CN115737372A - Lower limb exoskeleton assembly for rehabilitation training - Google Patents

Abstract

The invention relates to the technical field of rehabilitation training, in particular to a lower limb exoskeleton assembly for rehabilitation training, which comprises: the self-fitting type synchronous adjusting component is arranged between the two waist clamps; the device comprises two thigh support arms and a thigh sleeve arm, wherein two waist clamps are positioned between the two thigh support arms, a three-way adjusting member is arranged between one waist clamp and one thigh support arm, and a first adjusting and locking member is arranged between one thigh support arm and one thigh sleeve arm; two power-assisted blocks, wherein a power-assisted connecting component is arranged between one power-assisted block and one thigh sleeve arm; two bidirectional adjusting components are arranged between the two shank sleeve arms, one shank sleeve arm and one power assisting block. According to the invention, the waist clamp, the thigh support arm, the thigh sleeve arm, the power-assisted block, the shank sleeve arm, the pedal plate, the connecting box, the connecting sheet, the adjusting hole and the tension spring are arranged, so that the multifunctional waist clamp has the functions of squatting power assistance, universal rotation, quick wearing, universality, multidirectional adjustment and multiple steering.

Description

A lower extremity exoskeleton assembly for rehabilitation training

technical field

The invention relates to the technical field of rehabilitation training, in particular to a lower limb exoskeleton assembly used for rehabilitation training.

Background technique

Rehabilitation training refers to physical activities that are conducive to recovery or improvement of function after injury. Except for serious injuries that require rest and treatment, general injuries do not need to stop physical exercise completely. Appropriate and scientific physical exercises have a positive effect on the rapid healing of injuries and the promotion of functional recovery. The rehabilitation training program follows the principles of comprehensive training, gradual progress, and suitable for large amounts of exercise. In the process of injury healing, the amplitude, frequency, duration, and load of rehabilitation actions should be gradually increased. Otherwise, the injury will be aggravated or the healing of the injury will be affected, and even the injury will not heal for a long time and become an old injury. Rehabilitation training should pay attention to the combination of local special exercises and comprehensive physical activities. In the early stage of injury, due to local swelling and congestion, pain and dysfunction, etc., at this time, comprehensive physical activities are the main method, and appropriate local activities can be performed without aggravating local swelling and pain. As time goes on, the injury gradually improves or tends to heal, and the amount and time of local activities can gradually increase. Currently, when patients undergo lower limb rehabilitation training, they usually need to wear lower limb exoskeletons to help patients perform rehabilitation training and ambulation.

Although the lower extremity exoskeleton in the prior art can be adjusted in length to be suitable for patients of different heights, when the patient performs squat training, some lower extremity exoskeletons cannot assist the patient when standing up, which makes the patient's legs burdened. It is heavy, it is easy to make it difficult for the patient to stand up, it may cause secondary injury to the patient, and the safety is low, and the other part of the lower extremity exoskeleton can be driven by a private server motor to assist the patient, but the private server motor is used to assist In this way, motors and power supply systems need to be installed on the lower extremity exoskeleton, which will make the lower extremity exoskeleton not light enough, and the manufacturing cost is high, and the ankle of the current lower extremity exoskeleton can only rotate in one direction or in two directions. The ankle of the human body can be rotated universally, which will cause the patient's ankle to be restricted by the exoskeleton when wearing the exoskeleton for rehabilitation training, which will cause the patient's comfort level to be low. Therefore, we propose a lower extremity exoskeleton assembly for rehabilitation training to solve the above problems.

Contents of the invention

The purpose of the present invention is to solve the problem that although the lower extremity exoskeleton in the prior art can be adjusted in length to be suitable for patients of different heights, when the patient performs squat training, some lower extremity exoskeletons cannot assist when the patient stands up , so that the patient's legs are heavily burdened, it is easy to make it difficult for the patient to stand up, it may cause secondary injury to the patient, and the safety is low, and the other part of the lower extremity exoskeleton can be driven by a private server motor to achieve assistance to the patient , but the method of assisting by private server motors requires the installation of motors and power supply systems on the lower extremity exoskeleton, which will make the lower extremity exoskeleton not portable enough, and the manufacturing cost is high, and the ankle of the current lower extremity exoskeleton can only be used for single rotation or two-way rotation, while the human ankle can perform universal rotation, which will cause the patient's ankle to be restricted by the exoskeleton when wearing the exoskeleton for rehabilitation training, which will cause the patient The disadvantage of low comfort, and proposed a lower limb exoskeleton assembly for rehabilitation training.

