CN112545832A

CN112545832A - Lower limb rehabilitation device with self-locking bearing of supporting phase

Info

Publication number: CN112545832A
Application number: CN202011414233.8A
Authority: CN
Inventors: 李皓; 马婷婷; 曹平国; 宋全军; 徐湛楠; 潘宏青
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2021-03-26

Abstract

The invention discloses a lower limb rehabilitation device with load-bearing and self-locking support phases, which relates to the technical field of rehabilitation training devices and comprises a waist-crotch structure, a thigh structure, a knee joint mechanism, a shank structure and a shoe body which are sequentially arranged from top to bottom, wherein a steel wire rope adjusting mechanism for adjusting the discharge length of a steel wire rope is arranged on the waist-crotch structure; the top end of the thigh structure is rotatably connected with the waist and crotch structure, the bottom end of the thigh structure is fixedly connected with the knee joint mechanism, the top end of the shank structure is fixedly connected with the knee joint mechanism, and the bottom end of the shank structure is connected with the shoe body through a spring. The invention can drive the chuck to rotate through the steel wire rope and tighten the chuck to enable the chuck teeth to be meshed with the output disc teeth, thereby realizing the structural self-locking of the knee joint mechanism when a user is in a supporting phase, and can also utilize the lifting action of the thigh of the user in a pre-swinging phase to loosen the steel wire rope, so that the chuck rotates under the elastic action of the torsion spring and is separated from the structural self-locking of the output disc, thereby providing the knee joint action assistance by the energy supply of the motor, and the invention has the advantages of reliable and stable locking state, high.

Description

Lower limb rehabilitation device with self-locking bearing of supporting phase

Technical Field

The invention relates to the technical field of rehabilitation training devices, in particular to a rehabilitation device for knee joint walking function rehabilitation training.

Background

Degeneration of the joints of the lower limbs is a common degenerative disease, which is often observed in the elderly and in some occupational populations with imbalanced long-term mechanical stress distribution or overloading of the joints of the lower limbs. The patients with lower limb joint degeneration have the symptoms of knee joint pain and stiffness, difficulty in going upstairs and downstairs, knee joint softening and easy falling down when going downstairs, pain and stiffness when squatting, joint pain and distending pain, lameness and the like, and the lower limb joint degeneration has great influence on the normal life of the patients.

The degeneration of the lower limb joints can be relieved by lower limb rehabilitation training, and at present, the rehabilitation training is generally assisted by a wearable lower limb rehabilitation device. In the existing lower limb rehabilitation device, the knee joint is generally driven by a motor so as to provide assistance for the swing stage of the leg. However, when the user is in the supporting phase, the knee joint needs to provide a large moment to ensure the balance of the wearer, so the motor needs to have a certain power and needs to continuously maintain the working state to match the walking action of the user. However, the heavy weight of the high-power motor is not favorable for the weight control of the wearing device, and the energy utilization rate of the motor is not ideal due to the continuous working situation of the motor.

By prior art search, there are the following known solutions:

prior art 1:

application No.: 201210357822.6, filing date: 20120925, publication (announcement) date: 20130320, an active knee joint structure with load-bearing self-locking function is disclosed, which mainly comprises a connecting rod bandage fixed with thigh and shank, a knee joint connecting mechanism and a limiting mechanism, a shank connecting structure, a motor and a harmonic reducer, a self-locking elastic sheet, an oil buffer and a self-restoring torsion spring.

This prior art utilizes the cooperation of hydraulic buffer and wire rope, and when the human body is upright, the auto-lock shell fragment locks to reach the bearing auto-lock. But the self-locking of the human body in the vertical state can only be ensured, the standing state of the human body is different from person to person, the self-locking position of each person in the vertical state can be different, and the patent can not be well differentiated to adapt to individual needs.

