Lower limb rehabilitation exoskeleton rehabilitation training robot

Abstract

The utility model discloses a lower limb rehabilitation exoskeleton rehabilitation training robot, and relates to the technical field of lower limb rehabilitation. A cushion is installed on the upper end face of a horizontal plane rotating frame, 180-degree adjusting armrests are installed on the two upper sides of the horizontal plane rotating frame, the upper rear side of the horizontal plane rotating frame is installed on an adjustable backrest through an adjusting shaft, thigh adjusting mechanisms are symmetrically installed on the horizontal plane rotating frame, and shank adjusting mechanisms are installed on the front sides of the thigh adjusting mechanisms. A foot adjusting mechanism is mounted on the front side of the shank adjusting mechanism; according to the lower limb rehabilitation training device, lower limb rehabilitation training is achieved, meanwhile, 2 + 1 + 1 degree-of-freedom adjustment of hip joints, knee joints and ankle joints can be achieved during training, the hip joints can achieve abduction training, the overall support is large in bearing capacity, the size of lower limbs is adjusted through the thigh adjusting mechanism and the shank adjusting mechanism, and the lower limb rehabilitation training device is wide in application range. The joint of the thigh adjusting mechanism and the shank adjusting mechanism forms a knee joint, and a rotation pair of a sagittal diagram is achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to lower limbs rehabilitation technical field, concretely relates to a lower limbs rehabilitation exoskeleton rehabilitation training robot. BACKGROUND

[0002] Many people will cause lower limbs central motor nerve injury due to excessive exercise or long time not to carry out lower limbs movement and other reasons, and according to the medical theory basis, the injured central motor nerve can be repaired in rehabilitation exercise training, thereby recovering the lost ability. Since the number of rehabilitation physicians is difficult to meet the needs of rehabilitation, the lower limbs exoskeleton rehabilitation robot is relatively traditional rehabilitation method, and greater training continuity and effectiveness are guaranteed. However, the existing lower limbs exoskeleton rehabilitation robot has the following shortcomings when in use:

[0003] I. When the lower limbs are fixed, they cannot be adjusted according to the length of the lower limbs, and only the foot can be fixed when fixed, which can cause damage to the lower limbs during rehabilitation training and cannot achieve the effect of rehabilitation.

[0004] II. During rehabilitation training, it cannot realize plane rotation, which causes limitations during rehabilitation, and the overall support has poor bearing capacity and is prone to damage. UTILITY MODEL CONTENT

[0005] To solve the problems mentioned in the background art, the purpose of the utility model is to provide a lower limbs rehabilitation exoskeleton rehabilitation training robot, which can realize lower limbs sagittal movement and lower limbs plane movement and achieve the effect of rehabilitation.

[0006] The lower limbs rehabilitation exoskeleton rehabilitation training robot of the utility model comprises an adjustable backrest, a seat cushion, a 180° adjustable armrest, a horizontal plane rotating frame, a thigh adjusting mechanism, a calf adjusting mechanism and a foot adjusting mechanism. The upper end surface of the horizontal plane rotating frame is provided with the seat cushion, both upper sides of the horizontal plane rotating frame are provided with the 180° adjustable armrest, the rear upper side of the horizontal plane rotating frame is installed on the adjustable backrest through an adjusting shaft, the horizontal plane rotating frame is symmetrically provided with the thigh adjusting mechanism, the front side of the thigh adjusting mechanism is provided with the calf adjusting mechanism, and the front side of the calf adjusting mechanism is provided with the foot adjusting mechanism.

[0007] Preferably, the 180° adjustable armrest comprises a vertical rod, a connecting sheet, an armrest body and an L-shaped support block. The vertical rod is installed on the horizontal plane rotating frame through two L-shaped sheets, two connecting sheets are installed on the left and right side walls of the upper end of the vertical rod, the armrest body is installed between the two connecting sheets through an adjusting shaft, and the L-shaped support block is installed on the front and rear side walls of the upper end of the vertical rod.

