CN106420267A - Wearable intelligent lower limb rehabilitation device and control method - Google Patents

Abstract

The invention discloses a wearable intelligent lower limb rehabilitation device and a control method. One side of the left main support part of the waist and the right side of the main support part of the waist of the device are connected together through a waist adjustment mechanism, and the left back support frame and the right side The back support frame is fixed on the waist main support frame on the corresponding side, and the main control box is fixed on the back support frame through the connecting piece; the hip joint drive mechanism is connected with the "G" structure of the lumbar support part; another hip joint implements Mechanism, the executive mechanism of the knee joint, the foot mechanism; the vital sign monitoring equipment is located on the right arm of the human body. The control method includes sensors measuring pressure signals, pulse signals, and blood pressure signals. The signals are processed by the central processing unit to generate servo motor control parameters and patient vital sign parameters, which are displayed on the display screen and communicate with peripheral large-scale equipment through wireless WIFI. The device has a simple circuit, is easy to operate, is safe and reliable, and speeds up recovery.

Description

A wearable intelligent lower limb rehabilitation device and control method

technical field

The invention belongs to the field of medical auxiliary treatment research, and in particular relates to a wearable intelligent lower limb rehabilitation device and a control method.

Background technique

With the continuous development of society, people's living standards and medical care levels have been greatly improved, so that the average life expectancy of the people has also increased from about 60 years in the 1960s and 1970s to about 75 years old today, approaching the world's developed countries. On average, with the increase of average life expectancy, the proportion of the elderly in the total population of the society is also increasing. As of 2010, the elderly population over 60 years old in my country has exceeded 178 million, reaching 13.26% of the total population. At the same time, the elderly population over the age of 65 is about 119 million, accounting for 8.87% of the total population, and the problem of social aging is becoming more and more serious.

With the aging society and the fast-paced life and great pressure in today's society, stroke and hemiplegia patients caused by cardiovascular and cerebrovascular diseases and nervous system diseases are increasing year by year. The incidence of stroke in my country is the highest in the world, and about 3/4 of the patients have different degrees of nerve damage and movement disorders. The ever-growing elderly population and patients with stroke sequelae pose serious challenges to rehabilitation work. The traditional way of rehabilitation training is that doctors train patients with bare hands, which is obviously inconvenient, so many medical institutions have introduced rehabilitation robots.

However, the lower extremity rehabilitation robot exoskeleton currently on the market has many limitations: the exoskeleton drive system mostly uses hydraulic or pneumatic drive, the control accuracy is not high, and the noise is large, and the drive system shell adopts a fixed structure. In order to ensure the rotation angle of the joint, Many internal mechanisms are exposed, and it is easy to cause harm to the user; in addition, the existing exoskeleton can only ensure the normal operation of the mechanism, and cannot detect the physical condition of the patient during use, and the patient cannot intuitively understand the operation of the equipment. Therefore, in view of the above-mentioned technical problems, it is necessary to provide a motor-driven lower limb rehabilitation exoskeleton that is safe, reliable, convenient to control, and high in precision, so as to solve the above-mentioned defects.

Contents of the invention

The problem to be solved by the present invention is to provide a rehabilitation device based on wireless technology that provides additional joint torque for the patient's rehabilitation training. Wearable intelligent lower limb rehabilitation device to speed up rehabilitation.

To achieve the above object, the present invention provides the following technical solutions:

A wearable intelligent lower limb rehabilitation device, comprising a right back support frame, a main control box, a left back support frame, belt fixing bolts, a belt, connecting pieces, a right lumbar support, a front waist adjustment structure, a rear side Waist adjustment structure, hip joint fixing bolt, hip joint driving mechanism, left lumbar support, dislocation connector, dislocation connector bolt, thigh main connector, thigh fixing mechanism, knee joint driving mechanism, calf fixing mechanism, calf main connection parts, foot plate bolts, foot plate, foot fixing belt;