Prior art 2:

application No.: 201721069337.3, filing date: 20170824, publication (announcement) date: 20190219, discloses a lower limb rehabilitation device with self-locking function, which comprises an upper connecting piece, a lower connecting piece, a driving part, a worm and a worm wheel, wherein the driving part is fixedly connected with the upper connecting piece, and the lower connecting piece rotates relative to the upper connecting piece through a rotating shaft; the worm wheel is fixedly connected with the rotating shaft, the driving part comprises a driving shaft, and the worm is fixedly connected with the driving shaft and meshed with the worm wheel; when the driving shaft rotates, the lower connecting piece rotates around the rotating shaft relative to the upper connecting piece; when the driving shaft stops rotating, the lower connecting piece is locked in the current state relative to the upper connecting piece by means of self-locking of the worm and the worm wheel. The utility model discloses a recovered equipment's auto-lock is realized to worm gear-worm transmission's auto-lock characteristic, and simple structure need not to set up micro-gap switch or the stop gear of special development, also need not to set up complicated electrical system, helps reduce cost.

This prior art adopts the worm gear to realize one-way self-locking function, but the worm gear cost is higher, and manufacturing, assembly and maintenance are difficult.

The search shows that the technical scheme does not influence the novelty of the invention; and the mutual combination of the above patent documents does not destroy the inventive step of the present invention.

Disclosure of Invention

The invention provides a lower limb rehabilitation device with load-bearing and self-locking support phases, which aims to overcome the defects in the prior art.

The invention adopts the following technical scheme for solving the technical problems: a lower limb rehabilitation device with load bearing and self locking of supporting phases comprises a waist and crotch structure, a thigh structure, a knee joint mechanism, a shank structure and a shoe body which are sequentially arranged from top to bottom, wherein a connecting plate is connected and fixed at the outer side of a waist support, and the bottom of the connecting plate is rotatably connected with a hip joint plate to form the waist and crotch structure; the connecting plate is provided with a steel wire rope adjusting mechanism for fixing a steel wire rope and adjusting the discharging length of the steel wire rope;

the knee joint mechanism comprises a motor fixing disc, a motor and a harmonic reducer which are connected and fixed on the motor fixing disc, an output disc connected with the output ends of the motor and the harmonic reducer, and a self-locking mechanism;

the self-locking structure comprises output disc clamping teeth which are uniformly distributed along the circumferential direction of the edge of the output disc, a chuck with the chuck clamping teeth at the bottom and a torsion spring with two ends respectively connected and fixed with the bottom end of the fixed disc or the thigh structure and connected and fixed with the chuck, the motor fixed disc is connected and fixed with the bottom end of the thigh structure, and the output disc is connected and fixed with the top end of the shank structure; the chuck is positioned above the output disc, one end of the chuck close to the front of the knee is rotationally connected with the thigh structure, one end of the chuck far away from the front of the knee is fixedly connected with the steel wire rope, and the chuck latch is meshed with the output disc latch;

the connecting point of the torsion spring and the chuck and the connecting point of the steel wire rope and the chuck are respectively positioned at two sides of the connecting point of the chuck and the thigh structure; the top end of the thigh structure is rotatably connected with the hip joint plate, and the bottom end of the shank structure is connected with the shoe body through a spring;

the waist support is worn on the waist of a user, the thigh structure and the shank structure are respectively worn and fixed with the thigh and the shank of the user, and the shoe body is worn on the foot of the user.

Further, the wire rope adjusting mechanism comprises a fixing chassis, a wire rope fixing disc and a tension spring, wherein the fixing chassis is attached to the wire rope fixing disc, the fixing chassis is provided with a limiting part in a polygonal prism structure, the wire rope fixing disc is provided with a limiting groove corresponding to the limiting part, two ends of the tension spring are respectively connected and fixed with the top end of the limiting part and the bottom end of the limiting groove, and the limiting part is clamped in the limiting groove in a matching manner; the top end of the steel wire rope is fixedly connected with the wire rope fixing disc and is wound on the wire rope fixing disc.

Furthermore, the outside of the tension spring is provided with a tension spring column which is fixedly connected in the limit groove.

Furthermore, the limiting part is in a regular triangular prism structure.

Furthermore, a pressure pad is arranged at the bottom of the shoe body.

Further, thigh structure include the top and the bottom respectively with the connecting plate with the motor fixed disk connects fixed thigh support, locates thigh protective equipment on the thigh support and locating thigh bandage on the thigh protective equipment, thigh protective equipment is dressed on the user's thigh, and passes through thigh bandage ligature is fixed.

Further, the shank structure include with the top with the output dish is connected fixed shank support, is located shank protective equipment on the shank support with locate shank bandage on the shank protective equipment, the shank protective equipment is dressed on user's shank, and passes through shank bandage ligature is fixed.

