Symmetrical four-limb autonomous rehabilitation exoskeleton for paralyzed patient

Abstract

The invention discloses a symmetric four-limb autonomous rehabilitation exoskeleton for paralyzed patients, and relates to the technical field of exoskeletons.The symmetric four-limb autonomous rehabilitation exoskeleton comprises a moving frame arranged on the ground; the lifting device is fixedly installed at the top of the movable frame, and the lifting device is used for adjusting the height of the lifting device; the connecting frame is fixedly mounted on the surface of the lifting device; the fixed plate is fixedly mounted on the side, away from the lifting device, of the connecting frame; the supporting plate is fixedly mounted at the bottom of the fixing plate; the controller is fixedly mounted on the surface of the fixing plate, and the controller is used for controlling the lifting height of the lifting device; the clamping plates are clamped into the clamping grooves to limit the lifting device, and the situation that the lifting device is operated by mistake in the using process, the lifting device moves upwards or downwards, a patient is injured in the using process, and potential safety hazards exist is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and specifically to a symmetric four - limb autonomous rehabilitation exoskeleton for paralyzed patients. Background Technique

[0002] A symmetric four - limb autonomous rehabilitation exoskeleton for paralyzed patients is a robotic exoskeleton device for assisting patients in rehabilitation. Its main design purpose is to help those patients with quadriplegia perform exercise training and restore some of their limb functions.

[0003] The patent with the patent announcement number CN113910203B relates to a rehabilitation exoskeleton device, including an exoskeleton module, a host module, and a fixing bracket. The host module and the exoskeleton module are installed on the fixing bracket. The exoskeleton module includes a waist skeleton, a motor group, a leg skeleton, and a sole device. The waist skeleton is connected to the fixing bracket, the upper part of the leg skeleton is connected to the waist skeleton, the bottom of the leg skeleton is connected to the sole device, and the motor group is connected to the leg skeleton. When the motor group works, it drives the leg skeleton to move. The exoskeleton device provided by this patent has high safety and can analyze the force signals collected by the sole force sensor, the waist three - dimensional force sensor, and the high - precision three - axis force sensor on the leg, and then control the movement of the thigh motor and the calf motor, so as to assist the movement more precisely.

[0004] In the above - mentioned patent, the provided exoskeleton device has high safety and can analyze the force signals collected by the sole force sensor, the waist three - dimensional force sensor, and the high - precision three - axis force sensor on the leg, and then control the movement of the thigh motor and the calf motor, so as to assist the movement more precisely. However, users have different heights, and discomfort may occur when wearing the device, affecting normal rehabilitation training. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a symmetric four - limb autonomous rehabilitation exoskeleton for paralyzed patients, solving the problems raised in the above - mentioned background technique.

[0006] To achieve the above object, the present invention is realized by the following technical solutions: A symmetric four-limb autonomous rehabilitation exoskeleton for paralyzed patients, comprising: a moving frame, the moving frame is arranged on the ground; a lifting device, the lifting device is fixedly installed on the top of the moving frame, and the lifting device is used to adjust its own height; a connecting frame, the connecting frame is fixedly installed on the surface of the lifting device; a fixing plate, the fixing plate is fixedly installed on the side of the connecting frame away from the lifting device; a support plate, the support plate is fixedly installed at the bottom of the fixing plate; a controller, the controller is fixedly installed on the surface of the fixing plate, and the controller is used to control the lifting height of the lifting device; a rehabilitation device, the rehabilitation device is fixedly installed on the surface of the support plate; a support frame, the support frame is slidably installed on the inner wall of the connecting frame; a driving device, the driving device is fixedly installed on the surface of the lifting device; an arc plate, the arc plate is rotatably installed on the inner wall of the driving device, and the driving device is used to control the rotation angle of the arc plate; a short plate, the short plate is fixedly installed at the output end of the driving device, the rotation of the driving device will drive the short plate to rotate, the rotation of the short plate will push the triangular plate to move towards the lifting device, and the movement of the triangular plate towards the lifting device will drive the clamping plate to move towards the lifting device, and the movement of the clamping plate towards the lifting device will snap into the card slot.

