Wheelchair type exoskeleton robot

Abstract

The invention relates to the technical field of rehabilitation medical equipment, and aims to solve the problems that most of patients in the later rehabilitation period adopt lower limb robots for rehabilitation treatment, but most of traditional exoskeleton robots are designed to be used for single rehabilitation scenes such as standing and walking training or seat rehabilitation, and the ability of flexible switching among different rehabilitation stages is lacked. The invention discloses a wheelchair type exoskeleton robot. The wheelchair type exoskeleton robot has a standing state, a seat state and a supine position state. The wheelchair type exoskeleton robot comprises a bottom supporting mechanism, a bottom connecting mechanism, a connecting seat mechanism, a lower limb supporting mechanism and a trunk supporting mechanism, the bottom connecting mechanism is arranged on the bottom supporting mechanism, and the top of the bottom connecting mechanism and the connecting seat mechanism form a connecting structure; a power supply box and a main control box are mounted on the bottom supporting mechanism; the connecting base mechanism, the lower limb supporting mechanism and the trunk supporting mechanism form a connecting structure.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical equipment, and in particular to a wheelchair-type exoskeleton robot. Background Art

[0002] Various patients in clinical practice, especially those in the recovery period of lower limb motor dysfunction caused by stroke, spinal cord injury, fracture surgery, etc., need auxiliary equipment for rehabilitation training.

[0003] At present, bedside equipment is mainly used in clinical practice to treat patients in the early stage of rehabilitation, which cannot meet the needs of outdoor mobile supine treatment for patients with postural hypotension. For patients in the late stage of rehabilitation, lower limb robots are mostly used for recovery treatment, which are mainly used indoors and cannot meet the needs of patients in complex outdoor environment training.

[0004] However, most traditional exoskeleton robots are designed for a single rehabilitation scenario, such as standing and walking training or sitting rehabilitation, and lack the ability to flexibly switch between different rehabilitation stages. This results in patients having to frequently change different rehabilitation devices during the transition from bedridden to standing and walking, which not only increases treatment costs but may also affect the continuity and effectiveness of rehabilitation. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the above-mentioned technology and provide a wheelchair-type exoskeleton robot.

[0006] In order to solve the above technical problems, the technical solution provided by the present invention is a wheelchair-type exoskeleton robot, wherein the wheelchair-type exoskeleton robot has a standing state, a seat state and a supine state;

[0007] The wheelchair-type exoskeleton robot comprises a bottom support mechanism, a bottom connection mechanism, a connection seat mechanism, a lower limb support mechanism, and a trunk support mechanism. The bottom support mechanism is provided with a bottom connection mechanism, and the top of the bottom connection mechanism and the connection seat mechanism form a connection structure.

[0008] A power box and a main control box are installed on the bottom support mechanism;

[0009] The connecting seat mechanism respectively forms a connecting structure with the lower limb supporting mechanism and the trunk supporting mechanism.

[0010] Further, the bottom support mechanism includes a bottom bracket, an electric telescopic rod, a telescopic rod, a No. 3 connecting frame, a brushless motor, and a driving wheel. The bottom bracket is an H-shaped structure consisting of two vertical rods and a cross rod, and the cross rod is equipped with a power box, a main control box and a bottom connecting mechanism;

[0011] The front and rear ends of each vertical rod are respectively provided with a No. 2 connecting frame and a mounting seat, each mounting seat is respectively provided with a No. 1 connecting frame, one end of the telescopic rod is hinged with the No. 2 connecting frame, and the other end of the telescopic rod is provided with a brushless motor and a driving wheel, and the output shaft of the brushless motor and the driving wheel form a connecting structure;

[0012] One end of the electric telescopic rod is hinged to the No. 1 connecting frame, a No. 3 connecting frame is installed on the telescopic rod, and the other end of the electric telescopic rod is hinged to the No. 3 connecting frame;

[0013] The main control box is electrically connected to the power box, and the main control box is electrically connected to the electric telescopic rod and the brushless motor respectively.

[0014] Furthermore, the driving wheel is a McNabb mother wheel.

[0015] Furthermore, a driven wheel is installed at the bottom of each cross bar, and the driven wheel is a universal wheel.

[0016] Furthermore, the bottom connecting mechanism includes an electric lifting platform and a No. 1 connecting flange. The electric lifting platform is installed on the bottom supporting mechanism. A fixed No. 1 connecting flange is provided on the top of the electric lifting platform. The bottom connecting mechanism forms a connecting structure with the connecting seat mechanism through the No. 1 connecting flange. The electric lifting platform is electrically connected to the main control box.