Further, the hip joint plate is rotatably connected with the connecting plate through a hinge.

Furthermore, the edge of the fixing plate is provided with a photoelectric sensor at each of two sides of the shank structure.

Furthermore, one of the two photoelectric sensors is close to the front of the lower leg structure when the lower leg structure is in the vertical position, and the included angle between the two photoelectric sensors is 120 degrees.

The invention provides a lower limb rehabilitation device with a self-locking support phase and a bearing function, which has the following beneficial effects:

1. the invention can drive the chuck to rotate and tighten the chuck teeth of the chuck to be meshed with the chuck teeth of the output disc through the steel wire rope, so that the structural self-locking of the knee joint mechanism is realized when a user is in a supporting phase and under the condition that a motor does not work, and the steel wire rope can be released by utilizing the lifting action of the thigh of the user in a pre-swing period, so that the chuck rotates under the elastic action of the torsion spring and is separated from the structural self-locking of the output disc, the knee joint action assistance is provided by the energy supplied by the motor, the locking state is reliable and stable, the safety;

2. the steel wire rope pre-tensioning state can be adjusted to be a completely locked, completely relaxed or self-adaptive state, the completely locked state can meet the requirements of users who need to stand for a long time during work, and the rehabilitation device bears the toppling moment during supporting; the completely relaxed state can meet the requirements of users who sit still or sit and stand for training, and the rehabilitation device does not influence the free bending and stretching of the knee joint; the self-adaptive state can meet the requirements of users in walking training, the support phase is self-locked in walking gait, and the pre-swing phase is automatically unlocked;

3. the motor of the invention does not need to output the moment for keeping the balance of the human body when the human body is in the supporting phase, has light weight and low cost, is beneficial to the light weight of the structure of the rehabilitation device, and is beneficial to the control of the manufacturing cost;

drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an exploded view of the wire rope adjustment mechanism of the present invention;

fig. 3 is a schematic structural view of a knee joint mechanism when a user wears the present invention.

In the figure:

1. the device comprises a steel wire rope adjusting mechanism 11, a fixed chassis 111, a limiting part 12, a tension spring strut 13, a tension spring 14, a steel wire rope fixed disc 141 and a limiting groove; 2. a waist-crotch structure 21, a waist support 22, a connecting plate 23, a hip joint plate 24 and a hinge; 3. thigh structure, 31, thigh support, 32, thigh protector, 33, thigh strap; 4. the knee joint mechanism comprises a knee joint mechanism 41, a motor fixing disc 42, a motor and harmonic reducer 43, an output disc 44, a self-locking structure 441, output disc clamping teeth 442, a chuck 443, a torsion spring 444 and chuck clamping teeth; 5. a shank structure 51, a shank bracket 52, a shank protector 53 and a shank bandage; 6. a shoe body 61, a spring; 7. a steel cord.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 3, the structural relationship is as follows: the waist and crotch structure comprises a waist and crotch structure 2, a thigh structure 3, a knee joint mechanism 4, a shank structure 5 and a shoe body 6 which are sequentially arranged from top to bottom, wherein a connecting plate 22 is fixedly connected to the outer side of a waist support 21, the bottom of the connecting plate is rotatably connected with a hip joint plate 23 to form the waist and crotch structure 2, and the connecting plate 22 and the hip joint plate 23 are rotatably connected to support the inward expansion and outward expansion of a hip joint; the connecting plate 22 is provided with a steel wire rope adjusting mechanism 1 for fixing the steel wire rope 7 and adjusting the discharging length of the steel wire rope 7;

the knee joint mechanism 4 comprises a motor fixing disc 41, a motor and harmonic reducer 42 connected and fixed on the motor fixing disc 41, an output disc 43 connected with the output end of the motor and harmonic reducer 42 and a self-locking mechanism 44;

the self-locking structure 44 comprises output disc clamping teeth 441 uniformly distributed along the circumferential direction of the edge of the output disc 43, a chuck 442 with chuck clamping teeth 444 at the bottom, and a torsion spring 443 with two ends respectively connected and fixed with the bottom end of the fixed disc 41 or the thigh structure 3 and connected and fixed with the chuck 442, the motor fixed disc 41 is connected and fixed with the bottom end of the thigh structure 3, and the output disc 43 is connected and fixed with the top end of the shank structure 5; the chuck 442 is positioned above the output disc 43, is rotatably connected with the thigh structure 3 at one end close to the front of the knee and is fixedly connected with the steel wire rope 7 at one end far away from the front of the knee, and the chuck latch 444 is meshed with the output disc latch 441;

