Lower limb training rehabilitation equipment

Abstract

The utility model discloses a lower limb training rehabilitation device which comprises a cart, a lower limb training rehabilitation device, a lower limb training rehabilitation device and an upper limb training rehabilitation device. The cart comprises a frame, supporting wheels, universal wheels and a lifting push rod. The two exoskeleton mechanisms are installed on the cart in a bilateral symmetry mode, and each exoskeleton mechanism comprises a shank supporting piece and a foot support; the seat backrest assembly comprises a seat plate and a backrest, the seat plate is connected with a lifting push rod, the seat plate, the backrest and the frame are connected through a connecting rod mechanism, the connecting rod mechanism is used for driving the seat plate to be folded and the backrest to be lifted, and the lifting push rod drives and controls the folding state of the seat plate; the power driving assembly comprises a motor, a coupler, short shafts and swing arms, the motor is connected with the coupler, and the coupler is connected with the two swing arms through the short shafts; the two transmission mechanisms are connected with the frame, the swing arms and the shank supporting pieces respectively, so that the two shank supporting pieces can alternately move front and back. The device can be used for gait training and standing training, is convenient to move integrally, and integrates the functions of cart and rehabilitation training.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation training devices, and in particular relates to lower limb training rehabilitation equipment. Background Art

[0002] Lower limb dysfunction is a common consequence of many diseases and injuries, such as stroke and spinal cord injury. How to achieve rehabilitation training for patients with lower limb paralysis has become a hot topic in the medical community. Patients with lower limb injuries generally need rehabilitation training, mainly for joint function and lower limb muscle strength training. Traditional rehabilitation methods often rely on the guidance of physical therapists and auxiliary tools, and their efficiency and effectiveness are not ideal.

[0003] There are three main types of lower limb rehabilitation training equipment currently available: the first is an ordinary rehabilitation cart, which works by providing a mobile bracket. The user stands in the frame and walks slowly. The mobile frame ensures that the user will not fall. The user needs to have rehabilitation ability and cannot perform passive rehabilitation training; the second is a lower limb medical rehabilitation exoskeleton. The lower limb medical rehabilitation exoskeleton that has been sold on the market mainly installs the lower limb medical rehabilitation exoskeleton on a movable bracket. The mobile bracket keeps the exoskeleton from tipping over. The user can perform active or passive rehabilitation training under the action of the exoskeleton. The disadvantage is that it is not portable and is relatively bulky; the third is a wheelchair that enables people to stand, which has both wheelchair functions and standing training. The disadvantage is that it has a single function and lacks versatility. Utility Model Content

[0004] The purpose of the utility model is to solve at least one problem of the prior art and to provide a lower limb training and rehabilitation device.

[0005] To achieve the above purpose, the utility model proposes a lower limb training and rehabilitation device, comprising:

[0006] A cart, comprising a frame, support wheels mounted on the frame, universal wheels and a lifting push rod;

[0007] Two exoskeleton mechanisms, the two exoskeleton mechanisms are symmetrically mounted on the cart, and the exoskeleton mechanisms include a calf support and a footrest connected to the calf support;

[0008] A seat back assembly, the seat back assembly comprising a seat plate and a back connected to the seat plate, the bottom of the seat plate being connected to a lifting push rod, the seat plate, both sides of the back and the frame being connected by a connecting rod mechanism, the connecting rod mechanism being used to drive the folding of the seat plate and the lifting of the back, the lifting push rod driving and controlling the folding state of the seat plate;

[0009] A power drive assembly, the power drive assembly includes a motor, a coupling, a short shaft, and a swing arm, the output end of the motor is connected to the coupling, and the two ends of the coupling are respectively connected to the two swing arms through the short shaft;

[0010] Two transmission mechanisms are respectively connected to the frame, the swing arm and the calf support member on the same side, so that the left and right calf support members can move back and forth alternately.

[0011] Preferably, the frame is equipped with a brake assembly, which includes a handbrake, a disc brake mounting seat, a disc brake pad, and a disc brake. The disc brake mounting seat is installed on the frame near the supporting wheel, the disc brake is installed on the disc brake mounting seat, the handbrake is installed on the frame, the handbrake is connected to the disc brake with a brake line, and the disc brake pad is installed on the outside of the wheel axle connecting the frame and the supporting wheel. By grasping the handbrake, the disc brake pad is brought into contact with the disc brake, thereby stopping the rotation of the supporting wheel to complete the braking operation of the cart.

