Transmission device of exoskeleton of lower limb rehabilitation robot

Abstract

The invention relates to the technical field of rehabilitation medical equipment, and discloses a transmission device of a lower limb rehabilitation robot exoskeleton, comprising: a support mechanism for connecting and binding with the lower limb of a patient, so that the device is applied on the patient, and the device is prevented from falling off under multiple binding; the transmission mechanism is arranged in the supporting mechanism and used for controlling the angle of the supporting mechanism, so that the patient is driven to walk, and the patient can take care of himself / herself in life; the locking mechanism is arranged in the supporting mechanism and used for fixing the adjusted angle of the transmission mechanism, so that the current action of the patient is maintained. Through the multiple fixing and supporting mechanisms, the precisely-controlled transmission and locking mechanism and the flexible length adjusting mechanism, stable and comfortable wearing experience can be provided for a patient, precise control and angle locking of actions in training are ensured, and the rehabilitation efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical equipment, in particular to a transmission device of a lower limb rehabilitation robot exoskeleton. Background Art

[0002] With the development of rehabilitation medicine, lower limb rehabilitation robotic exoskeletons have gradually become an important device to help patients with lower limb dysfunction to conduct rehabilitation training. Such equipment is usually used to assist patients in gait training and help them restore normal leg mobility. Through the robotic exoskeleton device, the burden of patients' independent training can be effectively reduced and the rehabilitation effect can be improved, especially in the early stages of rehabilitation. It can provide necessary support and movement guidance.

[0003] An existing lower limb rehabilitation robot exoskeleton transmission device usually includes a support mechanism, a transmission mechanism and a control system. The transmission mechanism drives the joints of the exoskeleton through a motor or a servo system to help the patient complete the flexion and extension of the leg to simulate the gait of natural walking. The control system can adjust the parameters such as stride length and pace, so that the patient can gradually adapt to the training and improve the flexibility of the legs. The device replaces the traditional manual rehabilitation training in a mechanized way, improving the rehabilitation efficiency.

[0004] However, the existing technology has some shortcomings in application. First, the device is prone to loosening or shifting during wearing, causing patients to feel uncomfortable during training and even affecting the training effect. Second, the control accuracy of the transmission system is low, and it is difficult to achieve precise control of leg movements, which may increase patients' fatigue and reduce training effects. In addition, the length adjustment function of the existing device is limited and cannot adapt to patients of different body shapes, resulting in unsatisfactory support effect during training and difficulty in meeting the rehabilitation needs of different patients. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a transmission device for a lower limb rehabilitation robot exoskeleton. The present invention solves the problems of easy displacement, low control accuracy and inability to adapt to patients of different body shapes in the prior art through multiple fixed support mechanisms, precisely controlled transmission and locking mechanisms and flexible length adjustment mechanisms. This can provide patients with a stable and comfortable wearing experience, ensure precise control of movements and angle locking during training, and improve rehabilitation efficiency and safety.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A transmission device for a lower limb rehabilitation robot exoskeleton, comprising:

[0007] A supporting mechanism is used to connect and bind with the patient's lower limbs, so that the device can be used on the patient and prevent the device from falling off under multiple bindings;

[0008] A transmission mechanism, which is arranged inside the supporting mechanism and is used to control the angle of the supporting mechanism, thereby driving the patient to walk and enabling the patient to take care of himself in life;

[0009] A locking mechanism, which is arranged inside the supporting mechanism and is used to fix the angle of the transmission mechanism after adjustment, thereby maintaining the patient's current movement, and at the same time, can reserve a buffer position when driving the patient's legs, so as to avoid injuries to the patient's lower limbs caused by rigid adjustment of the device;

[0010] The adjusting mechanism is arranged in the middle of the supporting mechanism and is used to adjust the length of the supporting mechanism so as to make it suitable for patients of different heights.