The structure of the right waist main support frame is the same as that of the left waist main support frame, one end of which is a "G" structure, and the other end is fixed by the front waist adjustment part and the rear side waist adjustment part; the left waist main support A six-axis motion processing component is arranged on the frame; an emergency button is arranged on the right waist main support frame;

The left back support frame and the right back support frame are respectively set on the left waist main support frame and the right waist main support frame, and are fastened and connected with screws; the main control box is fixed on the left side through the connecting piece. On the back support frame and the right back support frame, the sleeve holes on the belt pass through the left back support frame and the right back support frame, and are fixed with bolts;

The hip joint drive mechanism is located on the lower side of the lumbar support, and the hip joint drive mechanism and the lumbar support are screwed to the "G" structure of the lumbar support through the hip joint fixing shell; The connecting piece and the thigh fixing mechanism form the hip joint actuator, and both ends of the dislocation connecting piece are provided with adjustment holes, which are fixedly connected with the output flange of the hip joint driving mechanism, and both ends of the main thigh connecting piece are provided with There is a round hole, which is connected with the adjusting round hole on the upper end of the dislocation connector through bolts, and the thigh fixing mechanism is connected with the main thigh connector;

The knee joint driving mechanism is tightly connected with the thigh main connector through threads; the calf main connector and the calf fixing mechanism form the knee joint actuator, the calf main connector is fixedly connected with the knee joint driving mechanism, and the calf fixing mechanism is connected with the calf main connected by connectors;

The foot plate and the foot fixing belt form a foot mechanism, the foot plate is hinged to the calf main connector, and the foot fixing belt is fixedly riveted on the foot plate; the vital sign monitoring device is located on the right arm of the patient.

Further, the right lumbar support structure includes an L-shaped support and a G-shaped connector; one end of the L-shaped support is provided with a threaded connection shaft, and the threaded connection shaft and the G-shaped connector are fastened by nuts.

Further, the hip joint driving mechanism has the same structure as the knee joint driving mechanism; the hip joint driving mechanism includes an encoder counter, a hip joint servo motor, a servo motor spacer, a reducer spacer, an output shaft, a hip joint key, a hip Joint output flange, hip joint fixed shell, left fixed disc, right fixed ring, hip joint rotating shell, positioning bearing, bearing positioning flange and hip joint shell gasket; the tail of the hip joint servo motor is equipped with An encoding counter, the output shaft of the servo motor is connected with the hip joint L-type reducer; a servo motor gasket and a reducer gasket are arranged between the servo motor and the hip joint L-type reducer; the output shaft and the hip joint output method The blue is connected through the hip joint key; the fixed shell of the hip joint is connected with the left fixed disk and the right fixed ring by screws to form an outer shell, the rotating shell of the hip joint is connected with the fixed shell of the hip joint, and one end of the output shaft is connected with the fixed shell of the hip joint. The positioning bearing is connected, and the other end is connected with the hip joint reducer.

Further, the thigh fixing mechanism includes a strap fixing structure, a long fixing bolt, a pressure strain gauge and a thigh strap; the strap fixing structure is a U-shaped structure; the pressure strain gauge is fixed on the strap fixing structure On the inner side, the strap fixing structure is fixed with the main thigh connecting piece through long fixing bolts, and the thigh strap is fixed with the strap fixing structure.

Further, the left back support frame, the right back support frame, the right waist main support, the front waist adjustment structure, the rear waist adjustment structure, the right waist main support, the dislocation connector, and the thigh main connection The material of the parts and the main connecting part of the calf is carbon fiber; the material of the waist belt is hard leather.

Further, the main control box includes a main control box bottom shell, a main control box cover, a WIFI antenna, a central processing unit, a wireless WIFI module, a lithium battery, and a first Bluetooth module; the main control box bottom shell and the main control box cover pass through Bolt connection; the WIFI antenna is fixedly connected to the bottom shell of the main control box, and one end of the WIFI antenna is located outside the bottom shell of the main control box; the central processing unit, wireless WIFI module, lithium battery, and the first Bluetooth module are built in the box, and Fix it on the bottom case of the main control box.

