Size adjusting device for lower limb exoskeleton walking rehabilitation apparatus

Abstract

The utility model discloses a size adjusting device for a lower limb exoskeleton walking rehabilitation apparatus, which relates to the technical field of rehabilitation instruments and comprises a thigh arm connecting rod, a knee joint arm connecting rod and a cam locking component. The cam locking assembly comprises a connecting block, a pressing block, a pressing handle and a rotating limiting piece, the knee joint connecting end of the thigh arm connecting rod is sleeved with the connecting block, and the pressing block sequentially penetrates through a first guide groove of the connecting block and a second guide groove of the thigh arm connecting rod to abut against the knee joint arm connecting rod; the pressing handle is rotationally arranged on the connecting block, the pressing handle is provided with a cam part used for abutting against the pressing block, when the pressing handle rotates in the direction close to the connecting block, the cam part applies downward pressing force to the pressing block, and the pressing handle is connected with the rotating limiting piece in a clamped mode so that the knee joint arm connecting rod and the thigh arm connecting rod can be locked; compression and loosening of the compression block are achieved by rotating the compression handle, adjustment is easy, locking is stable and reliable, and failure is not prone to occurring.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation equipment technology, and more specifically, to a size adjustment device for a lower limb exoskeleton walking rehabilitation device. Background Technology

[0002] The lower limb exoskeleton walking rehabilitation device is a rehabilitation device used to assist patients with lower limb motor dysfunction in rehabilitation training. In order to adapt to patients of different heights and avoid secondary injury to patients, the lower limb exoskeleton walking rehabilitation device is usually equipped with a size adjustment device so that its length can be adjusted to adapt to the patient's height.

[0003] Existing size adjustment devices mainly include three types: bolt adjustment devices, spring pin adjustment devices, and snap-fit ​​adjustment devices. Among them, bolt adjustment devices rely on thread friction to achieve connection and fastening, and the preload is prone to decrease due to vibration or fatigue after long-term use; spring pin adjustment devices rely on the elasticity of the spring to achieve locking, and the locking force is limited; snap-fit ​​adjustment devices rely on the elasticity of the spring or the strength of the snap-fit ​​itself to achieve locking, and are prone to loosening or even failure under dynamic loads such as walking impact.

[0004] In summary, how to provide a size adjustment device that is stable, reliable, and not prone to failure is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a size adjustment device for a lower limb exoskeleton walking rehabilitation device. The device can tighten and loosen the clamping block by rotating the clamping handle, thereby adjusting the locking and sliding of the knee joint arm link and the thigh arm link. The adjustment is simple, and the self-locking ability is strong. The locking is stable and reliable and not easy to fail.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A size adjustment device for a lower limb exoskeleton walking rehabilitation device includes a thigh arm link, a knee joint arm link, and a cam locking assembly. The knee joint arm link is slidably inserted into the knee joint connection end of the thigh arm link. The cam locking assembly includes a connecting block, a pressing block, a pressing handle, and a rotation limiting member disposed on the connecting block. The connecting block is sleeved on the knee joint connection end. The pressing block passes sequentially through a first guide groove of the connecting block and a second guide groove of the knee joint connection end and abuts against the knee joint arm link.

[0008] The clamping handle is rotatably disposed on the outer periphery of the connecting block. The clamping handle is provided with a cam portion for abutting against the clamping block. When the clamping handle rotates toward the connecting block, the cam portion applies a downward clamping force to the clamping block. The clamping handle engages with the rotation limiting member to lock the knee joint arm link and the thigh arm link.

[0009] When the clamping handle is rotated away from the connecting block, the clamping handle disengages from the rotation limiter and the clamping block, and the knee joint arm link can slide relative to the thigh arm link for adjustment.

[0010] Preferably, the outer surface of the clamping block is provided with an arc-shaped groove for cooperating with the cam portion, so as to increase the contact area between the cam portion and the clamping block.

[0011] Preferably, the pressing mating surface of the knee joint arm link includes a mating plane and an arc-shaped concave surface, the arc-shaped concave surface is disposed between two adjacent mating planes, and the inner surface of the pressing block is provided with an arc-shaped protrusion for engaging with the arc-shaped concave surface.

