sliding frame (28) is slidably connected up and down, and the rear parts of the upper sliding frame (27) and the lower sliding frame (28) are respectively rotatably connected to support columns (29), and each of the support columns (29) is respectively fixed with a secondary elastic pull rope (30), and each of the secondary elastic pull ropes (30) is respectively interspaced and plugged with a plurality of massage balls (31), and each end of each secondary elastic pull rope (30) is respectively fixed with a connecting bolt (32), and each of the connecting bolts (32) is respectively threadedly connected to the front part of the upper sliding frame (27) or the front part of the lower sliding frame (28). The upper sliding frame (27) and the lower sliding frame (28) are respectively fixed with a main elastic pull rope (33), the main elastic pull rope (33) of the upper sliding frame (27) is fixed to the support plate (26) of the main frame body (18), and the main elastic pull rope (33) of the lower sliding frame (28) is fixed to the support plate (26) of the auxiliary frame body (19), and the front and rear parts of the upper sliding frame (27) and the lower sliding frame (28) are respectively fixed with a penetrating air inlet nozzle (34), and the air inlet nozzle (34) is connected to the exhaust nozzle (25) through a surplus hose. The other end of the air inlet nozzle (34) is fixedly connected to a retractable bamboo tube (35), and a penetrating bracket (36) is fixed to the end of the bamboo tube (35); the bracket (36) corresponding to the upper part of the main boom (7) is fixed to the top of the support plate (26) of the main frame (18); the bracket (36) corresponding to the lower part of the main boom (7) is fixed to the bottom of the support plate (26) of the main frame (18); and the bracket (36) corresponding to the upper part of the auxiliary boom (8) is fixed to the top of the support plate (26) of the auxiliary frame (19).

4. A medical rehabilitation exoskeleton according to claim 3, characterized in that: A blowing nozzle (37) is fixedly passed through each of the front and rear parts of the elastic buckle (20); exhaust grooves (38) are formed on the inner walls of the front and rear parts of the elastic buckle (20); the exhaust grooves (38) correspond to and are in communication with the blowing nozzle (37); the blowing nozzle (37) is fixedly communicated with the exhaust nozzle (25) through a surplus hose; a heating wire (39) is fixedly disposed in the blower tube of the blower (24); the heating wire (39) is electrically connected to the controller (4); and a soft threading tube (40) is inserted into the outer gap of the gate wire (15).

5. A medical rehabilitation exoskeleton according to any one of claims 2 to 4, characterized in that: The main frame (18) is connected to the main boom (7) in an upward and downward sliding manner, a slot (44) is penetrated in the left and right directions at the bottom of the main boom (7), the rotating shaft of the servo motor (9) is interlaced with the slot (44), the sliding seat (701) is connected to the main boom (7) in an upward and downward sliding manner, the auxiliary frame (19) is connected to the auxiliary boom (8) in an upward and downward sliding manner, and the front and rear parts of the main frame (18) and the sliding seat (701) are respectively penetrated by threads and connected with a No. 1 tightening bolt (41), and the No. 1 tightening bolt (41) can be tightened on the main boom. The auxiliary frame (7) is provided with a second tightening bolt (42) threadedly connected to the front and rear parts of the auxiliary frame (19). The second tightening bolt (42) can be tightened on the outer wall of the auxiliary arm frame (8). The backpack (2) is made of flexible fabric, and a binding strap (43) is fixed to each of the left and right ends. The binding strap (43) is also sewn with Velcro (23) that can cooperate with each other. The binding strap (43) can be bonded with the Velcro (23) thereon to achieve binding of the main arm frame (7) and the auxiliary arm frame (8) that are folded backwards.

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