Lower limb exoskeleton joint rehabilitation training device structure
By introducing a calf extension and retraction adjustment component, a power cylinder, and a foot joint angle adjustment component into the lower limb exoskeleton joint rehabilitation trainer, the problems of insufficient adaptability and assistance of existing equipment are solved, achieving flexible rehabilitation training adaptability and improved effectiveness.
Patent Information
- Application Number
- CN202422784544.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-15
- Publication Date
- 2025-11-11
- Estimated Expiration
- 2034-11-15
AI Technical Summary
Existing lower limb exoskeleton joint rehabilitation trainers lack assistive components and foot joint angle adjustment components, resulting in significant limitations in rehabilitation training. They cannot adapt to users of different heights and leg lengths, and are not suitable for patients with insufficient weight-bearing capacity, thus affecting rehabilitation outcomes.
The design includes a calf extension and retraction adjustment component, a power-assisted hydraulic cylinder, a hip joint rotation rod, and an ankle joint angle adjustment component. The PLC controller coordinates the operation of each component to enable flexible rehabilitation training of the hip, knee, and ankle joints, adapting to the needs of patients with different heights and leg lengths, and providing additional assistance.
It enables flexible adjustments based on the patient's specific condition, meets the training needs of different rehabilitation stages, ensures the standardization and effectiveness of rehabilitation training, solves the problem of ineffective lower limb training for early-stage stroke patients, and improves the flexibility and effectiveness of rehabilitation training.
Smart Images
Figure CN223529672U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, specifically to a structure for a lower limb exoskeleton joint rehabilitation training device. Background Technology
[0002] The lower limb exoskeleton robot is a wearable bionic device based on the principle of "neuroplasticity." Targeting individuals with lower limb motor dysfunction, it provides scientific, efficient, and accurate walking rehabilitation training by externally stimulating the lower limbs, thereby stimulating neural remodeling, improving independent walking ability, and accelerating the rehabilitation process. This device uses adjustable hip and knee joint angles to simulate the joint angles maintained during walking, thus fully training the patient's hip and knee extension and flexion functions, as well as the synchronicity of hip and knee joint movements, rebuilding the patient's hip extension and flexion abilities and hip and knee separation movements. Compared to traditional rehabilitation methods, this device can improve controllable, high-intensity, and personalized rehabilitation training, reduce the burden on clinicians, and objectively and accurately quantify the improvement of the patient's motor function. However, existing technologies have the following limitations:
[0003] Existing lower limb exoskeleton joint rehabilitation trainers lack assistive components and foot joint angle adjustment components, which limits their effectiveness in hip, knee, and ankle joint rehabilitation training. This lack of support in areas such as the thigh makes them unsuitable for patients without weight-bearing capacity, significantly restricting rehabilitation training and hindering their ability to follow rehabilitation plans effectively. This can delay rehabilitation progress and even lead to further degeneration of lower limb joint function due to prolonged inability to perform effective training. Furthermore, the absence of calf extension / retraction adjustment components makes it difficult for existing devices to adapt to users with different calf lengths or heights, preventing the legs from naturally extending or bending to the appropriate position and severely impacting the effectiveness of rehabilitation training. Utility Model Content
[0004] This invention provides a structure for a lower limb exoskeleton joint rehabilitation training device to solve the problems mentioned in the background art.