[0012] Preferably, the frame is equipped with a battery and a controller for powering the device, and the controller is electrically connected to the motor, the battery, and the lifting push rod.

[0013] Preferably, the connecting rod mechanism includes a seat plate connecting plate, a seat plate connecting rod and a backrest connecting rod, one end of the seat plate connecting plate is fixed to the frame, and the other end of the seat plate connecting plate is rotatably connected to the seat plate, and the two ends of the seat plate connecting rod are respectively connected to the seat plate connecting plate and the backrest connecting rod, and the backrest connecting rod is installed on the side of the backrest so that the backrest always remains in a vertical state during the folding process of the seat plate.

[0014] Preferably, mounting plates are provided on both sides of the seat plate, connecting plates are provided on both sides of the backrest, the connecting plate and the mounting plate on the same side are connected by a pin shaft, and the backrest connecting rod is installed on the outside of the connecting plate.

[0015] Preferably, folding armrest assemblies are installed on both sides of the backrest, and the folding armrest assemblies include an armrest seat and an armrest. One end of the armrest seat is rotatably installed on the side of the backrest, and a socket and a first slide groove are respectively provided on the front and bottom of the armrest seat. One end of the armrest is inserted into the socket and fixed with a fastener after being inserted to a predetermined depth. The fastener is installed on the first slide groove, and the other end of the armrest is bent upward. A nylon sliding block for sealing the socket is provided on the outside of the armrest, and a protective pad is installed on the armrest seat.

[0016] Preferably, the folding armrest assembly also includes a telescopic tube, hollow support tubes are provided on both sides of the backrest, a second slide groove is provided on the outer side of the hollow support tube, the telescopic tube is slidably installed in the hollow support tube, a plurality of adjustment holes are provided on the back side of the telescopic tube, elastic pins and plum screws are installed on the back side of the hollow support tube to fix the telescopic tube, the armrest seat is connected to the telescopic tube through an armrest mounting shaft, a retaining ring with an arc-shaped groove is provided on the outer side of the armrest mounting shaft, a clip is provided on the end of the armrest seat close to the telescopic tube, the retaining ring is cooperatively connected with the end of the armrest seat and the clip is inserted into the arc-shaped groove.

[0017] Preferably, the transmission mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, the two ends of the first connecting rod are respectively connected to the inner wall of the frame and the calf support on the same side, the two ends of the second connecting rod are respectively connected to the inner wall of the frame and the calf support on the same side, and the two ends of the third connecting rod are respectively connected to the swing arm and the second connecting rod on the same side.

[0018] Preferably, the exoskeleton mechanism further comprises a leg support, wherein a support seat is provided at the upper end of the calf support, the support seat is provided with a channel, the leg support is provided with an arc-shaped support portion adapted to the knee of the leg, a bent connecting rod is provided on the back side of the arc-shaped support portion, one end of the connecting rod is inserted into the channel of the support seat and fixed with a fastener.

[0019] Preferably, the connecting rod is provided with a plurality of through holes for installing fasteners along the vertical direction, and the distance between the leg rest and the seat plate can be adjusted by changing the length of the connecting rod extending into the channel, and the leg rest is provided with a strap.

[0020] The beneficial effects of the utility model are as follows: the utility model installs the calf exoskeleton mechanism, the seat back assembly and the lifting push rod on the cart; the seat plate, the backrest and the frame in the seat back assembly are connected by a connecting rod mechanism; when in use, the motor drives the two swing arms to rotate and drives the exoskeleton mechanism to move alternately back and forth through the transmission mechanism; the lifting push rod cooperates with the connecting rod mechanism during the lifting process to fold the seat plate and lift the backrest, so that the user can achieve passive rehabilitation training and safely realize the state change from sitting to standing, and can perform gait training and standing training; the device is easy to move as a whole, and integrates the functions of a cart and rehabilitation training.

[0021] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an embodiment of the utility model.

[0023] Figure 2 It is a structural schematic diagram of an embodiment of the utility model.

[0024] Figure 3It is a left view of an embodiment of the utility model.

[0025] Figure 4 It is the front view of the embodiment of the utility model.

[0026] Figure 5 It is a top view of an embodiment of the utility model.

[0027] Figure 6 It is a schematic diagram of the structure of a cart according to an embodiment of the utility model.

[0028] Figure 7 It is a partial structural schematic diagram of an embodiment of the utility model.

[0029] Figure 8 It is a schematic diagram of the partial structure of a frame of an embodiment of the utility model.

[0030] Fig. 9 It is a structural schematic diagram of a seat back assembly and a folding armrest assembly according to an embodiment of the utility model.

