Exoskeleton device for lower limb exercise rehabilitation

Abstract

The invention relates to the technical field of medical instruments, in particular to an exoskeleton device for lower limb exercise rehabilitation, which comprises a weight supporting mechanism, the bottom of the weight supporting mechanism is provided with an exoskeleton device, the weight supporting mechanism comprises a suspension plate, the left and right sides of the bottom of the suspension plate are fixedly connected with guide rods, and the bottom of the suspension plate is provided with a supporting assembly. The exoskeleton device comprises an auxiliary moving frame, and an exoskeleton assembly is arranged on the inner side of the auxiliary moving frame. By arranging the body weight supporting mechanism and the exoskeleton device, all-around and dynamic supporting and assisting of a lower limb exercise rehabilitation patient are achieved, the supporting position and strength of the exoskeleton assembly in the vertical direction and the front side of the waist can be accurately adjusted according to different body forms and rehabilitation requirements of the patient, and the rehabilitation effect is improved. Personalized adaptive support is provided for the patient; due to the design of the power-assisted universal wheels, the whole device has high flexibility and convenience in the process of assisting the patient to move.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an exoskeleton device for lower limb motor rehabilitation. Background Technology

[0002] Lower limb motor rehabilitation refers to a series of systematic, personalized, and goal-oriented training and treatment programs specifically designed for patients whose lower limb motor function is impaired due to various diseases, accidental injuries, or surgery. This rehabilitation process aims to gradually help patients restore normal lower limb motor function, enhance muscle strength and endurance, improve joint range of motion and stability, and improve overall balance and coordination through scientific and effective means. The ultimate goal is to significantly improve patients' daily living self-care ability, optimize their overall quality of life, and thus help them better reintegrate into family, social, and professional activities, achieving comprehensive physical and mental rehabilitation.

[0003] According to patent document CN113797062A, a device for lower limb motor rehabilitation training is disclosed, belonging to the field of rehabilitation training technology. This invention includes a bed, a first leg support rod, a second leg support rod, and a transmission rod. A hinge seat is fixedly installed on the bed. One end of the first leg support rod is hinged to the hinge seat, and the other end of the first leg support rod is hinged to a connecting rod. The connecting rod is hinged to one end of both the second leg support rod and the transmission rod. The other end of the second leg support rod is slidably connected to the bed. The other end of the transmission rod is connected to a drive mechanism, which drives the transmission rod to reciprocate. The invention also includes an adaptive control system, which includes a controller, a timer, and a pressure sensor. The controller determines the degree of rehabilitation of the patient's lower limbs based on time and pressure data and adjusts the extension of the hydraulic cylinder to adapt the pressure between the friction block and the transmission wheel to the degree of rehabilitation of the patient's lower limbs.

[0004] Traditional exoskeleton devices that assist patient rehabilitation usually simply follow a preset program to perform actions. They may not be able to dynamically adjust according to the actual rehabilitation status of the patient's lower limbs. This fixed mode of rehabilitation training may not meet the individualized needs of patients at different stages of rehabilitation, resulting in poor rehabilitation effects. On the other hand, if the training intensity and mode are not adjusted in time after the patient's lower limb rehabilitation has improved, the training effect may be greatly reduced, and may even affect the patient's subsequent rehabilitation process. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, the present invention provides an exoskeleton device for lower limb motor rehabilitation. The technical problem to be solved by the present invention is that the fixed mode of rehabilitation training cannot be dynamically adjusted according to the actual rehabilitation status of the patient's lower limbs. On the one hand, it may not meet the personalized needs of patients at different rehabilitation stages, resulting in poor rehabilitation effects. On the other hand, if the training intensity and mode are not adjusted in time after the patient's lower limb rehabilitation has improved, the training effect may be greatly reduced, and may even affect the patient's subsequent rehabilitation process.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An exoskeleton device for lower limb motor rehabilitation includes a weight support mechanism, wherein the exoskeleton device is disposed at the bottom of the weight support mechanism; The weight support mechanism includes a suspension plate, with guide rods fixedly connected to both the left and right sides of the bottom of the suspension plate, and a support assembly provided at the bottom of the suspension plate; The exoskeleton device includes an auxiliary mobile frame, and an exoskeleton component is disposed on the inner side of the auxiliary mobile frame.