[0008] As preferred, the thigh adjusting mechanism comprises a thigh adjusting gear, a thigh adjusting gear bearing seat, a thigh adjusting motor, a thigh adjusting connecting piece, an upper thigh rod, a lower thigh rod, and a knee joint shaft; a hip joint rotating shaft is installed in the rotating hole of the thigh adjusting gear, the hip joint rotating shaft is installed in the thigh adjusting gear bearing seat, the thigh adjusting gear bearing seat is installed on the horizontal plane rotating frame, the thigh adjusting motor is installed on the horizontal plane rotating frame, a driving gear is installed on the shaft of the thigh adjusting motor, the driving gear is engaged with the thigh adjusting gear, the upper thigh rod is connected with the lower thigh rod through the thigh adjusting connecting piece, and the knee joint shaft is installed in the mounting hole on the front side of the lower thigh rod.

[0009] As preferred, a plurality of adjusting mounting holes are formed on the thigh adjusting connecting piece.

[0010] As preferred, the lower thigh rod is connected with the upper thigh rod through the calf adjusting connecting piece, the ankle joint shaft is installed in the mounting hole on the front side of the lower thigh rod, and the ankle joint shaft is installed in the ankle joint bearing seat.

[0011] As preferred, a plurality of adjusting mounting holes are formed on the calf adjusting connecting piece.

[0012] As preferred, the foot adjusting mechanism comprises an upper foot plate body, a lower foot plate body, an L-shaped steel sheet fixing piece, a spring, and a linear sliding rail; the L-shaped steel sheet fixing piece is installed on the bottom of the upper foot plate body and the upper end surface of the lower foot plate body, the two L-shaped steel sheet fixing pieces are connected as a rotating pair through a light rod screw, the spring is installed between the front sides of the upper foot plate body and the lower foot plate body, and the bottom of the lower foot plate body is connected with the sliding block of the linear sliding rail.

[0013] As preferred, the horizontal plane rotating frame comprises longitudinal aluminum pipe supports, a folding hinge, an aluminum pipe fixing pipe, transverse aluminum pipe supports, and a gear rotating base mechanism; the longitudinal aluminum pipe supports are connected as a bearing frame body through connecting rods, the transverse aluminum pipe supports are connected as a transverse aluminum pipe frame body through straight fixing pieces, the bearing frame body is installed on the three transverse aluminum pipe frame bodies, the rear side of the bearing frame body is connected with the aluminum pipe fixing pipe through the folding hinge, and the bearing frame body is installed on the upper end of the gear rotating base mechanism.

[0014] As preferred, the gear rotating base mechanism comprises a base rotating motor, a rotating large gear, a universal ball, a floor mat aluminum connecting pipe, a rotating steel sheet, a floor mat wood plate, a driving pinion, and a straight fixing piece; the driving pinion is installed on the shaft of the base rotating motor, the driving pinion is engaged with the rotating large gear, the rotating large gear is installed on the upper end of the floor mat wood plate through a bearing seat, the rotating large gear is installed with the rotating steel sheet on the upper end, the other end of the rotating steel sheet is connected with the bottom of the transverse aluminum pipe support, the bottom of the transverse aluminum pipe support is installed with the universal ball, and the bottom of the universal ball is in contact with the upper end surface of the floor mat wood plate.

[0015] Compared with the prior art, the utility model discloses the following beneficial effects: through the mutual cooperation of adjustable backrest, cushion, 180 degree adjustable handrail, horizontal plane rotating frame, thigh adjusting mechanism, shank adjusting mechanism and foot adjusting mechanism, the training of lower limb rehabilitation is realized, meanwhile, 2+1+1 degrees of freedom adjustment of hip joint, knee joint and ankle joint can be realized during the training, the hip joint can realize abduction training, and the overall support is heavy.

