Movable lower limb rehabilitation robot

Abstract

The invention discloses a movable lower limb rehabilitation robot. The movable lower limb rehabilitation robot comprises a support mechanism, a suspension mechanism and an exoskeleton mechanism. The support mechanism comprises a main body frame, a winding and unwinding device, a traction rope and trundles arranged at the bottom of the main body frame. The suspension mechanism is arranged at the top of the main body frame and comprises a first pulley device arranged on the first buffer base assembly and a second pulley device arranged on the second buffer base assembly; the first pulley device comprises a first rotating assembly, a guide rail assembly, a second rotating assembly and a first pulley component which are sequentially stacked and mounted; and the second pulley device is arranged on the second buffer base assembly. The exoskeleton mechanism is provided with a fixing part, one end of the traction rope is connected with the retracting and releasing device, and the other end of the traction rope is sequentially hung on the second pulley component and the first pulley component and then connected with the fixing part, so that the exoskeleton mechanism is suspended in the main body frame, and the exoskeleton mechanism can perform dynamic traction following according to the gravity center; and the naturalness and comfort of rehabilitation training are obviously improved.

Description

Technical Field

[0001] This application relates to the field of rehabilitation robot technology, and in particular to a mobile lower limb rehabilitation robot. Background Technology

[0002] Currently, neurological diseases such as stroke and spinal cord injury, along with lower limb motor dysfunction caused by aging, have become significant social problems affecting human health. Statistics show that over 2 million new stroke patients are diagnosed in my country each year, with approximately 70% experiencing varying degrees of motor dysfunction. Traditional manual rehabilitation methods are insufficient to meet clinical needs due to the low workload of therapists and a lack of standardized training. The development of rehabilitation robot technology offers a new approach to solving this problem. By combining mechanical structures with intelligent control, it can achieve standardized and personalized rehabilitation training. Currently, lower limb rehabilitation robots abroad are mainly divided into two categories: ground-walking robots and weight-reduced suspension robots. Ground-walking robots assist patients in standing and walking through rigid exoskeleton structures, but suffer from poor human-machine adaptation and insufficient dynamic stability. While weight-reduced suspension robots provide stable support, their fixed training modes make it difficult to simulate gait in real-world environments. Existing technologies generally have the following limitations: insufficient biomimetic design of the exoskeleton structure; low matching degree of freedom of movement of the hip and knee joints with human physiological structure; lack of dynamic center of gravity following mechanism, leading to inaccurate human-machine interaction force control; and training scenarios limited to laboratory environments, making it difficult to achieve routine rehabilitation training. Currently, domestic lower limb rehabilitation robot products are mainly weight-reduced suspension type fixed position lower limb rehabilitation exoskeletons. These products are small in size and relatively bulky, and can usually only be fixedly placed in specific places such as hospitals and rehabilitation centers. They can only meet the rehabilitation training in specific scenarios and cannot be applied to daily scenario training, which slightly limits the range of activities of rehabilitation patients. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. This application provides a mobile lower limb rehabilitation robot capable of dynamically following the center of gravity of an exoskeleton mechanism, significantly improving the naturalness and comfort of rehabilitation training.

[0004] The mobile lower limb rehabilitation robot according to an embodiment of this application includes:

[0005] A support mechanism, comprising a main frame, a retraction device, casters, and a traction rope, wherein the casters are located at the bottom of the main frame;

[0006] The suspension mechanism includes a first buffer base assembly, a second buffer base assembly, a first pulley device, and a second pulley device. The first buffer base assembly and the second buffer base assembly are spaced apart and disposed on the top of the main frame. The second pulley device includes at least two second pulley components, which are fixedly disposed on the second buffer base assembly.

[0007] An exoskeleton mechanism, wherein the exoskeleton mechanism is provided with at least two fixing parts;

[0008] The first pulley device includes a first rotating component, a guide rail component, at least two second rotating components, and at least two first pulley components. The guide rail component is rotatably mounted on the first buffer base component via the first rotating component. The second rotating components are slidably mounted on the guide rail component, and the first pulley components are mounted on the second rotating components. One end of the traction rope is connected to the retraction device, and the other end of the traction rope is sequentially hung on the second pulley components and the first pulley components. The other end of the traction rope is connected to the fixing part, so that the exoskeleton mechanism is suspended within the main frame.

[0009] The mobile lower limb rehabilitation robot according to the embodiments of this application has at least the following beneficial effects:

[0010] The mobile lower limb rehabilitation robot of this application includes a support mechanism, a suspension mechanism, and an exoskeleton mechanism. The support mechanism includes a main frame, a retraction / deployment device, casters, and a traction rope. The casters are located at the bottom of the main frame to allow for mobility changes in the application environment of the lower limb rehabilitation robot, providing stable lower limb rehabilitation training both indoors and outdoors. The retraction / deployment device controls the retraction / deployment and tension adjustment of the traction rope. The suspension mechanism includes a first buffer base assembly, a second buffer base assembly, a first pulley device, and a second pulley device. The suspension mechanism enables the exoskeleton mechanism to dynamically follow the center of gravity. The first and second buffer base assemblies are spaced apart at the top of the main frame, and both the first and second buffer base assemblies are capable of vertical cushioning movement. The first pulley device includes a first rotating component, a guide rail component, at least two second rotating components, and at least two first pulley components. The first rotating component is mounted on a first buffer base component. The guide rail component is rotatably mounted on the first buffer base component via the first rotating component, giving the guide rail component rotational freedom. The second rotating component is slidably mounted on the guide rail component, giving the second rotating component translational freedom in addition to rotational freedom. The first pulley components are mounted on the second rotating components and can rotate around the rotation axis of the second rotating component. The second pulley device includes at least two second pulley components, which are fixedly mounted on the second buffer base component. The second pulley components guide the direction of the traction rope and provide height support. The exoskeleton mechanism has at least two fixing parts. One end of the traction rope is connected to a retraction device. The other end of the traction rope is first hung sequentially on the second pulley components and the first pulley components, and then connected to the fixing parts, so that the exoskeleton mechanism is suspended within the main frame, supporting the exoskeleton mechanism and assisting the user in weight reduction, thereby completing the rehabilitation training process. When a user walks while wearing the exoskeleton, the exoskeleton shifts in the up, down, left, right, forward, and backward directions according to changes in the user's body posture. The dynamic path of the traction rope is adaptively adjusted through the suspension mechanism, ensuring that the exoskeleton is always under vertical upward traction, avoiding lateral pull and restriction. This application provides stable support for the user's lower limb movements and, through the suspension module, guides the exoskeleton to follow the up, down, forward, backward, and left and right movements of the user's center of gravity. This effectively reduces the exoskeleton's interference with human movement, improving training comfort and naturalness.