[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:
[0006] A lower limb exoskeleton joint rehabilitation training device structure includes a lumbar fixation plate. A lumbar connecting plate is fixedly connected to the middle of the front side of the lumbar fixation plate. A silicone backrest is fixedly connected to the front side of the lumbar connecting plate. A PLC controller is fixedly connected to the middle of the rear side of the lumbar fixation plate. A battery is fixedly connected to the rear wall of the lumbar fixation plate on the right side of the PLC controller. A hydraulic cylinder electrically connected to the PLC controller is rotatably connected to the left and right sides of the top of the lumbar fixation plate. An L-shaped connecting rod is fixedly connected to the left and right sides of the front side of the lumbar fixation plate. Hip joint rotation rods are rotatably connected to the output ends of the two hydraulic cylinders. Thigh adjustment rods are fixedly connected to the bottom of the two hip joint rotation rods. The middle parts of the two hip joint rotating rods are respectively rotatably connected to the front ends of the two left and right L-shaped connecting rods. A strap fixing plate is fixedly connected to the opposite surfaces of the two left and right L-shaped connecting rods. A waist elastic strap is fixedly connected to the opposite surfaces of the two left and right strap fixing plates. Two symmetrical thigh elastic straps are fixedly connected to the opposite surfaces of the two left and right thigh adjusting rods. A calf extension and retraction adjusting component is rotatably connected to the bottom of the two left and right thigh adjusting rods. Two symmetrical calf elastic straps are provided on the opposite surfaces of the two left and right calf extension and retraction adjusting components. A calf assist component is provided on the rear side of the two left and right thigh adjusting rods. An ankle joint angle adjusting component is fixedly connected to the bottom of the two left and right calf extension and retraction adjusting components.
[0007] A further improvement of this utility model is that: the calf telescopic adjustment assembly includes a calf telescopic frame, the top of which is rotatably connected to the thigh adjustment rod, a hollow calf column is slidably connected inside the calf telescopic frame, a rotating rod is rotatably connected to the upper part of the calf telescopic frame, a motor is fixedly connected to the top of the side of the calf telescopic frame away from the calf elastic band, the output end of the motor passes through the interior of the calf telescopic frame and is fixedly connected to the rotating rod, and the upper and lower sides of the two calf elastic bands away from the motor are fixedly connected to the calf telescopic frame.
[0008] A further improvement of this utility model is that: a bevel gear one is fixedly connected to the outer wall of the rotating rod, a bevel gear two is meshed with the bottom of the bevel gear one, a fixing plate is fixedly connected to the upper part of the inner side of the lower leg telescopic frame, the top of the fixing plate is rotatably connected to the bevel gear two, the bottom of the bevel gear two penetrates to the bottom of the fixing plate and is fixedly connected to a screw, a threaded sleeve is threadedly connected to the outer wall of the screw, the outer wall of the threaded sleeve is fixedly connected to the inside of the hollow column of the lower leg, and the motor one is electrically connected to the PLC controller and the battery respectively.
[0009] A further improvement of the present invention is that the calf assist component includes two fixing blocks, the left and right fixing blocks are fixedly connected to the upper rear side wall of the thigh adjustment rod, and the opposing surfaces of the left and right fixing blocks are rotatably connected to assist cylinders, the output end of the assist cylinders is rotatably connected to the top of the rear side wall of the calf telescopic frame, and the PLC controller is electrically connected to the assist cylinders.
[0010] A further improvement of this utility model is that: the foot joint angle adjustment component includes a cylindrical fixing plate, the top of which is fixedly connected to the bottom of the hollow column of the lower leg; a second motor is fixedly connected to the side of the cylindrical fixing plate away from the elastic band of the lower leg; the output end of the second motor passes through to the side of the cylindrical fixing plate near the elastic band of the lower leg and is fixedly connected to a cylindrical rotating plate; the cylindrical fixing plate and the cylindrical rotating plate are rotatably connected; an L-shaped connecting rod is fixedly connected to the bottom of the outer wall of the cylindrical rotating plate; a foot pedal is fixedly connected to the end of the L-shaped connecting rod away from the cylindrical rotating plate; two symmetrical instep straps are fixedly connected to the top of the foot pedal; and the second motor is electrically connected to a PLC controller and a battery, respectively.
[0011] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:
[0012] 1. This utility model provides a lower limb exoskeleton joint rehabilitation training device structure. Through the setting of the lower leg extension and retraction adjustment component, the device can be flexibly adjusted according to the specific lower leg length or patient height of each user, so that the leg can naturally extend and bend during rehabilitation training, ensuring the standardization and effectiveness of training movements, avoiding training inconvenience or affecting rehabilitation effect due to unsuitable length. At the same time, as the leg strength gradually recovers, the component can be appropriately extended to increase the range and difficulty of leg movement, further challenging and exercising the leg joints and muscles, and meeting the needs of different rehabilitation stages.