[0031] Fig.10 It is a schematic structural diagram of a folding armrest assembly according to an embodiment of the utility model.

[0032] Fig.11 It is a structural schematic diagram of an armrest seat according to an embodiment of the utility model.

[0033] Fig.12 It is a top view of the armrest seat of an embodiment of the utility model.

[0034] Fig.13 It is a rear view of the armrest seat of the utility model embodiment.

[0035] Fig.14 It is a schematic diagram of the installation structure of the telescopic tube and the handrail installation shaft of an embodiment of the utility model.

[0036] Fig.15 It is a schematic diagram of the armrest structure of an embodiment of the utility model.

[0037] In the figure: 1-trolley, 2-exoskeleton mechanism, 3-seat back assembly, 4-power drive assembly, 5-transmission mechanism, 6-folding armrest assembly, 7-brake assembly, 8-lifting push rod, 9-connecting rod mechanism, 10-support wheel, 11-frame, 12-handbrake, 13-battery, 21-calf support, 22-footrest, 23-legrest, 31-backrest, 32-seat board, 33-elastic pin, 34-hollow support tube, 41-motor, 42 -coupling, 43-short shaft, 44-swing arm, 51-first connecting rod, 52-second connecting rod, 53-third connecting rod, 60-clip, 61-armrest seat, 62-armrest, 63-pad, 64-telescopic tube, 65-pipe plug clamp, 66-nylon sliding block, 67-armrest mounting shaft, 68-retaining ring, 71-disc brake mounting seat, 72-disc brake, 73-disc brake pad, 91-backrest connecting rod, 92-seat plate connecting rod, 93-seat plate connecting plate. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. The components of the embodiment of the present application described and shown in the drawings here can be arranged and designed in various different configurations. In the description of the present application, it should be noted that the orientation or position relationship indicated by the terms "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship usually placed when the application product is used, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0039] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] The utility model is described in detail below in conjunction with the accompanying drawings.

[0041] See also Figures 1 to 8 , this embodiment provides a lower limb training and rehabilitation device, including:

[0042] The cart 1 comprises a frame 11, support wheels 10 installed on both sides of the rear end of the frame 11, and universal wheels installed on both sides of the front end of the frame 11. The frame 11 is equipped with a lifting push rod 8;

[0043] Two exoskeleton mechanisms 2, the two exoskeleton mechanisms 2 are symmetrically mounted on the left and right inner walls of the cart 1, the exoskeleton mechanisms 2 include a calf support 21 and a foot rest 22 connected to the calf support 21;

[0044] The seat back assembly 3 includes a seat plate 32 and a backrest 31 connected to the seat plate 32. The bottom of the seat plate 32 is connected to a lifting push rod 8. The seat plate 32 and both sides of the backrest 31 are connected to the frame 11 by a connecting rod mechanism 9. The connecting rod mechanism 9 is used to drive the folding of the seat plate 32 and the lifting of the backrest 31. The lifting push rod 8 drives and controls the folding state of the seat plate 32.

[0045] The power drive assembly 4 includes a motor 41, a coupling 42, a short shaft 43, and a swing arm 44. The output end of the motor 41 is connected to the coupling 42, and the two ends of the coupling 42 are respectively connected to two short shafts 43, and the two short shafts 43 are respectively connected to two swing arms 44;

[0046] The two transmission mechanisms 5 are respectively connected to the frame 1, the swing arm 44, and the calf support 21 located on the same side. When the connection positions of the two short shafts 43 and the two swing arms 44 form an angle of 180° with each other, the left and right calf support 21 can move back and forth alternately.

[0047] Among them, the motor 41 adopts a reduction motor, and the coupling 42 adopts a rigid coupling. The motor 41 is installed on the frame 11 through a motor mounting seat and screws. The output shaft of the motor 41 is connected to the coupling 42 through shaft hole matching and key matching. Two bearing seats are installed on the frame 11, and two short shafts 43 are installed in the two bearing seats through bearings. A spacer is provided between the swing arm 44 and the bearing seat. The spacer is arranged on the outside of the short shaft to play a certain positioning and protection role. The lifting push rod can be a hydraulic push rod or an electric push rod. Under the premise of meeting the lifting use, the lifting push rod can also be replaced by other linear lifting components. In order to better improve the protection performance, foot straps and waist straps can be provided on the footrest 23 and the backrest 31 respectively.