[0007] According to the above technical solution, a clamping plate is slidably installed at the bottom of the driving device, a triangular plate is fixedly installed on the surface of the clamping plate, a card slot is opened on the surface of the lifting device, and a return spring is arranged between the driving device and the clamping plate. When the short plate is separated from the triangular plate, the elastic force of the return spring itself will drive the clamping plate to reset.

[0008] According to the above technical solution, a support device for auxiliary support and an anti-tipping device for preventing tipping are arranged at the top of the driving device. The support device includes a gear, a rack, a connecting plate, a rotating plate, a pulley frame and an L-shaped plate. The movement of the pulley frame towards the trapezoidal slide plate will drive the L-shaped plate to move towards the trapezoidal slide plate, and the movement of the L-shaped plate towards the trapezoidal slide plate will drive the support frame to move towards the trapezoidal slide plate. The gear is fixedly installed at the output end of the driving device, the rack is slidably installed on the top of the driving device, the surfaces of the gear and the rack are meshed, the connecting plate is fixedly installed on the surface of the rack, the pulley frame is slidably installed on the surface of the fixing plate, one end of the rotating plate is rotatably installed on the surface of the connecting plate, the other end of the rotating plate is rotatably installed on the surface of the pulley frame, the L-shaped plate is fixedly installed on the top of the pulley frame, and the L-shaped plate is fixedly installed on the surface of the support frame.

[0009] According to the above technical solution, a trapezoidal slide plate is slidably installed on the inner wall of the support plate, and an arc-shaped clamping plate is fixedly installed on the surface of the trapezoidal slide plate. The movement of the pulley frame towards the trapezoidal slide plate will push the trapezoidal slide plate to move away from the pulley frame, and the movement of the trapezoidal slide plate away from the pulley frame will drive the arc-shaped clamping plate to move away from the pulley frame.

[0010] According to the above technical solution, a first spring is arranged between the pulley frame and the fixed plate. When the rotating plate loses extrusion, the elastic force of the first spring itself will drive the pulley frame to reset. A second spring is arranged between the support plate and the trapezoidal slide plate. When the trapezoidal slide plate loses the extrusion of the pulley frame, the elastic force of the second spring itself will drive the trapezoidal slide plate to reset.

[0011] According to the above technical solution, the anti-tipping device includes an arc-shaped support plate and a sliding rod. When the arc-shaped clamping plate moves away from the pulley frame, it drives the sliding rod and the arc-shaped support plate to move towards the patient's waist. The sliding rod slidably penetrates the arc-shaped clamping plate, and the arc-shaped support plate is fixedly installed on the surface of the sliding rod.

[0012] According to the above technical solution, a triangular block is fixedly installed on the side of the sliding rod away from the arc-shaped support plate. An L-shaped rod is slidably installed on the trapezoidal slide plate. A rotating support frame is rotatably installed on the inner wall of the arc-shaped clamping plate. When the arc-shaped support plate moves towards the arc-shaped clamping plate, it drives the sliding rod to move towards the L-shaped rod. When the sliding rod moves towards the L-shaped rod, it drives the triangular block to move towards the L-shaped rod. When the triangular block moves towards the L-shaped rod, it pushes the L-shaped rod to move away from the triangular block.

[0013] According to the above technical solution, a long plate is fixedly installed at the bottom of the trapezoidal slide plate. The long plate is slidably installed inside the support plate. An L-shaped frame is fixedly installed on the surface of the long plate. A trapezoidal plate is slidably installed on the surface of the support plate. An auxiliary wheel frame is rotatably installed on the surface of the moving frame. A fixed frame is fixedly installed on the surface of the auxiliary wheel frame. When the trapezoidal slide plate moves away from the pulley frame, it drives the long plate to move away from the pulley frame. When the long plate moves away from the pulley frame, it drives the L-shaped frame to move away from the pulley frame. When the L-shaped frame moves away from the pulley frame, it pushes the trapezoidal plate to move towards the fixed frame.