In order to achieve the above object, the present invention adopts the following technical solutions:

Design a lower extremity exoskeleton assembly for rehabilitation training, including:

Two waist clips, a self-fitting synchronous adjustment member is arranged between the two waist clips;

Two thigh arms and thigh sleeve arms, two waist clips are located between the two thigh arms, a three-way adjustment member is provided between one waist clip and one thigh arm, and one thigh arm A first adjusting lock member is arranged between the arm and a thigh sleeve;

Two booster blocks, a booster connecting member is arranged between one of the booster blocks and a thigh sleeve arm;

Two calf sleeve arms, a two-way adjustment member is arranged between one of the calf sleeve arms and a booster block;

Two pedals, a universal connection member is arranged between one of the pedals and one of the calf sleeve arms.

Preferably, the self-adhesive synchronous adjustment member includes a connection box, two connection pieces are fixedly installed on one side of the waist clip, the four connection pieces are distributed in a rectangular shape, and two connection pieces are arranged on one side of the connection box. Two adjustment holes, the connecting piece can slide inside the adjustment hole, a tension spring is fixedly installed between the two connecting pieces, and two guide rods are fixedly installed inside the connection box, and the guide rods both pass through. The connecting piece is slidably connected with it, a box cover is fixedly installed on one side of the connecting box, and a synchronous displacement locking member is arranged on the inner side of the connecting box.

Preferably, the synchronous displacement locking member includes two guide sleeves, the two guide sleeves are respectively fixed on two diagonal connecting pieces, and guide pieces can be slidably installed on the inside of the guide sleeves, and the guide pieces are fixedly installed on the inner side of the connection box, the side adjacent to the guide sleeve is fixedly installed with a rack, and the side of the inner wall of the connection box is rotatably installed with a synchronous shaft, and the synchronous shaft passes through the box cover and is rotatably connected with it. The outer surface of the synchronous shaft is fixed with synchronous gears, and the synchronous gears are connected with the rack through meshing transmission. The outer surface of the synchronous shaft is fixed with a locking wheel, and the locking wheel is located on the side of the box cover away from the connection box. On one side, the A locking bolt handwheel is installed through the thread on the locking wheel, and one end of the A locking bolt handwheel is rotatably installed with a locking piece, and the locking piece can be connected with the box cover. touch.

Preferably, the three-way adjustment member includes a fixed cylinder, the fixed cylinder is fixedly mounted on the outer side of the waist clip, a rotating shaft cover is rotatably installed on the outer side of the fixed cylinder, and a sliding groove is provided at one end of the rotating shaft cover, The inner side of the sliding groove is slidably installed with an adjusting rod and a clamping piece, and a B locking bolt handwheel passing through it is installed on the clamping piece through threads, and one end of the B locking bolt handwheel is rotatably mounted on a fixed cylinder On one side of the adjusting rod is provided with a long hole, the B locking bolt handwheel can slide inside the long hole, the B locking bolt handwheel runs through the rotating shaft cover and is connected to it in rotation, the adjusting rod and The thigh supports are rotationally connected by a rotating shaft.

Preferably, the first lock adjustment member includes a C locking bolt handwheel, the upper surface of the thigh sleeve arm is provided with an A adjustment groove, and the thigh arm can slide inside the A adjustment groove, and the thigh arm is a There is an upper movable hole on the side, and the C locking bolt handwheel can slide on the inner side of the upper movable hole. The B clamping piece is connected to the outer side of the C locking bolt handwheel through threads. One side of the thigh sleeve arm is provided with A connection hole, the connection hole communicates with the A adjustment groove, and the B clamping piece can slide inside the connection hole.