[0048] A footrest mounting portion is provided on the side of the lower end of the calf support 21, and the footrest 22 is provided with a connector with an interface. When the footrest 22 and the calf support 21 are installed, the interface of the connector is plugged into the footrest mounting portion and fixed with a pin.

[0049] In this embodiment, refer to Figure 8The frame 11 is equipped with a brake assembly 7, which includes a handbrake 12, a disc brake mounting seat 71, a disc brake pad 73, and a disc brake 72. The disc brake mounting seat 71 is mounted on the frame 11 near the support wheel 10 with screws, and the disc brake 72 is mounted on the disc brake mounting seat 71 with screws. The handbrake 12 is mounted on the frame 11, and the handbrake 12 is connected to the disc brake 72 with a brake line. The disc brake pad 73 is installed on the outside of the wheel axle connecting the frame 11 and the support wheel 10. By grasping the handbrake 12, the disc brake pad 73 is in contact with the disc brake 72, so that the support wheel 10 stops rotating to complete the braking operation of the cart 1, and the wheel axle of the support wheel 10 is connected to the frame 11 with a bearing.

[0050] In this embodiment, refer to Figure 5 The frame 11 is equipped with a battery 13 and a controller for powering the device. The controller is electrically connected to the motor 41, the battery 13, and the lifting push rod 8, and controls the working status of the motor 13 and the lifting push rod 8. The battery 41 supplies power to the controller, the motor 41, and the lifting push rod 8. The battery 13 is limitedly installed on the frame 11 through a battery mounting seat.

[0051] In this embodiment, refer to Figure 2 and Figure 3 The connecting rod mechanism 9 includes a seat plate connecting plate 93, a seat plate connecting rod 92, and a backrest connecting rod 91. One end of the seat plate connecting plate 93 is fixed to the frame 11, and the other end of the seat plate connecting plate 93 is rotatably connected to the seat plate 32. The two ends of the seat plate connecting rod 92 are respectively connected to the seat plate connecting plate 93 and the backrest connecting rod 91 by pins. The backrest connecting rod 91 is installed on the side of the backrest 31 so that the backrest 31 always remains in a vertical state during the folding process of the seat plate 32.

[0052] In this embodiment, refer to Figure 3 Mounting plates are provided on both sides of the seat plate 32, connecting plates are provided on both sides of the backrest 31, the connecting plate and the mounting plate on the same side are connected by a pin shaft, the backrest connecting rod 91 is installed on the outside of the connecting plate, one end of the seat plate connecting plate 93 is connected to the mounting plate by a rotating shaft, and a bearing is installed between the seat plate connecting plate 93 and the rotating shaft.

[0053] In this embodiment, refer to Figures 9 to 13 Folding armrest assemblies 6 are installed on both sides of the backrest 31. The folding armrest assembly 6 includes an armrest seat 61 and an armrest 62. One end of the armrest seat 61 is rotatably installed on the side of the backrest 31. The front and bottom of the armrest seat 61 are respectively provided with a socket and a first slide groove. One end of the armrest 62 is inserted into the socket and fixed with a fastener after being inserted into a predetermined depth. The fastener is installed on the first slide groove. The other end of the armrest 62 is bent upward. A nylon sliding block 66 for sealing the socket is provided on the outside of the armrest 62. A pad 63 is installed on the armrest seat 61 with screws.

[0054] In this embodiment, refer to Fig. 9 , Fig.14 and Fig.15 The folding armrest assembly 6 also includes a telescopic tube 64, a hollow support tube 34 is provided on both sides of the backrest 31, a second slide groove is provided on the outer side of the hollow support tube 34, the telescopic tube 64 is slidably installed in the hollow support tube 34, a plurality of adjustment holes are provided on the back of the telescopic tube 64, and an elastic pin 33 and a plum screw are installed on the back of the hollow support tube 34 to fix the telescopic tube 64. The armrest seat 61 is connected to the telescopic tube 64 through the armrest mounting shaft 67, and one end of the armrest seat 61 is provided with a limiting hole for matching the installation of the armrest mounting shaft 67, and a retaining ring 68 with an arc-shaped groove is provided on the outer side of the armrest mounting shaft 67. A clip 60 is provided at one end of 61 close to the telescopic tube 64, and a retaining ring 68 is cooperated and connected with the end of the armrest seat 61 and the clip 60 is inserted into the arc-shaped slot. The setting of the arc-shaped slot enables the armrest seat 61 and the armrest 62 to rotate within a predetermined angle range. Preferably, in this embodiment, the arc angle corresponding to the arc-shaped slot is 90°, so that the maximum rotation angle of the armrest seat 61 and the armrest 62 is 90°. A pipe plug clamp 65 is provided at one end of the armrest 62 inserted into the armrest seat 61, and a plum screw is used as a fastener. After the handrail 62 is inserted into the channel for a predetermined length, the plum screw is connected to the pipe plug clamp 65 to fix the handrail 62.