[0014] According to the above technical solution, a third spring is provided between the sliding rod and the arc-shaped clamping plate. When the arc-shaped supporting plate loses contact with the patient, the elastic force of the third spring itself will drive the sliding rod to reset. A fourth spring is provided between the trapezoidal sliding plate and the L-shaped rod. After the sliding rod is reset, the L-shaped rod will be reset under the elastic force of the fourth spring due to the extrusion of the triangular block. A first torsion spring is provided between the arc-shaped clamping plate and the rotating support frame. After the L-shaped rod is reset, the elastic force of the first torsion spring itself will drive the rotating support frame to reset. A fifth spring is provided between the long plate and the support plate. After the trapezoidal sliding plate is reset, the elastic force of the fifth spring itself will drive the long plate to reset. A sixth spring is provided between the support plate and the trapezoidal plate. After the long plate drives the L-shaped frame to reset, the trapezoidal plate loses extrusion and will be reset under the elastic force of the sixth spring. A second torsion spring is provided between the moving frame and the auxiliary wheel frame. After the trapezoidal plate is reset, the elastic force of the second torsion spring, which the fixed frame loses extrusion, will drive the auxiliary wheel frame to reset.

[0015] The present invention provides a symmetric four-limbed autonomous rehabilitation exoskeleton for paralyzed patients, having the following beneficial effects: (1) In this invention, when the driving device is started, the rotation of the driving device will drive the arc-shaped plate to rotate. The rotation of the arc-shaped plate will enclose the patient in the middle for protection, preventing the patient's body from leaning forward and the center of gravity being unstable, resulting in the device tipping over. At the same time, the rotation of the driving device will drive the short plate to rotate. The rotation of the short plate will push the triangular plate to move towards the lifting device. The movement of the triangular plate towards the lifting device will drive the clamping plate to move towards the lifting device. The movement of the clamping plate towards the lifting device will snap into the card slot. The lifting device is limited by the clamping plate snapping into the card slot, preventing the lifting device from being misoperated during use, resulting in the lifting device moving up or down, causing harm to the patient during use and posing a safety hazard. (2) In this invention, the support frame moves towards the trapezoidal sliding plate to assist in supporting both sides of the patient, preventing the patient's body from tilting. At the same time, the patient can assist by placing their hand on the support frame, which is convenient for use. At the same time, the pulley frame moves towards the trapezoidal sliding plate, which will push the trapezoidal sliding plate to move away from the pulley frame. The movement of the trapezoidal sliding plate away from the pulley frame will drive the arc-shaped clamping plate to move away from the pulley frame. By moving the arc-shaped clamping plate away from the pulley frame, the patient's waist is supported, improving the stability of the patient during use and enhancing the safety effect. (3) In this invention, the rotating support frame rotates to protect the patient's waist, ensuring that the patient will not tip over during use and improving the safety of the device. At the same time, the L-shaped frame moves away from the pulley frame, which will push the trapezoidal plate towards the fixed frame. The fixed frame is pushed to drive the rotating fixed frame to drive the auxiliary wheel frame to rotate to assist in supporting the ground, preventing the patient from tilting and causing the center of gravity of the device to be unstable, posing a safety hazard. Description of the Drawings

[0016] Figure 1Schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Schematic enlarged view of the structure of part A in the present invention; Figure 3 Schematic diagram of the structure of the support plate and the pulley frame of the present invention; Figure 4 Schematic diagram of the structure of the driving device and the arc plate of the present invention; Figure 5 For the present invention Figure 4 Schematic enlarged view of the structure of part B in the present invention; Figure 6 Schematic diagram of the structure of the moving frame and the rotating support frame of the present invention; Figure 7 Schematic cross-sectional view of the arc-shaped clamping plate of the present invention.