when a user is in a supporting phase, the steel wire rope 7 is tensioned to overcome the elasticity of the torsion spring 443, so that the left end of the chuck 442 rotates upwards, the right end of the chuck 442 rotates downwards, and the chuck 442 and the output disc 43 are relatively locked through the engagement of the chuck latch 444 and the output disc latch 441, thereby realizing the self-locking of the knee joint of the supporting phase of the user;

when the body state of the user enters a leg pre-swing phase, the thigh of the user is lifted, so that the steel wire rope 7 is loosened, the left end of the chuck 442 rotates downwards under the action of the elastic force of the torsion spring 443, the right end of the chuck 442 rotates upwards, the chuck latch 444 is disengaged from the output disc latch 441, and the relative locking of the chuck 442 and the output disc 43 is released;

the connection point of the torsion spring 443 and the chuck 442 and the connection point of the wire rope 7 and the chuck 442 are respectively positioned on two sides of the connection point of the chuck 442 and the thigh structure 3; the top end of the thigh structure 3 is rotationally connected with a hip joint plate 23 and is used for supporting the flexion and extension actions of the hip joint;

the bottom end of the shank structure 5 is connected with the shoe body 6 through a spring 61, the connection of the shank structure 5 and the shoe body 6 through the spring 61 has the freedom degrees that the spring 61 stretches and shortens along the self axial direction and the two ends of the spring 61 rotate relative to the shank structure 5 or the shoe body 6, is used for supporting dorsiflexion, plantar flexion, inversion and eversion of the ankle joint, and has a certain buffering effect.

The waist support 21 is worn on the waist of the user, the thigh structure 3 and the shank structure 5 are respectively worn and fixed on the thigh and the shank of the user, and the shoe body 6 is worn on the foot of the user.

Preferably, the wire rope adjusting mechanism 1 comprises a fixed chassis 11, a wire rope fixing disc 14 and a tension spring 13, which are attached to each other, wherein the fixed chassis 11 is provided with a limiting part 111 in a polygonal prism structure, the wire rope fixing disc 14 is provided with a limiting groove 141 corresponding to the limiting part 111, two ends of the tension spring 13 are respectively connected and fixed with the top end of the limiting part 111 and the bottom end of the limiting groove 141, and the limiting part 111 is clamped in the limiting groove 141 in a matching manner; the top end of the steel wire rope 7 is fixedly connected with the wire rope fixing disc 14 and is wound on the wire rope fixing disc 14;

during actual use, the steel wire rope adjusting mechanism 1 can adjust the paying-out length of the steel wire rope 7 according to individual difference, namely, the pre-tensioning state of the steel wire rope 7 is adjusted, and the specific process is as follows: the wire rope fixing disc 14 is axially and outwardly pulled, the limit part 111 is separated from the limit groove 141 by overcoming the elasticity of the tension spring 13, then the limit part 111 is rotated by the angle of the natural number times of a plurality of rotating steps of the limit part 111 to increase or reduce the length of the wire rope 7 wound on the wire rope fixing disc 14, the length of the wire rope 7 is made to adapt to the requirement of individual difference, and then the limit part 111 is matched and clamped in the limit groove 141 for fixing.

Preferably, the tension spring 13 is externally provided with a tension spring column 12 connected and fixed in the limit groove 141.

Preferably, the position-limiting portion 111 has a regular triangular prism structure, and when the position-limiting portion 111 has a triangular prism structure, a rotation step of the position-limiting portion 111 is 60 °, and an adjustment step of the wire rope 7 is 1/6 of the circumference of the wire rope fixing plate 14 around which the wire rope is wound.

Preferably, the bottom of the shoe body 6 is provided with a pressure pad, and the pressure pad can be analyzed and calculated according to the pressure distribution of the shoe body 6, namely the pressure distribution of the sole of a user, so as to obtain the posture phase of the user.