[0011] According to some embodiments of this application, the exoskeleton mechanism includes a waist connection device, a thigh connection device, a calf connection device, and a foot connection device connected in sequence; the fixing part is disposed on the waist connection device; the waist connection device is provided with a hip bearing, the thigh connection device is provided with a first protruding shaft that mates with the hip bearing, and a knee bearing; the calf connection device is provided with a second protruding shaft that mates with the knee bearing; the foot connection device includes an Achilles tendon fixing block that is connected to the calf connection device.

[0012] According to some embodiments of this application, the waist connection device includes a back support, a side support, a left waist-leg connector, and a right waist-leg connector. The back support and the side support are connected. The left waist-leg connector and the right waist-leg connector are respectively adjustablely mounted on the back support. Two fixing parts are respectively mounted on the left waist-leg connector and the right waist-leg connector. Two hip bearings are provided, and the two hip bearings are respectively mounted on the left waist-leg connector and the right waist-leg connector.

[0013] According to some embodiments of this application, the thigh connecting device includes a left thigh connector and a right thigh connector. The left thigh connector and the right thigh connector respectively include a first thigh clamp, a second thigh clamp, a third thigh clamp, a thigh axle plate, and a first bolt assembly. The first thigh clamp and the third thigh clamp are respectively provided with a first limiting part, and the second thigh clamp is provided with a first waist hole groove. The first bolt assembly passes through the first limiting part and the first waist hole groove, so that the first thigh clamp and the third thigh clamp are detachably and adjustablely connected to the second thigh clamp. The thigh axle plate is disposed between the first thigh clamp and the third thigh clamp, and the first protruding shaft is disposed on the thigh axle plate. The third thigh clamp is provided with a first adjustable strap. The knee bearing is disposed on the second thigh clamp.

[0014] According to some embodiments of this application, the calf connecting device includes a left calf connecting member and a right calf connecting member. The left calf connecting member and the right calf connecting member respectively include a first calf clamp, a second calf clamp, a third calf clamp, and a second bolt assembly. The first calf clamp and the third calf clamp are respectively provided with a second limiting part. The second calf clamp is provided with a second waist hole groove. The second bolt assembly passes through the second limiting part and the second waist hole groove, so that the first calf clamp and the third calf clamp are respectively detachably and adjustablely connected to the second calf clamp. A second protruding shaft is provided on the third calf clamp. The third calf clamp is provided with a second adjustable strap.

[0015] According to some embodiments of this application, the foot connection device further includes a forefoot fixing component, a heel fixing component, an instep telescopic component, a heel telescopic component, and a connecting rod. The first end of the heel telescopic component is connected to the Achilles tendon fixing block, the second end of the heel telescopic component is hinged to the heel fixing component, the first end of the instep telescopic component is hinged to the Achilles tendon fixing block, the second end of the instep telescopic component is hinged to the forefoot fixing component, one end of the connecting rod is hinged to the second end of the heel telescopic component, and the other end of the connecting rod is hinged to the second end of the instep telescopic component; the Achilles tendon fixing block is provided with a third adjustable strap.

[0016] According to some embodiments of this application, the support mechanism further includes two foldable hand support devices. Each foldable hand support device includes a hand support, a support portion, a handle, and at least two linkage assemblies. Each linkage assembly includes a first linkage, a second linkage, and a third linkage. The hand support is fixedly connected to the main frame. One end of the first linkage and one end of the second linkage are rotatably mounted on the hand support. One end of the third linkage is hinged to the other end of the first linkage, and the other end of the third linkage is hinged to the other end of the second linkage. The support portion is fixed to the first linkage, and the handle is disposed near the support portion.

[0017] According to some embodiments of this application, the first buffer base assembly and the second buffer base assembly each include at least four buffer base components. Each buffer base component includes a pressing component, an elastic component, and a base. The base has a first receiving cavity, the elastic component is placed in the first receiving cavity, and the pressing component is disposed on the upper side of the elastic component. The base also has a third sliding groove, the pressing component has a limiting part, the limiting part is slidably disposed in the third sliding groove, and a portion of the pressing component is placed in the first receiving cavity.

[0018] According to some embodiments of this application, the guide rail assembly includes a guide rail fixing seat, a first stepped shaft, a guide rail, at least two sliders, and at least three limiting components. The first stepped shaft is disposed on the lower side of the guide rail fixing seat, the guide rail is disposed on the upper side of the guide rail fixing seat, the sliders are slidably disposed on the guide rail, and the limiting components are disposed at both ends of the guide rail assembly and between adjacent sliders.

[0019] According to some embodiments of this application, the first rotating assembly includes a first base, a first deep groove ball bearing, and a first thrust ball bearing. The first base has a second receiving cavity, and the first thrust ball bearing and the first deep groove ball bearing are sequentially placed in the second receiving cavity. The first stepped shaft passes through the first deep groove ball bearing and the first thrust ball bearing. The second rotating assembly includes a second base, a second deep groove ball bearing, and a second thrust ball bearing. The lower part of the first pulley component has a second stepped shaft. The second base has a third receiving cavity, and the second thrust ball bearing and the second deep groove ball bearing are sequentially placed in the third receiving cavity. The second stepped shaft passes through the second deep groove ball bearing and the second thrust ball bearing. Attached Figure Description

[0020] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0021] Figure 1 This is a schematic diagram of the structure of a mobile lower limb rehabilitation robot according to an embodiment of this application;

[0022] Figure 2 for Figure 1 A front view structural diagram;

[0023] Figure 3 for Figure 1 A schematic diagram of the left-side view structure;

[0024] Figure 4 This is a schematic diagram of the structure of a suspension mechanism according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of a first buffer base assembly and a first pulley device according to an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of the second buffer base assembly and the second pulley device according to one embodiment of this application.