[0016] I. the thigh adjusting mechanism and the shank adjusting mechanism are connected to constitute a knee joint, realize the rotation pair of a sagittal diagram, and the degrees of freedom of hip joint, knee joint and ankle joint are respectively 2+1+1.

[0017] II. the horizontal plane rotating frame constitutes lower limb plane movement, can realize the abduction of hip joint, the maximum angle of the abduction angle is limited to 20 degrees, and the efficiency of rehabilitation can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to facilitate the description, the utility model is described in detail by the following specific embodiments and drawings.

[0019] Figure 1 It is the structure schematic diagram of the utility model;

[0020] Figure 2 It is the right view in the utility model;

[0021] Figure 3 It is the structure schematic diagram of the thigh adjusting mechanism in the utility model;

[0022] Figure 4 It is the structure schematic diagram of the shank adjusting mechanism in the utility model;

[0023] Figure 5 It is the structure schematic diagram of the foot adjusting mechanism in the utility model;

[0024] Figure 6 It is the plan view of the foot adjusting mechanism in the utility model;

[0025] Figure 7 It is the structure schematic diagram of the horizontal plane rotating frame in the utility model;

[0026] Figure 8 It is the plan view of the horizontal plane rotating frame in the utility model.

[0027] In the drawing: 1-adjustable backrest;2-cushion;3-180 degree adjustable handrail;4-horizontal plane rotating frame;5-thigh adjusting mechanism;6-shank adjusting mechanism;7-foot adjusting mechanism;

[0028] 3-1 - vertical rod; 3-2 - connecting piece; 3-3 - handrail body; 3-4 - L-shaped support block;

[0029] 4-1 - longitudinal aluminum pipe support; 4-2 - folding hinge; 4-3 - aluminum pipe fixing pipe; 4-4 - transverse aluminum pipe support; 4-5 - base rotary motor; 4-6 - rotary large gear; 4-7 - universal ball; 4-8 - ground mat aluminum connecting pipe; 4-9 - rotating steel sheet; 4-10 - ground mat wood board; 4-11 - driving pinion; 4-12 - straight fixing piece;

[0030] 5-1 - thigh adjusting gear; 5-2 - thigh adjusting gear bearing seat; 5-3 - thigh adjusting motor; 5-4 - thigh adjusting connecting piece; 5-5 - upper thigh rod; 5-6 - lower thigh rod; 5-7 - knee joint shaft;

[0031] 6-1 - upper calf rod; 6-2 - lower calf rod; 6-3 - calf adjusting connecting piece; 6-4 - ankle joint shaft; 6-5 - ankle joint bearing seat;

[0032] 7-1 - upper foot plate body; 7-2 - lower foot plate body; 7-3 - L-shaped steel sheet fixing piece; 7-4 - spring; 7-5 - straight line sliding rail. DETAILED DESCRIPTION

