Sitting type unilateral lower limb exoskeleton rehabilitation training device

Abstract

The utility model relates to a sitting type unilateral lower limb exoskeleton rehabilitation training device which comprises a thigh rod part and a first movement unit. One end of the thigh rod part is mounted with the first movement unit, the other end of the thigh rod part is connected with the second movement unit, and the second movement unit is connected with the shank rod part; the first motion unit and the second motion unit respectively comprise a first circular cavity and a second circular cavity, the first circular cavity is provided with a gear ring A, the second circular cavity is provided with a gear ring B, a motor A and a motor B respectively extend out of a gear A and a gear B to be meshed with the gear ring A and the gear ring B, and the meshing position is in eccentric transmission; the motor A and the motor B are started to enable the gear A and the gear B to rotate, the gear ring A and the gear ring B are driven to rotate, then the thigh rod part and the shank rod part are driven to move, eccentric transmission between the two sets of gear rings and gear rings enables the thigh rod part and the shank rod part to slow down, and the movement angle is accurately and stably adjusted. The device has the beneficial effects that the movement angle is convenient to adjust, and the movement process is accurate and stable.

Description

Technical Field

[0001] This utility model relates to the field of medical assistive machinery technology, and in particular to a seated unilateral lower limb exoskeleton rehabilitation training device. Background Technology

[0002] In recent years, with the continuous development of society, disasters such as car accidents, earthquakes and fires have occurred. At the same time, the aging of society has led to an increase in the elderly population year by year. Currently, the number of disabled people is increasing. Different degrees of physical disability will affect their normal life and cause them inconvenience. In order to help the elderly and disabled people adapt to life better, and because long-term bed rest and prolonged lying down can lead to muscle atrophy and weakness, and even muscle necrosis, various rehabilitation training equipment has appeared on the market to help them with muscle recovery training.

[0003] Rehabilitation training machines are an important branch of the medical device field. Especially with the continuous advancements in the treatment of diseases such as stroke and fractures in recent years, some disabled patients generally need to receive corresponding rehabilitation training in the later stages of treatment to increase limb flexibility, thereby treating their condition better and faster. Currently, some are mechanical assistive devices used to replace medical staff in performing rehabilitation training for patients, namely active rehabilitation robots; others are assistive devices that require patients to actively perform rehabilitation training themselves. The former is mostly used for critically ill patients and requires a large human investment; the latter is more suitable for some ordinary patients with limited mobility.

[0004] However, current lower limb rehabilitation training devices are usually complex in structure, making them inconvenient to install, disassemble, and use, and difficult for patients to use. Furthermore, when the joints of existing training devices rotate to drive the mechanical linkage, the rotation angle is often not flexible enough, and the movement process is not precise or stable enough. The limit adjustment process is also cumbersome, resulting in poor overall device flexibility, complex structure, and inconvenient operation. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a seated unilateral lower limb exoskeleton rehabilitation training device that is easy to adjust in terms of movement angle and overall length, making it suitable for people of different heights.

[0006] The purpose of this utility model is achieved through the following technical solution: a seated unilateral lower limb exoskeleton rehabilitation training device, including a thigh bar and a first motion unit and a second motion unit;

[0007] One end of the thigh bar is installed with the first motion unit, and the other end is connected to the second motion unit, and the second motion unit is connected to the lower leg bar.

[0008] The first motion unit includes a first circular cavity, which is connected to the thigh rod and has a toothed ring A on its inner wall. A motor A is connected to the first circular cavity, and the drive shaft of the motor A passes through the first circular cavity. A gear A is provided at the end of the drive shaft, and the gear A meshes with the toothed ring A and the two are eccentrically positioned. The second motion unit includes a second circular cavity, which is connected to the lower leg rod and has a toothed ring B on its inner wall. A motor B is connected to the second circular cavity, and the drive shaft of the motor B passes through the second circular cavity. A gear B is provided at the end of the drive shaft, and the gear B meshes with the toothed ring B and the two are eccentrically positioned.

[0009] Starting motors A and B causes their drive shafts to rotate, which in turn causes gears A and B to rotate, driving the corresponding meshing gear rings A and B to rotate. This, in turn, causes the thigh and calf to move, thus moving the affected lower limb for training. The eccentric transmission between the two sets of gears and gear rings slows down the movement of the thigh and calf, allowing for precise and smooth adjustment of the movement angle.