[0017] Furthermore, the connecting seat mechanism includes a connecting base, a No. 2 connecting flange, a connecting plate, a grip rod connector, and a grip rod. The bottom of the connecting base is provided with a No. 2 connecting flange for fixedly connecting to the bottom connecting mechanism. The No. 2 connecting flange is fixedly connected to the connecting base. The left and right sides of the connecting base are respectively provided with connecting plates for hinged to the torso supporting mechanism. Each of the connecting plates is respectively provided with a grip rod connector. A grip rod is provided on the top of the grip rod connector. One side of the grip rod connecting part is provided with a No. 1 hinged plate for hinged to the lower limb supporting mechanism.

[0018] Further, the lower limb support mechanism includes two leg mechanisms symmetrically arranged on the left and right, each of the leg mechanisms includes a thigh connecting plate, a thigh electric telescopic rod, a No. 2 hinged plate, a calf electric telescopic rod, a calf connecting plate, a No. 1 connecting plate, a calf baffle, a foot pedal, a No. 2 connecting plate, and a thigh baffle, one end of the thigh connecting plate is hinged to the connecting seat mechanism, a thigh electric telescopic rod is installed in the thigh connecting plate, a No. 2 hinged plate is provided at the movable end of the thigh electric telescopic rod, the calf connecting plate is hingedly connected to the No. 2 hinged plate, a calf electric telescopic rod is installed in the calf connecting plate, the movable end of the calf electric telescopic rod is connected to the foot pedal, and the thigh electric telescopic rod and the calf electric telescopic rod are electrically connected to the main control box respectively;

[0019] The rear side of the thigh connecting plate is connected to the thigh baffle plate through the No. 2 connecting plate, the No. 1 connecting plate is hinged to the calf connecting plate, and the calf connecting plate is connected to the calf baffle plate through the No. 1 connecting plate.

[0020] Furthermore, a No. 1 fastener is installed on the movable end of the thigh electric telescopic rod, and a No. 2 fastener is installed on the movable end of the calf electric telescopic rod.

[0021] Furthermore, the trunk support mechanism includes a back plate, a No. 1 shaft, a drive motor, a No. 2 shaft, a back pad, a fixing rod, a back head plate, a head pad, and a top handle. The back plate is equipped with a drive motor, and the drive motor is electrically connected to the main control box. A No. 1 shaft is provided at the left end of the back plate, and the No. 1 shaft passes through the back plate and is hinged to the connecting seat mechanism. A No. 2 shaft is provided at the right end of the back plate, and the output end of the drive motor forms a connecting structure with the No. 2 shaft, and the other end of the No. 2 shaft passes through the back plate and is hinged to the connecting seat mechanism. The No. 2 shaft and the No. 1 shaft are respectively fixedly connected to the back plate;

[0022] The top of the back plate is connected to the rear head plate through a fixing rod, a top handle is provided on the top of the rear head plate, a fixed back pad is provided on the front side of the back plate, and a fixed headrest is provided on the front side of the rear head plate.

[0023] The advantages of the present invention compared with the prior art are: the structure of the device is reasonably designed, and through the coordinated work of the bottom support mechanism, the bottom connecting mechanism, the connecting seat mechanism, the lower limb support mechanism and the trunk support mechanism, the robot can be flexibly switched between the standing state, the sitting posture and the supine state, thereby meeting the patient's needs for posture adjustment at different rehabilitation stages and improving the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a seat state of a wheelchair-type exoskeleton robot of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a wheelchair-type exoskeleton robot in a supine position according to the present invention;

[0026] Figure 3 It is a structural schematic diagram of a wheelchair-type exoskeleton robot in a standing state according to the present invention;

[0027] Figure 4 It is a structural schematic diagram of a connecting seat mechanism, a lower limb supporting mechanism and a trunk supporting mechanism of a wheelchair-type exoskeleton robot of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the connecting seat mechanism and the trunk support mechanism of a wheelchair-type exoskeleton robot of the present invention. Figure 1 ;

[0029] Figure 6 The present invention is a wheelchair-type exoskeleton robot Figure 5 Middle AA section view;

[0030] Figure 7 This is a schematic diagram of the structure of the connecting seat mechanism and the trunk support mechanism of a wheelchair-type exoskeleton robot of the present invention. Figure 2 ;

[0031] Figure 8 It is a structural schematic diagram of a bottom support mechanism of a wheelchair-type exoskeleton robot of the present invention;

[0032] Fig. 9 This is a reference for the standing state of a wheelchair-type exoskeleton robot of the present invention. Figure 1 ;

[0033] Fig.10 This is a reference for the standing state of a wheelchair-type exoskeleton robot of the present invention. Figure 2 .