[0027] Figure 7 This is a schematic diagram of the structure of an exoskeleton mechanism according to an embodiment of this application;

[0028] Figure 8 for Figure 7 A schematic diagram of the left-side view structure;

[0029] Figure 9 This is a schematic diagram of the structure of a waist and leg connection device according to an embodiment of this application;

[0030] Figure 10 for Figure 9 A schematic diagram of the rear view structure;

[0031] Figure 11This is a schematic diagram of the structure of a thigh connection device according to an embodiment of this application;

[0032] Figure 12 This is a schematic diagram of the structure of the third thigh splint and the first adjustable strap according to an embodiment of this application;

[0033] Figure 13 This is a schematic diagram of the structure of a thigh bearing plate according to an embodiment of this application;

[0034] Figure 14 This is a schematic diagram of the structure of the second thigh clamp and the first bolt assembly according to one embodiment of this application;

[0035] Figure 15 for Figure 14 Another structural diagram;

[0036] Figure 16 This is a schematic diagram of the structure of a first thigh splint according to an embodiment of this application;

[0037] Figure 17 This is a schematic diagram of the structure of a lower leg connecting device according to an embodiment of this application;

[0038] Figure 18 This is a schematic diagram of the structure of the third calf splint and the second adjustable strap according to an embodiment of this application;

[0039] Figure 19 This is a schematic diagram of the structure of the second lower leg clamp and the second bolt assembly according to one embodiment of this application;

[0040] Figure 20 This is a schematic diagram of the structure of a first calf splint according to an embodiment of this application;

[0041] Figure 21 This is a schematic diagram of the structure of a foot connection device according to an embodiment of this application;

[0042] Figure 22 This is a schematic diagram of the unfolded state of a foldable hand support device according to an embodiment of this application;

[0043] Figure 23 for Figure 22 Another structural diagram;

[0044] Figure 24 This is a schematic diagram of the foldable hand support device in a folded state according to an embodiment of this application;

[0045] Figure 25 This is a schematic diagram of the structure of a buffer base component according to an embodiment of this application;

[0046] Figure 26This is a schematic diagram of the structure of a first rotating component according to an embodiment of this application;

[0047] Figure 27 This is a schematic diagram of the structure of a guide rail assembly according to one embodiment of this application;

[0048] Figure 28 This is a schematic diagram of the structure of the second rotating component according to an embodiment of this application;

[0049] Figure 29 This is a schematic diagram of the structure of a first pulley component according to an embodiment of this application.

[0050] Figure label:

[0051] Support mechanism 1; main frame 11; retraction device 12; traction rope 13; casters 14; swivel wheels 141; fixed wheels 142; folding hand support device 15; hand bracket 151; support part 152; support plate 1521; fixing plate 1522; handle 153; linkage assembly 154; first link 1541; second link 1542; third link 1543; reinforcing column 155;

[0052] Suspension mechanism 2; First buffer base assembly 21; Buffer base component 211; Compression component 2111; Elastic component 2112; Base 2113; Third slide groove 2114; Limiting part 2115; Second buffer base assembly 22; First pulley device 23; First pulley component 231; Second stepped shaft 2311; First rotating assembly 232; First base 2321; First deep groove ball bearing 2322; First thrust ball bearing 2323; Guide rail assembly 233; Guide rail fixing seat 2331; First stepped shaft 2332; Guide rail 2333; Slider 2334; Limiting component 2335; Second rotating assembly 234; Second base 2341; Second deep groove ball bearing 2342; Second thrust ball bearing 2343; Second pulley device 24; Second pulley component 241;

[0053] Exoskeleton mechanism 3; waist connection device 31; back support 311; side waist support 312; left waist-leg connector 313; hip bearing 3131; first slide rail 3132; right waist-leg connector 314; second slide rail 3141; fixing part 315; thigh connection device 32; first thigh splint 321; first limiting part 3211; perforation 3212; second thigh splint 322; first waist hole groove 3221; knee bearing 3222; third thigh splint 323; thigh shaft plate 324; first protruding shaft 3241; first bolt assembly 325; first adjusting strap 3 26; Lower leg connecting device 33; First lower leg splint 331; Second limiting part 3311; Second lower leg splint 332; Second waist hole groove 3321; Third lower leg splint 333; Second protruding shaft 3331; Second bolt assembly 334; Second adjusting strap 335; Foot connecting device 34; Achilles tendon fixing block 341; Protective plate 3411; Forefoot fixing component 342; Heel fixing component 343; Instep telescopic component 344; Heel telescopic component 345; Connecting rod 346; Ankle side ball joint 347; Achilles tendon side ball joint 348; Forefoot arch side ball joint 349. Detailed Implementation

[0054] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0055] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0056] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] The following reference Figures 1 to 29 This application describes a mobile lower limb rehabilitation robot in its embodiments.

[0058] according to Figures 1 to 3 As shown, one embodiment of the mobile lower limb rehabilitation robot of this application includes a support mechanism 1, a suspension mechanism 2, and an exoskeleton mechanism 3. The support mechanism 1 supports the suspension mechanism 2 and the exoskeleton mechanism 3. The support mechanism 1 includes a main frame 11, a retraction device 12, casters 14, and a traction rope 13. The casters 14 are located at the bottom of the main frame 11 to enable the movement of the lower limb rehabilitation robot of this application, providing stable lower limb rehabilitation training indoors and outdoors. The retraction device 12 is used to control the retraction and tension adjustment of the traction rope 13.

[0059] Please continue reading Figure 4 The suspension mechanism 2 includes a first buffer base assembly 21, a second buffer base assembly 22, a first pulley device 23, and a second pulley device 24. The suspension mechanism 2 is used to achieve dynamic center of gravity following of the exoskeleton mechanism 3, and works in conjunction with the retraction device 12 to achieve controllable suspension. The first buffer base assembly 21 and the second buffer base assembly 22 are spaced apart at the top of the main frame 11, and both the first buffer base assembly 21 and the second buffer base assembly 22 can achieve vertical buffering movement. Please continue reading... Figure 5 The first pulley device 23 includes a first rotating component 232, a guide rail assembly 233, at least two second rotating components 234, and at least two first pulley components 231. The first rotating component 232 is mounted on the first buffer base assembly 21, allowing it to buffer vertically. The guide rail assembly 233 is rotatably mounted on the first buffer base assembly 21 via the first rotating component 232, giving it rotational freedom. The second rotating components 234 are mounted on the guide rail assembly 233 and can slide on it, giving them translational freedom in addition to rotational freedom. The first pulley components 231 are mounted on the second rotating components 234 and can rotate around the rotation axis of the second rotating components 234. Please continue reading. Figure 6The second pulley device 24 includes at least two second pulley components 241, which are fixedly mounted on the second buffer base assembly 22. The second pulley components 241 are used to guide the direction of the traction rope 13 and provide height support.

[0060] Please continue reading Figure 7 The exoskeleton mechanism 3 has at least two fixing parts 315. One end of the traction rope 13 is connected to the retraction device 12. The path of the traction rope 13 passes through the second pulley component 241 and the first pulley component 231 in sequence, and the other end of the traction rope 13 is connected to the fixing part 315, so that the exoskeleton mechanism 3 is suspended in the main frame 11, supporting the exoskeleton mechanism 3 and assisting the user in reducing weight, thereby completing the rehabilitation training process. When the user wears the exoskeleton mechanism 3 and walks, the exoskeleton mechanism 3 moves up and down, left and right, and forward and backward according to the user's body posture. The dynamic path of the traction rope 13 is adaptively adjusted through the suspension mechanism 2, automatically adjusting its direction and length to achieve dynamic following, so that the movement of the exoskeleton mechanism 3 always remains coordinated with the traction direction, avoiding traction and restriction.