[0010] As a preferred technical solution of this application, the thigh rod includes a connecting rod A and an extension A; one end of the connecting rod A is connected to a toothed ring A, and the other end is connected to the extension A. The extension A includes an upper extension rod, the bottom end of which is connected to a second motion unit. The length of the thigh rod is adjusted by the upper extension rod moving vertically up and down along the direction of the connecting rod A.

[0011] As a preferred technical solution of this application, the lower leg rod includes a connecting rod B and an extension B; one end of the connecting rod B is connected to the toothed ring B, and the other end is connected to the extension B. The extension B includes a lower extension rod, the bottom end of which is connected to the foot placement plate. The length of the lower leg rod is adjusted by the lower extension rod moving vertically up and down along the connecting rod B.

[0012] As a preferred technical solution of this application, the lower ends of the connecting rod A and the connecting rod B are respectively provided with a sliding groove, and the upper extension rod and the lower extension rod are respectively attached to the two sliding grooves, and the upper and lower extension rods move along the sliding grooves;

[0013] The extension A and extension B further include adjusting rack A and adjusting rack B, respectively;

[0014] Adjust rack A to fit against the inner side of the lower end of the upper extension rod. Adjusting rack A moves up and down, causing the upper extension rod to move up and down in the slide groove. Adjust rack B to fit against the inner side of the lower end of the lower extension rod. Adjusting rack B moves up and down, causing the lower extension rod to move up and down in the slide groove.

[0015] As a preferred technical solution of this application, the lower outer sides of the connecting rods A and B are respectively connected to adjusting shafts. The portion of the adjusting shaft inserted into the connecting rod has a gear edge. The two adjusting shafts are respectively meshed with the corresponding adjusting racks A and B through the gear edge. A handle is provided on one end of the adjusting shaft. Rotating the handle causes the gear edge to rotate, and the meshing adjusting racks A and B move, thereby driving the upper and lower extension rods to move along the slide groove.

[0016] As a preferred technical solution of this application, a shell is respectively fitted outside the first circular cavity and the second circular cavity. The drive shafts of motor A and motor B extend through the circular surface of the shell into the cavity and mesh with the toothed rings A and B. An annular groove is opened on the side of the shell. The first and second circular cavities are respectively connected to connecting rod A and connecting rod B, and connecting rod A and connecting rod B extend through the annular groove. When connecting rod A and connecting rod B rotate, the annular groove limits their rotation range.

[0017] As a preferred technical solution of this application, one end of the outer shell of the first circular cavity is connected to a connecting plate, and the connecting plate is provided with multiple connecting holes, so that the outer shell is fixedly connected to the wheelchair through the connecting holes by screws.

[0018] As a preferred technical solution of this application, multiple circular straps are provided on the inner sides of the connecting rod A and the connecting rod B to fix the thigh and calf, and a circular strap is provided on the foot placement plate to fix the foot.

[0019] This utility model has the following advantages:

[0020] (1) The eccentric rotation mechanism makes it easier to adjust the angle;

[0021] The device designed in this scheme uses a first motion unit and a second motion unit to drive the thigh rod and the lower leg rod respectively. A gear controlled by a motor meshes with a gear ring in a circular cavity. The gear and gear ring are eccentrically set. When the motor drives the gear to rotate, the meshing gear ring rotates accordingly, and the connecting rod connected to the circular cavity also rotates accordingly. The eccentric setting of the gear and gear ring slows down the movement of the connecting rod. Therefore, when the control platform drives the motor to rotate and makes the connecting rod move at different angles, it is more flexible, controllable, precise and stable in adjusting the entire movement process.

[0022] (2) The length of the thigh and calf bars can be adjusted to suit patients of different heights;

[0023] Extension sections A and B are respectively provided at the lower part of the thigh and calf rods. Through the cooperation of the upper and lower extension rods and the adjusting shaft with the adjusting rack, the adjusting shaft has a gear edge that meshes with the adjusting rack. When the adjusting shaft is rotated, the adjusting rack moves up and down, thereby moving the upper and lower extension rods in their respective slides. When the extension rod moves upward, the overall length of the thigh and calf rods becomes shorter; when the extension rod moves downward, the overall length of the thigh and calf rods becomes longer. This facilitates the adjustment of the rod length, making it suitable for patients of different heights and improving the practicality of the device. Attached Figure Description

[0024] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0025] Figure 2 This is a structural schematic diagram of the present invention from a half-section view perspective;

[0026] Figure 3 This is a schematic diagram of the structure of the first motion unit and connecting rod A after installation.