Further, the vital sign monitoring device includes a display screen, a wrist strap, a pulse measurement module, a data connection line, a big arm strap, a blood pressure measurement module, and a second Bluetooth module; the second Bluetooth module, the display screen and The pulse measurement module is placed on the wrist strap, and the blood pressure measurement module is connected with the upper arm strap, and the wrist strap and the upper arm strap (2505) are fixedly connected through a data connection line.

A control method based on a wearable intelligent lower limb rehabilitation device includes the following steps:

Step 1) The pressure strain gauge measures the pressure signal generated by the interaction between the lower limbs of the human body and the rehabilitation device; the pulse measurement module measures the pulse signal of the human body; the blood pressure measurement module measures the blood pressure signal of the human body;

Step 2) The measured pressure signal is transmitted to the CPU via the bus after amplification and analog-to-digital conversion; the pulse signal and blood pressure signal are transmitted to the CPU via the second Bluetooth module after amplification and analog-to-digital conversion;

Step 3) the central processing unit processes various signals;

Step 4) The central processing unit generates servo motor control parameters and patient vital sign parameters, the parameters are displayed on the display screen, and communicate with peripheral large-scale equipment through the wireless WIFI module;

Step 5) The encoder measures the rotational speed of the servo motor, and repairs the rotational speed of the servo motor through the PID control algorithm;

Step 6) Repeat the above steps 1 to 5 to realize the normal operation of the wearable intelligent lower limb rehabilitation device.

Compared with prior art, the beneficial effect of the present invention is:

Rehabilitation robots are driven by motors, with high control precision and less noise.

The shells of the hip and knee joints use a fixed shell and a rotating protective shell. The fixed shell acts as a limiter, and the rotating protective shell prevents the internal exposure of the driving mechanism and prevents the patient from being injured.

The rehabilitation robot adopts wireless transmission technology, which reduces the connection lines required by the rehabilitation robot, and is more beautiful overall. It also reduces the failure rate and maintenance difficulty of the robot. The connection with the surrounding large vital signs monitoring equipment is simpler and the movement is more free;

The robot is equipped with pulse and blood pressure real-time monitoring equipment, and patients can intuitively understand their own conditions through the display screen, ensuring that the exercise intensity is within the allowable range of their own conditions;

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a schematic view of the back of the overall structure of the present invention;

Fig. 3 is an exploded view of the assembly of the waist adjustment structure of the present invention;

Fig. 4 is an exploded view of the waist main support mechanism of the present invention;

Fig. 5 is an exploded view of the hip joint driving mechanism of the present invention;

Fig. 6 is a schematic diagram of the thigh fixing mechanism of the present invention;

Fig. 7 is a structural schematic diagram of the main control box of the present invention;

Fig. 8 is a schematic diagram of the vital sign monitoring device of the present invention.

The reference signs are as follows:

1-right back support frame, 2-main control box, 201-bottom shell of the main control box, 202-central processing unit, 203-WIFI antenna, 204-wireless WIFI module, 205-lithium battery, 206-first bluetooth module , 3-left back support frame, 4-waist belt fixing bolt, 5-waist belt, 6-connecting piece, 7-right lumbar support, 701-G connecting piece, 702-waist fixing bolt, 703-G connecting piece Fixing bolt, 704-L support thread, 705-L support, 8-front waist adjustment structure, 9-rear waist adjustment structure, 10-hip joint fixing bolt, 11-hip drive mechanism, 1101 -encoding counter, 1102-hip servo motor, 1103-reducer fixing bolt, 1104-servo motor spacer, 1105-reducer spacer, 1106-hip L-type reducer, 1107-hip key, 1108-hip Joint shell fixing bolt, 1109-left fixed disc, 1110-output shaft, 1111-hip joint rotating shell, 1112-hip joint output flange, 1113-hip joint output flange bolt, 1114-hip joint fixed shell, 1115 -locating bearing, 1116-output flange retaining ring, 1117-bearing positioning flange, 1118-hip joint housing gasket, 1119-right fixing ring, 1120-hip end cover bolt, 12-left lumbar support, 13-Misalignment connector, 14-Misalignment connector bolt, 15-Thigh main connector, 16-Thigh fixing mechanism, 1601-Restraint belt fixing structure, 1602-Long fixing bolt, 1603-Pressure strain gauge, 1604-Thigh restraint belt , 17-knee joint driving mechanism, 18-calf fixing mechanism, 19-calf main connector, 20-foot plate bolt, 21-foot plate, 22-foot fixing belt, 23-emergency button, 24-six-axis motion processing component, 25-Vital sign monitoring equipment, 2501-display screen, 2502-wrist restraint belt, 2503-pulse measurement module, 2504-data connection line, 2505-big arm restraint belt, 2506-blood pressure measurement module, 2507-second bluetooth module .