[0061] In summary, when a user performs lower limb rehabilitation training and leans forward, backward, or descends (squatting or losing balance), the exoskeleton mechanism 3 drives the traction rope 13 downward. The traction rope 13 then drives the first pulley device 23 and the second pulley device 24 downward, while the first buffer base assembly 21 and the second buffer base assembly 22 buffer the downward compression and absorb the downward impact. If the user descends too far, the release and retraction device 12 simultaneously releases the rope to a certain extent to buffer and prevent pulling. During the process, the first pulley component 231 does not rotate or translate, and the guide rail assembly 233 does not rotate. Thus, during the descent of the user, the traction rope 13 drives the exoskeleton mechanism 3 to move downward with the user's center of gravity, preventing the user from being pulled by the traction rope 13 and also preventing the user from falling.

[0062] Similarly, when a user performs lower limb rehabilitation training and rises (stands up), the exoskeleton mechanism 3 moves the traction rope 13 upward. The pressure of the traction rope 13 on the first pulley device 23 and the second pulley device 24 gradually decreases, and the first buffer base assembly 21 and the second buffer base assembly 22 buffer the rise. If the tension of the traction rope 13 on the exoskeleton mechanism 3 decreases too quickly, the retraction device 12 simultaneously retracts the rope to a certain extent to compensate for the traction tension, so that the human body can be continuously supported during the ascent. During the process, the first pulley component 231 does not rotate or translate, and the guide rail assembly 233 does not rotate.

[0063] When the user performs lower limb rehabilitation training, if the body leans to the left (the body's center of gravity shifts left and right when walking sideways, out of balance, or normally forward), the exoskeleton mechanism 3 causes the traction direction of the traction rope 13 to deviate to the left. The first pulley component 231 rotates to the left via the second rotating component 234, which is mounted on the guide rail component 233. The first pulley component 231 moves to the left on the guide rail component 233, causing the guide rail component 233 to rotate counterclockwise via the first rotating component 232 (e.g., ...). Figure 1 The pulley system rotates from front to left, causing multiple first pulley components 231 to face the left front, ensuring that the traction rope 13 is always perpendicular to the fixed part 315, providing vertical traction for the tilted body and preventing lateral pull. The traction point is biased to the left, so that the support direction changes accordingly when the body tilts to the left, preventing lateral pull.

[0064] Similarly, when a user performs lower limb rehabilitation training, if the body leans to the right (the body's center of gravity shifts left and right when walking at an angle, out of balance, or normally forward), the exoskeleton mechanism 3 causes the traction direction of the traction rope 13 to deviate to the right. The first pulley component 231 rotates to the right via the second rotating component 234, and the first pulley component 231 moves to the right on the guide rail component 233, causing the guide rail component 233 to rotate clockwise via the first rotating component 232 (e.g., ...). Figure 1 The device rotates from front to right, causing multiple first pulley components 231 to face the right front, ensuring the traction rope 13 remains perpendicular to the fixed part 315, providing vertical traction for the tilted body and preventing lateral pull. The traction point is biased to the right, causing the support direction to change accordingly when the body tilts to the right, preventing lateral pull. When a left or right tilt occurs, the body also descends simultaneously. The first pulley device 23, the first buffer base assembly 21, the second buffer base assembly 22, and the retraction device 12 work in sync to achieve center of gravity following.

[0065] The mobile lower limb rehabilitation robot of this application provides stable support for the user's lower limb movements. Through a suspension module, it guides the exoskeleton mechanism 3 to move up and down, forward and backward, and left and right following the user's center of gravity. This effectively reduces interference with body movements when the exoskeleton mechanism 3 is subjected to non-vertical traction forces in all directions, improving training comfort and naturalness. The mobile lower limb rehabilitation robot of this application also possesses excellent mobility, making it suitable for use in various indoor and outdoor scenarios, enhancing the flexibility and adaptability of lower limb rehabilitation training.

[0066] In some embodiments, see Figure 3 The winding and unwinding device 12 is specifically configured as an electric winch, including a drive motor and a winch. The drive motor is used to control the rotation of the winch, and one end of the traction rope 13 is hinged to the winch. In some embodiments, the winding and unwinding device 12 is specifically located on the back of the main frame 11.

[0067] In some embodiments, see Figure 1The casters 14 of the support mechanism 1 are specifically provided with two omnidirectional wheels 141 and two fixed wheels 142. The omnidirectional wheels 141 are fixed to the bottom front of the main frame 11 by welding, and the fixed wheels 142 are fixed to the rear of the base of the main frame 11 by welding. In some embodiments, the omnidirectional wheels 141 and the fixed wheels 142 are all reinforced nylon type buffer wheels, which can provide horizontal movement in all directions while also having a primary buffering and shock absorption function.

[0068] In some embodiments, the traction rope 13 is specifically configured as a flexible traction rope 13.

[0069] according to Figure 7 and Figure 8 As shown, in one embodiment of this application, the exoskeleton mechanism 3 includes a waist connection device 31, a thigh connection device 32, a calf connection device 33, and a foot connection device 34. The waist connection device 31, thigh connection device 32, calf connection device 33, and foot connection device 34 are sequentially connected and assembled to form a multi-degree-of-freedom exoskeleton mechanism 3 that conforms to the structure of the human lower limbs. Please continue to see... Figure 9 and Figure 10 The fixing part 315 is set on the waist connecting device 31, serving as the anchor point for the traction rope 13. The lower end of the waist connecting device 31 is provided with a hip bearing 3131, and the upper end of the thigh connecting device 32 is provided with a first protruding shaft 3241. The hip bearing 3131 and the first protruding shaft 3241 cooperate to form a hip joint, connecting the waist connecting device 31 and the thigh connecting device 32, thus enabling natural flexion and extension movements of the hip joint. Please continue reading... Figure 11 and Figure 15 The lower end of the thigh connecting device 32 is provided with a knee bearing 3222. Please continue to see... Figure 17 and Figure 18 The upper end of the lower leg connecting device 33 is provided with a second protruding shaft 3331. The knee bearing 3222 and the second protruding shaft 3331 form a knee joint, connecting the thigh connecting device 32 and the lower leg connecting device 33, thus realizing the natural flexion and extension movement of the knee joint. Please continue reading. Figure 21 The lower end of the calf connecting device 33 extends to the ankle joint area, and the foot connecting device 34 includes an Achilles tendon fixing block 341. The upper end of the foot connecting device 34 is connected to the end of the calf connecting device 33 through the Achilles tendon fixing block 341, realizing a mechanical connection with the foot. The exoskeleton mechanism 3 of this application is a highly biomimetic human lower limb exoskeleton mechanism 3. It adopts a combination structure of bearings and protruding shafts to form a rotatable connection at the hip and knee joints, ensuring the flexion and extension freedom of each key joint of the lower limb. The exoskeleton mechanism 3 is suspended in the main frame 11 through anchor points, reducing the user's weight, enhancing the stability of wearing it, and helping to improve the comfort and efficiency of rehabilitation training.