[0011] Preferably, the supporting mechanism comprises two fixed blocks, the two fixed blocks are connected by a connecting rod, the outer sides of the connecting rod are fixedly connected to two waist belts, the two waist belts are connected by a connecting piece, the bottom of the fixed block is fixedly connected to an outer shell, the outer side of the outer shell is fixedly connected to a support plate 1, the outer side of the support plate 1 is fixedly installed with a leg belt 1, the bottom of the outer shell is rotatably connected to a support block, the outer side of the support block is slidably connected to a support plate 2, the outer side of the support plate 2 is fixedly installed with a leg belt 2, and the adjacent sides of the two support blocks are rotatably connected to a pad.

[0012] Preferably, the transmission mechanism includes two double-headed motors, the double-headed motors are fixedly connected to the inside of the fixed block, the two output ends of the double-headed motor are fixedly connected to a disc, the opposite sides of the two discs are fixedly connected to a U-shaped plate, the outer shell is fixedly connected between the two U-shaped plates, the outer side of the outer shell is fixedly connected to a dust cover, the inside of the dust cover is fixedly connected to a servo motor, the output end of the servo motor is fixedly connected to an output shaft, the inside of the outer shell is rotatably connected with a synchronous wheel 1 and a synchronous wheel 2 in sequence from top to bottom, a synchronous belt is sleeved on the outer periphery of the synchronous wheel 1 and the synchronous wheel 2, the synchronous wheel 1 is connected to the output shaft, the support block is sleeved on the outer periphery of the synchronous wheel 2, and a plurality of groups of clamping wheels are fixedly connected to the inside of the outer shell, and the synchronous belts are in contact with the clamping wheels.

[0013] Preferably, the locking mechanism includes a turntable, which is rotatably connected to the inside of the shell, a limit block is fixedly connected to the outside of the output shaft, the limit block is slidably connected to the inside of the turntable, a locking wheel is fixedly connected between the turntable and the synchronous wheel, two groups of compression springs are fixedly connected to the inside of the shell, the two groups of compression springs are fixedly connected at one end thereof, and the two locking blocks are fixedly connected at opposite sides thereof; a pull rope, and one end of the pull rope away from the locking block is fixedly connected to the outside of the output shaft.

[0014] Preferably, the adjusting mechanism includes a slider, the slider is rotatably connected to one side of the synchronous wheel 2, the outer side of the slider is fixedly connected to a rack plate, the rack plate is slidably connected to the inside of the shell, the inside of the shell is rotatably connected to a hollow gear, the rack plate and the hollow gear are meshed, the middle part of the hollow gear is slidably connected to a rotating rod, the outer side of the rotating rod is fixedly connected to a connecting block, the connecting block is slidably connected to the middle part of the hollow gear, one end of the rotating rod is fixedly connected to a positioning block, the inside of the shell is fixedly connected to a locking plate, the positioning block is slidably connected between the shell and the positioning block, the inside of the shell is fixedly connected to a compression spring 2, and the compression spring 2 is in contact with the positioning block.

[0015] Preferably, two foot straps are provided above the pad, and the two foot straps are respectively set in size and used to connect the patient's feet to the pad.

[0016] Preferably, a plurality of backrests are fixedly connected to the outer side of the connecting rod to relieve the patient's waist fatigue, so that the patient will not suffer waist damage when wearing it for a long time.

[0017] Preferably, a limiting groove is provided inside the turntable, and the limiting block is slidably connected to the middle part of the limiting groove.

[0018] Preferably, two sets of limiting wheels are rotatably connected inside the shell, and the limiting wheels and the pull rope are in rolling contact.

[0019] Preferably, a handle is fixedly connected to a side of the rotating rod away from the positioning block, and anti-slip grooves are arranged on the outer side of the handle.