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them.

In the example of the present invention, in conjunction with accompanying drawings 1, 2, 3 and 4, the wearable intelligent lower limb rehabilitation device consists of a waist mechanism, a back mechanism, a drive mechanism and an actuator, wherein the right waist main support frame 7 and the left waist The main support frame 12 has the same mechanism, one end of which is a "G"-shaped structure 701, and the other end is fixed by the front waist adjustment part 8 and the rear side waist adjustment part 9; the six-axis motion processing component 24 is located on the left side of the waist main support frame 12. On the outside, the emergency button 23 is located on the outside of the right waist main support frame 7;

The left side back support frame 3 and the right side back support frame 1 are set on the corresponding side waist main support frame, and are fastened and connected with bolts; the main control box 2 is fixed on the left side back support frame 3 and the right side through the connecting piece 6 On the side back support frame 1, the sleeve holes on the waist belt 5 pass through the left back support frame 3 and the right back support frame 1, and are fixed with bolts;

The hip joint driving mechanism 11 is located on the lower side of the lumbar support 7, and is screwed to the "G" structure 701 of the lumbar support 7 through the hip joint fixing shell 1104; the dislocation connector 13, the thigh main connector 15, the thigh The fixing mechanism 16 constitutes the hip joint actuator, the dislocation connector 13 is fixedly connected to the output flange 1112 of the hip joint driving mechanism 11, the thigh main connector 15 is fixedly connected to the dislocation connector 13, the thigh fixing mechanism 16 is connected to the thigh main connector 15 connected;

The knee joint drive mechanism 17 is connected with the thigh main connector 15 by means of screw fastening; the shank main connector 19 and the shank fixing mechanism 18 form the actuator of the knee joint, and the shank main connector 19 is fixed with the knee joint drive mechanism 17 Connected, the shank fixing mechanism 18 is connected with the shank main connector 19;

The foot plate 21 and the foot fixing belt 22 form a foot mechanism, the foot plate 21 is hinged with the calf main connector 19, and the foot fixing belt 22 is fixedly riveted on the foot plate 21;

Referring to Fig. 8, the vital sign monitoring device 25 is located on the right arm of the patient, the wrist restraint belt 2502 is wrapped around the wrist, and the upper arm restraint belt 2505 is wrapped around the upper end of the upper arm;

In this embodiment, when the patient wears the mechanism, by adjusting the positional relationship between the left lumbar support 12 and the right lumbar support 7, rehabilitation groups with different waist sizes can be realized; several round holes distributed on the belt can be matched in various ways It is suitable for itself, and the soft material on the inner side also improves the sense of use; the difference in the holes where the thigh dislocation connector and the thigh main connector are connected by adjusting bolts can meet the needs of rehabilitation personnel of different heights.

In this embodiment, with reference to accompanying drawing 5, the hip joint driving mechanism 11 is made up of code counter 1101, servo motor 1102, speed reducer 1106, protective shell 1114 and rotating protective shell 1111, hip joint output flange 1112, bearing 1115, washer 1118 1. Shell connection flange 1117. Its working principle is: the servo motor 1102 rotates after receiving the command of the control system, the encoder counter 1101 records the speed, and the output shaft of the servo motor 1102 matches the input end of the reducer 1106 to realize deceleration. , and output the decelerated rotational speed through the output shaft 1110 of the reducer 1106 to realize the rotation of the hip joint output flange 1112 and achieve the purpose of the hip joint driving mechanism.