[0070] according to Figure 9 and Figure 10 As shown, in one embodiment of this application, the lumbar connecting device 31 includes a lumbar support portion 311, a lumbar side support portion 312, a left lumbar-leg connector 313, and a right lumbar-leg connector 314. The lumbar support portion 311 is a slightly curved plate-shaped part, disposed on the user's back, corresponding to the spinal region. The lumbar support portion 311 and the lumbar side support portion 312 are fixedly connected, and the lumbar side support portion 312 is used to wrap around the user's waist, so that the lumbar connecting device 31 is firmly attached to the user's body. The left lumbar-leg connector 313 and the right lumbar-leg connector 314 are respectively adjustablely disposed on the lumbar support portion 311. Specifically, two fixing portions 315 are respectively disposed on the left lumbar-leg connector 313 and the right lumbar-leg connector 314. Two hip bearings 3131 are provided. A hip bearing 3131 is provided at the lower end of the left waist and leg connector 313 and the lower end of the right waist and leg connector 314 respectively, so as to realize the degree of freedom of flexion and extension movement at the hip joint. The waist and leg connector (including the left waist and leg connector 313 and the right waist and leg connector 314) drives the lower limb movement through the hip bearings 3131.

[0071] In some embodiments, the area of ​​the lumbar support 311 that comes into contact with the user is provided with an elastic cushioning layer or a sponge layer to enhance wearing comfort and stability.

[0072] In some embodiments, the two sides of the waist support 312 are made of rigid polypropylene, which has a certain degree of plasticity and ductility. In some embodiments, the front end of the waist support 312 has an opening (not shown) with Velcro at the opening. In other embodiments, the waist support 312 is an adjustable restraint strap.

[0073] In some embodiments, the outer side of the lumbar support portion 312 is provided with a sponge layer, and the curve of the lumbar support portion 312 conforms to the ergonomics of the human waist, providing comfortable and close support for the waist.

[0074] In some embodiments, see Figure 10The back support 311 has a threaded hole on its rear side. The left leg connector 313 has a first slide rail 3132. A bolt passes through the first slide rail 3132 and is fixed to the threaded hole on the back support 311. Tightening the bolt fixes the left leg connector 313. Loosening the bolt allows the first slide rail 3132 to move relative to the bolt, thus adjusting the left leg connector 313 to move left and right relative to the back support 311. Similarly, the right leg connector 314 has a second slide rail 3141. A bolt passes through the second slide rail 3141 and is fixed to the threaded hole on the back support 311. Tightening the bolt fixes the right leg connector 314. Loosening the bolt allows the second slide rail 3141 to move relative to the bolt, thus adjusting the right leg connector 314 to move left and right relative to the back support 311. This allows the left waist and leg connector 313 and the right waist and leg connector 314 to be adjusted and mounted on the back support 311, making the waist connection device 31 of this application suitable for different users' waist circumference and hip width.

[0075] The waist and leg connection device of this application can be adjusted to fit different body types to ensure wearing comfort and joint alignment accuracy; the traction fixing parts 315 set on the left and right sides enhance the symmetry of the force on the traction rope 13 and the stability of the center of gravity; the lower end is provided with a hip bearing 3131 to provide a reliable fulcrum for the subsequent thigh device.

[0076] according to Figure 11 As shown, in one embodiment of this application, the thigh connecting device 32 includes a left thigh connector and a right thigh connector (not shown), corresponding to the user's left and right legs, respectively. The left and right thigh connectors each include a first thigh clamp 321, a second thigh clamp 322, a third thigh clamp 323, a thigh shaft plate 324, and a first bolt assembly 325. Please continue to refer to... Figure 12 The third thigh splint 323 fits against the side of the thigh. The third thigh splint 323 is equipped with a first adjusting strap 326, the two ends of which are fixed to both sides of the third thigh splint 323. The first adjusting strap 326 is used to adjust the tightness to accommodate different thigh sizes. The second thigh splint 322 and the first thigh splint 321 are stacked sequentially on the outside of the third thigh splint 323, with the second thigh splint 322 positioned between the first thigh splint 321 and the third thigh splint 323. Please continue... Figure 14 and Figure 16The first thigh clamp 321 and the third thigh clamp 323 are each provided with a first limiting part 3211, and the second thigh clamp 322 is provided with a first waist hole groove 3221. A first bolt assembly 325 passes through the first limiting part 3211, the first waist hole groove 3221, and the first limiting part 3211 in sequence, allowing the first thigh clamp 321 and the third thigh clamp 323 to be detachably connected to the second thigh clamp 322. Simultaneously, the length of the entire thigh connector (including the left and right thigh connectors) can be adjusted by sliding the position of the second thigh clamp 322 and retightening the bolts to accommodate different users' thigh lengths. Please continue to participate. Figure 13 The thigh bearing plate 324 is located on the upper part between the first thigh clamp 321 and the third thigh clamp 323, and the first protruding shaft 3241 is located on the thigh bearing plate 324. Please refer back to the previous section. Figure 16 The upper part of the first thigh splint 321 has a through hole 3212 for the first protruding shaft 3241 to pass through. After the first protruding shaft 3241 passes through the through hole 3212, it forms a rotational engagement with the hip bearing 3131, thereby realizing the degree of freedom of the hip joint. The knee bearing 3222 is specifically set at the lower end of the second thigh splint 322, and cooperates with the second protruding shaft 3331 of the lower leg connecting device 33 to realize the rotational connection at the knee joint, simulating the natural movement of the human lower limb.

[0077] In some embodiments, the first limiting part 3211 on the first thigh clamp is specifically configured as a threaded hole, and the first limiting part 3211 on the third thigh clamp is specifically configured as a countersunk hole.

[0078] In some embodiments, the first adjusting strap 326 is provided with Velcro in the middle, and the tightness of the first adjusting strap 326 is adjusted by the Velcro, thereby reliably fixing the user's thigh to the inside of the third thigh splint 323 and preventing slippage.