[0020] Working principle: When in use, first connect the waist belt, leg belt one, leg belt two and pad to the patient's body in turn, and at the same time press the rotating rod to make the connecting block enter the hollow gear, and make the positioning block press the compression spring two and separate from the locking plate at the same time. At this time, the hollow gear can be rotated by rotating the rotating rod, and the rack plate and the slider can be driven to move while rotating, and the distance between the support block and the shell can be adjusted during the movement, so as to facilitate wearing by patients of different heights. When the support block moves downward, the synchronous wheel two will tighten the synchronous belt, and with the cooperation of the clamping wheel, the synchronous wheel one and the synchronous wheel two will always be connected to the synchronous belt;

[0021] When movement is required, the disc is rotated by driving the double-headed motor. At this time, the angle of the shell can be tilted through the U-shaped plate, so that it can complete the operation of lifting the patient's thigh. The servo motor works while driving the double-headed motor. At this time, the output shaft drives the limit block to rotate inside the turntable. When the limit block contacts the inner wall of the turntable, it can drive the turntable and the synchronous wheel 1 to rotate. While the synchronous wheel 1 rotates, the synchronous wheel 2 and the support block can be rotated through the synchronous belt, so that the patient's calf is partially bent;

[0022] When the output shaft rotates initially, the compression spring can pull the locking block to compress the compression spring. At this time, the locking wheel will not be blocked, so that the locking wheel drives the synchronous wheel to rotate and complete the operation of adjusting the patient's calf inclination angle. After the adjustment is completed, the above operation can be performed in reverse, so as to drive the patient to move, thereby helping the patient to perform rehabilitation training.

[0023] The present invention provides a transmission device for a lower limb rehabilitation robot exoskeleton.

[0024] Beneficial effects:

[0025] 1. The present invention can ensure the close combination of the device and the patient's lower limbs through the multiple fixing designs of the supporting mechanism, improve the wearing comfort and stability, prevent the device from shifting or falling off during long-term use, and ensure the safety of rehabilitation training.

[0026] 2. The present invention realizes the control of the patient's leg movements and angle fixation through the coordinated use of the transmission mechanism and the locking mechanism, so that the patient can perform gait training safely and stably, and effectively reduce the fatigue in rehabilitation training, while providing buffering protection for the legs and improving training efficiency.

[0027] 3. The present invention enables the device to adapt to the height and body shape of different patients through the setting of the adjustment mechanism, provides a flexible length adjustment function, and cooperates with the locking device to ensure the stability after adjustment, ensuring that the size and angle of the device can continue to remain in the most suitable state during rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A perspective view of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the housing of the present invention;

[0030] Figure 3 It is a structural schematic diagram of the transmission mechanism of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the locking mechanism of the present invention;

[0032] Figure 5It is a structural schematic diagram of the clamping wheel of the present invention;

[0033] Figure 6 It is a schematic structural diagram of the limit block of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the connection block of the present invention;

[0035] Figure 8 It is a structural schematic diagram of the positioning block of the present invention.

[0036] Among them, 10, support mechanism; 101, fixed block; 102, connecting rod; 103, connecting piece; 104, waist belt; 105, shell; 106, support plate 1; 107, leg belt 1; 108, support block; 109, support plate 2; 110, leg belt 2; 111, pad; 20, transmission mechanism; 201, double-headed motor; 202, disc; 203, U-shaped plate; 204, dust cover; 205, servo motor; 206, synchronous wheel 1; 207, synchronous wheel 2; 208, synchronous belt; 209, clamping wheel; 211, output shaft; 30, locking mechanism; 301, turntable; 302, limit block; 303, locking wheel; 304, pull rope; 305, locking block; 306, compression spring one; 307, limit wheel; 308, limit slot; 40, adjustment mechanism; 401, slider; 402, rack plate; 403, hollow gear; 404, rotating rod; 405, connecting block; 406, locking plate; 407, positioning block; 408, compression spring two. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Please see attached Figure 1 -Attached Figure 8 The embodiment of the present invention provides a transmission device of a lower limb rehabilitation robot exoskeleton, comprising:

[0039] The support mechanism 10 is used to connect and bind with the patient's lower limbs, so that the device can be used on the patient and prevent the device from falling off under multiple bindings. By using the support mechanism 10 to bind the device to the patient's lower limbs, stable support can be provided and the device can be prevented from falling off during long-term wearing, thereby ensuring the safety and comfort of the patient and avoiding the displacement or falling off problems that may occur in traditional devices;