[0012] Preferably, the pressing surface of the knee joint arm link is provided with an elastic pad, and the elastic pad is provided with the arc-shaped concave surface on the outer surface of the pressing block.

[0013] Preferably, the engagement portion of the rotation limiting member used to engage with the pressing handle is provided with a sealing ring or a sealing gasket, the sealing ring or the sealing gasket being used to increase the friction between the rotation limiting member and the pressing handle.

[0014] Preferably, the knee joint arm link has a groove on at least one side in the sliding direction, the groove being used to display the center distance between the hip joint and the knee joint, and observation holes are provided on the side of the knee joint connecting end and the side of the connecting block.

[0015] Preferably, the knee joint arm link is provided with the groove on both sides in the sliding direction to improve the left-right interchangeability of the knee joint arm link.

[0016] Preferably, the rotation limiting member includes at least one ball bearing, which is rotatably mounted in the ball bearing seat of the connecting block, and the clamping handle has a ball bearing groove on its side in the rotation direction for engaging with the ball bearing.

[0017] Preferably, the rotation limiting member includes a rotation limiting post, which is vertically disposed on the outer periphery of the connecting block, and the clamping handle has a limiting groove on its inner surface near the connecting block for engaging with the rotation limiting post.

[0018] Preferably, the knee joint connection end is provided with a mounting flange, the connecting block is provided with a connecting flange, and the mounting flange and the connecting flange are bolted together.

[0019] The size adjustment device for a lower limb exoskeleton walking rehabilitation device provided by this utility model can tighten and loosen the clamping block by rotating the clamping handle, so as to switch the locking state and sliding adjustment state of the knee joint arm link and the thigh arm link. Compared with existing locking methods such as bolt connection, the adjustment is convenient and effectively shortens the adjustment time.

[0020] The direction of the clamping force of the clamping handle on the clamping block is perpendicular to the clamping handle, which has a self-locking effect. In addition, the rotation limit component can prevent the clamping handle from being accidentally loosened under the action of external force, thus ensuring the locking stability and reliability of the cam locking assembly, and thus ensuring the safety of the lower limb exoskeleton walking rehabilitation device. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram of a specific embodiment of the size adjustment device for a lower limb exoskeleton walking rehabilitation device provided by this utility model;

[0023] Figure 2 This is a schematic diagram of the thigh arm connecting rod.

[0024] Figure 3 This is a schematic diagram of the knee joint arm linkage.

[0025] Figure 4 This is a magnified view of a portion of the knee joint arm linkage;

[0026] Figure 5 This is a schematic diagram of the cam locking assembly.

[0027] Figure 6 This is a structural diagram of the connecting block and the clamping handle;

[0028] Figure 7 This is an exploded view of the cam locking assembly.

[0029] Figures 1-7 middle:

[0030] 10-Thigh arm linkage; 101-Hip joint mounting flange; 102-Mounting flange; 103-Second guide groove; 104-First observation hole; 105-Telescopic guide groove;

[0031] 20-Knee joint arm linkage; 201-Compression mating surface; 2011-Mating plane; 2012-Curved concave surface; 202-Knee joint mounting flange; 203-Graded groove; 204-Weight reduction groove;

[0032] 30-Cam locking assembly; 301-Connecting block; 3011-Handle ear plate; 3012-Pendant seat; 3013-Second observation hole; 3014-Horizontal weight reduction groove; 3015-Connecting flange; 3016-First guide groove; 302-Clamping block; 3021-Arched protrusion; 3022-Arched groove; 3023-Vertical weight reduction groove; 303-Clamping handle; 3031-Pendant groove; 304-Pendant; 305-Handle pivot. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] The core of this utility model is to provide a size adjustment device for a lower limb exoskeleton walking rehabilitation device. By rotating the clamping handle, the clamping block can be tightened and loosened to adjust the locking and sliding of the knee joint arm link and the thigh arm link. The adjustment is simple, and the self-locking ability is strong. The locking is stable and reliable and not easy to fail.