In this embodiment, with reference to accompanying drawing 6, the thigh fixing mechanism 16 includes a restraint belt fixing structure 1601, a long fixing bolt 1602, a pressure strain gauge 1603, and a thigh restraint belt 1604, wherein the pressure strain gauge 1603 is fixed on the restraint belt fixing structure 1601 Inner side of the inner side, the restraint belt fixing structure 1601 is fixed with the thigh main connector 15 through the long fixing bolt 1602, and the thigh restraint belt 1604 is fixed with the restraint belt fixing structure 1601. When the patient moves, the movement of the thigh and calf passes through the thigh restraint belt 16 and the calf restraint belt 18 to deform the pressure strain gauge 1603, thereby measuring the pressure value.

In this embodiment, in conjunction with accompanying drawing 7, main control box 2 comprises main control box bottom shell 201, main control box cover 207, WIFI antenna 203, central processing unit 202, wireless WIFI module 204, lithium battery 205, the first bluetooth module 206, wherein the main control box bottom shell 201 and the main control box cover 207 are connected by bolts, the WIFI antenna 203 is fixedly connected with the main control box bottom shell 201, and the antenna end is outside the box body, the central processing unit 202, the wireless WIFI module 204, the lithium battery 205. The first Bluetooth module 206 is fixedly connected to the main control box bottom case 201 inside the box body.

In this embodiment, the vital sign monitoring device 25 includes a display screen 2501, a wrist strap 2502, a pulse measurement module 2503, a data connection line 2504, an arm strap 2505, a blood pressure measurement module 2506, and a second Bluetooth module 2507, wherein The Bluetooth module 2507, the display screen 2501 and the pulse measurement module 2503 are fixed to the wrist strap 2502, the blood pressure measurement module 2506 is connected to the upper arm strap 2505, and the wrist strap 2502 is fixedly connected to the upper arm strap 2505 and the data connection line 2504 . Its principle is: the pulse measurement module 2503 measures the pulse rate of the patient, the blood pressure measurement module 2506 measures the patient's blood pressure pressure value, and the measured value is transmitted to the first Bluetooth module 206 of the master control box via the second Bluetooth module 2507, and passed through the central control box. After processing by the processor 202, the value is sent to the LCD 2501 display screen via the second Bluetooth module 2507 for display, so as to realize the real-time understanding of the patient's basic situation and avoid danger.

In this embodiment, the control method is:

Step 1: The pressure strain gauge 1603 measures the pressure signal generated by the interaction between the lower limbs of the human body and the rehabilitation device; the pulse measurement module 2503 measures the pulse signal of the human body; the blood pressure measurement module 2506 measures the blood pressure signal of the human body;

Step 2: the measured pressure signal is amplified and A/D converted and transmitted to the CPU 202 via the bus; the pulse signal and blood pressure signal are amplified and A/D converted and then transmitted to the CPU 202 via the Bluetooth module 2507;

Step 3: CPU 202 processes various signals;

Step 4: The central processing unit 202 generates the control parameters of the servo motor 1102 and the vital sign parameters of the patient, and the parameters are displayed on the display screen 2501, and communicate with peripheral large-scale equipment through the wireless WIFI module 204;

Step 5: The encoder measures the rotational speed of the servo motor 1102, and repairs the rotational speed of the servo motor 1102 through the PID control algorithm;

Step 6: Repeat the above steps 1 to 5 to realize the normal operation of the wearable intelligent lower limb rehabilitation device.

In the description of the present invention, terms such as "movable connection", "fixed" and "connection" that are not specifically explained should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection, or Connected integrally; either directly or indirectly through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations. Although some embodiments of the invention have been given, those skilled in the art will understand that the embodiments herein can be changed without departing from the spirit of the invention. The above-mentioned embodiments are only exemplary, and the embodiments herein should not be used as limitations on the scope of rights of the present invention.