[0007] As a further embodiment of the present invention: the auxiliary moving frame includes a triangular plate, and upright triangular sliding plates are fixedly connected to the left and right sides of the bottom of the triangular plate. L-shaped side plates are slidably connected to the front sides of the two upright triangular sliding plates. Inverted U-shaped support plates are fixedly connected to the bottom outer sides of the two L-shaped side plates. Power-assisted universal wheels are fixedly connected to the front and rear sides of the bottom of the two inverted U-shaped support plates and the bottom sides of the two L-shaped side plates.

[0008] As a further aspect of the present invention: the exoskeleton assembly includes a C-shaped hip support plate, with L-shaped side connecting rods fixedly connected to the front and rear sides of both sides of the C-shaped hip support plate, a top guide plate fixedly connected between the tops of the two front and rear L-shaped side connecting rods, and a convex side plate fixedly connected between the outer sides of the two front and rear L-shaped side connecting rods. A guide groove is provided in the middle of the top of each of the two top guide plates, and a horizontal L-shaped connecting rod is fixedly connected to the bottom of the middle of the outer side of each of the two convex side plates. Two guide blocks are fixedly connected to the top of the outer side of each of the two horizontal L-shaped connecting rods, and a horizontal L-shaped guide block is fixedly connected to the top of the rear side of each of the two convex side plates. The outer sides of the two horizontal L-shaped connecting rods are slidably connected to the inner sides of the two L-shaped side uprights.

[0009] As a further embodiment of the present invention: convex blocks are fixedly connected to the top of the middle of the outer side of each of the two convex side plates; columnar rotating rods are rotatably connected to the inner walls of each of the two convex blocks; gears are fixedly connected to the bottom ends of each of the two columnar rotating rods; sliding plates are fixedly connected to the top ends of each of the two columnar rotating rods; rotating plate guide grooves are opened on the top of each of the two sliding plates; sliders are slidably connected to the inner walls of the rotating plate guide grooves opened on the top of each of the two sliding plates; L-shaped push-pull plates are fixedly connected to the top of each of the two sliders; and hanging rope connecting blocks are fixedly connected to the side of each of the top guide plates near the outer side of the two L-shaped push-pull plates.

[0010] As a further embodiment of the present invention: an L-shaped electric push rod connecting plate is fixedly connected to the middle of the rear side of the C-shaped hip support plate; an electric push rod is fixedly connected to the inner wall of the rear side of the L-shaped electric push rod connecting plate; the bottom of the L-shaped electric push rod connecting plate is fixedly connected to the top middle of the triangular plate; a back support plate connecting plate is fixedly connected to the front end of the electric push rod; back support plates are fixedly connected to the left and right sides of the front side of the back support plate connecting plate; L-shaped sliding rods are fixedly connected to the left and right sides of the bottom of the back support plate connecting plate; the outer walls of the two L-shaped sliding rods are slidably connected between the tops of the two horizontal L-shaped guide blocks; rack rods are fixedly connected to the left and right sides of the inner side of the two L-shaped sliding rods; and the inner sides of the two rack rods mesh with the outer walls of the two gears respectively.

[0011] As a further embodiment of the present invention: a waist C-shaped limiting plate slide is slidably connected between the inner side of the convex side plate and the L-shaped side connecting rod; a slide connecting block is fixedly connected to the rear side of the top of each of the two waist C-shaped limiting plate slides; the front side of each of the two slide connecting blocks is fixedly connected to the rear side of the two L-shaped push-pull plates; a waist C-shaped limiting plate L-shaped connecting plate is fixedly connected to the front side of each of the two waist C-shaped limiting plate slides; and a waist C-shaped limiting plate is fixedly connected between the rear sides of the two waist C-shaped limiting plate L-shaped connecting plates.

[0012] As a further embodiment of the present invention: the support assembly includes a top plate, and side slide plates are fixedly connected to the left and right sides of the top of the top plate. The inner sides of the two side slide plates are slidably connected to the outer sides of the two guide rods respectively. Rotating roller connecting plates are fixedly connected to the left and right sides of the front and rear sides of the top plate, and columnar transmission rod convex connecting blocks are fixedly connected to the outer sides of the two sets of rotating roller connecting plates.