[0079] In some embodiments, a sponge layer is provided on the third thigh sponge 323 at the area where it contacts the thigh to achieve a comfortable fit.

[0080] according to Figure 17 As shown, in one embodiment of this application, the calf connecting device 33 includes a left calf connector and a right calf connector (not shown), corresponding to the user's left and right legs, respectively. The left and right calf connectors each include a first calf clamp 331, a second calf clamp 332, a third calf clamp 333, and a second bolt assembly 334. Please continue reading... Figure 18 The third calf splint 333 fits snugly against the side of the calf. The third calf splint 333 is equipped with a second adjusting strap 335, the two ends of which are fixed to both sides of the third calf splint 333. The second adjusting strap 335 is used to adjust the tightness to accommodate different calf sizes. Please continue reading. Figure 19 and Figure 20 The second calf splint 332 and the first calf splint 331 are stacked sequentially on the outside of the third calf splint 333, with the second calf splint 332 positioned between the first calf splint 331 and the third calf splint 333. The first calf splint 331 and the third calf splint 333 are each provided with a second limiting part 3311, and the second calf splint 332 is provided with a second waist hole groove 3321. The first bolt assembly 325 passes through the second limiting part 3311, the second waist hole groove 3321, and the second limiting part 3311 sequentially, allowing the first calf splint 331 and the third calf splint 333 to be detachably connected to the second calf splint 332. Simultaneously, the length of the entire calf connector (including the left and right calf connectors) can be adjusted by sliding the position of the second calf splint 332 and retightening the bolts to accommodate different users' calf lengths. The second protruding shaft 3331 is located at the upper end of the third calf splint 333. The second protruding shaft 3331 and the knee bearing 3222 form a rotational fit, thereby realizing the degree of freedom of the knee joint.

[0081] In some embodiments, the second limiting part 3311 on the first calf clamp is specifically configured as a threaded hole, and the second limiting part 3311 on the third calf clamp is specifically configured as a countersunk hole.

[0082] In some embodiments, the second adjusting strap 335 is provided with Velcro in the middle, and the tightness of the second adjusting strap 335 is adjusted by Velcro, thereby reliably fixing the user's lower leg to the inside of the third lower leg splint 333 and preventing slippage.

[0083] In some embodiments, a sponge layer is provided on the third calf sponge 333 at the area where it contacts the calf to achieve a comfortable fit.

[0084] according to Figure 21As shown, in one embodiment of this application, the foot connection device 34 further includes a forefoot fixing component 342, a heel fixing component 343, an instep telescopic component 344, a heel telescopic component 345, and a connecting rod 346. The Achilles tendon fixing block 341 is fixedly connected to the second calf splint 332. The Achilles tendon fixing block 341 is provided with a third adjustable strap (not shown). The two ends of the third adjustable strap are fixed to both sides of the Achilles tendon fixing block 341. The third adjustable strap is used to adjust the tightness to adapt to different foot sizes. The first end of the heel extension component 345 is connected to the Achilles tendon fixing block 341; the second end of the heel extension component 345 forms a ball joint with the heel fixing component 343, forming an ankle-side ball joint 347; the first end of the instep extension component 344 forms a ball joint with the Achilles tendon fixing block 341, forming an Achilles tendon-side ball joint 348; the second end of the instep extension component 344 forms a ball joint with the forefoot fixing component 342, forming an forefoot arch-side ball joint 349; the forefoot fixing component 342, the heel fixing component 343, the instep extension component 344, the heel extension component 345, and the connecting rod 346, in conjunction with the Achilles tendon-side ball joint 348, the ankle-side ball joint 347, and the forefoot arch-side ball joint 349, realize a complex multi-directional rotational freedom of the foot, enabling natural dorsiflexion and plantarflexion, inversion and eversion movements of the ankle joint. Please continue to see Figure 8 One end of the connecting rod 346 is connected to the second end of the heel telescopic component 345 to form a ball joint 347 on the ankle side, and the other end of the connecting rod 346 is connected to the second end of the instep telescopic component 344 to form a ball joint 349 on the forefoot arch side. This can provide mutual restraint and auxiliary support during the extension and retraction of the foot, thereby improving structural stability.

[0085] In some embodiments, the second calf splint 332 and the Achilles tendon fixation block 341 are connected by bolts.

[0086] In some embodiments, the third adjustment strap is provided with Velcro in the middle, and the tightness of the third adjustment strap is adjusted by Velcro, thereby reliably fixing the user's ankle to the inside of the Achilles tendon fixing block 341 and preventing slippage.

[0087] In some embodiments, the first adjusting strap 326, the second adjusting strap 335, and the third adjusting strap are all made of flexible material.

[0088] In some embodiments, the forefoot fixing component 342 is provided with a guard plate 3411, which is fixed on both sides of the forefoot fixing component 342 to prevent the foot from detaching from the foot connecting device 34.

[0089] according to Figure 22 , Figure 23 and Figure 24As shown, in one embodiment of this application, the support mechanism 1 further includes two foldable hand support devices 15, symmetrically installed at the left and right ends of the front side of the main frame 11, mainly used to provide temporary support for the user's upper limbs during rehabilitation training. The foldable hand support device 15 includes a hand support 151, a support portion 152, a handle 153, and at least two linkage assemblies 154. The hand support 151 is preferably a round steel pipe, fixed to the main frame 11 by welding. The linkage assembly 154 includes a first linkage 1541, a second linkage 1542, and a third linkage 1543. One end of the first linkage 1541 and one end of the second linkage 1542 are rotatably mounted on the hand support 151. One end of the third linkage 1543 is hinged to the other end of the first linkage 1541, and the other end of the third linkage 1543 is hinged to the other end of the second linkage 1542. The support portion 152 is fixed to the first linkage 1541. Please refer to [link / reference needed]. Figure 22 and Figure 23 When the user's hands require additional support, the second link 1542 and the third link 1543 can rotate around the hinge point, forming a stable triangular structure with the first link 1541. This allows the support part 152 to be in a horizontal position to support the arm, thereby enhancing body stability. Please refer to [link to details]. Figure 24 When the user does not require support, the second link 1542 and the third link 1543 can rotate around the hinge, causing the first link 1541 to rotate inward and retract. The support part 152 naturally hangs down and closes to the inside of the main frame 11, avoiding interference with human movement. The handle 153 is located near the support part 152, specifically at the hinge of the first link 1541 and the third link 1543. The handle 153 is used for support during rehabilitation training. By setting the foldable hand support device 15, a stable upper limb support point can be provided in the early stages of training or when lower limb strength is insufficient, enhancing body balance. When not in use, it can be compactly retracted to avoid interference with leg movement or gait training, thereby improving the human-computer interaction friendliness and ease of use of the mobile lower limb rehabilitation robot of this application, and providing important transitional support assistance for patients in the early stages of rehabilitation.