[0017] In the figure: 1. Moving frame; 2. Lifting device; 3. Connecting frame; 4. Fixed plate; 5. Support plate; 6. Controller; 7. Rehabilitation device; 8. Support frame; 9. Driving device; 10. Arc plate; 11. Short plate; 12. Triangular plate; 13. Clamping plate; 141. Gear; 142. Rack; 143. Connecting plate; 144. Rotating plate; 145. Pulley frame; 146. L-shaped plate; 147. Trapezoidal sliding plate; 148. Arc-shaped clamping plate; 151. Arc-shaped supporting plate; 152. Sliding rod; 153. Triangular block; 154. L-shaped rod; 155. Rotating support frame; 156. Long plate; 157. L-shaped frame; 158. Trapezoidal plate; 159. Auxiliary wheel frame; 1510. Fixed frame. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1 - 5, an embodiment of the present invention is: a symmetrical four - limb autonomous rehabilitation exoskeleton for paralyzed patients, comprising: a mobile frame 1, the mobile frame 1 is arranged on the ground; a lifting device 2, the lifting device 2 is fixedly installed on the top of the mobile frame 1, and the lifting device 2 is used to adjust its own height; a connecting frame 3, the connecting frame 3 is fixedly installed on the surface of the lifting device 2; a fixing plate 4, the fixing plate 4 is fixedly installed on the side of the connecting frame 3 away from the lifting device 2; a support plate 5, the support plate 5 is fixedly installed at the bottom of the fixing plate 4; a controller 6, the controller 6 is fixedly installed on the surface of the fixing plate 4, and the controller 6 is used to control the lifting height of the lifting device 2; a rehabilitation device 7, the rehabilitation device 7 is fixedly installed on the surface of the support plate 5; a support frame 8, the support frame 8 is slidably installed on the inner wall of the connecting frame 3; a driving device 9, the driving device 9 is fixedly installed on the surface of the lifting device 2; an arc - shaped plate 10, the arc - shaped plate 10 is rotatably installed on the inner wall of the driving device 9, and the driving device 9 is used to control the rotation angle of the arc - shaped plate 10; a short plate 11, the short plate 11 is fixedly installed at the output end of the driving device 9. The lifting device 2 is limited by the clamping plate 13 being inserted into the card slot, preventing the lifting device 2 from being misoperated during use, resulting in the lifting device 2 moving up or down, causing harm to the patient during use and posing a safety hazard.

[0020] A clamping plate 13 is slidably installed at the bottom of the driving device 9, a triangular plate 12 is fixedly installed on the surface of the clamping plate 13, a card slot is opened on the surface of the lifting device 2, and a return spring is arranged between the driving device 9 and the clamping plate 13. When the short plate 11 is separated from the triangular plate 12, the elastic force of the return spring itself will drive the clamping plate 13 to reset.

[0021] When this embodiment works: the height of the lifting device 2 is controlled by the controller 6, which can adapt to patients of different heights and is convenient to use. At the same time, the patient's legs are tied to the rehabilitation device 7, and rehabilitation training is carried out through the rehabilitation device 7. Then, the driving device 9 is started. The rotation of the driving device 9 will drive the arc - shaped plate 10 to rotate. The rotation of the arc - shaped plate 10 will enclose the patient in the middle for protection, preventing the patient's body from leaning forward and the center of gravity being unstable, resulting in the equipment tipping over. At the same time, the rotation of the driving device 9 will drive the short plate 11 to rotate. The rotation of the short plate 11 will push the triangular plate 12 to move towards the lifting device 2. The movement of the triangular plate 12 towards the lifting device 2 will drive the clamping plate 13 to move towards the lifting device 2. The movement of the clamping plate 13 towards the lifting device 2 will be inserted into the card slot. The lifting device 2 is limited by the clamping plate 13 being inserted into the card slot, preventing the lifting device 2 from being misoperated during use, resulting in the lifting device 2 moving up or down, causing harm to the patient during use and posing a safety hazard.

[0022] Please refer to Figures 1 - 7, on the basis of the above embodiments, in another embodiment of the present invention, a support device for auxiliary support and an anti-tipping device for preventing tipping are provided on the top of the driving device 9. The support device includes a gear 141, a rack 142, a connecting plate 143, a rotating plate 144, a pulley bracket 145 and an L-shaped plate 146. The gear 141 is fixedly installed at the output end of the driving device 9, the rack 142 is slidably installed on the top of the driving device 9, the surfaces of the gear 141 and the rack 142 are meshed, the connecting plate 143 is fixedly installed on the surface of the rack 142, the pulley bracket 145 is slidably installed on the surface of the fixing plate 4, one end of the rotating plate 144 is rotatably installed on the surface of the connecting plate 143, the other end of the rotating plate 144 is rotatably installed on the surface of the pulley bracket 145, the L-shaped plate 146 is fixedly installed on the top of the pulley bracket 145, and the L-shaped plate 146 is fixedly installed on the surface of the support frame 8. By moving the support frame 8 in the direction close to the trapezoidal slide plate 147, auxiliary support is provided on both sides of the patient to prevent the patient's body from tilting. At the same time, the patient can assist by placing the hand on the support frame 8, which is convenient to use.