[0040] The transmission mechanism 20 is arranged inside the support mechanism 10 and is used to control the angle of the support mechanism 10, thereby driving the patient to walk and enabling the patient to take care of himself in life. The transmission mechanism 20 can simulate the movements of lifting legs and bending knees in natural walking, gradually restore the patient's lower limb activity ability, thereby improving the efficiency of rehabilitation training, reducing the patient's fatigue, and avoiding the instability of artificial rehabilitation training;

[0041] The locking mechanism 30 is arranged inside the supporting mechanism 10 and is used to fix the angle adjusted by the transmission mechanism 20, so as to maintain the patient's current action. At the same time, a buffer position can be reserved when driving the patient's legs to avoid injuries to the patient's lower limbs caused by rigid adjustment of the device. The locking mechanism 30 enables the patient to stably complete each action during rehabilitation training and prevents secondary injuries caused by unstable angles or excessive adjustment. At the same time, the buffering effect provided by the locking mechanism can effectively reduce the patient's muscle and joint pressure and improve the safety of training;

[0042] The adjustment mechanism 40 is arranged in the middle of the support mechanism 10, and is used to adjust the length of the support mechanism 10 so that it is suitable for patients of different heights. The adjustment mechanism 40 allows the length of the device to be flexibly adjusted according to the height of the patient, thereby avoiding the problem that the device cannot adapt to different patients and improving the versatility of the rehabilitation device. At the same time, the adjustment mechanism makes the device suitable for a wide range of rehabilitation scenarios and meets the rehabilitation needs of different patients.

[0043] Please see attached Figure 1In a preferred embodiment of the present invention, the support mechanism 10 includes two fixed blocks 101, and the two fixed blocks 101 are connected by a connecting rod 102. The structural combination between the fixed block 101 and the connecting rod 102 can provide solid support to ensure wearing comfort and stability. Two waist belts 104 are fixedly connected to the outer side of the connecting rod 102, and the two waist belts 104 are connected by a connecting piece 103. The cooperation of the waist belt 104 and the connecting piece 103 can make the patient's waist fit closely with the device, thereby improving the adaptability and wearing comfort of the device. The bottom of the fixed block 101 is fixedly connected to a shell 105, and the outer side of the shell 105 is fixedly connected to a support plate 106, and the outer side of the support plate 106 is fixedly installed with a leg belt 107. The bottom is rotatably connected to a support block 108, the outer side of the support block 108 is slidably connected to a support plate 109, and the outer side of the support plate 109 is fixedly installed with a leg strap 110. Through the cooperation between the support plate 106, the leg strap 107, and the support plate 109 and the leg strap 110, the entire device can be installed on the patient to provide sufficient sports support, further improving the effect of rehabilitation training. The two sides of the two support blocks 108 are rotatably connected to a pad 111. The addition of the pad 111 enables the patient's feet to be stably supported. At the same time, through its rotatable connection design, the pad 111 can adapt to different movements of the patient's feet, thereby improving the patient's comfort and making rehabilitation training smoother. At the same time, it also improves the patient's stability during gait training.

[0044] Please refer to the attached Figure 1 -Attached Figure 4In a preferred embodiment of the present invention, the transmission mechanism 20 includes two double-headed motors 201, the double-headed motors 201 are fixedly connected to the inside of the fixed block 101, the two output ends of the double-headed motor 201 are fixedly connected to the discs 202, the opposite sides of the two discs 202 are fixedly connected to the U-shaped plates 203, the outer shell 105 is fixedly connected between the two U-shaped plates 203, the outer side of the outer shell 105 is fixedly connected to the dust cover 204, the double-headed motor 201 is used to drive the discs 202 to rotate, so that the U-shaped plates 203 drive the outer shell 105 to tilt, so that the bound device lifts the thigh part of the patient, and the inside of the dust cover 204 is fixedly connected to the servo motor 205, and the dust cover 204 is used to protect the servo motor 205 to prevent dust and rain from entering, thereby improving the servo The service life of the motor 205 is improved. The output end of the servo motor 205 is fixedly connected with the output shaft 211. The inside of the shell 105 is connected with the synchronous wheel 1 206 and the synchronous wheel 2 207, which are rotated from top to bottom in sequence. The outer periphery of the synchronous wheel 1 206 and the synchronous wheel 207 is sleeved with a synchronous belt 208. The synchronous wheel 1 206 is connected to the output shaft 211. The support block 108 is sleeved on the outer periphery of the synchronous wheel 207. The inside of the shell 105 is fixedly connected with multiple groups of clamping wheels 209. The synchronous belt 208 is in contact with the clamping wheel 209. By driving the double-headed motor 201, the connected output shaft 211 can drive the synchronous wheel 1 206 to rotate, thereby driving the synchronous wheel 2 207 to rotate slowly under the action of the synchronous belt 208, so that the patient's calf part is bent, thereby improving the patient's comfort.