[0090] In some embodiments, see details. Figure 23 The support portion 152 includes a support plate 1521 and a fixing plate 1522. The fixing plate 1522 is fixed to the first connecting rod 1541 by welding. The surface of the support plate 1521 is provided with a sponge layer. The support plate 1521 with the sponge layer is fixed to the fixing plate 1522 by bolts to support the user's forearm. In some embodiments, the support plate 1521 is made of 3D printed material.

[0091] In some embodiments, two link assemblies 154 are provided, and a reinforcing post 155 is connected between the two link assemblies 154.

[0092] according to Figures 4 to 6 and Figure 25 As shown, in one embodiment of this application, the first buffer base assembly 21 and the second buffer base assembly 22 each include at least four buffer base components 211. The buffer base components 211 are used to support and guide the pulley device, absorb the impact force from the traction direction, and protect the user's joints. The buffer base component 211 includes a pressing component 2111, an elastic component 2112, and a base 2113. The base 2113 has a first receiving cavity. The elastic component 2112 is placed in the first receiving cavity. The lower end of the elastic component 2112 is fixedly connected to the bottom of the first receiving cavity. The upper end of the elastic component 2112 contacts the pressing component 2111. The pressing component 2111 is disposed on the upper side of the elastic component 2112. The base 2113 is also provided with a third slide groove 2114, and the pressing component 2111 is provided with a limiting part 2115. The limiting part 2115 is slidably disposed in the third slide groove 2114, and part of the pressing component 2111 is placed in the first receiving cavity. The length of the third slide groove 2114 is set to limit the sliding distance of the limiting part 2115, thereby limiting the movement distance of the pressing component 2111. This enables the suspension mechanism 2 to move up and down within a certain range in the vertical direction following the center of gravity of the human body, ensuring that the suspension mechanism 2 provides safety support when the user falls or loses balance.

[0093] In some embodiments, the elastic member 2112 is specifically configured as a spring.

[0094] according to Figure 4 and Figure 5 As shown, in one embodiment of this application, the guide rail assembly 233 includes a guide rail fixing seat 2331, a first stepped shaft 2332, a guide rail 2333, at least two sliders 2334, and at least three limiting components 2335. Please continue to see... Figure 27 The first stepped shaft 2332 is disposed on the lower side of the guide rail fixing seat 2331 and is used to connect with the first rotating component 232. The guide rail 2333 is disposed on the upper side of the guide rail fixing seat 2331, and the slider 2334 is slidably disposed on the guide rail 2333. The first pulley component 231 is disposed on the slider 2334 through the second rotating component 234, thereby realizing the translation of the first pulley component 231 on the guide rail 2333. Two limiting components 2335 are disposed at both ends of the guide rail component 233 to prevent the slider 2334 from dislodging from the guide rail 2333 and causing the first pulley device 23 to slip off the guide rail 2333; other limiting components 2335 are respectively disposed between adjacent sliders 2334 to prevent collisions that could cause interference between adjacent first pulley components 231, thus ensuring the safety of the suspension mechanism 2.

[0095] In some embodiments, two of each of the first pulley component 231, second pulley component 241, second rotating assembly 234, and slider 2334 are provided, and three of the limiting components 2335 are provided. A set of first pulley components is formed by stacking one first pulley component 231, one second rotating assembly 234, and one slider 2334 sequentially. Therefore, in this embodiment, the first pulley device 23 includes two sets of first pulley components. Two limiting components 2335 are disposed at both ends of the guide rail 2333, and one limiting component 2335 is disposed in the middle of the guide rail 2333 and between the two sets of first pulley components. Two traction ropes 13 are provided, and each traction rope 13 is sequentially hung on one set of first pulley components and one second pulley component 241.

[0096] according to Figure 26 As shown, in one embodiment of this application, the first rotating assembly 232 includes a first base 2321, a first deep groove ball bearing 2322, and a first thrust ball bearing 2323. The first base 2321 has a second receiving cavity. The first thrust ball bearing 2323 and the first deep groove ball bearing 2322 are sequentially placed in the second receiving cavity. A first stepped shaft 2332 passes through the first deep groove ball bearing 2322 and the first thrust ball bearing 2323. The first stepped shaft 2332 is interference-fitted with the inner ring of the first deep groove ball bearing 2322 and the inner ring of the first thrust ball bearing 2323, respectively. The first deep groove ball bearing 2322 provides radial support, and the first thrust ball bearing 2323 provides axial load capacity. The combined use of the first deep groove ball bearing 2322 and the first thrust ball bearing 2323 can counteract the radial and axial forces generated when the guide rail assembly 233 rotates around the first rotating assembly 232. Please continue to refer to... Figure 28 The second rotating assembly 234 includes a second base 2341, a second deep groove ball bearing 2342, and a second thrust ball bearing 2343. Please continue to see... Figure 29 The lower part of the first pulley component 231 is provided with a second stepped shaft 2311, and the second base 2341 is provided with a third receiving cavity. The second thrust ball bearing 2343 and the second deep groove ball bearing 2342 are placed in the third receiving cavity in sequence. The second stepped shaft 2311 passes through the second deep groove ball bearing 2342 and the second thrust ball bearing 2343. The second stepped shaft 2311 is interference-fitted with the inner ring of the second deep groove ball bearing 2342 and the inner ring of the second thrust ball bearing 2343, respectively. Similarly, the cooperation of the second deep groove ball bearing 2342 and the second thrust ball bearing 2343 can offset the influence of the radial force and axial force generated when the guide rail assembly 233 rotates around the second rotating assembly 234.

[0097] In some embodiments, four buffer base components 211 are provided, and the four buffer base components 211 are circumferentially disposed at the bottom of the first base 2321.

[0098] The mobile lower limb rehabilitation robot of this application is a lower limb rehabilitation robot based on a mobile frame. Casters 14 are set at the bottom of the main frame 11 to facilitate the movement of the lower limb rehabilitation robot and enable rehabilitation training in different training scenarios (such as indoor and outdoor). Through the integration of a suspension mechanism 2 with multiple degrees of freedom and a buffer function and a retraction device 12, the traction rope 13 can automatically adjust its direction and tension according to the user's actual movement trajectory to achieve dynamic center of gravity following, which greatly enhances the comfort and naturalness of rehabilitation training. The waist and leg connection device, thigh connection device 32 and calf connection device 33 can all be adjusted to adapt to users with different hip widths, leg lengths and foot shapes, improve the fit of the wearer and reduce the cost of customization and replacement.