[0013] 2. This utility model provides a lower limb exoskeleton joint rehabilitation training device structure. Through the setting of components such as the lower leg assist component, the foot joint angle adjustment component, the assist cylinder, and the hip joint rotation rod, it assists the user to complete the flexion and extension movements of the lower leg and hip joint, meets the needs of lower leg and hip joint assistance during rehabilitation training, and can provide additional assistance when the user performs leg flexion and extension movements, so that rehabilitation training can be carried out normally and effective training cannot be carried out due to insufficient muscle strength. It realizes passive and active training of the patient's lower limbs, solves the problem that early stroke patients cannot receive effective training of their lower limbs due to bed rest, and thus ensures the maximum flexibility of the lower limb exoskeleton. Attached Figure Description
[0014] Figure 1This is a schematic diagram of the overall structure of this utility model;
[0015] Figure 2 This is a partial structural schematic diagram of the present invention;
[0016] Figure 3 This is a schematic diagram of the rear view structure of this utility model;
[0017] Figure 4 This is a schematic diagram of the lower leg extension and retraction adjustment component of this utility model;
[0018] Figure 5 This is a schematic diagram of the calf support component and foot joint angle adjustment component of this utility model.
[0019] In the diagram: 10. Waist support plate; 11. Waist connecting plate; 12. L-shaped connecting rod 1; 13. Power cylinder 1; 14. Hip joint rotation rod; 15. Belt fixing plate; 16. Waist elastic belt; 17. Thigh adjustment rod; 18. Thigh elastic belt; 19. Silicone backrest; 190. PLC controller; 191. Battery; 192. Calf elastic belt; 2. Calf telescopic adjustment assembly; 20. Calf hollow column; 21. Lower leg telescopic frame; 22. Rotating rod; 23. Motor 1; 24. Fixing plate; 25. Bevel gear 1; 26. Bevel gear 2; 27. Screw; 28. Threaded sleeve; 3. Lower leg assist assembly; 30. Fixing block 1; 31. Assist cylinder 2; 4. Foot joint angle adjustment assembly; 40. Motor 2; 41. Cylindrical fixing plate; 42. Cylindrical rotating plate; 43. Foot pedal; 44. Instep strap; 45. L-shaped connecting rod 2. Detailed Implementation
[0020] To make the technical means, creative features, objectives, and effects of this utility model easier to understand, the following describes this utility model in conjunction with specific embodiments:
[0021] like Figure 1 , Figure 2 , Figure 3As shown, this utility model provides a lower limb exoskeleton joint rehabilitation training device structure, including a lumbar fixation plate 10, a lumbar connecting plate 11 fixedly connected to the middle of the front side of the lumbar fixation plate 10, a silicone backrest 19 fixedly connected to the front side of the lumbar connecting plate 11, a PLC controller 190 fixedly connected to the middle of the rear side of the lumbar fixation plate 10, a battery 191 fixedly connected to the rear side wall of the lumbar fixation plate 10 on the right side of the PLC controller 190, a power-assisting cylinder 13 rotatably connected to the top left and right sides of the lumbar fixation plate 10 and electrically connected to the PLC controller 190, an L-shaped connecting rod 12 fixedly connected to the left and right sides of the front side of the lumbar fixation plate 10, a hip joint rotating rod 14 rotatably connected to the output end of the two power-assisting cylinders 13, and a bottom of the two hip joint rotating rods 14 fixedly connected to the bottom of the two hip joint rotating rods 14. The device is equipped with a thigh adjustment rod 17. The middle part of the left and right hip joint rotation rods 14 is rotatably connected to the front end of the left and right L-shaped connecting rods 12 respectively. The opposite surfaces of the left and right L-shaped connecting rods 12 are fixedly connected with a strap fixing plate 15. The opposite surfaces of the left and right strap fixing plates 15 are fixedly connected with a waist elastic strap 16. The opposite surfaces of the left and right thigh adjustment rods 17 are fixedly connected with two symmetrical thigh elastic straps 18. The bottom of the left and right thigh adjustment rods 17 is rotatably connected with a calf extension adjustment component 2. The opposite surfaces of the left and right calf extension adjustment components 2 are provided with two symmetrical calf elastic straps 192. The rear side of the left and right thigh adjustment rods 17 is provided with a calf assist component 3. The bottom of the left and right calf extension adjustment components 2 is fixedly connected with a foot joint angle adjustment component 4.