[0033] To make the purpose, technical scheme and advantages of the present application more clear and understandable, the following will describe the present application through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. The structures, proportions, sizes, etc. shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not intended to limit the conditions that can be implemented by the present application, so they do not have substantial technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0034] Here, it should also be noted that, in order to avoid obscuring the present application due to unnecessary details, only structures and / or processing steps closely related to the scheme according to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0035] As Figure 1 , Figure 2As shown, the specific embodiment adopts the following technical scheme: including an adjustable backrest 1, a cushion 2, a 180° adjustable armrest 3, a horizontal plane rotating frame 4, a thigh adjusting mechanism 5, a calf adjusting mechanism 6, and a foot adjusting mechanism 7; the upper end surface of the horizontal plane rotating frame 4 is provided with the cushion 2, the cushion 2 can realize the sitting and standing of the rehabilitation personnel, both upper sides of the horizontal plane rotating frame 4 are provided with the 180° adjustable armrest 3, the 180° adjustable armrest 3 can realize 180° adjustment, the rear upper side of the horizontal plane rotating frame 4 is installed on the adjustable backrest 1 through an adjusting shaft, the horizontal plane rotating frame 4 is symmetrically provided with the thigh adjusting mechanism 5, the front side of the thigh adjusting mechanism 5 is provided with the calf adjusting mechanism 6, and the front side of the calf adjusting mechanism 6 is provided with the foot adjusting mechanism 7; the sagittal plane rehabilitation movement structure is the thigh adjusting mechanism 5, the calf adjusting mechanism 6, and the foot adjusting mechanism 7, and the horizontal plane rehabilitation movement is the horizontal plane rotating frame 4; the 180° adjustable armrest 3 includes a vertical rod 3-1, a connecting sheet 3-2, an armrest body 3-3, and an L-shaped supporting block 3-4; the vertical rod 3-1 is installed on the horizontal plane rotating frame 4 through two L-shaped sheets, two connecting sheets 3-2 are installed on the left and right side walls of the upper end of the vertical rod 3-1, the armrest body 3-3 is installed between the two connecting sheets 3-2 through an adjusting shaft, the armrest body 3-3 can be adjusted by 180° through the adjusting shaft, and the L-shaped supporting block 3-4 is installed on the front and rear side walls of the upper end of the vertical rod 3-1, and the L-shaped supporting block 3-4 can realize the support and limiting of the armrest body 3-3.

[0036] In the specific embodiment, the leg movement structure has a sagittal plane movement mechanism and a planar movement mechanism, respectively, and the degrees of freedom of the hip joint, the knee joint, and the ankle joint are 2+1+1, respectively. The lower limb sagittal plane movement structure mainly consists of a thigh component, a calf component, a foot component, a gear, and a driving component, and is wearable and fixed for leg movement rehabilitation. The thigh and the calf adopt a connecting rod mechanism transmission, such as Figure 3 、 Figure 4As shown, the thigh adjusting mechanism 5 includes a thigh adjusting gear 5-1, a thigh adjusting gear bearing seat 5-2, a thigh adjusting motor 5-3, a thigh adjusting connecting piece 5-4, an upper thigh rod 5-5, a lower thigh rod 5-6, and a knee joint shaft 5-7. A hip joint rotating shaft is installed in the rotating hole of the thigh adjusting gear 5-1, the hip joint rotating shaft is installed in the thigh adjusting gear bearing seat 5-2, the thigh adjusting gear bearing seat 5-2 is installed on the horizontal plane rotating frame 4, the thigh adjusting motor 5-3 is installed on the horizontal plane rotating frame 4, a driving gear is installed on the shaft of the thigh adjusting motor 5-3, the driving gear is engaged with the thigh adjusting gear 5-1, the thigh adjusting motor 5-3 can drive the driving gear, the driving gear can drive the thigh adjusting gear 5-1 to rotate, the upper thigh rod 5-5 and the lower thigh rod 5-6 are connected through the thigh adjusting connecting piece 5-4, the thigh adjusting connecting piece 5-4 can adjust the length between the upper thigh rod 5-5 and the lower thigh rod 5-6, a plurality of adjusting installation holes are formed in the thigh adjusting connecting piece 5-4, the adjusting installation holes on the thigh adjusting connecting piece 5-4 are convenient for quick adjustment, and the knee joint shaft 5-7 is installed in the installation hole on the front side of the lower thigh rod 5-6. The connection between the thigh and the lower leg forms a knee joint, which is fixed by a light rod screw to realize the rotation pair of a sagittal diagram.

[0037] In the embodiment, the fixing of the thigh rod and the gear forms the sagittal diagram movement of the hip joint. The thigh adjusting gear 5-1 (d1: pitch circle 160 mm) is driven by the driving gear (d2: pitch circle 48 mm), the driving gear is directly driven by the 3508 motor, and the thigh adjusting gear 5-1 realizes the rotation pair by the axial cooperation of the bearing seat and the light rod screw. The driving gear (pinion) drives the thigh adjusting gear 5-1 (gear), which can save labor. The power saving multiple is the reciprocal of the ratio of the pitch circle diameter (mm) (the ratio of the number of teeth), that is:

[0038] Therefore, the gear can save about 3.33 times of labor.