[0027] Figure 4 This is a structural schematic diagram of the first motion unit of this utility model from a second perspective;

[0028] Figure 5 This is a structural schematic diagram of the connecting rod A and extension A after installation, taken from a first-view perspective.

[0029] Figure 6 This is a structural schematic diagram of the connecting rod A and extension A after installation, viewed from a second perspective.

[0030] Figure 7 This is a schematic diagram of the structure of the lower leg rod and the foot placement plate of this utility model after they are connected.

[0031] Figure 8 This is a schematic diagram of the structure of the second motion unit gear B and the gear ring B of this utility model.

[0032] In the diagram: 1-First circular cavity, 2-Gear ring A, 3-Gear A, 4-Second circular cavity, 5-Gear ring B, 6-Gear B, 7-Connecting rod A, 8-Connecting rod B, 9-Upper extension rod, 10-Lower extension rod, 11-Adjusting rack A, 12-Adjusting rack B, 13-First adjusting shaft, 14-Second adjusting shaft, 15-Foot plate, 16-Circular strap, 17-Annular groove, 18-Motor A, 19-Motor B. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0034] It should be noted that the orientation or positional relationship indicated by terms such as "left" and "right" is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this invention is usually placed in during use, or the orientation or positional relationship that is commonly understood by those skilled in the art. Such terms are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0036] Therefore, based on the above issues, please refer to Figure 1 This utility model proposes a seated unilateral lower limb exoskeleton rehabilitation training device to solve the problem.

[0037] (Example)

[0038] read Figures 1 to 8 The present implementation plan proposes a seated unilateral lower limb exoskeleton rehabilitation training device, which includes a first motion unit, a second motion unit, a thigh bar and a calf bar.

[0039] Among them, see Figures 1-3 The top end of the thigh rod is movably connected to the first motion unit, and the first motion unit is fixedly connected to the wheelchair via a connecting plate. The other end of the thigh rod is connected to the second motion unit, the second motion unit is movably connected to one end of the lower leg rod, and the other end of the lower leg rod is connected to the foot placement plate.

[0040] Among them, see Figure 2 The first motion unit includes a first circular cavity 1. One end of the side of the first circular cavity 1 is connected to the thigh rod. A gear ring A2 is installed on the inner wall of the first circular cavity 1. When the gear ring A2 rotates, it can drive the first circular cavity 1 to rotate synchronously. At the same time, a motor A18 is set on the outer side of the circular surface of the first circular cavity 1. The drive shaft of the motor A18 passes through the interior of the first circular cavity 1. A gear A3 is set at the end of the drive shaft and meshes with the gear ring A2. The gear A3 and the gear ring A2 are eccentrically arranged (that is, the smaller gear A3 is close to the tooth surface of the larger gear ring A2).

[0041] Among them, see Figure 2 and Figure 8 The second motion unit includes a second circular cavity 4. One side of the second circular cavity 4 is connected to the lower leg rod. A gear ring B5 is also installed inside the second circular cavity 4. A motor B19 is located outside the circular surface of the second circular cavity 4. A gear B6 is provided at the end of the drive shaft of the motor B19. Its end passes into the interior of the second circular cavity 4, and the gear B6 meshes with the gear ring B5. The gear B6 and the gear ring B5 are eccentrically arranged.

[0042] When motors A18 and B19 are started, the drive shafts of both rotate, i.e., gears A3 and B6 rotate. The meshing gear rings A2 and B5 rotate synchronously, thereby driving the first circular cavity 1 and the second circular cavity 4 to move. Since the first circular cavity 1 and the second circular cavity 4 are respectively connected to the thigh rod and the calf rod, the thigh rod and the calf rod move. The eccentric transmission between the two sets of gears and gear rings slows down the movement of the thigh rod and the calf rod, making the movement change more flexible and facilitating precise and smooth adjustment of the movement angle.

[0043] Existing lower limb rehabilitation training devices, when driving mechanical linkages to move the patient's affected lower limb, suffer from insufficient flexibility in the joint rotation. They often directly and rapidly change the movement trajectory to achieve the desired action, resulting in imprecise and unstable movements that hinder flexible and slow rehabilitation training of the lower limb. This proposed lower limb rehabilitation training device features a motor-controlled gear in the motion unit that meshes with a gear ring in a circular cavity. The gear is located inside the gear ring and is eccentrically positioned. The circular cavity connects to the linkage that performs the movement. The rotation of the gear drives the meshing gear ring, thus achieving the linkage's movement. The eccentric transmission of the gear and gear ring slows down the linkage's movement, allowing for more flexible control and more precise and stable adjustment of the movement process.