[0013] As a further aspect of the present invention: a columnar transmission rod is rotatably connected between the inner walls of the two columnar transmission rod convex connecting blocks, and a rotating roller is fixedly connected between the two columnar transmission rod convex connecting blocks located on the same side of the outer walls of the two columnar transmission rods. The front ends of the two columnar transmission rods extend to the outer side of the two columnar transmission rod convex connecting blocks on the front side.

[0014] As a further embodiment of the present invention: motors are fixedly connected to the outer sides of the two front rotating roller connecting plates, and third gears are fixedly connected to the output ends of the two motors. Second gears are fixedly connected to the front ends of the two columnar transmission rods, and the outer walls of the two second gears mesh with the outer walls of the two third gears respectively.

[0015] As a further aspect of the present invention: the outer walls of both rotating rollers are fitted with suspension ropes, and the sides of the two suspension ropes away from the rotating rollers are respectively fixedly connected to the outer sides of the two suspension rope connecting blocks.

[0016] The beneficial effects of this invention are as follows: This invention, by incorporating a weight-support mechanism and an exoskeleton device, provides comprehensive and dynamic support and assistance to patients undergoing lower limb motor rehabilitation. It not only precisely adjusts the vertical support position and force of the exoskeleton components on the front of the waist according to the patient's different body shape and rehabilitation needs, providing personalized support and greatly improving patient comfort and rehabilitation training effectiveness; but also, the design of the power-assisted omnidirectional wheels gives the entire device high flexibility and convenience during patient movement, easily adapting to various rehabilitation training scenarios and movement paths. This effectively overcomes the limitations of traditional rehabilitation devices in terms of mobility, providing a more efficient and practical solution for lower limb motor rehabilitation training. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the three-dimensional separation structure of the main body of the present invention; Figure 3 This is a three-dimensional structural diagram of the exoskeleton device of the present invention; Figure 4 This is a schematic diagram of the three-dimensional separation structure of the exoskeleton device of the present invention; Figure 5 This is a three-dimensional structural diagram of the auxiliary moving frame of the present invention; Figure 6 This is a three-dimensional structural diagram of the exoskeleton component of the present invention; Figure 7 This is a schematic diagram of the three-dimensional separation structure of the exoskeleton component of the present invention; Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle; Figure 9 This is a schematic diagram of the three-dimensional separation structure of the weight support component of the present invention; Figure 10 This is a three-dimensional structural diagram of the support component of the present invention.

[0018] In the diagram: 1. Weight support mechanism; 11. Suspension plate; 12. Guide rod; 13. Support assembly; 131. Top plate; 132. Side sliding plate; 133. Rotating roller connecting plate; 134. Motor; 135. Columnar transmission rod convex connecting block; 136. Columnar transmission rod; 137. Rotating roller; 138. Suspension rope; 139. Third gear; 1310. Second gear; 2. Exoskeleton device; 21. Auxiliary moving frame; 211. Triangular plate; 212. Vertical triangular sliding plate; 213. L-shaped side upright plate; 214. Inverted U-shaped support plate; 215. Power-assisted universal wheel; 22. Exoskeleton assembly; 221. C-shaped hip support plate; 222. L-shaped side connecting rod; 223. Top guide plate; 224. Guide groove; 22 5. Convex side plate; 226. Horizontal L-shaped connecting rod; 227. Guide block; 228. Horizontal L-shaped guide block; 229. Convex block; 2210. Columnar rotating rod; 2211. Gear; 2212. Slide plate; 2213. Rotating plate guide groove; 2214. Slider; 2215. L-shaped push-pull plate; 2216. Suspension rope connecting block; 2217. L-shaped electric push rod connecting plate; 2218. Electric push rod; 2219. Back support plate connecting plate; 22110. Back support plate; 22111. L-shaped slide rod; 22112. Rack rod; 22113. Waist C-shaped limiting plate slide plate; 22114. Slide plate connecting block; 22115. Waist C-shaped limiting plate L-shaped connecting plate; 22116. Waist C-shaped limiting plate. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1-2 As shown, the present invention provides an exoskeleton device for lower limb motor rehabilitation, including a weight support mechanism 1, and an exoskeleton device 2 disposed at the bottom of the weight support mechanism 1.