[0055] In this embodiment, the transmission mechanism 5 includes a first connecting rod 51, a second connecting rod 52 and a third connecting rod 53. The two ends of the first connecting rod 51 are connected to the inner wall of the frame 11 and the middle part of the calf support 21 on the same side by a rotating shaft and a bearing, respectively. The two ends of the second connecting rod 52 are connected to the inner wall of the frame 11 and the bottom outer side of the calf support 21 on the same side by a rotating shaft and a bearing, respectively. The two ends of the third connecting rod 53 are connected to the swing arm 44 and the middle part of the second connecting rod 52 on the same side by a rotating shaft and a bearing.

[0056] In this embodiment, refer to Figure 1 The exoskeleton mechanism 2 also includes a leg support 23. A support seat is provided at the upper end of the calf support member 21, and a channel is provided at the support seat. The leg support 23 is provided with an arc-shaped support portion adapted to the knee of the leg, and a bent connecting rod is provided on the back of the arc-shaped support portion. One end of the connecting rod is inserted into the channel of the support seat and fixed with a fastener, and the fastener includes but is not limited to screws and pins.

[0057] In this embodiment, refer to Figure 1 and Figure 5 The connecting rod is provided with a plurality of through holes for installing fasteners along the vertical direction. The distance between the leg rest 23 and the seat plate 32 can be adjusted by changing the length of the connecting rod extending into the channel to better meet the use needs of wearers of different heights. The leg rest 23 is provided with straps.

[0058] Working process of this utility model:

[0059] During the operation of the lower limb training and rehabilitation equipment, the user places the feet on the footrest 22, and the waist strap, foot strap, and leg support strap are used to restrain the user's upper body, foot, and legs respectively. The lifting push rod 8 pushes the seat plate 32 upward, and under the action of the connecting rod mechanism, the seat plate 32 is folded upward and the backrest 31 rises accordingly. During the folding process of the seat plate 32, the user is helped to change from a sitting position to a standing position. The motor 41 is started. After the motor 41 works, it drives the two short shafts 43 to rotate through the coupling 42. After the short shaft 43 rotates, it drives the swing arm 44 to rotate. After the swing arm 44 rotates, it drives the calf support 21 to move through the third connecting rod 53. The first connecting rod 51 and the second connecting rod 52 play a certain auxiliary transmission role, and the calf support 21 on both sides can realize the front and rear movement. Alternating movement; during use, the user can grab the armrest 62, and when the armrest 62 needs to be folded, flip the armrest 62 and the armrest seat 61 upward 90°. When the length of the armrest 62 needs to be adjusted, the screws on the armrest seat 61 are loosened to loosen the pipe plug clamp 65, and the armrest 62 can move back and forth in the channel of the armrest seat 61 to a predetermined length and then retighten the screws. The nylon sliding block 66 moves to block the socket at the front end of the armrest seat 61. When the height of the armrest 62 needs to be adjusted, the position of the telescopic tube 64 in the hollow support tube 34 is moved by loosening the plum screws and the elastic pin 33 on the back of the backrest 31 so that the armrest 62 and the armrest seat 61 reach a predetermined height position, and the plum screws and the elastic pin 33 are retightened to fix the telescopic tube 64.

[0060] The above embodiments are intended to illustrate the present invention, not to limit the present invention. Any solution that is a simple transformation of the present invention falls within the protection scope of the present invention.

Claims

1. A lower limb training and rehabilitation device, characterized in that: include: A cart, comprising a frame, support wheels mounted on the frame, universal wheels and a lifting push rod; Two exoskeleton mechanisms, the two exoskeleton mechanisms are symmetrically mounted on the cart, and the exoskeleton mechanisms include a calf support and a footrest connected to the calf support; A seat back assembly, the seat back assembly comprising a seat plate and a back connected to the seat plate, the bottom of the seat plate being connected to a lifting push rod, the seat plate, both sides of the back and the frame being connected by a connecting rod mechanism, the connecting rod mechanism being used to drive the folding of the seat plate and the lifting of the back, the lifting push rod driving and controlling the folding state of the seat plate; A power drive assembly, the power drive assembly includes a motor, a coupling, a short shaft, and a swing arm, the output end of the motor is connected to the coupling, and the two ends of the coupling are respectively connected to the two swing arms through the short shaft; Two transmission mechanisms are respectively connected to the frame, the swing arm and the calf support member on the same side, so that the left and right calf support members can move back and forth alternately.