[0044] In this embodiment, see Figure 1 and Figure 3 The first motion unit also includes a housing, which is disc-shaped and fitted onto the outside of the first circular cavity 1. One side of the housing is connected to a connecting plate, which has multiple connecting holes. A mounting seat aligned with the connecting plate is provided at a corresponding position on the wheelchair. The connecting plate is fixed to the wheelchair by screwing screws into the connecting holes and tightening them with the mounting seat. The first circular cavity 1 is rotatably disposed inside the housing. The motor A18 is mounted on the circular surface of the housing, and its drive shaft extends through the housing into the first circular cavity 1. The right side of the first circular cavity 1 is connected to the thigh bar. The housing has an annular groove 17 on its side, from which the thigh bar extends. When the drive motor A18 causes the first circular cavity 1 to rotate, the connected thigh bar also rotates synchronously. The annular groove 17 can limit the rotation range of the thigh bar, making it easier for the patient to perform lower limb training.

[0045] Furthermore, see Figure 2 and Figure 8For the second motion unit, the second circular cavity 4 is also fitted with a shell. The left side of the shell is fixedly connected to the thigh connecting rod, and the right side of the shell is also provided with an annular groove 17. The right end face of the second circular cavity 4 inside the shell is connected to the lower leg rod. The lower leg rod extends out from the annular groove 17. The motor B19 is mounted on the circular surface of the shell of the second circular cavity 4, and the drive shaft of the motor B19 passes through the shell and extends into the interior of the second circular cavity 4. When the motor B19 drives the second circular cavity 4 to rotate, the connected lower leg rod also rotates. The annular groove 17 also limits the rotation of the lower leg rod.

[0046] This design prevents excessive changes in the angle of movement of the thighs and calves, thus avoiding improper swaying of the body.

[0047] It should be noted that the thigh rod is fixedly connected to the outer shell of the second circular cavity 4. When the motor A18 is started alone, the gear A3 drives the gear ring A2 to rotate, thereby rotating the first circular cavity 1 and driving the thigh linkage to move. At the same time, the outer shell of the second circular cavity 4 can drive the lower leg rod to produce a slow movement, so that only the thigh moves while the lower leg remains still, thus avoiding damage to the affected lower limb.

[0048] It should be noted that a separate control platform is provided for signal connection with motors A18 and B19.

[0049] In this embodiment, see Figures 3-6 For the thigh rod, the thigh rod includes a connecting rod A7 and an extension A; the connecting rod A7 is a rectangular rod, the top end of which is attached to the side of the first circular cavity 1 and fixed, the bottom end of the connecting rod A7 is connected to the extension A, and a sliding groove A is provided at the bottom end of the connecting rod A7. The sliding groove A is attached to the upper extension rod 9 and the upper extension rod 9 can move along the sliding groove A. The upper extension rod 9 is also a rectangular rod. The extension A also includes an adjusting rack A11. One side of the adjusting rack A11 is a rack surface and the other side is smooth. Its smooth surface is attached to the lower inner side of the upper extension rod 9. When the adjusting rack A11 is controlled to move up and down along the connecting rod A7, it drives the upper extension rod 9 to move up and down in the sliding groove A, thereby realizing the adjustment of the length of the thigh rod.

[0050] Furthermore, see Figure 5 and Figure 6 A rotatable first adjusting shaft 13 is provided on one side of the rack surface of the adjusting rack A11. The first adjusting shaft 13 is inserted into the inner section of the connecting rod A7 and has a gear side that meshes with the rack surface of the rack A. An L-shaped handle is connected to the outer end of the first adjusting shaft 13. Manually turning the handle can rotate the first adjusting shaft 13, thereby causing the meshing adjusting rack A11 to move up and down along the connecting rod A7, thereby driving the upper extension rod 9 to move up and down in the slide groove A to adjust the length.