Claims (8)

1. A wearable intelligent lower limb rehabilitation device, characterized in that it comprises a right back support frame (1), a main control box (2), a left side back support frame (3), a belt fixing bolt (4), a belt (5), connecting piece (6), right lumbar support (7), front lumbar adjustment structure (8), rear lumbar adjustment structure (9), hip joint fixing bolt (10), hip joint driving mechanism ( 11), left lumbar support (12), dislocation connector (13), dislocation connector bolt (14), thigh main connector (15), thigh fixing mechanism (16), knee joint driving mechanism (17), Calf fixing mechanism (18), calf main connector (19), foot plate bolt (20), foot plate (21) and foot fixing belt (22); One end of the left back support frame (3) and the right back support frame (1) are respectively vertically set on the left waist main support frame (12) and the right waist main support frame (7), and are fastened and connected with screws ; The left side back support frame (3) and the right side back support frame (1) are connected with the main control box (2) through the connecting piece (6), and are fixed with bolts (4); The right waist main support frame (7) and the left waist main support frame (12) have the same structure, one end of which is a "G" structure, and the other end is passed through the front waist adjustment part (8) and the rear side waist adjustment part. (9) fixed together; the left side main support frame (12) is provided with a six-axis motion processing assembly (24); the right side main support frame (7) is provided with an emergency button (23); The six-axis motion processing component (24) and the emergency button (23) are connected to the main control box (2) through wires; The lower sides of the right waist main support frame (7) and the left waist main support frame (12) are provided with a hip joint drive mechanism (11), and the right waist main support frame (7) and the left waist main support The "G" structure of the support frame (12) is respectively bolted to the hip joint fixing shell (1104) in the hip joint drive mechanism (11); the output flange (1112) of the hip joint drive mechanism (11) is respectively connected by dislocation Bolt (14) is threadedly connected with one end of the dislocation connector (13); the other end of the dislocation connector (13) is connected with one end of the thigh main connector (15) by threads, and the other end of the thigh master connector (15) is connected with One end of the knee joint driving mechanism (17) is connected; a thigh fixing mechanism (16) is arranged on the inner side of the thigh main connecting piece (15); the other end of the knee joint driving mechanism (17) is connected to one end of the calf main connecting piece (19); The other end of the calf main connector (19) is connected to the foot plate (21) through foot plate bolts (20); the foot plate (21) is riveted with a foot fixing belt (22); the vital sign monitoring device (25) is located on the right side of the patient on the arm. 2. The wearable intelligent lower limb rehabilitation device according to claim 1, characterized in that, the main support structure (7) of the right waist comprises an L-shaped support (705) and a G-shaped connector (701); One end of the L-shaped support (705) is provided with a G-shaped connector fixing bolt (703), and the G-shaped connector fixing bolt (703) and the G-shaped connector (701) are fastened by the L-shaped support nut (704). 3. The wearable intelligent lower limb rehabilitation device according to claim 1, characterized in that, the hip joint drive mechanism (11) has the same structure as the knee joint drive mechanism (17); the hip joint drive mechanism (11) includes Coding counter (1101), hip joint servo motor (1102), servo motor spacer (1104), reducer spacer (1105), output shaft (1110), hip joint key (1107), hip joint output flange (1112 ), hip fixation shell (1114), left fixed disc (1109), right fixed ring (1119), hip rotation shell (1111), locating bearing (1115), bearing locating flange (1117) and Hip joint shell washer (1118); the hip joint servo motor (1102) is connected with the main control box (2) through wires; An encoder counter (1101) is installed at the tail of the hip joint servo motor (1102), and the output shaft of the servo motor (1102) is connected to the hip joint L-shaped reducer (1106); the servo motor (1102) is connected to the hip joint L-shaped A servo motor gasket (1104) and a reducer gasket (1105) are arranged between the reducers (1106); the left fixed disk (1109), output flange (1112) are installed on the output shaft (1110) , the bearing positioning flange (1117), the hip joint shell washer (1118) and the right fixing ring (1119), wherein the hip joint output flange (1112) is connected to the output shaft (1110) through the hip joint key (1107) Connection; one end of the output shaft (1110) is installed on the positioning bearing (1115), and the other end is installed on the output end of the hip joint reducer (1106). 