[0045] Please refer to the attached Figure 3 -Attached Figure 6In a preferred embodiment of the present invention, the locking mechanism 30 includes a turntable 301, which is rotatably connected to the inside of the housing 105, and a limit block 302 is fixedly connected to the outside of the output shaft 211, and the limit block 302 is slidably connected to the inside of the turntable 301. A locking wheel 303 is fixedly connected between the turntable 301 and the synchronous wheel 206. Through the cooperation of the turntable 301 and the limit block 302, it can be ensured that the device can flexibly adjust and lock the angle of the patient's legs. Under the drive of the servo motor 205, the turntable 301 can control the bending or extension angle of the patient's legs through the cooperation of the limit block 302, helping the patient to maintain a stable posture during training, preventing unnecessary angle deviation, and enhancing the safety of rehabilitation training. Two groups of compression springs 306 are fixedly connected to the inside of the housing 105, and the adjacent ends of the two groups of compression springs 306 are fixedly connected to the locking blocks 305, and the opposite sides of the two locking blocks 305 are fixedly connected to the pull rope 304, and the pull rope 304 is away from the lock One end of the stop block 305 is fixedly connected to the outside of the output shaft 211, and the disc 202 does not rotate actively by means of damping. When the servo motor 205 is working, the output shaft 211 drives the limit block 302 to rotate, thereby driving the locking wheel 303 and the synchronous wheel 1 206 to rotate first. At this time, through the limiting of the limiting grooves 308 and 309, the synchronous wheel 1 206 can drive the synchronous wheel 207 to rotate, and then the synchronous wheel 207 drives the angle of the support block 108 to tilt, so that the calf can be slowly bent while the thigh is lifted, thereby imitating the operation of walking, and at the same time, a buffer space is left for the device. When the adjustment is completed, the servo motor 205 is driven to drive the output shaft 211 to rotate in the direction, so that the adjusted angle can be locked, and the calf can be straightened by rotating the output shaft 211 in the opposite direction again, so as to complete standing. The comfort, stability and safety of patients in rehabilitation training are improved through the transmission mechanism 20, and accidental injuries caused by excessive adjustment or external interference are effectively prevented.

[0046] Please see attached Figure 7 and attached Figure 8In a preferred embodiment of the present invention, the adjustment mechanism 40 includes a slider 401, which is rotatably connected to one side of the synchronous wheel 207, and a rack plate 402 is fixedly connected to the outer side of the slider 401, and the rack plate 402 is slidably connected to the inside of the shell 105. The synchronous wheel 207 can only be moved vertically by the slider 401 and the rack plate 402, so as to adjust the length between the support block 108 and the shell 105. The inside of the shell 105 is rotatably connected to a hollow gear 403, and the rack plate 402 and the hollow gear 403 are meshed. The middle part of the hollow gear 403 is slidably connected to a rotating rod 404, and the outer side of the rotating rod 404 is fixedly connected to a connecting block 405, and the connecting block 405 is slidably connected to the middle part of the hollow gear 403. One end of the rod 404 is fixedly connected to a positioning block 407, and the interior of the shell 105 is fixedly connected to a locking plate 406. The positioning block 407 is slidably connected between the shell 105 and the positioning block 407. The interior of the shell 105 is fixedly connected to a compression spring 408, and the compression spring 408 is in contact with the positioning block 407. By pressing the rotating rod 404, the positioning block 407 and the locking plate 406 can be separated. At the same time, with the action of the connecting block 405, the above operation combined with the locking plate 406 provides a reliable locking function for the adjustment mechanism 40. After the adjustment is completed, it can effectively prevent the adjustment state from changing or sliding, ensuring that the exoskeleton device can maintain a stable angle and size during rehabilitation training, further improving the safety and stability of rehabilitation training.