Preferably, the thigh structure 3 comprises a thigh support 31 fixed at the top end and the bottom end respectively connected with the connecting plate 22 and the motor fixing plate 41, a thigh protector 32 arranged on the thigh support 31, and a thigh strap 33 arranged on the thigh protector 32, wherein the thigh protector 32 is worn on the thigh of the user and is bound and fixed by the thigh strap 33.

Preferably, the lower leg structure 5 includes a lower leg support 51 connected and fixed to the output tray 43 at the tip end thereof, a lower leg supporter 52 provided on the lower leg support 51, and a lower leg band 53 provided on the lower leg supporter 52, and the lower leg supporter 52 is worn on the lower leg of the user and is bound and fixed by the lower leg band 53.

Preferably, the hip plate 23 is pivotally connected to the web 22 by a hinge 24.

Preferably, the edge of the fixing plate 41 is provided with a photoelectric sensor on each side of the lower leg structure 5, and the photoelectric sensors are used for limiting the rotation limit displacement of the lower leg structure 5, so as to ensure the use safety of the rehabilitation device.

Preferably, one of the two photosensors is located immediately in front of the calf structure 5 when the calf structure 5 is in the upright position, the angle between the two photosensors being 120 °.

In specific use, the paying-out length of the steel wire rope 7, that is, the pre-tensioned state of the steel wire rope 7 should be adjusted according to individual use requirements, and the pre-tensioned state of the steel wire rope 7 can be divided into the following three types:

1. full locking

The pre-tensioning length of the steel wire rope 7 is shortest, the pulling force is largest, the chuck latch 444 of the chuck 442 is meshed with the output disc latch 441 of the output disc 43, so that the output disc 43 is in a locking state, even if the knee joint mechanism 4 is self-locked, the knee joint mechanism is suitable for the situation that a user keeps a standing state for a long time;

2. complete relaxation

The pre-tensioning length of the steel wire rope 7 is longest, no tension exists, the chuck latch 444 of the chuck 442 is separated from the output disc latch 441 of the output disc 43 under the action of the elastic force of the torsion spring 443, and the movement of the knee joint mechanism 4 is completely free under the condition that the motor does not work;

3. adaptive state

The pre-tensioning length of the steel wire rope 7 is moderate;

when a user is in a supporting phase, the distance between the wire rope fixing disc 14 and the knee joint of the user is the largest, the wire rope 7 is tensioned, the chuck 442 overcomes the elasticity of the torsion spring 443 to rotate under the action of the tension of the wire rope 7, the chuck latch 444 is meshed with the output disc latch 441 of the output disc 43, and the knee joint mechanism 4 is structurally self-locked;

when the user enters the pre-swing phase, the thigh is lifted to reduce the distance between the wire rope fixing disc 14 and the knee joint of the user, the wire rope 7 is loosened, the chuck 442 rotates under the action of the elastic force of the torsion spring 443, the chuck latch 444 is separated from the output disc latch 441 of the output disc 43, the structural self-locking of the knee joint mechanism 4 is released, and the user can freely do the knee bending action by self-power generation or under the auxiliary action of the motor.

When the rehabilitation training is carried out, the circular knee bending and stretching action comprises the following processes:

firstly, adjusting the releasing length of the steel wire rope 7, namely the pre-tensioning state according to the individual condition of a user to enable the pre-tensioning state of the steel wire rope 7 to be in a self-adaptive state;

secondly, the user wears the waist support 21 on the waist, the thigh protectors 32 on the thighs and bound and fixed by the thigh binding bands 33, the shank protectors 52 on the shanks and bound and fixed by the shank binding bands 53, and the shoe bodies 6 on the feet;

thirdly, when the user is in the supporting phase, the steel wire rope 7 is tensioned and the chuck 442 is tensioned, so that the knee joint mechanism 4 is structurally self-locked;

fourthly, the user enters a pre-swing phase, the steel wire rope 7 is loosened, the chuck latch 444 is separated from the output disc latch 441 under the action of the torsion spring 443, the structural self-locking of the knee joint mechanism 4 is released, and the user can freely do knee bending actions under the self-acting force or the auxiliary action of the motor;