[0022] The entire lower limb exoskeleton joint rehabilitation trainer is centrally controlled by a PLC controller 190, and a battery 191 provides power to each electric component. The PLC controller 190 can coordinate the work of each component according to the preset rehabilitation training program to achieve targeted rehabilitation training for the user's lower limb joints.
[0023] After the user puts on the rehabilitation trainer, the waist is fixed to the front of the waist fixation plate 10 by the waist elastic strap 16 to ensure that the waist is stably fixed, and the silicone backrest 19 can provide comfortable back support. The assist cylinder 13 works under the control of the PLC controller 190. When it is necessary to assist the hip joint movement, such as to perform hip flexion and extension movements, the PLC controller 190 will drive the output end of the assist cylinder 13 to extend or retract according to the set program or relevant feedback signals. The output end of the assist cylinder 13 is rotatably connected to the hip joint rotation rod 14. When the assist cylinder 13 extends or retracts, it will drive the hip joint rotation rod 14 to rotate around the connection point with the L-shaped connecting rod 12, thereby driving the thigh adjustment rod 17 to move, realizing the assistance of hip joint flexion and extension movements, and helping the user to complete hip joint related rehabilitation training movements.
[0024] like Figure 4 As shown, the calf telescopic adjustment assembly 2 includes a calf telescopic frame 21. The top of the calf telescopic frame 21 is rotatably connected to the thigh adjustment rod 17. A hollow calf column 20 is slidably connected inside the calf telescopic frame 21. A rotating rod 22 is rotatably connected to the upper part of the calf telescopic frame 21. A motor 23 is fixedly connected to the top of the side of the calf telescopic frame 21 away from the calf elastic strap 192. The output end of the motor 23 passes through the interior of the calf telescopic frame 21 and is fixedly connected to the rotating rod 22. The upper and lower calf elastic straps 192 are fixedly connected to the calf telescopic frame 21 on the side away from the motor 23.
[0025] like Figure 4 As shown, a bevel gear 25 is fixedly connected to the outer wall of the rotating rod 22, and a bevel gear 26 is meshed with the bottom of the bevel gear 25. A fixing plate 24 is fixedly connected to the upper part of the lower leg telescopic frame 21. The top of the fixing plate 24 is rotatably connected to the bevel gear 26. The bottom of the bevel gear 26 extends through to the bottom of the fixing plate 24 and is fixedly connected to a screw 27. A threaded sleeve 28 is threadedly connected to the outer wall of the screw 27. The outer wall of the threaded sleeve 28 is fixedly connected to the inside of the lower leg hollow column 20. The motor 23 is electrically connected to the PLC controller 190 and the battery 191 respectively.
[0026] When the calf extension length needs to be adjusted to accommodate different user heights or training stages, the PLC controller 190 will control the motor 23 to start. Motor 23 is electrically connected to the PLC controller 190 and the battery 191, receiving commands from the PLC controller 190 and powered by the battery 191. After starting, motor 23 drives the rotating rod 22 to rotate. The rotation of the rotating rod 22 drives the bevel gear 25 to rotate, which in turn drives the meshing bevel gear 26 to rotate. The bevel gear 26 then drives the screw 27 to rotate. Since the threaded sleeve 28 is fixedly connected to the hollow calf column 20, the calf extension frame 2... 1 will slide up and down on the outer wall of the hollow column 20 in the lower leg, thereby completing the extension and retraction function of the lower leg extension and retraction adjustment component 2, achieving the purpose of adjusting the lower leg length. Through the set lower leg extension and retraction adjustment component 2, the device can be flexibly adjusted according to the specific lower leg length or patient height of each user, so that the leg can naturally extend and bend during rehabilitation training, ensuring the standardization and effectiveness of training movements, avoiding training inconvenience or affecting rehabilitation effect due to unsuitable length. At the same time, as the leg strength gradually recovers, the component can be appropriately lengthened to increase the range and difficulty of leg movement, further challenging and exercising the leg joints and muscles, and meeting the needs of different rehabilitation stages.