[0021] like Figure 3 , Figure 9 and Figure 10As shown, the weight support mechanism 1 includes a suspension plate 11, which is used to install on an external suspension. Guide rods 12 are fixedly connected to the left and right sides of the bottom of the suspension plate 11, and a support assembly 13 is provided at the bottom of the suspension plate 11. The support assembly 13 includes a top plate 131, and side slide plates 132 are fixedly connected to the left and right sides of the top of the top plate 131. The inner sides of the two side slide plates 132 are slidably connected to the outer sides of the two guide rods 12, respectively. Rotating roller connecting plates 133 are fixedly connected to the left and right sides of the front and rear sides of the top plate 131, and columnar transmission rod convex connecting blocks 135 are fixedly connected to the outer sides of the two sets of rotating roller connecting plates 133. A columnar transmission rod 136 is rotatably connected between the inner walls of the two columnar transmission rod convex connecting blocks 135. A rotating roller 137 is fixedly connected between the two columnar transmission rod convex connecting blocks 135 on the same side of the outer walls of the two columnar transmission rods 136. The front ends of the two columnar transmission rods 136 extend to the outer side of the two columnar transmission rod convex connecting blocks 135 on the front side.

[0022] Motors 134 are fixedly connected to the outer sides of the two front rotating roller connecting plates 133. Third gears 139 are fixedly connected to the output ends of the two motors 134. Second gears 1310 are fixedly connected to the front ends of the two columnar transmission rods 136. The outer walls of the two second gears 1310 mesh with the outer walls of the two third gears 139, respectively. Suspension ropes 138 are fitted onto the outer walls of the two rotating rollers 137. The sides of the two suspension ropes 138 furthest from the rotating rollers 137 are fixedly connected to the outer sides of the two suspension rope connecting blocks 2216, respectively.

[0023] like Figure 4-5 As shown, the exoskeleton device 2 includes an auxiliary moving frame 21, and an exoskeleton component 22 is provided on the inner side of the auxiliary moving frame 21. The auxiliary moving frame 21 includes a triangular plate 211, and upright triangular sliding plates 212 are fixedly connected to the left and right sides of the bottom of the triangular plate 211. L-shaped side plates 213 are slidably connected to the front sides of the two upright triangular sliding plates 212. Inverted U-shaped support plates 214 are fixedly connected to the bottom of the outer sides of the two L-shaped side plates 213. Power-assisted universal wheels 215 are fixedly connected to the front and rear sides of the bottom of the two inverted U-shaped support plates 214 and the front and rear sides of the bottom of the two L-shaped side plates 213.

[0024] like Figure 6-8As shown, the exoskeleton assembly 22 includes a C-shaped hip support plate 221. L-shaped side connecting rods 222 are fixedly connected to the front and rear sides of the left and right sides of the C-shaped hip support plate 221. A top guide plate 223 is fixedly connected between the tops of the two front and rear L-shaped side connecting rods 222. A convex side plate 225 is fixedly connected between the outer sides of the two front and rear L-shaped side connecting rods 222. A guide groove 224 is provided in the middle of the top of each of the two top guide plates 223. A horizontal L-shaped connecting rod 226 is fixedly connected to the bottom of the middle of the outer side of each of the two convex side plates 225. Two guide blocks 227 are fixedly connected to the top of the outer side of each of the two horizontal L-shaped connecting rods 226. A horizontal L-shaped guide block 228 is fixedly connected to the top of the rear side of each of the two convex side plates 225. The outer sides of the two horizontal L-shaped connecting rods 226 are slidably connected to the inner sides of the two L-shaped side upright plates 213.

[0025] A convex block 229 is fixedly connected to the top of the middle outer side of each of the two convex side plates 225. A columnar rotating rod 2210 is rotatably connected to the inner wall of each of the two convex blocks 229. A gear 2211 is fixedly connected to the bottom of each of the two columnar rotating rods 2210. A sliding plate 2212 is fixedly connected to the top of each of the two sliding plates 2212. A rotating plate guide groove 2213 is opened on the top of each of the two sliding plates 2212. A slider 2214 is slidably connected to the inner wall of the rotating plate guide groove 2213 opened on the top of each of the two sliding plates 2212. An L-shaped push-pull plate 2215 is fixedly connected to the top of each of the two top guide plates 223. A hanging rope connecting block 2216 is fixedly connected to the side of each of the two top guide plates 223 near the outer side of the two L-shaped push-pull plates 2215.