[0035] The size adjustment device for a lower limb exoskeleton walking rehabilitation device provided by this utility model includes a thigh arm link 10, a knee joint arm link 20, and a cam locking assembly 30. The knee joint arm link 20 is slidably inserted into the knee joint connection end of the thigh arm link 10. The cam locking assembly 30 includes a connecting block 301, a pressing block 302, a pressing handle 303, and a rotation limiter. The connecting block 301 is sleeved on the knee joint connection end of the thigh arm link 10. The pressing block 302 passes through the first guide groove 3016 of the connecting block 301 and the second guide groove 103 of the knee joint connection end in sequence and abuts against the knee joint arm link 20.

[0036] The clamping handle 303 is rotatably disposed on the outer periphery of the connecting block 301. The clamping handle 303 is provided with a cam portion for abutting against the clamping block 302. When the clamping handle 303 rotates toward the connecting block 301, the cam portion applies a downward clamping force to the clamping block 302. The clamping handle 303 engages with the rotation limit member to lock the knee joint arm link 20 and the thigh arm link 10.

[0037] When the clamping handle 303 is rotated away from the connecting block 301, the clamping handle 303 disengages from the rotation limiter and the clamping block 302, and the knee joint arm link 20 can slide relative to the thigh arm link 10 for adjustment.

[0038] Please refer to Figure 1 One end of the thigh arm link 10 is connected to the hip joint, and the other end, the knee joint connection end, is slidably connected to the knee joint arm link 20. The other end of the knee joint arm link 20 is connected to the knee joint. The connection method between the thigh arm link 10 and the hip joint, and the connection method between the knee joint arm link 20 and the knee joint, can be determined with reference to existing technologies, such as... Figure 2 and Figure 3 As shown, the thigh arm link 10 is fixedly connected to the hip joint via the hip joint mounting flange 101, and the knee arm link 20 is fixedly connected to the knee joint via the knee joint mounting flange 202.

[0039] In order to fix the relative position of the thigh arm link 10 and the knee joint arm link 20, a cam locking assembly 30 is provided on the knee joint connection end of the thigh arm link 10. The cam locking assembly 30 is used to lock and release the knee joint arm link 20.

[0040] The cam locking assembly 30 includes a connecting block 301, a clamping block 302, a clamping handle 303, and a rotation limiter for preventing the clamping handle 303 from loosening under external force. The connecting block 301 is sleeved on the knee joint connection end of the thigh arm link 10. For maintenance purposes, the connecting block 301 is typically detachably connected to the knee joint connection end via bolts, pins, or other common methods. For example, please refer to... Figure 5 The knee joint connection end is provided with a mounting flange 102, and the connecting block 301 is provided with a connecting flange 3015. The mounting flange 102 and the connecting flange 3015 are bolted together. The specific size, quantity and distribution of the connecting bolts are determined by verification calculation based on the connection strength required for actual production.

[0041] The connecting block 301 is provided with a through first guide groove 3016, and the knee joint connecting end of the thigh arm link 10 is provided with a through second guide groove 103. The pressing block 302 passes through the first guide groove 3016 and the second guide groove 103 in sequence and abuts against the outer surface of the knee joint arm link 20. The cam part of the pressing handle 303 abuts against the pressing block 302. When the pressing handle 303 rotates towards the connecting block 301, the contact position between the cam part of the pressing block 302 and the pressing block 302 changes from a small radius to a large radius. The cam part applies a downward pressing force to the pressing block 302, pressing the pressing block 302 into the telescopic guide groove 105 of the knee joint connecting end, thereby locking and fixing the knee joint arm link 20 and the thigh arm link 10.

[0042] When the clamping handle 303 rotates away from the connecting block 301, the contact position between the cam part of the clamping block 302 and the clamping block 302 changes from a large radius to a small radius. The cam part of the clamping handle 303 disengages from the clamping block 302, and the clamping force between the clamping block 302 and the knee joint arm link 20 disappears, allowing the knee joint arm link 20 to slide relative to the thigh arm link 10. This allows the size of the lower limb exoskeleton walking rehabilitation device to be adjusted by extending and retracting the knee joint arm link 20, so that it can be adapted to the patient's height.