[0023] A trapezoidal slide plate 147 is slidably installed on the inner wall of the support plate 5, and an arc-shaped clamping plate 148 is fixedly installed on the surface of the trapezoidal slide plate 147. By moving the arc-shaped clamping plate 148 in the direction away from the pulley bracket 145, the waist of the patient is supported, improving the stability of the patient during use and enhancing the safety effect.

[0024] A first spring is provided between the pulley bracket 145 and the fixing plate 4. When the rotating plate 144 loses extrusion, the elastic force of the first spring itself will drive the pulley bracket 145 to reset. A second spring is provided between the support plate 5 and the trapezoidal slide plate 147. When the trapezoidal slide plate 147 loses the extrusion of the pulley bracket 145, the elastic force of the second spring itself will drive the trapezoidal slide plate 147 to reset.

[0025] The anti-tipping device includes an arc-shaped support plate 151 and a sliding rod 152. The sliding rod 152 slidably penetrates through the arc-shaped clamping plate 148, and the arc-shaped support plate 151 is fixedly installed on the surface of the sliding rod 152 to provide auxiliary support for the waist of the patient.

[0026] A triangular block 153 is fixedly installed on the side of the sliding rod 152 away from the arc-shaped support plate 151. An L-shaped rod 154 is slidably installed on the trapezoidal slide plate 147, and a rotating support frame 155 is rotatably installed on the inner wall of the arc-shaped clamping plate 148. By rotating the rotating support frame 155, the waist of the patient is protected to ensure that the patient will not tip over during use and improve the safety of the device.

[0027] A long board 156 is fixedly installed at the bottom of the trapezoidal sliding plate 147. The long board 156 is slidably installed on the inner wall of the support plate 5. An L-shaped frame 157 is fixedly installed on the surface of the long board 156. A trapezoidal plate 158 is slidably installed on the surface of the support plate 5. An auxiliary wheel frame 159 is rotatably installed on the surface of the moving frame 1. A fixed frame 1510 is fixedly installed on the surface of the auxiliary wheel frame 159. By pushing the fixed frame 1510 to rotate, the auxiliary wheel frame 159 is driven to rotate to assist in supporting the ground, preventing the patient from tilting and causing the center of gravity of the device to be unstable, which poses a safety hazard.

[0028] A third spring is provided between the sliding rod 152 and the arc-shaped clamping plate 148. When the arc-shaped supporting plate 151 loses contact with the patient, the elastic force of the third spring itself will drive the sliding rod 152 to reset. A fourth spring is provided between the trapezoidal sliding plate 147 and the L-shaped rod 154. After the sliding rod 152 resets, the L-shaped rod 154 will be reset under the elastic force of the fourth spring due to the extrusion of the triangular block 153. A first torsion spring is provided between the arc-shaped clamping plate 148 and the rotating support frame 155. After the L-shaped rod 154 resets, the elastic force of the first torsion spring itself will drive the rotating support frame 155 to reset. A fifth spring is provided between the long board 156 and the support plate 5. After the trapezoidal sliding plate 147 resets, the elastic force of the fifth spring itself will drive the long board 156 to reset. A sixth spring is provided between the support plate 5 and the trapezoidal plate 158. After the long board 156 drives the L-shaped frame 157 to reset, the trapezoidal plate 158 loses extrusion and will be reset under the elastic force of the sixth spring. A second torsion spring is provided between the moving frame 1 and the auxiliary wheel frame 159. After the trapezoidal plate 158 resets, the elastic force of the second torsion spring will drive the auxiliary wheel frame 159 to reset when the fixed frame 1510 loses extrusion.