[0034] As shown in the figure: 1. Bottom support mechanism, 101. Bottom bracket, 102. Mounting seat, 103. Driven wheel, 104. No. 1 connecting frame, 105. Electric telescopic rod, 106. Telescopic rod, 107. No. 2 connecting frame, 108. No. 3 connecting frame, 109. Brushless motor, 110. Driving wheel, 2. Bottom connecting mechanism, 201. Electric lifting platform, 202. No. 1 connecting flange, 3. Connecting seat mechanism, 301. Connecting base, 302. No. 2 connecting flange, 303. Connecting plate, 304. Grip connector, 305. Grip, 306. No. 1 hinged plate, 4. Lower limb support mechanism, 401. Thigh Connecting plate, 402, thigh electric telescopic rod, 403, No. 1 fastener, 404, No. 2 hinged plate, 405, calf electric telescopic rod, 406, calf connecting plate, 407, No. 1 connecting plate, 408, calf baffle, 409, No. 2 fastener, 410, foot pedal, 411, No. 2 connecting plate, 412, thigh baffle, 5, trunk support mechanism, 501, back plate, 502, No. 1 shaft rod, 503, drive motor, 504, No. 2 shaft rod, 505, back pad, 506, fixing rod, 507, headrest, 508, head pad, 509, top handle, 6, power box, 7, main control box. DETAILED DESCRIPTION

[0035] The wheelchair-type exoskeleton robot of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0036] In conjunction with the accompanying drawings, a wheelchair-type exoskeleton robot is provided, wherein the wheelchair-type exoskeleton robot has a standing state, a seat state, and a supine state;

[0037] The wheelchair-type exoskeleton robot comprises a bottom support mechanism 1, a bottom connection mechanism 2, a connection seat mechanism 3, a lower limb support mechanism 4, and a trunk support mechanism 5. The bottom support mechanism 1 is provided with a bottom connection mechanism 2, and the top of the bottom connection mechanism 2 and the connection seat mechanism 3 form a connection structure;

[0038] The bottom support mechanism 1 is provided with a power supply box 6 and a main control box 7;

[0039] The connecting seat mechanism 3 forms a connecting structure with the lower limb supporting mechanism 4 and the trunk supporting mechanism 5 respectively.

[0040] As a preferred implementation scheme of this embodiment, the bottom support mechanism 1 includes a bottom bracket 101, an electric telescopic rod 105, a telescopic rod 106, a third connecting frame 108, a brushless motor 109, and a driving wheel 110. The bottom bracket 101 is an H-shaped structure consisting of two vertical rods and a cross bar, and the power box 6, the main control box 7 and the bottom connecting mechanism 2 are installed on the cross bar;

[0041] A No. 2 connecting frame 107 and a mounting seat 102 are respectively provided at the front and rear ends of each vertical rod, and a No. 1 connecting frame 104 is respectively installed on each mounting seat 102. One end of the telescopic rod 106 is hinged to the No. 2 connecting frame 107, and a brushless motor 109 and a driving wheel 110 are installed at the other end of the telescopic rod 106. The output shaft of the brushless motor 109 and the driving wheel 110 form a connecting structure;

[0042] One end of the electric telescopic rod 105 is hinged to the first connecting frame 104, a third connecting frame 108 is installed on the telescopic rod 106, and the other end of the electric telescopic rod 105 is hinged to the third connecting frame 108;

[0043] The main control box 7 is electrically connected to the power box 6 , and the main control box 7 is electrically connected to the electric telescopic rod 105 and the brushless motor 109 respectively.

[0044] As a preferred implementation scheme of this embodiment, the driving wheel 110 is a McNabb mother wheel.

[0045] As a preferred implementation scheme of this embodiment, a driven wheel 103 is respectively installed at the bottom of each cross bar, and the driven wheel 103 is a universal wheel.

[0046] As a preferred implementation scheme of this embodiment, the bottom connecting mechanism 2 includes an electric lifting platform 201 and a No. 1 connecting flange 202. The electric lifting platform 201 is installed on the bottom supporting mechanism 1. The top of the electric lifting platform 201 is provided with a fixed No. 1 connecting flange 202. The bottom connecting mechanism 2 forms a connecting structure with the connecting seat mechanism 3 through the No. 1 connecting flange 202. The electric lifting platform 201 is electrically connected to the main control box 7.