[0043] The clamping handle 303 changes the contact position between the cam and the clamping block 302 by rotation, thereby achieving the clamping and releasing of the clamping block 302. Please refer to [reference needed]. Figure 6 The clamping handle 303 is rotatably sleeved between the handle lugs 3011 of the connecting block 301 via the handle pivot 305;

[0044] Since the direction of the clamping force of the clamping handle 303 on the clamping block 302 is perpendicular to the clamping handle 303, the clamping handle 303 has a self-locking function.

[0045] To prevent the clamping handle 303 from rotating under external force, which would cause the locking assembly 30 to fail, the clamping handle 303 and the connecting block 301 are engaged in the locking state. This engagement structure restricts the rotation of the clamping handle 303, further enhancing the self-locking capability of the cam locking assembly 30.

[0046] Preferably, the rotating limiting member can be provided with a sealing ring or sealing gasket at the engaging part for engaging with the pressing handle 303. The sealing ring or sealing gasket is used to increase the friction between the rotating limiting member and the pressing handle 303, thereby improving the limiting effect of the rotating limiting member on the pressing handle 303 by increasing the friction.

[0047] In this embodiment, the pressing and releasing of the pressing block 302 is achieved by rotating the pressing handle 303, so as to switch the locking state and sliding adjustment state of the knee joint arm link and the thigh arm link. Compared with existing locking methods such as bolt connection, the adjustment is convenient and the adjustment time is effectively shortened.

[0048] The direction of the clamping force of the clamping handle 303 on the clamping block 302 is perpendicular to the clamping handle 303, which has a self-locking effect. Furthermore, the rotation limiter can prevent the clamping handle 303 from being accidentally loosened under external force, thus ensuring the locking stability and reliability of the cam locking assembly 30 and thereby ensuring the safety of the lower limb exoskeleton walking rehabilitation device.

[0049] Based on the above embodiments, please refer to Figure 6 The outer side of the clamping block 302 can be provided with an arc-shaped groove 3022 for cooperating with the cam part, so as to increase the contact area between the cam part and the clamping block 302.

[0050] In this embodiment, the cam portion of the clamping handle 303 and the arc groove 3022 of the clamping block 302 are in surface contact. Compared with the outer surface of the clamping block 302 being set as a plane and the cam portion and the clamping block 302 being in line contact, the contact area between the cam portion and the clamping block 302 is significantly increased, thereby enhancing the installation stability and reliability of the clamping handle 303 and the clamping block 302, and improving the locking stability of the cam locking assembly 30.

[0051] Based on the above embodiments, considering that the clamping mating surfaces 201 of the clamping block 302 and the knee joint arm linkage 20 may fail to fit due to wear after long-term use, please refer to... Figure 4 The pressing mating surface 201 of the knee joint arm link 20 can be set to include a mating plane 2011 and an arc-shaped concave surface 2012. The arc-shaped concave surface 2012 is located between two adjacent mating planes 2011. The inner surface of the pressing block 302 is provided with an arc-shaped protrusion 3021 for engaging with the arc-shaped concave surface 2012.

[0052] The dimensions of the plane 2011 in the extension direction of the knee joint arm link 20, the curvature of the arc concave surface 2012, and the length of the arc concave surface 2012 in the extension direction of the knee joint arm link 20, need to be determined according to the actual production requirements, such as the design contact area in the locked state.

[0053] When the mating surface 2011 is not worn, in the locked state, the clamping block 302 is pressed against the mating surface 2011 of the clamping mating surface 201 by the clamping handle 303;

[0054] When the mating surface 2011 wears down, in the locked state, the arc-shaped protrusion 3021 of the clamping block 302 is pressed by the clamping handle 303 onto the arc-shaped concave surface 2012 of the clamping mating surface 201.

[0055] Therefore, the design of the arc-shaped concave surface 2012 of the pressing mating surface 201 of the knee joint arm link 20, through the snap-fit ​​of the arc-shaped concave surface 2012 and the arc-shaped protrusion 3021, can maintain the locking state of the pressing block 302 and the knee joint arm link 20 after long-term use and wear, avoiding the relative separation of the knee joint arm link 20 from the pressing block 302, realizing secondary protection for the locking state of the two, and helping to extend the service life of the knee joint arm link 20 and the cam locking assembly 30.