4. The wearable intelligent lower limb rehabilitation device according to claim 1, characterized in that, the thigh fixing mechanism (16) includes a restraint belt fixing structure (1601), long fixing bolts (1602), pressure strain gauges (1603) and thigh strap (1604); the strap fixing structure (1601) is a U-shaped structure; the pressure strain gauge (1603) is fixed on the inner side of the strap fixing structure (1601), and the strap fixing structure (1601) passes through The long fixing bolt (1602) is fixed with the thigh main connector (15), and the thigh restraint belt (1604) is fixed with the restraint belt fixing structure (1601). 5. The wearable intelligent lower limb rehabilitation device according to claim 1, characterized in that, the left side back support frame (3), the right side back support frame (1), the right side waist main support (12), Front waist adjustment structure (8), rear waist adjustment structure (9), right waist main support (7), dislocation connector (13), thigh main connector (15), calf main connector (19) The material of the belt is carbon fiber; the material of the belt (5) is hard leather. 6. The wearable intelligent lower limb rehabilitation device according to claim 1, wherein the main control box (2) comprises a main control box bottom shell (201), a main control box cover (207), a WIFI antenna (203) , central processing unit (202), wireless WIFI module (204), lithium battery (205) and the first bluetooth module (206); Described main control box bottom case (201), main control box cover (207) are connected by bolt; The WIFI antenna (203) is fixedly connected with the main control box bottom shell (201), and one end of the WIFI antenna (203) is located outside the main control box bottom shell (201); the central processing unit (202), wireless WIFI module (204) , a lithium battery (205), and the first bluetooth module (206) are connected by wires, and are all built into the casing and fixed on the main control box bottom shell (201). 7. The wearable intelligent lower limb rehabilitation device according to claim 1, wherein the vital sign monitoring device (25) includes a display screen (2501), a wrist restraint belt (2502), a pulse measurement module (2503) , data connection line (2504), big arm restraint belt (2505), blood pressure measurement module (2506) and second Bluetooth module (2507); described second Bluetooth module (2507), display screen (2501) and pulse measurement module (2503) is placed on the wrist restraint belt (2502), the blood pressure measurement module (2506) is connected with the upper arm restraint belt (2505), and the wrist restraint belt (2502) and the upper arm restraint belt (2505) are connected through the data connection line (2504) Fixed connection. 8. The control method based on the wearable intelligent lower limb rehabilitation device according to claim 3, 6 or 7, characterized in that it comprises the following steps: Step 1) The pressure strain gauge (1603) measures the pressure signal generated by the interaction between the lower limbs of the human body and the rehabilitation device; the pulse measurement module (2503) measures the pulse signal of the human body; the blood pressure measurement module (2506) measures the blood pressure signal of the human body; Step 2) After the measured pressure signal is amplified and converted from analog to digital, it is transmitted to the central processing unit (202); after the pulse signal and blood pressure signal are amplified and converted from analog to digital, it is transmitted to the central processing unit through the second Bluetooth module (2507) (202); Step 3) the central processing unit (202) processes the signal of step 2); Step 4) The central processing unit (202) generates the control parameters of the servo motor (1102) and the patient's vital signs parameters, and the parameters are displayed on the display screen (2501), and communicate with peripheral large-scale equipment through the wireless WIFI module (204); Step 5) The encoder measures the rotational speed of the servo motor (1102), and repairs the rotational speed of the servo motor (1102) through a PID control algorithm; Step 6) Repeat the above steps 1 to 5 to realize the normal operation of the wearable intelligent lower limb rehabilitation device.