[0039] As shown in Figure 3 , Figure 4 In the embodiment, the lower leg adjusting mechanism 6 includes an upper lower leg rod 6-1, a lower lower leg rod 6-2, a lower leg adjusting connecting piece 6-3, an ankle joint shaft 6-4, and an ankle joint bearing seat 6-5. The upper lower leg rod 6-1 and the lower lower leg rod 6-2 are connected through the lower leg adjusting connecting piece 6-3, a plurality of adjusting installation holes are formed in the lower leg adjusting connecting piece 6-3, the lower leg adjusting connecting piece 6-3 can adjust the distance between the upper lower leg rod 6-1 and the lower lower leg rod 6-2, the ankle joint shaft 6-4 is installed in the installation hole on the front side of the lower lower leg rod 6-2, and the ankle joint shaft 6-4 is installed in the ankle joint bearing seat 6-5.

[0040] As shown in Figure 3As shown, the length L1 of the thigh and the length L2 of the calf in the present embodiment refer to the lower limb size range of the adult male and female standard of the Chinese national standard "Chinese adult human body size (GB / T 10000-2023)", and the length L1 of the thigh is adjustable to the minimum value and the maximum value of 468mm-630mm through the thigh adjusting connecting piece 5-4, and the length L2 of the calf is adjustable to the minimum value and the maximum value of 281mm-450mm through the calf adjusting connecting piece 6-3.

[0041] As shown in Figure 4 , Figure 5 , Figure 6 As shown, the foot adjusting mechanism 7 in the present embodiment includes an upper foot plate body 7-1, a lower foot plate body 7-2, an L-shaped steel sheet fixing piece 7-3, a spring 7-4, and a linear sliding rail 7-5. The bottom of the upper foot plate body 7-1 and the upper end face of the lower foot plate body 7-2 are both provided with the L-shaped steel sheet fixing piece 7-3, and the two L-shaped steel sheet fixing pieces 7-3 are connected as a rotating pair through a light pole screw. The lower foot plate body 7-2 can rotate by means of the light pole screw, and at the same time, the spring 7-4 is used to realize the buffering degree. The spring 7-4 is installed between the front side of the upper foot plate body 7-1 and the lower foot plate body 7-2. The bottom of the lower foot plate body 7-2 is connected with the sliding block of the linear sliding rail 7-5, and the lower foot plate body 7-2 can realize the forward and backward sliding of the linear sliding rail 7-5.

[0042] As shown in Figure 7 , Figure 8As shown, the lower limb planar motion mechanism in the embodiment is a horizontal plane rotating frame, which can realize horizontal rotation, and the specific structure is as follows: the horizontal plane rotating frame 4 comprises longitudinal aluminum pipe supports 4-1, a folding hinge 4-2, an aluminum pipe fixing pipe 4-3, transverse aluminum pipe supports 4-4, and a gear rotating base mechanism; a plurality of longitudinal aluminum pipe supports 4-1 are connected by connecting rods into a bearing frame body, a plurality of transverse aluminum pipe supports 4-4 are connected by straight fixing pieces 4-12 into a transverse aluminum pipe frame body, the bearing frame body is installed on the three transverse aluminum pipe frame bodies, the rear side of the bearing frame body is connected with the aluminum pipe fixing pipe 4-3 through the folding hinge 4-2, and the bearing frame body is installed on the upper end of the gear rotating base mechanism; the gear rotating base mechanism comprises a base rotating motor 4-5, a rotating large gear 4-6, a universal ball 4-7, a floor mat aluminum connecting pipe 4-8, a rotating steel sheet 4-9, a floor mat wood board 4-10, a driving small gear 4-11, and straight fixing pieces 4-12; the driving small gear 4-11 is installed on the shaft of the base rotating motor 4-5, the driving small gear 4-11 is engaged with the rotating large gear 4-6, the rotating large gear 4-6 is installed on the upper end of the floor mat wood board 4-10 through a bearing seat, the upper end of the rotating large gear 4-6 is provided with the rotating steel sheet 4-9, the other end of the rotating steel sheet 4-9 is connected with the bottom of the transverse aluminum pipe support 4-4, the bottom of the transverse aluminum pipe support 4-4 is provided with the universal ball 4-7, and the bottom of the universal ball 4-7 is in contact with the upper end surface of the floor mat wood board 4-10.