[0056] Considering that the knee joint arm link 20 is usually made of metal, the above-mentioned arc-shaped concave surface 2012 can be directly machined on the surface of the knee joint arm link 20, or an elastic pad can be provided on the pressing mating surface 201 of the knee joint arm link 20. The elastic pad can be specifically set as a rubber pad, silicone pad, etc. The elastic pad is provided with an arc-shaped concave surface 2012 on the outer surface of the pressing block 302.

[0057] Based on the above embodiments, in order to facilitate the size adjustment of the lower limb exoskeleton walking rehabilitation device, the knee joint arm link 20 can be provided with a groove 203 on at least one side in the sliding direction. The groove 203 is used to display the center distance between the hip joint and the knee joint. Observation holes are provided on the side of the knee joint connection end and the side of the connecting block 301.

[0058] The shape, size, and spacing between adjacent grooves 203 need to be determined based on the range of center distance between the hip and knee joints in actual production, so as to ensure the adjustment range and accuracy of the knee joint arm linkage 20 extension and retraction adjustment.

[0059] A first observation hole 104 is provided on the side of the knee joint connection end of the thigh arm link 10, such as... Figure 2 As shown, the shape and size of the first observation hole 104 are not limited, as long as it can fully display the engraved groove 203 on the side of the knee joint arm link 20.

[0060] A second observation hole 3013 is provided on the side of the connecting block 301. Considering the supporting role of the connecting block 301 on the clamping block 302, and to ensure the structural strength of the connecting block 301, when the structural strength of the connecting block 301 itself is low, it is preferable to set the second observation hole 3013 laterally, that is, the extension direction of the second observation hole 3013 is perpendicular to the extension and retraction direction of the knee joint arm link 20. Figure 5 As shown;

[0061] When the structural strength of the connecting block 301 is high, the second observation hole 3013 can also be set vertically, that is, the second observation hole 3013 extends along the extension and retraction direction of the knee joint arm link 20.

[0062] In this embodiment, the setting of the scribing groove 203 and the observation hole facilitates the acquisition of the current center distance between the hip and knee joints during the size adjustment process, and makes it easy to quickly determine the direction of size adjustment and whether the size adjustment is in place.

[0063] Preferably, the knee joint arm link 20 can be provided with grooves 203 on both sides in the sliding direction. In this case, the knee joint arm link 20 can be installed in the walking rehabilitation device of the left lower limb or the walking rehabilitation device of the right lower limb, which improves the left and right interchangeability of the knee joint arm link 20.

[0064] Based on the above embodiments, the structure of the rotation limiting member is defined. The rotation limiting member includes at least one ball 304. The ball 304 is rotatably installed in the ball seat 3012 of the connecting block 301. The pressing handle 303 has a ball groove 3031 on the side in the rotation direction for engaging with the ball 304.

[0065] The aforementioned paddle 304 may be located only on one side of the clamping handle 303, but it is preferred to be located on both sides of the clamping handle 303, such as... Figure 5 As shown.

[0066] In this embodiment, the setting of the bead 304 not only enhances the stability and reliability of locking the handle 303, but the sound of the bead 304 locking into the bead groove 3031 can also prompt the user to tighten the handle 303 and lock it in place, thus improving the user experience.

[0067] Of course, the rotation limiting component may also include a rotation limiting post, which is vertically disposed on the outer periphery of the connecting block 301, and the clamping handle 303 has a limiting groove on its inner surface that is close to the connecting block 301 for engaging with the rotation limiting post.

[0068] Based on the above embodiments, in order to reduce the overall weight of the lower limb exoskeleton walking rehabilitation device and improve the user experience, a weight-reducing groove 204 can be provided inside the knee joint arm link 20, such as... Figure 3 As shown, the connecting block 301 of the cam locking assembly 30 has a transverse weight-reducing groove 3014 on the side opposite to the handle mounting surface, such as... Figure 6 As shown, both sides of the clamping block 302 are provided with vertical weight-reducing grooves 3023, such as... Figure 7 As shown.