[0029] During the operation of this embodiment: The driving device 9 rotates to drive the gear 141 to rotate. The rotation of the gear 141 drives the rack 142 to move towards the lifting device 2. The movement of the rack 142 towards the lifting device 2 drives the connecting plate 143 to move towards the lifting device 2. The movement of the connecting plate 143 towards the lifting device 2 squeezes the rotating plate 144 to rotate. The rotation of the rotating plate 144 drives the pulley frame 145 to move towards the trapezoidal slide plate 147. The movement of the pulley frame 145 towards the trapezoidal slide plate 147 drives the L-shaped plate 146 to move towards the trapezoidal slide plate 147. The movement of the L-shaped plate 146 towards the trapezoidal slide plate 147 drives the support frame 8 to move towards the trapezoidal slide plate 147. The support frame 8 moves towards the trapezoidal slide plate 147 to assist in supporting both sides of the patient, preventing the patient's body from tilting. At the same time, the patient can assist by placing their hand on the support frame 8, which is convenient to use. At the same time, the movement of the pulley frame 145 towards the trapezoidal slide plate 147 pushes the trapezoidal slide plate 147 to move away from the pulley frame 145. The movement of the trapezoidal slide plate 147 away from the pulley frame 145 drives the arc-shaped splint 148 to move away from the pulley frame 145. The movement of the arc-shaped splint 148 away from the pulley frame 145 supports the patient's waist, improving the stability of the patient during use and enhancing the safety effect.

[0030] The movement of the arc-shaped splint 148 away from the pulley frame 145 drives the sliding rod 152 and the arc-shaped support plate 151 to move towards the patient's waist. When contacting the patient, it will be pushed by the reaction force to drive the arc-shaped support plate 151 to move towards the arc-shaped splint 148. The movement of the arc-shaped support plate 151 towards the arc-shaped splint 148 drives the sliding rod 152 to move towards the L-shaped rod 154. The movement of the sliding rod 152 towards the L-shaped rod 154 drives the triangular block 153 to move towards the L-shaped rod 154. The movement of the triangular block 153 towards the L-shaped rod 154 pushes the L-shaped rod 154 to move away from the triangular block 153. The movement of the L-shaped rod 154 away from the triangular block 153 drives the rotating support frame 155 to rotate, protecting the patient's waist through the rotation of the rotating support frame 155 to ensure that the patient will not fall during use and improving the safety of the device. At the same time, the movement of the trapezoidal slide plate 147 away from the pulley frame 145 drives the long plate 156 to move away from the pulley frame 145. The movement of the long plate 156 away from the pulley frame 145 drives the L-shaped frame 157 to move away from the pulley frame 145. The movement of the L-shaped frame 157 away from the pulley frame 145 pushes the trapezoidal plate 158 to move towards the fixed frame 1510. The fixed frame 1510 drives the auxiliary wheel frame 159 to rotate through the rotation of the fixed frame 1510 to assist in supporting the ground, preventing the equipment from being unstable due to the patient's tilt and posing a safety hazard.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A symmetrical four-limb autonomous rehabilitation exoskeleton for paralyzed patients, an exoskeleton device for assisting paralyzed patients in rehabilitation training, characterized in that: include: A mobile frame (1), wherein the mobile frame (1) is arranged on the ground; A lifting device (2), the lifting device (2) being fixedly mounted on the top of the mobile frame (1), and the lifting device (2) being used to adjust its own height; A connecting frame (3), wherein the connecting frame (3) is fixedly mounted on the surface of the lifting device (2); A fixing plate (4), the fixing plate (4) being fixedly mounted on a side of the connecting frame (3) away from the lifting device (2); A support plate (5), wherein the support plate (5) is fixedly mounted on the bottom of the fixed plate (4); A controller (6), the controller (6) being fixedly mounted on the surface of the fixed plate (4), the controller (6) being used to control the lifting height of the lifting device (2); A rehabilitation device (7), wherein the rehabilitation device (7) is fixedly mounted on the surface of the support plate (5); A support frame (8), wherein the support frame (8) is slidably mounted on the inner wall of the connecting frame (3); A driving device (9), wherein the driving device (9) is fixedly mounted on the surface of the lifting device (2); An arc-shaped plate (10), wherein the arc-shaped plate (10) is rotatably mounted on an inner wall of a driving device (9), and the driving device (9) is used to control a rotation angle of the arc-shaped plate (10); A short plate (11), wherein the short plate (11) is fixedly mounted on an output end of the driving device (9).