and fifthly, the user enters a swinging phase, stretches the knee after completing the knee bending action, enters the supporting phase again, and returns to the third step to perform the cycle until the rehabilitation training is finished.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a support low limbs rehabilitation device of looks bearing auto-lock, includes waist crotch structure (2), thigh structure (3), knee joint mechanism (4), shank structure (5) and the shoes body (6) that from top to bottom sets gradually, its characterized in that: the connecting plate (22) is fixedly connected with the outer side of the waist support (21), and the bottom of the connecting plate is rotatably connected with a hip joint plate (23) to form the waist-crotch structure (2); the connecting plate (22) is provided with a steel wire rope adjusting mechanism (1) which is used for fixing the steel wire rope (7) and adjusting the discharging length of the steel wire rope (7);

the knee joint mechanism (4) comprises a motor fixing disc (41), a motor and harmonic reducer (42) which are connected and fixed on the motor fixing disc (41), an output disc (43) which is connected with the output end of the motor and harmonic reducer (42) and a self-locking mechanism (44);

the self-locking structure (44) comprises output disc clamping teeth (441) uniformly distributed along the circumferential direction of the edge of the output disc (43), a chuck (442) with chuck clamping teeth (444) at the bottom, and a torsion spring (443) with two ends respectively connected and fixed with the bottom end of the fixed disc (41) or the thigh structure (3) and connected and fixed with the chuck (442), the motor fixed disc (41) is connected and fixed with the bottom end of the thigh structure (3), and the output disc (43) is connected and fixed with the top end of the shank structure (5); the chuck (442) is positioned above the output disc (43), is rotatably connected with the thigh structure (3) at one end close to the front of the knees and is fixedly connected with the steel wire rope (7) at one end far away from the front of the knees, and the chuck latch (444) is meshed with the output disc latch (441);

the connection point of the torsion spring (443) and the chuck (442) and the connection point of the wire rope (7) and the chuck (442) are respectively positioned on two sides of the connection point of the chuck (442) and the thigh structure (3); the top end of the thigh structure (3) is rotatably connected with the hip joint plate (23), and the bottom end of the shank structure (5) is connected with the shoe body (6) through a spring (61); the waist support (21) is worn on the waist of a user, the thigh structure (3) and the shank structure (5) are respectively worn and fixed with the thigh and the shank of the user, and the shoe body (6) is worn on the foot of the user.

2. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: the steel wire rope adjusting mechanism (1) comprises a fixed chassis (11), a wire rope fixing disc (14) and a tension spring (13), wherein the fixed chassis (11) is attached to the wire rope fixing disc (14), a limiting part (111) with a polygonal prism structure is arranged on the fixed chassis (11), a limiting groove (141) is formed in the wire rope fixing disc (14) corresponding to the limiting part (111), two ends of the tension spring (13) are respectively connected and fixed with the top end of the limiting part (111) and the bottom end of the limiting groove (141), and the limiting part (111) is clamped in the limiting groove (141) in a matching mode; the top end of the steel wire rope (7) is connected and fixed with the wire rope fixing disc (14) and is wound on the wire rope fixing disc (14).

3. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 2, characterized in that: and a tension spring column (12) which is fixedly connected in the limiting groove (141) is arranged outside the tension spring (13).

4. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 2, characterized in that: the limiting part (111) is in a regular triangular prism structure.

5. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: the bottom of the shoe body (6) is provided with a pressure pad.

6. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: thigh structure (3) include the top and the bottom respectively with connecting plate (22) with motor fixed disk (41) are connected fixed thigh support (31), are located thigh protective equipment (32) on thigh support (31) and locate thigh bandage (33) on thigh protective equipment (32), thigh protective equipment (32) are dressed on the user's thigh, and pass through thigh bandage (33) ligature is fixed.

7. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: the shank structure (5) include with the top with output dish (43) are connected fixed shank support (51), are located shank protective equipment (52) on shank support (51) and locate shank bandage (53) on shank protective equipment (52), shank protective equipment (52) are dressed on the user's shank, and pass through shank bandage (53) ligature is fixed.

8. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: the hip joint plate (23) is rotatably connected with the connecting plate (22) through a hinge (24).

9. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: the edge of the fixing plate (41) is provided with a photoelectric sensor on each of two sides of the shank structure (5).

10. The lower limb rehabilitation device with load-bearing and self-locking support according to claim 1, characterized in that: one of the two photoelectric sensors is close to the front of the lower leg structure (5) when the lower leg structure (5) is in the vertical position, and the included angle between the two photoelectric sensors is 120 degrees.