[0043] The lower limb planar motion mechanism in the embodiment is composed of an aluminum alloy square tube support component, a folding hinge, a universal ball, a gear, a rotating disc bearing, and a driving component, and the mechanism mainly realizes abduction of the hip joint. The abduction angle D1 is limited to a maximum angle of 20°. The lower limb planar motion structure aluminum pipe support is mainly connected and matched by square hollow aluminum pipes and steel sheets. The aluminum alloy square tube is made of 6063 material. The lower limb sagittal motion mechanism is also borne on the support, and the relative stress is large. When the aluminum pipe support is rotating and stressed, the mechanism adopts a heavy industrial stainless steel folding hinge CL236. The folding hinge serves as the main bearing point of the leg motion mechanism. There are two heavy industrial stainless steel folding hinges CL236 in each leg motion structure. One heavy industrial stainless steel folding hinge CL236 can bear a load of about 40 kg and is fixed on the overall aluminum alloy square tube support.

[0044] In the entire leg structure in the embodiment, KSM-25N universal balls are added to the load-bearing part below the aluminum alloy square tube to not only slow down the load bearing and rotation instability of the folding hinge but also improve the flexibility of the hip joint mechanism abduction. There are three KSM-25N universal balls in each leg motion structure. A single KSM-25N universal ball can bear a load of less than or equal to 200 kgf. The universal balls are fixed below the lower limb planar motion structure aluminum pipe support and are limited and supported by the bottom mat wood board, which is a pure solid wood board.

[0045] As Figure 7 , Figure 8 shown, the hip joint mechanism abduction in the embodiment is driven by the motor, the gear, the fixed rotating steel sheet, the cooperation of the aluminum pipe support of the lower limb planar motion structure, the center of the large gear and the center of the folding hinge are consistent, so the driving mode forms the planar motion, forms a rotating pair, the mechanism adopts the driving pinion 4-11 (the division circle of the pinion d4 is 48mm) to drive the rotating gear 4-6 (the division circle of the gear d3 is 168mm), the pinion is directly driven by the 3508 motor, the gear is fixed by the 360-degree rotating base turntable bearing below, the turntable bearing can bear 30kg of static stress, the 360-degree rotating base turntable bearing is fixed on the aluminum alloy square tube, the rotating steel sheet is fixed on the lower limb planar motion structure aluminum pipe support through the steel sheet corner code and the bolt, the 360-degree rotating base turntable bearing, the gear and the rotating steel sheet are supported and stressed by the folding hinge and the universal ball, are not stressed downward, and can be ignored. The gear driven by the pinion can save labor, and the saving labor multiple is the reciprocal of the diameter ratio (the tooth number ratio) of the division circle (mm), that is:

[0046] Therefore, the gear can save about 3.5 times of labor.

[0047] From the above, the aluminum alloy square tube support in the leg motion structure is supported by the folding hinge and the universal ball, the folding hinge and the gear d3 are concentric, when the motor drives the gear to rotate, the rotating steel sheet is connected with the gear and the aluminum alloy square tube, drives the aluminum alloy square tube of the leg motion structure, realizes the planar motion of the hip joint abduction, and the lower limb planar motion mechanism with the hip joint abduction freedom of 1.

[0048] It is apparent for those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and this application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary only, and are not limiting, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all changes falling within the meaning and range of equivalents of the claims are intended to be embraced therein.