Preferably, the booster connection member includes a booster shaft, the lower surface of the thigh sleeve arm is provided with a connecting groove, the booster block is arranged inside the connection groove, the booster shaft passes through the booster block and is fixedly connected to it, and the booster shaft Through the thigh sleeve arm and connected to it in rotation, the outer surface of the booster shaft is fixedly equipped with a sector gear, the booster block is fixedly installed with a booster box passing through it, and the booster box is rotatably installed with a rotating shaft penetrating through one side of it. The outer surface of the rotating shaft is fixed with a B gear, and the B gear is connected to the sector gear through meshing transmission. A torsion spring is arranged inside the booster box, and one end of the torsion spring is fixedly connected to the outer surface of the rotating shaft. The other end of the torsion spring is fixedly mounted on the inner wall of the booster box, a limiting shaft is fixedly installed inside the connecting groove, a limiting groove is arranged on one side of the booster block, and the limiting shaft can slide inside the limiting groove.

Preferably, the two-way adjusting member includes a cross T-shaped frame, and the upper surface of the cross T-shaped frame and the lower surface of the booster block are fixedly equipped with rotating pieces, and the two rotating pieces are rotatably connected by a rotating shaft. The upper surface of the calf sleeve arm is provided with a cross groove, and the cross T-shaped frame can slide inside the cross groove, and the two sides of the cross T-shaped frame that are far away from each other are fixedly installed with limiting blocks, and the two sides of the calf sleeve arm are far away from each other. Both sides are provided with limit holes, and the limit blocks can be slid inside the limit holes respectively. One side of the calf sleeve arm is threaded with a D lock bolt handwheel that runs through it, and the D lock bolt hand wheel One end of the wheel can be in contact with the cross T-shaped frame.

Preferably, the universal connecting member includes a connecting seat, and ball studs are rotatably installed on both sides of the upper and lower sides of the connecting seat, one end of the upper ball stud is fixedly installed on the lower surface of the calf sleeve arm, and A fixed piece is fixedly installed on the lower surface of the ball stud, and the fixed piece is fixedly installed on one side of the pedal.

Preferably, the thigh sleeve arm, the booster block, the calf sleeve arm, and the pedal are all fixedly equipped with matching child straps and female straps.

Preferably, a shoe upper is fixedly installed on the upper surface of the pedal.

A lower extremity exoskeleton assembly for rehabilitation training proposed by the present invention has the beneficial effects of:

(1) By setting the thigh sleeve arm, booster block, booster shaft, sector gear, booster box, rotating shaft, B gear, torsion spring, limit shaft, and limit groove, it has the function of squatting up and assisting the patient. When standing up, it provides assistance to the patient, so that it is convenient for the patient to stand up and reduce the burden on the legs, which can prevent secondary injury to the patient, has high safety, and does not need to install motors and power supply systems on the exoskeleton, which can greatly It reduces its manufacturing cost and has high portability.

(2) By setting the calf sleeve arm, foot pedal, connecting seat, ball head rod, and fixed piece, it has the function of universal rotation, so that the connection between the calf and the ankle of the exoskeleton can be universally rotated, so that it does not When the patient's ankle moves, it will be restricted, which can greatly improve the wearing comfort of the patient.

(3), by setting the waist clip, connecting piece, adjustment hole, extension spring, guide rod, box cover, guide sleeve, guide piece, rack, synchronous shaft, synchronous gear, locking wheel, A locking bolt handwheel, The locking piece makes it fast-wearing and versatile, suitable for patients of different sizes, and can be quickly worn on the exoskeleton for ease of use.

(4) Through the settings: waist clip, thigh support arm, thigh sleeve arm, booster block, calf sleeve arm, fixed cylinder, rotating shaft cover, adjustment rod, clamping piece, B locking bolt handwheel, long hole, C Locking bolt handwheel, A adjustment slot, upper movable hole, B clamping piece, cross T-frame, rotating piece, limit block, D locking bolt handwheel, so that it has multi-directional adjustment, general purpose, and multiple steering functions , can be applied to patients of different heights and leg lengths, and can perform multiple steering without restricting the joint activities of patients.