[0099] In the description of this specification, the use of terms such as "an embodiment," "some examples," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0100] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A mobile lower limb rehabilitation robot, characterized in that: include A support mechanism, comprising a main frame, a retraction device, casters, and a traction rope, wherein the casters are located at the bottom of the main frame; The suspension mechanism includes a first buffer base assembly, a second buffer base assembly, a first pulley device, and a second pulley device. The first buffer base assembly and the second buffer base assembly are spaced apart and disposed on the top of the main frame. The second pulley device includes at least two second pulley components, which are fixedly disposed on the second buffer base assembly. An exoskeleton mechanism, wherein the exoskeleton mechanism is provided with at least two fixing parts; The first pulley device includes a first rotating component, a guide rail component, at least two second rotating components, and at least two first pulley components. The guide rail component is rotatably mounted on the first buffer base component via the first rotating component. The second rotating components are slidably mounted on the guide rail component, and the first pulley components are mounted on the second rotating components. One end of the traction rope is connected to the retraction device, and the other end of the traction rope is sequentially hung on the second pulley components and the first pulley components. The other end of the traction rope is connected to the fixing part, so that the exoskeleton mechanism is suspended within the main frame.

2. The mobile lower limb rehabilitation robot according to claim 1, characterized in that: The exoskeleton mechanism includes a waist connection device, a thigh connection device, a calf connection device, and a foot connection device connected in sequence; the fixing part is disposed on the waist connection device; the waist connection device is provided with a hip bearing; the thigh connection device is provided with a first protruding shaft that mates with the hip bearing and a knee bearing; the calf connection device is provided with a second protruding shaft that mates with the knee bearing; the foot connection device includes an Achilles tendon fixing block that is connected to the calf connection device.

3. The mobile lower limb rehabilitation robot according to claim 2, characterized in that: The lumbar connection device includes a lumbar support part, a lumbar side support part, a left lumbar leg connector, and a right lumbar leg connector. The lumbar support part and the lumbar side support part are connected. The left lumbar leg connector and the right lumbar leg connector are respectively adjustablely mounted on the lumbar support part. Two fixing parts are respectively mounted on the left lumbar leg connector and the right lumbar leg connector. Two hip bearings are provided, and the two hip bearings are respectively mounted on the left lumbar leg connector and the right lumbar leg connector.

4. The mobile lower limb rehabilitation robot according to claim 2, characterized in that: The thigh connection device includes a left thigh connector and a right thigh connector. The left and right thigh connectors each include a first thigh clamp, a second thigh clamp, a third thigh clamp, a thigh axle plate, and a first bolt assembly. The first and third thigh clamps each have a first limiting portion, and the second thigh clamp has a first waist hole groove. The first bolt assembly passes through the first limiting portion and the first waist hole groove, allowing the first and third thigh clamps to be detachably and adjustablely connected to the second thigh clamp. The thigh axle plate is positioned between the first and third thigh clamps, and a first protruding shaft is positioned on the thigh axle plate. The third thigh clamp has a first adjustable strap. The knee bearing is positioned on the second thigh clamp.

5. The mobile lower limb rehabilitation robot according to claim 2, characterized in that: The calf connection device includes a left calf connector and a right calf connector. The left calf connector and the right calf connector each include a first calf splint, a second calf splint, a third calf splint, and a second bolt assembly. The first calf splint and the third calf splint are each provided with a second limiting part. The second calf splint is provided with a second waist hole groove. The second bolt assembly passes through the second limiting part and the second waist hole groove, so that the first calf splint and the third calf splint are detachably and adjustablely connected to the second calf splint. A second protruding shaft is provided on the third calf splint. The third calf splint is provided with a second adjustable strap.

6. The mobile lower limb rehabilitation robot according to claim 2, characterized in that: The foot connection device further includes a forefoot fixing component, a heel fixing component, an instep telescopic component, a heel telescopic component, and a connecting rod. The first end of the heel telescopic component is connected to the Achilles tendon fixing block, the second end of the heel telescopic component is hinged to the heel fixing component, the first end of the instep telescopic component is hinged to the Achilles tendon fixing block, the second end of the instep telescopic component is hinged to the forefoot fixing component, one end of the connecting rod is hinged to the second end of the heel telescopic component, and the other end of the connecting rod is hinged to the second end of the instep telescopic component. The Achilles tendon fixing block is provided with a third adjustable strap.

7. The mobile lower limb rehabilitation robot according to claim 1, characterized in that: The support mechanism also includes two foldable hand support devices. Each foldable hand support device includes a hand support, a support portion, a handle, and at least two linkage assemblies. Each linkage assembly includes a first linkage, a second linkage, and a third linkage. The hand support is fixedly connected to the main frame. One end of the first linkage and one end of the second linkage are rotatably mounted on the hand support. One end of the third linkage is hinged to the other end of the first linkage, and the other end of the third linkage is hinged to the other end of the second linkage. The support portion is fixed to the first linkage, and the handle is located near the support portion.

8. The mobile lower limb rehabilitation robot according to claim 1, characterized in that: The first buffer base assembly and the second buffer base assembly each include at least four buffer base components. Each buffer base component includes a pressing component, an elastic component, and a base. The base has a first receiving cavity, the elastic component is placed in the first receiving cavity, and the pressing component is disposed on the upper side of the elastic component. The base also has a third sliding groove, the pressing component has a limiting part, the limiting part is slidably disposed in the third sliding groove, and a portion of the pressing component is placed in the first receiving cavity.

9. The mobile lower limb rehabilitation robot according to claim 8, characterized in that: The guide rail assembly includes a guide rail fixing seat, a first stepped shaft, a guide rail, at least two sliders, and at least three limiting components. The first stepped shaft is disposed on the lower side of the guide rail fixing seat, the guide rail is disposed on the upper side of the guide rail fixing seat, the sliders are slidably disposed on the guide rail, and the limiting components are disposed at both ends of the guide rail assembly and between adjacent sliders.

10. The mobile lower limb rehabilitation robot according to claim 9, characterized in that: The first rotating assembly includes a first base, a first deep groove ball bearing, and a first thrust ball bearing. The first base has a second receiving cavity, and the first thrust ball bearing and the first deep groove ball bearing are sequentially placed in the second receiving cavity. The first stepped shaft passes through the first deep groove ball bearing and the first thrust ball bearing. The second rotating assembly includes a second base, a second deep groove ball bearing, and a second thrust ball bearing. The lower part of the first pulley component has a second stepped shaft. The second base has a third receiving cavity, and the second thrust ball bearing and the second deep groove ball bearing are sequentially placed in the third receiving cavity. The second stepped shaft passes through the second deep groove ball bearing and the second thrust ball bearing.

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