[0047] As a preferred implementation scheme of this embodiment, the connecting seat mechanism 3 includes a connecting base 301, a No. 2 connecting flange 302, a connecting plate 303, a grip rod connector 304, and a grip rod 305. The bottom of the connecting base 301 is provided with a No. 2 connecting flange 302 for fixed connection with the bottom connecting mechanism 2, and the No. 2 connecting flange 302 is fixedly connected to the connecting base 301. The left and right sides of the connecting base 301 are respectively provided with connecting plates 303 for hinged connection with the torso supporting mechanism 5, and each of the connecting plates 303 is respectively provided with a grip rod connector 304. The top of the grip rod connector 304 is provided with a grip rod 305, and one side of the grip rod connecting part 304 is provided with a No. 1 hinged plate 306 for hinged connection with the lower limb supporting mechanism 4.

[0048] As a preferred implementation scheme of this embodiment, the lower limb support mechanism 4 includes two leg mechanisms symmetrically arranged on the left and right, each of which includes a thigh connecting plate 401, a thigh electric telescopic rod 402, a second hinged plate 404, a calf electric telescopic rod 405, a calf connecting plate 406, a first connecting plate 407, a calf baffle 408, a foot pedal 410, a second connecting plate 411, and a thigh baffle 412. One end of the thigh connecting plate 401 is hinged with the connecting seat mechanism 3 Then, a thigh electric telescopic rod 402 is installed in the thigh connecting plate 401, and a second hinge plate 404 is provided at the movable end of the thigh electric telescopic rod 402. The calf connecting plate 406 is hingedly connected with the second hinge plate 404. A calf electric telescopic rod 405 is installed in the calf connecting plate 406. The movable end of the calf electric telescopic rod 405 is connected to the foot pedal 410. The thigh electric telescopic rod 402 and the calf electric telescopic rod 405 are electrically connected to the main control box 7 respectively;

[0049] The rear side of the thigh connecting plate 401 is connected to the thigh baffle 412 via the No. 2 connecting plate 411 , the No. 1 connecting plate 407 is hinged to the calf connecting plate 406 , and the calf connecting plate 406 is connected to the calf baffle 408 via the No. 1 connecting plate 407 .

[0050] As a preferred implementation scheme of this embodiment, a No. 1 fastener 403 is installed on the movable end of the thigh electric telescopic rod 402, and a No. 2 fastener 409 is installed on the movable end of the calf electric telescopic rod 405.

[0051] As a preferred implementation scheme of this embodiment, the trunk supporting mechanism 5 includes a back plate 501, a first shaft rod 502, a driving motor 503, a second shaft rod 504, a back pad 505, a fixing rod 506, a rear head plate 507, a head pad 508, and a top handle 509. The back plate 501 is provided with a driving motor 503, and the driving motor 503 is electrically connected to the main control box 7. The left end of the back plate 501 is provided with a first shaft rod 502, and the first shaft rod 502 passes through the back plate 501 and is hinged to the connecting seat mechanism 3. The right end of the back plate 501 is provided with a second shaft rod 504, and the output end of the driving motor 503 forms a connecting structure with the second shaft rod 504, and the other end of the second shaft rod 504 passes through the back plate 501 and is hinged to the connecting seat mechanism 3.

[0052] The second shaft rod 504 and the first shaft rod 502 are respectively fixedly connected to the back plate 501;

[0053] The top of the back panel 501 is connected to the rear head panel 507 via a fixing rod 506 , a top handle 509 is provided on the top of the rear head panel 507 , a fixed back pad 505 is provided on the front side of the back panel 501 , and a fixed headrest 508 is provided on the front side of the rear head panel 507 .

[0054] As a preferred implementation scheme of this embodiment, the rotation angle range value of the trunk supporting mechanism 5 and the connecting seat mechanism 3 is 0-180 degrees; the rotation angle range value of the lower limb supporting mechanism 4 and the connecting seat mechanism 3 is 0-180 degrees.