[0069] The specific shapes and dimensions of the weight-reducing groove 204, the horizontal weight-reducing groove 3014, and the vertical weight-reducing groove 3023 are determined by verification calculations based on the actual production needs of the lower limb exoskeleton walking rehabilitation device's design quality and design strength, and will not be elaborated here.

[0070] It should be noted that the first guide groove 3016 and the second guide groove 103 mentioned in the application documents, as well as the first observation hole 104 and the second observation hole 3013, are only used to distinguish the different positions, and do not contain any distinction of order.

[0071] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0072] The size adjustment device for a lower limb exoskeleton walking rehabilitation device provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A size adjustment device for a lower limb exoskeleton walking rehabilitation device, characterized in that, The device includes a thigh arm link (10), a knee joint arm link (20), and a cam locking assembly (30). The knee joint arm link (20) is slidably inserted into the knee joint connection end of the thigh arm link (10). The cam locking assembly (30) includes a connecting block (301), a pressing block (302), a pressing handle (303), and a rotation limiting member disposed on the connecting block (301). The connecting block (301) is sleeved on the knee joint connection end. The pressing block (302) passes through the first guide groove (3016) of the connecting block (301) and the second guide groove (103) of the knee joint connection end in sequence and abuts against the knee joint arm link (20). The clamping handle (303) is rotatably disposed on the outer periphery of the connecting block (301). The clamping handle (303) is provided with a cam portion for abutting against the clamping block (302). When the clamping handle (303) rotates toward the connecting block (301), the cam portion applies a downward clamping force to the clamping block (302). The clamping handle (303) engages with the rotation limiting member to lock the knee joint arm link (20) and the thigh arm link (10). When the clamping handle (303) rotates away from the connecting block (301), the clamping handle (303) disengages from the rotation limiter and the clamping block (302), and the knee joint arm link (20) can slide relative to the thigh arm link (10).

2. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to claim 1, characterized in that, The outer side of the clamping block (302) is provided with an arc-shaped groove (3022) for cooperating with the cam portion, so as to increase the contact area between the cam portion and the clamping block (302).

3. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to claim 1, characterized in that, The pressing mating surface (201) of the knee joint arm link (20) includes a mating plane (2011) and an arc-shaped concave surface (2012). The arc-shaped concave surface (2012) is located between two adjacent mating planes (2011). The inner surface of the pressing block (302) is provided with an arc-shaped protrusion (3021) for engaging with the arc-shaped concave surface (2012).

4. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to claim 3, characterized in that, The pressing mating surface (201) of the knee joint arm link (20) is provided with an elastic pad, and the outer surface of the elastic pad is provided with the arc-shaped concave surface (2012) relative to the pressing block (302).

5. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to claim 1, characterized in that, The rotating limiting member is provided with a sealing ring or sealing gasket at the engaging part for engaging with the pressing handle (303). The sealing ring or sealing gasket is used to increase the friction between the rotating limiting member and the pressing handle (303).

6. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to any one of claims 1-5, characterized in that, The knee joint arm link (20) has a groove (203) on at least one side in the sliding direction. The groove (203) is used to display the center distance between the hip joint and the knee joint. The side of the knee joint connection end and the side of the connecting block (301) are both provided with observation holes.

7. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to claim 6, characterized in that, The knee joint arm link (20) is provided with grooves (203) on both sides in the sliding direction to improve the left-right interchangeability of the knee joint arm link (20).

8. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to any one of claims 1-5, characterized in that, The rotation limiting component includes at least one ball (304), which is rotatably mounted in the ball seat (3012) of the connecting block (301). The clamping handle (303) has a ball groove (3031) on the side in the rotation direction for engaging with the ball (304).

9. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to any one of claims 1-5, characterized in that, The rotation limiting component includes a rotation limiting post, which is vertically disposed on the outer periphery of the connecting block (301). The pressing handle (303) has a limiting groove on its inner surface that is close to the connecting block (301) for engaging with the rotation limiting post.

10. The size adjustment device for a lower limb exoskeleton walking rehabilitation device according to any one of claims 1-5, characterized in that, The knee joint connection end is provided with a mounting flange (102), and the connecting block (301) is provided with a connecting flange (3015). The mounting flange (102) and the connecting flange (3015) are bolted together.

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