2. The symmetrical limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 1, characterized in that: A card plate (13) is slidably mounted on the bottom of the driving device (9), a triangular plate (12) is fixedly mounted on the surface of the card plate (13), a card slot is provided on the surface of the lifting device (2), a return spring is provided between the driving device (9) and the card plate (13), and a support device for auxiliary support and an anti-dumping device for preventing dumping are provided on the top of the driving device (9).

3. The symmetrical limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 2, characterized in that: The supporting device comprises a gear (141), a rack (142), a connecting plate (143), a rotating plate (144), a pulley frame (145) and an L-shaped plate (146); the gear (141) is fixedly mounted on the output end of the driving device (9); the rack (142) is slidably mounted on the top of the driving device (9); the surfaces of the gear (141) and the rack (142) are meshed; the connecting plate (143) is fixedly mounted on the surface of the rack (142); the pulley frame (145) is slidably mounted on the surface of the fixed plate (4); one end of the rotating plate (144) is rotatably mounted on the surface of the connecting plate (143); the other end of the rotating plate (144) is rotatably mounted on the surface of the pulley frame (145); the L-shaped plate (146) is fixedly mounted on the top of the pulley frame (145); and the L-shaped plate (146) is fixedly mounted on the surface of the supporting frame (8).

4. The symmetrical four-limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 3, characterized in that: A trapezoidal slide plate (147) is slidably mounted on the inner wall of the support plate (5), and an arc-shaped clamping plate (148) is fixedly mounted on the surface of the trapezoidal slide plate (147).

5. The symmetrical four-limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 4, characterized in that: A first spring is arranged between the pulley frame (145) and the fixed plate (4), and a second spring is arranged between the support plate (5) and the trapezoidal slide plate (147).

6. The symmetrical limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 5, characterized in that: The anti-dumping device comprises an arc-shaped supporting plate (151) and a sliding rod (152), wherein the sliding rod (152) slides through the arc-shaped clamping plate (148), and the arc-shaped supporting plate (151) is fixedly mounted on the surface of the sliding rod (152).

7. The symmetrical limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 6, characterized in that: A triangular block (153) is fixedly mounted on one side of the sliding rod (152) away from the arc-shaped supporting plate (151), an L-shaped rod (154) is slidably mounted on the trapezoidal sliding plate (147), and a rotating support frame (155) is rotatably mounted on the inner wall of the arc-shaped clamping plate (148).

8. The symmetrical four-limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 7, characterized in that: A long board (156) is fixedly mounted on the bottom of the trapezoidal slide plate (147), the long board (156) is slidably mounted on the inner wall of the support plate (5), an L-shaped frame (157) is fixedly mounted on the surface of the long board (156), a trapezoidal board (158) is slidably mounted on the surface of the support plate (5), an auxiliary wheel frame (159) is rotatably mounted on the surface of the movable frame (1), and a fixed frame (1510) is fixedly mounted on the surface of the auxiliary wheel frame (159).

9. The symmetrical four-limb autonomous rehabilitation exoskeleton for paralyzed patients according to claim 8, characterized in that: A No. 3 spring is arranged between the sliding rod (152) and the arc-shaped clamping plate (148), a No. 4 spring is arranged between the trapezoidal sliding plate (147) and the L-shaped rod (154), a No. 1 torsion spring is arranged between the arc-shaped clamping plate (148) and the rotating support frame (155), a No. 5 spring is arranged between the long plate (156) and the support plate (5), a No. 6 spring is arranged between the support plate (5) and the trapezoidal plate (158), and a No. 2 torsion spring is arranged between the moving frame (1) and the auxiliary wheel frame (159).

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