[0055] In the specific implementation of the present invention, the rotation angle range value of the trunk support mechanism 5 and the connecting seat mechanism 3 is 0-180 degrees, the No. 1 shaft 502 is fixedly connected to the back plate 501, and the No. 1 shaft 502 passes through the back plate 501 and is hinged to the connecting seat mechanism 3, the No. 2 shaft 504 is fixedly connected to the back plate 501, and the other end of the No. 2 shaft 504 passes through the back plate 501 and is hinged to the connecting seat mechanism 3; the main control box 7 controls the drive motor 503 to start, and the drive motor 503 drives the No. 2 shaft 504 to rotate, and then drives the back plate 501 to rotate, so as to meet the standing state, the seat state and the supine state;

[0056] The rotation angle range of the lower limb support mechanism 4 and the connecting seat mechanism 3 is 0-180 degrees. One end of the thigh connecting plate 401 is hinged to the connecting seat mechanism 3, and the lower limb support mechanism 4 can be rotated along the hinged portion with the connecting seat mechanism 3 according to needs; the calf connecting plate 406 is hingedly connected to the second hinge plate 404, and the calf connecting plate 406 can be rotated along the second hinge plate 404 according to needs, so as to meet the standing state, the sitting state and the supine state;

[0057] The bottom connection mechanism 2 includes an electric lifting platform 201, which can be raised and lowered by the main control box 7 to adjust the distance between the connection seat mechanism 3 and the bottom support mechanism 1 according to the needs;

[0058] The electric telescopic rod 105 is controlled by the main control box 7. Since the two ends of the electric telescopic rod 105 are respectively hinged to the bottom bracket 101 and the telescopic rod 106, and one end of the telescopic rod 106 is hinged to the second connecting frame 107, when the electric telescopic rod 105 is contracted or extended, the telescopic rod 106 will rotate along the second connecting frame 107 as the shape of the electric telescopic rod 105 changes, thereby lowering or raising the height of the bottom bracket 101 from the ground;

[0059] In addition, the bottom support mechanism 1 is also provided with a brushless motor 109 and a driving wheel 110 to provide power for the movement of the device;

[0060] The device has standing state, sitting state and supine state. The supine state can be effectively applied to the early rehabilitation training of patients with postural hypotension; the sitting state can meet the rehabilitation needs of patients for active and passive training of knee joints, and can also be used as a wheelchair; the standing state can meet the gait training needs of patients;

[0061] Through the coordinated work of the bottom support mechanism 1, the bottom connecting mechanism 2, the connecting seat mechanism 3, the lower limb support mechanism 4 and the trunk support mechanism 5, the robot can flexibly switch between the standing state, the sitting posture and the supine state, thereby meeting the patient's needs for posture adjustment at different stages of rehabilitation and improving the rehabilitation effect.

[0062] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A wheelchair-type exoskeleton robot, characterized in that: The wheelchair-type exoskeleton robot has a standing state, a seat state and a supine state; The wheelchair-type exoskeleton robot comprises a bottom support mechanism (1), a bottom connection mechanism (2), a connection seat mechanism (3), a lower limb support mechanism (4), and a trunk support mechanism (5); the bottom support mechanism (1) is provided with a bottom connection mechanism (2); the top of the bottom connection mechanism (2) and the connection seat mechanism (3) form a connection structure; A power supply box (6) and a main control box (7) are installed on the bottom support mechanism (1); The connecting seat mechanism (3) forms a connecting structure with the lower limb supporting mechanism (4) and the trunk supporting mechanism (5) respectively.

2. A wheelchair-type exoskeleton robot according to claim 1, characterized in that: The bottom support mechanism (1) comprises a bottom bracket (101), an electric telescopic rod (105), a telescopic rod (106), a third connecting frame (108), a brushless motor (109), and a driving wheel (110); the bottom bracket (101) is an H-shaped structure consisting of two vertical rods and a horizontal rod; a power supply box (6), a main control box (7), and a bottom connecting mechanism (2) are installed on the horizontal rod; A No. 2 connecting frame (107) and a mounting seat (102) are respectively provided at the front and rear ends of each vertical rod, a No. 1 connecting frame (104) is respectively installed on each mounting seat (102), one end of the telescopic rod (106) is hinged to the No. 2 connecting frame (107), and a brushless motor (109) and a driving wheel (110) are installed at the other end of the telescopic rod (106), and the output shaft of the brushless motor (109) and the driving wheel (110) form a connecting structure; One end of the electric telescopic rod (105) is hinged to the first connecting frame (104), a third connecting frame (108) is installed on the telescopic rod (106), and the other end of the electric telescopic rod (105) is hinged to the third connecting frame (108); The main control box (7) is electrically connected to the power box (6), and the main control box (7) is electrically connected to the electric telescopic rod (105) and the brushless motor (109) respectively.

3. A wheelchair-type exoskeleton robot according to claim 2, characterized in that: The driving wheel (110) is a McNabb mother wheel.