2. A lower limb training and rehabilitation device as claimed in claim 1, characterized in that: The frame is equipped with a brake assembly, which includes a handbrake, a disc brake mounting seat, a disc brake pad, and a disc brake. The disc brake mounting seat is installed on the frame near the supporting wheel, the disc brake is installed on the disc brake mounting seat, the handbrake is installed on the frame, the handbrake is connected to the disc brake with a brake line, and the disc brake pad is installed on the outside of the wheel axle used to connect the frame and the supporting wheel. The handbrake is grasped to make the disc brake pad contact with the disc brake, thereby stopping the rotation of the supporting wheel to complete the braking operation of the cart.

3. A lower limb training and rehabilitation device as claimed in claim 1, characterized in that: The frame is equipped with a battery and a controller for powering the device, and the controller is electrically connected with the motor, the battery, and the lifting push rod.

4. A lower limb training and rehabilitation device as claimed in claim 1, characterized in that: The connecting rod mechanism includes a seat plate connecting plate, a seat plate connecting rod, and a backrest connecting rod. One end of the seat plate connecting plate is fixed to the frame, and the other end of the seat plate connecting plate is rotatably connected to the seat plate. The two ends of the seat plate connecting rod are respectively connected to the seat plate connecting plate and the backrest connecting rod. The backrest connecting rod is installed on the side of the backrest so that the backrest always remains in a vertical state during the folding process of the seat plate.

5. A lower limb training and rehabilitation device as claimed in claim 4, characterized in that: Mounting plates are arranged on both sides of the seat plate, connecting plates are arranged on both sides of the backrest, the connecting plate and the mounting plate on the same side are connected by a pin shaft, and the backrest connecting rod is installed on the outer side of the connecting plate.

6. A lower limb training and rehabilitation device as claimed in claim 1, characterized in that: Folding armrest assemblies are installed on both sides of the backrest, and the folding armrest assemblies include an armrest seat and an armrest. One end of the armrest seat is rotatably installed on the side of the backrest, and a socket and a first slide groove are respectively provided on the front and bottom of the armrest seat. One end of the armrest is inserted into the socket and fixed with a fastener after being inserted into a predetermined depth. The fastener is installed on the first slide groove, and the other end of the armrest is bent upward. A nylon sliding block for sealing the socket is provided on the outside of the armrest, and a protective pad is installed on the armrest seat.

7. A lower limb training and rehabilitation device as claimed in claim 6, characterized in that: The folding armrest assembly also includes a telescopic tube, hollow support tubes are provided on both sides of the backrest, a second slide groove is provided on the outer side of the hollow support tube, the telescopic tube is slidably installed in the hollow support tube, a plurality of adjustment holes are provided on the back side of the telescopic tube, elastic pins and plum screws are installed on the back side of the hollow support tube to fix the telescopic tube, the armrest seat is connected to the telescopic tube through an armrest mounting shaft, a retaining ring with an arc-shaped groove is provided on the outer side of the armrest mounting shaft, a clip is provided at one end of the armrest seat close to the telescopic tube, the retaining ring is cooperatively connected with the end of the armrest seat and the clip is inserted into the arc-shaped groove.

8. The lower limb training and rehabilitation device according to claim 1, characterized in that: The transmission mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, the two ends of the first connecting rod are respectively connected to the inner wall of the frame and the calf support on the same side, the two ends of the second connecting rod are respectively connected to the inner wall of the frame and the calf support on the same side, and the two ends of the third connecting rod are respectively connected to the swing arm and the second connecting rod on the same side.

9. The lower limb training and rehabilitation device according to claim 1, characterized in that: The exoskeleton mechanism also includes a leg support, a support seat is provided at the upper end of the calf support, the support seat is provided with a channel, the leg support is provided with an arc-shaped support part adapted to the knee of the leg, a bent connecting rod is provided on the back of the arc-shaped support part, one end of the connecting rod is inserted into the channel of the support seat and fixed with a fastener.

10. A lower limb training and rehabilitation device as claimed in claim 9, characterized in that: The connecting rod is provided with a plurality of through holes for installing fasteners along the vertical direction. The distance between the leg support and the seat plate can be adjusted by changing the length of the connecting rod extending into the channel. The leg support is provided with a strap.

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