[0026] An L-shaped electric push rod connecting plate 2217 is fixedly connected to the middle of the rear side of the C-shaped hip support plate 221. An electric push rod 2218 is fixedly connected to the inner wall of the rear side of the L-shaped electric push rod connecting plate 2217. The bottom of the L-shaped electric push rod connecting plate 2217 is fixedly connected to the top middle of the triangular plate 211. A back support plate connecting plate 2219 is fixedly connected to the front end of the electric push rod 2218. A back support plate 22110 is fixedly connected to the left and right sides of the front side of the back support plate connecting plate 2219. An L-shaped slide rod 22111 is fixedly connected to the left and right sides of the bottom of the back support plate connecting plate 2219. The outer walls of the two L-shaped slide rods 22111 are slidably connected between the tops of the two horizontal L-shaped guide blocks 228 and the two guide blocks 227. A rack rod 22112 is fixedly connected to the left and right sides of the inner side of the two L-shaped slide rods 22111. The inner sides of the two rack rods 22112 mesh with the outer walls of the two gears 2211 respectively.

[0027] A waist C-shaped limiting plate slide plate 22113 is slidably connected between the inner side of the convex side plate 225 and the L-shaped side connecting rod 222. A slide plate connecting block 22114 is fixedly connected to the rear side of the top of each of the two waist C-shaped limiting plate slide plates 22113. The front side of each of the two slide plate connecting blocks 22114 is fixedly connected to the rear side of each of the two L-shaped push-pull plates 2215. A waist C-shaped limiting plate L-shaped connecting plate 22115 is fixedly connected to the front side of each of the two waist C-shaped limiting plate slide plates 22113. A waist C-shaped limiting plate 22116 is fixedly connected between the rear sides of the two waist C-shaped limiting plate L-shaped connecting plates 22115.

[0028] The working principle of this invention is as follows: When assistive treatment is needed for a patient, the staff first helps the patient stand inside the two L-shaped side panels 213. Then, the two motors 134 are started. After the two motors 134 are started, their output ends drive the third gear 139 to rotate. Since the third gear 139 meshes with the second gear 1310, it drives the columnar transmission rod 136 to rotate. The rotation of the columnar transmission rod 136 causes the rotating roller 137 to rotate accordingly. The rotation of the rotating roller 137 causes the suspension rope 138 to be raised and lowered. The raising and lowering of the suspension rope 138 will cause the suspension rope connecting block 2216 to move up and down. The suspension rope connecting block 2216 is connected to the top guide plate 223. The top guide plate 223 is connected to the C-shaped hip support plate 221 through the L-shaped side connecting rod 222, etc. Therefore, it will drive the entire exoskeleton assembly 22 to be adjusted to a certain extent in the vertical direction, so that the waist C-shaped limiting plate 22116 and the C-shaped hip support plate 221 are respectively placed on the front of the patient's waist and buttocks. Next, the electric push rod 2218 is activated. The front end of the electric push rod 2218 pushes the back support plate connecting plate 2219 forward. The back support plate connecting plate 2219 drives the back support plate 22110 forward. At the same time, the L-shaped slide rod 22111 at the bottom of the back support plate connecting plate 2219 slides on the top of the horizontal L-shaped guide block 228 and guide block 227. Since the rack rod 22112 is fixedly connected to the inner side of the L-shaped slide rod 22111, and the rack rod 22112 meshes with the gear 2211, the L-shaped slide rod 22111 will drive the gear 2211 to rotate during the sliding process. The rotation of the gear 2211 causes the columnar rotating rod 2210 to rotate. The rotation of the columnar rotating rod 2210 drives the slide groove rotating plate 2212 to rotate. The rotation of the slide groove rotating plate 2212 causes the slider 2214 to slide in the rotating plate guide groove 2213, thereby driving the L-shaped push-pull plate 2215 to move back and forth. Then, the L-shaped push-pull plate 2215 moves back and forth, which drives the lumbar C-shaped limiting plate slide plate 22113 to slide between the inner side of the convex side plate 225 and the L-shaped side connecting rod 222 through the slide plate connecting block 22114. The sliding of the lumbar C-shaped limiting plate slide plate 22113 drives the lumbar C-shaped limiting plate L-shaped connecting plate 22115 to move, which finally causes the lumbar C-shaped limiting plate 22116 to move back and forth, providing appropriate limitation and support for the front of the patient's waist, so as to assist the patient in lower limb motor rehabilitation training. Throughout the process, the power-assisted universal wheel 215 can assist the entire device to move flexibly according to the patient's movement needs. When the exoskeleton component 22 supports the patient's body, the height of the exoskeleton component 22 can be further precisely adjusted by reactivating the two motors 134 and adjusting the suspension ropes 138 in accordance with the patient's weight, so as to offset the weight of the exoskeleton itself and part of the patient's weight. When the patient recovers to a certain extent and needs to adjust the training intensity, the amount of auxiliary force applied by the exoskeleton component 22 to the patient's lower limbs can be changed by adjusting the suspension ropes 138. Specifically, when the patient's lower limb strength has increased and the training intensity needs to be increased, the motors 134 can be controlled to appropriately loosen the suspension ropes 138, reducing the support of the exoskeleton component 22 to the patient's lower limbs, allowing the patient to rely more on their own strength for movement.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An exoskeleton device for lower limb motor rehabilitation, comprising a weight support mechanism (1), characterized in that: The weight support mechanism (1) is provided with an exoskeleton device (2) at its bottom. The weight support mechanism (1) includes a suspension plate (11), and guide rods (12) are fixedly connected to the left and right sides of the bottom of the suspension plate (11). A support component (13) is provided at the bottom of the suspension plate (11). The exoskeleton device (2) includes an auxiliary moving frame (21), and an exoskeleton component (22) is provided on the inner side of the auxiliary moving frame (21).