[0027] like Figure 5As shown, the calf assist component 3 includes two fixing blocks 30. The two fixing blocks 30 are fixedly connected to the upper rear side wall of the thigh adjustment rod 17. The opposing surfaces of the two fixing blocks 30 are rotatably connected to the assist cylinder 31. The output end of the assist cylinder 31 is rotatably connected to the top of the rear side wall of the calf telescopic frame 21. The PLC controller 190 is electrically connected to the assist cylinder 31.
[0028] When assistance is needed for lower leg joint movement, the PLC controller 190 controls the second assist cylinder 31 to work. The output end of the second assist cylinder 31 is rotatably connected to the top of the rear side wall of the lower leg extension frame 21. When the output end of the second assist cylinder 31 extends or retracts, it provides assistance to the movement of the lower leg extension frame 21 relative to the thigh adjustment rod 17, assisting the user in completing lower leg flexion and extension movements, meeting the need for lower leg assistance during rehabilitation training, and providing additional assistance when the user performs leg flexion and extension movements, so that rehabilitation training can be carried out normally and effective training cannot be carried out due to insufficient muscle strength.
[0029] like Figure 5 As shown, the foot joint angle adjustment assembly 4 includes a cylindrical fixing plate 41. The top of the cylindrical fixing plate 41 is fixedly connected to the bottom of the hollow column 20 of the lower leg. A motor 40 is fixedly connected to the side of the cylindrical fixing plate 41 away from the elastic band 192 of the lower leg. The output end of the motor 40 passes through to the side of the cylindrical fixing plate 41 near the elastic band 192 of the lower leg and is fixedly connected to a cylindrical rotating plate 42. The cylindrical fixing plate 41 and the cylindrical rotating plate 42 are rotatably connected. An L-shaped connecting rod 45 is fixedly connected to the bottom of the outer wall of the cylindrical rotating plate 42. A foot pedal 43 is fixedly connected to the end of the L-shaped connecting rod 45 away from the cylindrical rotating plate 42. Two symmetrical instep straps 44 are fixedly connected to the top of the foot pedal 43. The motor 40 is electrically connected to the PLC controller 190 and the battery 191 respectively.
[0030] When the angle of the foot joint needs to be adjusted to adapt to different rehabilitation training movements, the PLC controller 190 will control the motor 40 to start. The motor 40 is also electrically connected to the PLC controller 190 and the battery 191, and can receive instructions and obtain power. After the motor 40 starts, it drives the cylindrical rotating plate 42 to rotate. When the cylindrical rotating plate 42 rotates, it will drive the foot pedal 43 to rotate around the cylindrical fixed plate 41 through the L-shaped connecting rod 45, thereby realizing the adjustment of the angle of the foot joint and meeting the requirements of different rehabilitation training movements for the angle of the foot joint. At the same time, it works with the lower leg assist component 3, the assist cylinder 13, the hip joint rotating rod 14 and other components to realize passive and active training of the patient's lower limbs, solve the problem that early stroke patients cannot effectively train their lower limbs due to bed rest, and thus ensure the maximum flexibility of the lower limb exoskeleton.
[0031] It should be noted that the PLC controller 190 is existing technology and will not be discussed in detail here.
[0032] The working principle of this lower limb exoskeleton joint rehabilitation training device will be explained in detail below.
[0033] like Figure 1-5 As shown, after the user puts on the rehabilitation trainer, the waist is fixed to the front of the waist fixation plate 10 by the waist elastic strap 16 to ensure that the waist is stably fixed, and the silicone backrest 19 can provide comfortable back support. The assist cylinder 13 works under the control of the PLC controller 190. When it is necessary to assist the hip joint movement, such as to perform hip flexion and extension movements, the PLC controller 190 will drive the output end of the assist cylinder 13 to extend or retract according to the set program or relevant feedback signals. The output end of the assist cylinder 13 is rotatably connected to the hip joint rotation rod 14. When the assist cylinder 13 extends or retracts, it will drive the hip joint rotation rod 14 to rotate around the connection point with the L-shaped connecting rod 12, thereby driving the thigh adjustment rod 17 to move, realizing the assistance of hip joint flexion and extension movements, and helping the user to complete hip joint related rehabilitation training movements.