[0049] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. A lower limb rehabilitation exoskeleton rehabilitation training robot, characterized in that: The adjustable backrest (1), the cushion (2), the 180° adjustable armrest (3), the horizontal plane rotating frame (4), the thigh adjusting mechanism (5), the calf adjusting mechanism (6) and the foot adjusting mechanism (7) are arranged. The 180° adjustable armrest (3) comprises a vertical rod (3-1), a connecting plate (3-2), an armrest body (3-3) and an L-shaped supporting block (3-4).

2. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 1, characterized in that: The thigh adjusting mechanism (5) comprises a thigh adjusting gear (5-1), a thigh adjusting gear bearing seat (5-2), a thigh adjusting motor (5-3), a thigh adjusting connecting plate (5-4), an upper thigh rod (5-5), a lower thigh rod (5-6) and a knee joint shaft (5-7).

3. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 2, characterized in that: A plurality of adjusting mounting holes are formed in the thigh adjusting connecting plate (5-4).

4. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 1, characterized in that: The calf adjusting mechanism (6) comprises an upper calf rod (6-1), a lower calf rod (6-2), a calf adjusting connecting plate (6-3), an ankle joint shaft (6-4) and an ankle joint bearing seat (6-5).

5. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 4, characterized in that: A plurality of adjusting mounting holes are formed in the calf adjusting connecting plate (6-3).

6. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 1, characterized in that: The foot adjusting mechanism (7) comprises an upper foot plate body (7-1), a lower foot plate body (7-2), L-shaped steel sheet fixing members (7-3), springs (7-4) and straight-line sliding rails (7-5); the bottom of the upper foot plate body (7-1) and the upper end face of the lower foot plate body (7-2) are both provided with L-shaped steel sheet fixing members (7-3), the two L-shaped steel sheet fixing members (7-3) are connected in a rotary pair through a light rod screw, the springs (7-4) are installed between the front sides of the upper foot plate body (7-1) and the lower foot plate body (7-2), and the bottom of the lower foot plate body (7-2) is connected with the sliding block of the straight-line sliding rail (7-5).

7. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 1, characterized in that: The horizontal plane rotating frame (4) comprises longitudinal aluminum pipe supports (4-1), folding hinges (4-2), aluminum pipe fixing tubes (4-3), transverse aluminum pipe supports (4-4) and gear rotating base mechanisms; a plurality of longitudinal aluminum pipe supports (4-1) are connected into a bearing frame body through connecting rods, a plurality of transverse aluminum pipe supports (4-4) are connected into a transverse aluminum pipe frame body through straight fixing pieces (4-12), the bearing frame body is installed on the three transverse aluminum pipe frame bodies, the rear side of the bearing frame body is connected with the aluminum pipe fixing tube (4-3) through the folding hinge (4-2), and the bearing frame body is installed at the upper end of the gear rotating base mechanism.

8. The lower limb rehabilitation exoskeleton rehabilitation training robot according to claim 7, characterized in that: The gear rotating base mechanism comprises a base rotating motor (4-5), a rotating large gear (4-6), a universal ball (4-7), a floor mat aluminum connecting pipe (4-8), a rotating steel sheet (4-9), a floor mat wood plate (4-10), a driving small gear (4-11) and straight fixing pieces (4-12); the driving small gear (4-11) is installed on the shaft of the base rotating motor (4-5), the driving small gear (4-11) is engaged with the rotating large gear (4-6), the rotating large gear (4-6) is installed at the upper end of the floor mat wood plate (4-10) through a bearing seat, the upper end of the rotating large gear (4-6) is provided with the rotating steel sheet (4-9), the other end of the rotating steel sheet (4-9) is connected with the bottom of the transverse aluminum pipe support (4-4), the bottom of the transverse aluminum pipe support (4-4) is provided with the universal ball (4-7), and the bottom of the universal ball (4-7) is in contact with the upper end face of the floor mat wood plate (4-10).

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