2. The exoskeleton device for lower limb motor rehabilitation according to claim 1, characterized in that: The auxiliary moving frame (21) includes a triangular plate (211). The left and right sides of the bottom of the triangular plate (211) are fixedly connected to the vertical triangular sliding plate (212). The front sides of the two vertical triangular sliding plates (212) are slidably connected to the L-shaped side plates (213). The bottom outer sides of the two L-shaped side plates (213) are fixedly connected to the inverted U-shaped support plates (214). The front and rear sides of the bottom of the two inverted U-shaped support plates (214) and the front and rear sides of the bottom of the two L-shaped side plates (213) are fixedly connected to the power-assisted universal wheels (215).

3. The exoskeleton device for lower limb motor rehabilitation according to claim 1, characterized in that: The exoskeleton assembly (22) includes a C-shaped hip support plate (221). L-shaped side connecting rods (222) are fixedly connected to the front and back sides of the left and right sides of the C-shaped hip support plate (221). A top guide plate (223) is fixedly connected between the tops of the two L-shaped side connecting rods (222). A convex side plate (225) is fixedly connected between the outer sides of the two L-shaped side connecting rods (222). A guide groove (224) is provided in the middle of the top of each of the two top guide plates (223). A horizontal L-shaped connecting rod (226) is fixedly connected to the bottom of the middle of the outer side of each of the two convex side plates (225). Two guide blocks (227) are fixedly connected to the top of the outer side of each of the two horizontal L-shaped connecting rods (226). A horizontal L-shaped guide block (228) is fixedly connected to the top of the rear side of each of the two convex side plates (225). The outer sides of the two horizontal L-shaped connecting rods (226) are slidably connected to the inner sides of the two L-shaped side upright plates (213).

4. An exoskeleton device for lower limb motor rehabilitation according to claim 3, characterized in that: A convex block (229) is fixedly connected to the top of the middle of the outer side of each of the two convex side plates (225). A columnar rotating rod (2210) is rotatably connected to the inner wall of each of the two convex blocks (229). A gear (2211) is fixedly connected to the bottom of each of the two columnar rotating rods (2210). A sliding plate (2212) is fixedly connected to the top of each of the two columnar rotating rods (2210). A rotating plate guide groove (2213) is opened on the top of each of the two sliding plates (2212). A slider (2214) is slidably connected to the inner wall of the rotating plate guide groove (2213) opened on the top of each of the two sliding plates (2212). An L-shaped push-pull plate (2215) is fixedly connected to the top of each of the two top guide plates (223). A hanging rope connecting block (2216) is fixedly connected to the side of the top of each of the two top guide plates (223) near the outer side of the L-shaped push-pull plate (2215).