[0034] When the calf extension length needs to be adjusted to accommodate different user heights or training stages, the PLC controller 190 will control the motor 23 to start. Motor 23 is electrically connected to the PLC controller 190 and the battery 191, receiving commands from the PLC controller 190 and powered by the battery 191. After starting, motor 23 drives the rotating rod 22 to rotate. The rotation of the rotating rod 22 drives the bevel gear 25 to rotate, which in turn drives the meshing bevel gear 26 to rotate. The bevel gear 26 then drives the screw 27 to rotate. Since the threaded sleeve 28 is fixedly connected to the hollow calf column 20, the calf extension frame 2... 1 will slide up and down on the outer wall of the hollow column 20 in the lower leg, thereby completing the extension and retraction function of the lower leg extension and retraction adjustment component 2, achieving the purpose of adjusting the lower leg length. Through the set lower leg extension and retraction adjustment component 2, the device can be flexibly adjusted according to the specific lower leg length or patient height of each user, so that the leg can naturally extend and bend during rehabilitation training, ensuring the standardization and effectiveness of training movements, avoiding training inconvenience or affecting rehabilitation effect due to unsuitable length. At the same time, as the leg strength gradually recovers, the component can be appropriately lengthened to increase the range and difficulty of leg movement, further challenging and exercising the leg joints and muscles, and meeting the needs of different rehabilitation stages.
[0035] When assistance is needed for lower leg joint movement, the PLC controller 190 controls the second assist cylinder 31 to work. The output end of the second assist cylinder 31 is rotatably connected to the top of the rear side wall of the lower leg extension frame 21. When the output end of the second assist cylinder 31 extends or retracts, it provides assistance to the movement of the lower leg extension frame 21 relative to the thigh adjustment rod 17, assisting the user in completing lower leg flexion and extension movements, meeting the need for lower leg assistance during rehabilitation training, and providing additional assistance when the user performs leg flexion and extension movements, so that rehabilitation training can be carried out normally and effective training cannot be carried out due to insufficient muscle strength.
[0036] When the angle of the foot joint needs to be adjusted to adapt to different rehabilitation training movements, the PLC controller 190 will control the motor 40 to start. The motor 40 is also electrically connected to the PLC controller 190 and the battery 191, and can receive instructions and obtain power. After the motor 40 starts, it drives the cylindrical rotating plate 42 to rotate. When the cylindrical rotating plate 42 rotates, it will drive the foot pedal 43 to rotate around the cylindrical fixed plate 41 through the L-shaped connecting rod 45, thereby realizing the adjustment of the angle of the foot joint and meeting the requirements of different rehabilitation training movements for the angle of the foot joint. At the same time, it works with the lower leg assist component 3, the assist cylinder 13, the hip joint rotating rod 14 and other components to realize passive and active training of the patient's lower limbs, solve the problem that early stroke patients cannot effectively train their lower limbs due to bed rest, and thus ensure the maximum flexibility of the lower limb exoskeleton.
[0037] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.
Claims
1. A lower limb exoskeleton joint rehabilitation training device structure, comprising a lumbar fixation plate (10), characterized in that: A waist support plate (11) is fixedly connected to the middle of the front side of the waist support plate (10). A silicone backrest (19) is fixedly connected to the front side of the waist support plate (11). A PLC controller (190) is fixedly connected to the middle of the rear side of the waist support plate (10). A battery (191) is fixedly connected to the rear wall of the waist support plate (10) on the right side of the PLC controller (190). A power-assisted cylinder (13) electrically connected to the PLC controller (190) is rotatably connected to the top left and right sides of the waist support plate (10). An L-shaped connecting rod (12) is fixedly connected to the left and right sides of the front side of the waist support plate (10). A hip joint rotating rod (14) is rotatably connected to the output ends of the two power-assisted cylinders (13). A thigh adjustment rod (17) is fixedly connected to the bottom of the two hip joint rotating rods (14). The middle part of the joint rotation rod (14) is rotatably connected to the front end of the left and right L-shaped connecting rods (12). The opposite surfaces of the left and right L-shaped connecting rods (12) are fixedly connected to the strap fixing plate (15). The opposite surfaces of the left and right strap fixing plate (15) are fixedly connected to the waist elastic strap (16). The opposite surfaces of the left and right thigh adjustment rods (17) are fixedly connected to two upper and lower symmetrical thigh elastic straps (18). The bottom of the left and right thigh adjustment rods (17) is rotatably connected to the calf extension adjustment component (2). The opposite surfaces of the left and right calf extension adjustment components (2) are provided with two upper and lower symmetrical calf elastic straps (192). The rear side of the left and right thigh adjustment rods (17) is provided with the calf assist component (3). The bottom of the left and right calf extension adjustment components (2) is fixedly connected to the foot joint angle adjustment component (4).