4. A wheelchair-type exoskeleton robot according to claim 2, characterized in that: A driven wheel (103) is respectively installed at the bottom of each crossbar, and the driven wheel (103) is a universal wheel.

5. The wheelchair-type exoskeleton robot according to claim 1, characterized in that: The bottom connection mechanism (2) comprises an electric lifting platform (201) and a No. 1 connection flange (202); the electric lifting platform (201) is installed on the bottom support mechanism (1); a No. 1 connection flange (202) is fixedly provided on the top of the electric lifting platform (201); the bottom connection mechanism (2) forms a connection structure with the connection seat mechanism (3) via the No. 1 connection flange (202); and the electric lifting platform (201) is electrically connected to the main control box (7).

6. The wheelchair-type exoskeleton robot according to claim 1, characterized in that: The connecting seat mechanism (3) comprises a connecting base (301), a No. 2 connecting flange (302), a connecting plate (303), a gripping rod connecting piece (304), and a gripping rod (305). The bottom of the connecting base (301) is provided with a No. 2 connecting flange (302) for fixed connection with the bottom connecting mechanism (2). The No. 2 connecting flange (302) is fixedly connected to the connecting base (301). The left and right sides of the connecting base (301) are respectively provided with connecting plates (303) for hinged connection with the trunk supporting mechanism (5). Each of the connecting plates (303) is respectively provided with a gripping rod connecting piece (304). The top of the gripping rod connecting piece (304) is provided with a gripping rod (305). One side of the gripping rod connecting part (304) is provided with a No. 1 hinged plate (306) for hinged connection with the lower limb supporting mechanism (4).

7. The wheelchair-type exoskeleton robot according to claim 1, characterized in that: The lower limb support mechanism (4) comprises two leg mechanisms that are symmetrically arranged on the left and right, each of the leg mechanisms comprises a thigh connecting plate (401), a thigh electric telescopic rod (402), a second hinged plate (404), a calf electric telescopic rod (405), a calf connecting plate (406), a first connecting plate (407), a calf baffle (408), a foot pedal (410), a second connecting plate (411), and a thigh baffle (412), one end of the thigh connecting plate (401) is hinged to the connecting seat mechanism (3), and the thigh connecting plate (401) is hinged to the connecting seat mechanism (3). A thigh electric telescopic rod (402) is installed in the connecting plate (401), a movable end of the thigh electric telescopic rod (402) is provided with a second hinge plate (404), the calf connecting plate (406) is hingedly connected to the second hinge plate (404), a calf electric telescopic rod (405) is installed in the calf connecting plate (406), a movable end of the calf electric telescopic rod (405) is connected to the foot pedal (410), and the thigh electric telescopic rod (402) and the calf electric telescopic rod (405) are respectively electrically connected to the main control box (7); The rear side of the thigh connecting plate (401) is connected to the thigh baffle (412) via the No. 2 connecting plate (411), the No. 1 connecting plate (407) is hinged to the calf connecting plate (406), and the calf connecting plate (406) is connected to the calf baffle (408) via the No. 1 connecting plate (407).

8. The wheelchair-type exoskeleton robot according to claim 7, characterized in that: A No. 1 fastener (403) is installed on the movable end of the thigh electric telescopic rod (402), and a No. 2 fastener (409) is installed on the movable end of the calf electric telescopic rod (405).

9. The wheelchair-type exoskeleton robot according to claim 1, characterized in that: The trunk support mechanism (5) comprises a back plate (501), a first shaft (502), a drive motor (503), a second shaft (504), a back pad (505), a fixing rod (506), a back plate (507), a head pad (508), and a top handle (509). The back plate (501) is provided with a drive motor (503), and the drive motor (503) is electrically connected to a main control box (7). The left end of the back plate (501) is provided with a first shaft (502). 02), the first shaft rod (502) passes through the back plate (501) and is hinged to the connecting seat mechanism (3), a second shaft rod (504) is provided at the right end of the back plate (501), the output end of the drive motor (503) and the second shaft rod (504) form a connecting structure, the other end of the second shaft rod (504) passes through the back plate (501) and is hinged to the connecting seat mechanism (3), the second shaft rod (504) and the first shaft rod (502) are respectively fixedly connected to the back plate (501); The top of the back panel (501) is connected to the rear head panel (507) via a fixing rod (506), a top handle (509) is provided on the top of the rear head panel (507), a fixed back pad (505) is provided on the front side of the back panel (501), and a fixed headrest (508) is provided on the front side of the rear head panel (507).

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