5. An exoskeleton device for lower limb motor rehabilitation according to claim 3, characterized in that: An L-shaped electric push rod connecting plate (2217) is fixedly connected to the middle of the rear side of the C-shaped hip support (221). An electric push rod (2218) is fixedly connected to the inner wall of the rear side of the L-shaped electric push rod connecting plate (2217). The bottom of the L-shaped electric push rod connecting plate (2217) is fixedly connected to the middle of the top of the triangular plate (211). A back support plate connecting plate (2219) is fixedly connected to the front end of the electric push rod (2218). Back supports are fixedly connected to the left and right sides of the front side of the back support plate connecting plate (2219). The plate (22110) has L-shaped slide rods (22111) fixedly connected to the left and right sides of the bottom of the back support plate connecting plate (2219). The outer walls of the two L-shaped slide rods (22111) are slidably connected between the tops of the two horizontal L-shaped guide blocks (228) and the two guide blocks (227). The inner left and right sides of the two L-shaped slide rods (22111) are fixedly connected to rack rods (22112). The inner sides of the two rack rods (22112) mesh with the outer walls of the two gears (2211) respectively.

6. An exoskeleton device for lower limb motor rehabilitation according to claim 4, characterized in that: A waist C-shaped limiting plate slide plate (22113) is slidably connected between the inner side of the convex side plate (225) and the L-shaped side connecting rod (222). A slide plate connecting block (22114) is fixedly connected to the rear side of the top of each of the two waist C-shaped limiting plate slide plates (22113). The front side of each of the two slide plate connecting blocks (22114) is fixedly connected to the rear side of each of the two L-shaped push-pull plates (2215). A waist C-shaped limiting plate L-shaped connecting plate (22115) is fixedly connected to the front side of each of the two waist C-shaped limiting plate slide plates (22113). A waist C-shaped limiting plate (22116) is fixedly connected between the rear sides of the two waist C-shaped limiting plate L-shaped connecting plates (22115).

7. An exoskeleton device for lower limb motor rehabilitation according to claim 1, characterized in that: The support assembly (13) includes a top plate (131), with side slide plates (132) fixedly connected to the left and right sides of the top of the top plate (131). The inner sides of the two side slide plates (132) are slidably connected to the outer sides of the two guide rods (12). Rotating roller connecting plates (133) are fixedly connected to the left and right sides of the front and rear sides of the top plate (131). Columnar transmission rod convex connecting blocks (135) are fixedly connected to the outer sides of the two sets of rotating roller connecting plates (133).

8. An exoskeleton device for lower limb motor rehabilitation according to claim 7, characterized in that: A columnar transmission rod (136) is rotatably connected between the inner walls of the two columnar transmission rod convex connecting blocks (135) and the outer walls of the two columnar transmission rods (136) located on the same side. A rotating roller (137) is fixedly connected between the two columnar transmission rod convex connecting blocks (135) and the outer walls of the two columnar transmission rods (136). The front ends of the two columnar transmission rods (136) extend to the outer side of the two columnar transmission rod convex connecting blocks (135) on the front side.

9. An exoskeleton device for lower limb motor rehabilitation according to claim 8, characterized in that: Motors (134) are fixedly connected to the outer sides of the two front rotating roller connecting plates (133), and third gears (139) are fixedly connected to the output ends of the two motors (134). Second gears (1310) are fixedly connected to the front ends of the two columnar transmission rods (136), and the outer walls of the two second gears (1310) mesh with the outer walls of the two third gears (139) respectively.

10. An exoskeleton device for lower limb motor rehabilitation according to claim 8, characterized in that: The outer walls of the two rotating rollers (137) are fitted with suspension ropes (138), and the sides of the two suspension ropes (138) away from the rotating rollers (137) are respectively fixedly connected to the outside of the two suspension rope connecting blocks (2216).

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