2. The structure of the lower limb exoskeleton joint rehabilitation training device according to claim 1, characterized in that: The calf telescopic adjustment assembly (2) includes a calf telescopic frame (21), the top of which is rotatably connected to the thigh adjustment rod (17). A calf hollow column (20) is slidably connected inside the calf telescopic frame (21). A rotating rod (22) is rotatably connected to the upper part of the calf telescopic frame (21). A motor (23) is fixedly connected to the top of the side of the calf telescopic frame (21) away from the calf elastic band (192). The output end of the motor (23) passes through the interior of the calf telescopic frame (21) and is fixedly connected to the rotating rod (22). The upper and lower sides of the calf elastic bands (192) away from the motor (23) are fixedly connected to the calf telescopic frame (21).
3. The structure of a lower limb exoskeleton joint rehabilitation training device according to claim 2, characterized in that: A bevel gear 1 (25) is fixedly connected to the outer wall of the rotating rod (22). A bevel gear 2 (26) is meshed with the bottom of the bevel gear 1 (25). A fixing plate (24) is fixedly connected to the upper part of the lower leg telescopic frame (21). The top of the fixing plate (24) is rotatably connected to the bevel gear 2 (26). The bottom of the bevel gear 2 (26) extends through to the bottom of the fixing plate (24) and is fixedly connected to a screw (27). A threaded sleeve (28) is threadedly connected to the outer wall of the screw (27). The outer wall of the threaded sleeve (28) is fixedly connected to the inside of the lower leg hollow column (20). The motor 1 (23) is electrically connected to the PLC controller (190) and the battery (191) respectively.
4. The structure of a lower limb exoskeleton joint rehabilitation training device according to claim 3, characterized in that: The calf assist component (3) includes two fixing blocks (30). The two fixing blocks (30) are fixedly connected to the upper rear side wall of the thigh adjustment rod (17). The opposing surfaces of the two fixing blocks (30) are rotatably connected to the assist cylinder (31). The output end of the assist cylinder (31) is rotatably connected to the top of the rear side wall of the calf telescopic frame (21). The PLC controller (190) is electrically connected to the assist cylinder (31).
5. The structure of a lower limb exoskeleton joint rehabilitation training device according to claim 3, characterized in that: The ankle joint angle adjustment assembly (4) includes a cylindrical fixing plate (41). The top of the cylindrical fixing plate (41) is fixedly connected to the bottom of the hollow column (20) of the lower leg. A motor (40) is fixedly connected to the side of the cylindrical fixing plate (41) away from the elastic band (192) of the lower leg. The output end of the motor (40) extends through to the side of the cylindrical fixing plate (41) near the elastic band (192) of the lower leg and is fixedly connected to a cylindrical rotating plate (42). The plate (41) is rotatably connected to the cylindrical rotating plate (42). An L-shaped connecting rod (45) is fixedly connected to the bottom of the outer wall of the cylindrical rotating plate (42). A foot pedal (43) is fixedly connected to the end of the L-shaped connecting rod (45) away from the cylindrical rotating plate (42). Two symmetrical instep straps (44) are fixedly connected to the top of the foot pedal (43). The motor (40) is electrically connected to the PLC controller (190) and the battery (191) respectively.