[0051] Furthermore, see [reference] Figures 5-7 For the lower leg rod, the upper leg rod includes a connecting rod B8 and an extension B. The top end of the connecting rod B8 is connected and fixed to the side of the second circular cavity 4, and its bottom end is connected to the extension B. A groove B is provided at the bottom end of the connecting rod B8, in which the lower extension rod 10 can slide. Similarly, an adjusting rack B12 and a corresponding second adjusting shaft 14 are provided, which are in close contact with the lower extension rod 10. The gear on the second adjusting shaft 14 meshes with the adjusting rack B12. Rotating the second adjusting shaft 14 can drive the adjusting rack B12 to move, thereby moving the lower extension rod 10 along the groove B, thus realizing the adjustment of the length of the lower leg rod.

[0052] It should be noted that this solution allows for manual adjustment of the length of the thigh and calf extensions separately. By rotating the handle, the thigh and calf extensions can be lengthened or shortened, enabling precise adjustment for patients of different heights. It is simple, convenient, and easy to operate.

[0053] In this embodiment, see Figure 7 For the foot placement plate, the top of the mounting plate of the foot placement plate is fixedly connected to the bottom end of the lower extension rod 10 by screws. A foot plate 15 is vertically connected to the bottom end of the mounting plate. When a person is sitting in a wheelchair, the affected lower limb can fit in close to this training device, and the foot can be placed on the foot plate 15. Multiple circular straps 16 are provided on the side of the connecting rods A7 and B8 facing away from the motor. The affected lower limb is inserted into the circular straps 16 to fix it to the device, so that the affected lower limb can be driven for rehabilitation training when the device moves. A circular strap 16 is also provided on the foot plate 15 to fix the foot and prevent the patient's foot from swaying back and forth.

[0054] In use, align the connecting plate of this device with the mounting seat at the corresponding position on the wheelchair to fix the device to the wheelchair. Then, the patient sits on the wheelchair and connects the affected lower limb to the device through the circular strap 16, with the sole of the foot naturally resting on the footplate 15. Start motors A18 and B19, and the transmission shaft will rotate, driving gears A3 and B6, which are eccentrically positioned at the ends of the transmission shaft relative to the circular cavity, to rotate. The rotation of gear A3 causes the meshing gear ring A2 to rotate, driving the connected connecting rod A7 to move. The rotation of gear B6 causes the gear ring B5 to rotate, thereby driving the connected connecting rod B8 to move, thus enabling rehabilitation training for the patient's affected lower limb. At the same time, extension parts A and B are respectively provided at the lower ends of connecting rods A7 and B8, which can flexibly and conveniently adjust the movement distance of the upper and lower extension rods 10 on the slide by rotating the two adjusting shafts, thereby adjusting the overall length of the thigh rod and the lower leg rod to accommodate patients of different heights.

[0055] Current lower limb rehabilitation training devices are inconvenient to install and use. Their overall structure is relatively complex, resulting in low practicality. Furthermore, the rotation angle of the existing device's motion unit when driving the connected mechanical linkage is often not flexible enough, and the overall movement process is not precise or stable. The limiting mechanism used is also cumbersome, resulting in poor overall device flexibility, complex structure, and inconvenient operation. This solution designs a seated unilateral lower limb exoskeleton rehabilitation training device. The design consists of a first motion unit driving the thigh linkage and a second motion unit driving the lower leg linkage. These components are inserted into a circular cavity via gears, with the gears engaging with the circular cavity. The meshing of the toothed rings on the wall drives the movement of the connecting rods of the thigh and calf. The gears are located inside the toothed rings and are eccentrically set with the toothed rings. The eccentric transmission of the gears in the two motion units can reduce the rotation speed of the connecting rods compared with existing transmission mechanisms, thus better controlling the movement of the connecting rods and adjusting the entire movement process more precisely, effectively, and smoothly. At the same time, the connecting rods at the thigh and calf are equipped with extensions. Through the upper and lower extension rods 10 and the first and second adjustment shafts 14, the interaction of the adjusting racks A11 and B12 can change the overall length of the connecting rods, making it convenient for patients of different heights to wear and use.