[0047] Please see attached Figure 1 In a preferred embodiment of the present invention, two foot straps are provided above the pad 111. The two foot straps are respectively set in size and are used to connect the patient's feet to the pad 111. The two foot straps can connect the device to the patient's feet, thereby avoiding the problem of the patient's feet falling off when walking.

[0048] Please see attached Figure 1 In a preferred embodiment of the present invention, a plurality of backrests are fixedly connected to the outer side of the connecting rod 102 to relieve the patient's waist fatigue, so that the patient will not suffer waist damage when wearing the device for a long time. The backrest can provide comfort when the patient uses the device for a long time for rehabilitation training, thereby improving the patient's satisfaction.

[0049] Please see attached Figure 6 In a preferred embodiment of the present invention, a limiting groove 308 is opened inside the turntable 301, and the limiting block 302 is slidably connected to the middle part of the limiting groove 308. The limiting groove 308 limits the limiting block 302 so that the limiting block 302 can move within a range in the turntable 301, thereby adjusting the angle of the patient's calf.

[0050] Please see attached Figure 6In a preferred embodiment of the present invention, two sets of limiting wheels 307 are rotatably connected inside the shell 105, and the limiting wheels 307 and the pull rope 304 are in rolling contact. The pull rope 304 can be limited by the limiting wheels 307, thereby reducing the friction between the pull rope 304 and the shell 105, thereby increasing the service life of the pull rope 304.

[0051] Please refer to Appendix 6- Figure 8 In a preferred embodiment of the present invention, a handle is fixedly connected to the side of the rotating rod 404 away from the positioning block 407, and anti-slip grooves are provided on the outer side of the handle. The rotating rod 404 can be easily operated through the handle and the anti-slip groove, so that the rotating rod 404 can be pressed or rotated more conveniently, thereby quickly increasing the adjustment speed of the device.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transmission device for a lower limb rehabilitation robot exoskeleton, characterized in that: include: The supporting mechanism (10) is used to connect and bind with the patient's lower limbs, so that the device can be used on the patient and prevent the device from falling off under multiple bindings; A transmission mechanism (20) is arranged inside the support mechanism (10) and is used to control the angle of the support mechanism (10), thereby driving the patient to walk and enabling the patient to take care of himself in life; A locking mechanism (30) is arranged inside the supporting mechanism (10) and is used to fix the angle of the transmission mechanism (20) after adjustment, thereby maintaining the patient's current movement, and at the same time, can reserve a buffer position when driving the patient's legs, thereby avoiding rigid adjustment of the device and causing injury to the patient's lower limbs; An adjustment mechanism (40) is arranged in the middle of the support mechanism (10) and is used to adjust the length of the support mechanism (10) so as to make it suitable for patients of different heights.

2. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 1, characterized in that: The support mechanism (10) comprises two fixed blocks (101), the two fixed blocks (101) are connected to each other via a connecting rod (102), the outer side of the connecting rod (102) is fixedly connected to two waist belts (104), the two waist belts (104) are connected to each other via a connecting piece (103), the bottom of the fixed block (101) is fixedly connected to a shell (105), the outer side of the shell (105) is fixedly connected to a support plate 1 (106), the outer side of the support plate 1 (106) is fixedly installed with a leg belt 1 (107), the bottom of the shell (105) is rotatably connected to a support block (108), the outer side of the support block (108) is slidably connected to a support plate 2 (109), the outer side of the support plate 2 (109) is fixedly installed with a leg belt 2 (110), and the adjacent sides of the two support blocks (108) are both rotatably connected to a pad (111).

3. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 2, characterized in that: The transmission mechanism (20) comprises two double-headed motors (201), the double-headed motors (201) are fixedly connected to the inside of the fixed block (101), the two output ends of the double-headed motor (201) are fixedly connected to a disk (202), the two opposite sides of the two disks (202) are fixedly connected to a U-shaped plate (203), the outer shell (105) is fixedly connected between the two U-shaped plates (203), the outer side of the outer shell (105) is fixedly connected to a dust cover (204), the inside of the dust cover (204) is fixedly connected to a servo motor (205), and the servo motor (205) ) is fixedly connected to an output shaft (211), the interior of the housing (105) is rotatably connected to a synchronous wheel 1 (206) and a synchronous wheel 2 (207) in sequence from top to bottom, a synchronous belt (208) is sleeved on the outer periphery of the synchronous wheel 1 (206) and the synchronous wheel 2 (207), the synchronous wheel 1 (206) and the output shaft (211) are connected, the support block (108) is sleeved on the outer periphery of the synchronous wheel 2 (207), a plurality of groups of clamping wheels (209) are fixedly connected to the interior of the housing (105), and the synchronous belt (208) and the clamping wheel (209) are in contact.

4. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 3, characterized in that: The locking mechanism (30) comprises a rotating disk (301), the rotating disk (301) is rotatably connected to the inside of the housing (105), a limit block (302) is fixedly connected to the outside of the output shaft (211), the limit block (302) is slidably connected to the inside of the rotating disk (301), a locking wheel (303) is fixedly connected between the rotating disk (301) and the synchronous wheel 1 (206), two groups of compression springs 1 (306) are fixedly connected to the inside of the housing (105), the two groups of compression springs 1 (306) are fixedly connected to the locking blocks (305) at their adjacent ends, and the two locking blocks (305) are fixedly connected to opposite sides thereof; a pull rope (304), the end of the pull rope (304) away from the locking block (305) is fixedly connected to the outside of the output shaft (211).

5. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 3, characterized in that: The adjusting mechanism (40) comprises a slider (401), the slider (401) is rotatably connected to one side of the synchronous wheel (207), a rack plate (402) is fixedly connected to the outer side of the slider (401), the rack plate (402) is slidably connected to the inside of the housing (105), a hollow gear (403) is rotatably connected to the inside of the housing (105), the rack plate (402) and the hollow gear (403) are meshed, a rotating rod (404) is slidably connected to the middle of the hollow gear (403), and the rotating rod (404) is 4) is fixedly connected to the outer side with a connecting block (405), the connecting block (405) is slidably connected to the middle part of the hollow gear (403), one end of the rotating rod (404) is fixedly connected to a positioning block (407), the interior of the housing (105) is fixedly connected to a locking plate (406), the positioning block (407) is slidably connected between the housing (105) and the positioning block (407), the interior of the housing (105) is fixedly connected to a second compression spring (408), and the second compression spring (408) is in contact with the positioning block (407).

6. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 2, characterized in that: Two foot straps are arranged above the pad (111), and the two foot straps are respectively arranged in different sizes and are used to connect the patient's feet to the pad (111).

7. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 2, characterized in that: The outer side of the connecting rod (102) is fixedly connected with a plurality of backrests, which are used to relieve the patient's waist fatigue, so that the patient will not suffer waist damage when wearing the backrest for a long time.

8. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 4, characterized in that: A limiting groove (308) is provided inside the rotating disk (301), and the limiting block (302) is slidably connected to the middle part of the limiting groove (308).

9. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 4, characterized in that: Two sets of limiting wheels (307) are rotatably connected inside the housing (105), and the limiting wheels (307) and the pull rope (304) are in rolling contact.

10. The transmission device of the lower limb rehabilitation robot exoskeleton according to claim 5, characterized in that: A handle is fixedly connected to one side of the rotating rod (404) away from the positioning block (407), and anti-slip grooves are arranged on the outer side of the handle.

Images