[0056] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A seated unilateral lower limb exoskeleton rehabilitation training device, characterized in that: It includes the thigh bar and the first and second motion units; One end of the thigh bar is installed with the first motion unit, and the other end is connected to the second motion unit, and the second motion unit is connected to the lower leg bar. The first motion unit includes a first circular cavity (1), which is connected to the thigh rod and has a toothed ring A (2) on the inner wall of the first circular cavity (1). A motor A (18) is connected to the first circular cavity (1) and the transmission shaft of the motor A (18) passes through the first circular cavity (1). A gear A (3) is provided at the end of the transmission shaft. The gear A (3) meshes with the toothed ring A (2) and the two are eccentrically arranged. The second motion unit includes a second circular cavity (4), which is connected to the lower leg rod and has a toothed ring B (5) on the inner wall of the second circular cavity (4). A motor B (19) is connected to the second circular cavity (4) and the transmission shaft of the motor B (19) passes through the second circular cavity (4). A gear B (6) is provided at the end of the transmission shaft. The gear B (6) meshes with the toothed ring B (5) and the two are eccentrically arranged. Starting motors A (18) and B (19) causes their drive shafts to rotate, which in turn causes gears A (3) and B (6) to rotate, driving the corresponding meshing gear rings A (2) and B (5) to rotate. This causes the thigh and calf to move and move the affected lower limb for training. The eccentric transmission between the two sets of gears and gear rings slows down the movement of the thigh and calf, allowing for precise and stable adjustment of the movement angle.

2. The seated unilateral lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The thigh rod includes a connecting rod A (7) and an extension A; one end of the connecting rod A (7) is connected to the toothed ring A (2), and the other end is connected to the extension A. The extension A includes an upper extension rod (9), the bottom end of which is connected to the second motion unit. The length of the thigh rod is adjusted by the upper extension rod (9) moving vertically up and down along the connecting rod A (7).

3. The seated unilateral lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The lower leg rod includes a connecting rod B (8) and an extension B; one end of the connecting rod B (8) is connected to the toothed ring B (5), and the other end is connected to the extension B. The extension B includes a lower extension rod (10), the bottom end of which is connected to the foot placement plate. The length of the lower leg rod is adjusted by the vertical movement of the lower extension rod (10) along the connecting rod B (8).

4. A seated unilateral lower limb exoskeleton rehabilitation training device according to claim 2 or 3, characterized in that: The lower ends of the connecting rod A (7) and the connecting rod B (8) are respectively provided with a sliding groove. The sliding groove A and the sliding groove B are respectively attached to the upper extension rod (9) and the lower extension rod (10), and the upper and lower extension rods move along the two sliding grooves respectively. The extension A and extension B also include adjusting rack A (11) and adjusting rack B (12), respectively; Adjust rack A (11) to fit against the inner side of the lower end of the upper extension rod (9), and adjust rack A (11) to move up and down, causing the upper extension rod (9) to move up and down in the slide groove A; adjust rack B (12) to fit against the inner side of the lower end of the lower extension rod (10), and adjust rack B (12) to move up and down, causing the lower extension rod (10) to move up and down in the slide groove B.

5. A seated unilateral lower limb exoskeleton rehabilitation training device according to claim 4, characterized in that: The lower outer sides of the connecting rods A (7) and B (8) are respectively connected to adjusting shafts. The part of the adjusting shaft inserted into the connecting rod has a gear edge. The two adjusting shafts are respectively meshed with the corresponding adjusting racks A (11) and B (12) through the gear edge. A handle is provided on one end of the adjusting shaft. Rotating the handle will cause the gear edge to rotate, and the meshing adjusting racks A (11) and B (12) will move, thereby driving the upper and lower extension rods to move along the two slides.

6. The seated unilateral lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: A shell is fitted over the first circular cavity (1) and the second circular cavity (4). The drive shafts of motor A (18) and motor B (19) extend through the circular surface of the shell into the cavity and mesh with the toothed ring A (2) and toothed ring B (5). An annular groove (17) is opened on the side of the shell. The first and second circular cavities (4) are connected to connecting rod A (7) and connecting rod B (8) respectively. Connecting rod A (7) and connecting rod B (8) extend through the annular groove (17). When connecting rod A (7) and connecting rod B (8) rotate, the annular groove (17) limits their rotation range.

7. A seated unilateral lower limb exoskeleton rehabilitation training device according to claim 6, characterized in that: One end of the outer shell of the first circular cavity (1) is connected to a connecting plate. The connecting plate has multiple connecting holes, so that the outer shell is fixedly connected to the wheelchair through the connecting holes by screws.

8. A seated unilateral lower limb exoskeleton rehabilitation training device according to claim 5, characterized in that: Multiple circular straps (16) are provided on the inner side of the connecting rod A (7) and connecting rod B (8) to fix the thigh and calf, and a circular strap (16) is provided on the foot placement plate to fix the foot.

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