Description of drawings

Fig. 1 is a schematic diagram of the front three-dimensional structure of a lower extremity exoskeleton assembly for rehabilitation training proposed by the present invention;

Fig. 2 is a side cut three-dimensional structural schematic diagram of a lower limb exoskeleton assembly for rehabilitation training proposed by the present invention;

Fig. 3 is a schematic diagram of a partially enlarged structure of area A in Fig. 2 proposed in the present invention;

Fig. 4 is a schematic diagram of a partially cut three-dimensional structure on the back of a lower extremity exoskeleton assembly for rehabilitation training proposed by the present invention;

Fig. 5 is a front cut three-dimensional structural schematic diagram of a lower limb exoskeleton assembly for rehabilitation training proposed by the present invention;

Fig. 6 is a schematic diagram of a partially enlarged structure of area B in Fig. 5 proposed in the present invention;

Fig. 7 is a schematic diagram of a partially enlarged structure of area C in Fig. 5 proposed in the present invention;

Fig. 8 is a schematic diagram of a partially enlarged structure of area D in Fig. 5 proposed in the present invention;

Fig. 9 is a schematic diagram of a partially enlarged structure of the E area in Fig. 5 proposed in the present invention;

Fig. 10 is a schematic diagram of a side cut axonometric structure of a lower extremity exoskeleton assembly for rehabilitation training proposed by the present invention;

FIG. 11 is a schematic diagram of a partially enlarged structure of area F in FIG. 10 proposed in the present invention.

In the figure: 1 waist clip, 2 thigh support arm, 3 thigh sleeve arm, 4 booster block, 5 calf sleeve arm, 6 foot pedal, 7 connection box, 8 connection piece, 9 adjustment hole, 10 extension spring, 11 guide rod , 12 box cover, 13 guide sleeve, 14 guide piece, 15 rack, 16 synchronous shaft, 17 synchronous gear, 18 locking wheel, 19A locking bolt handwheel, 20 locking piece, 21 fixed cylinder, 22 rotating shaft cover , 23 Adjusting lever, 24 Clamping piece, 25B Locking bolt handwheel, 26 Long hole, 27C Locking bolt handwheel, 28A Adjusting slot, 29 Upper movable hole, 30B Clamping piece, 31 Power shaft, 32 Sector gear, 33 booster box, 34 rotating shaft, 35B gear, 36 torsion spring, 37 limit shaft, 38 limit slot, 39 cross T frame, 40 rotating piece, 41 limit block, 42D locking bolt handwheel, 43 connecting seat , 44 ball head rods, 45 fixed pieces, 46 sub straps, 47 female straps, 48 uppers.

Detailed ways

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, not all, embodiments of the present invention.

Referring to Fig. 1-11, a lower extremity exoskeleton assembly for rehabilitation training includes:

There are two waist clips 1, and a self-fitting synchronous adjustment member is arranged between the two waist clips 1. The self-fitting synchronous adjustment member includes a connection box 7, and two connecting pieces 8 are fixedly installed on one side of the waist clip 1. The four connecting pieces 8 are distributed in a rectangular shape, and one side of the connecting box 7 is provided with two adjustment holes 9, the connecting pieces 8 can slide on the inner side of the adjusting holes 9, and a tension spring 10 is fixedly installed between the two connecting pieces 8, and the connection Two guide rods 11 are fixedly installed on the inner side of the box 7, and the guide rods 11 all run through the connecting piece 8 and are slidably connected with it. The displacement locking member comprises two guide sleeves 13, and the two guide sleeves 13 are respectively fixed on the two diagonal connecting pieces 8, and the inside of the guide sleeves 13 can be slidably installed with guide pieces 14, and the guide pieces 14 are all fixedly installed on the connecting pieces 8. Inside the box 7, the adjacent side of the guide sleeve 13 is fixedly equipped with a rack 15, and one side of the inner wall of the connecting box 7 is rotatably equipped with a synchronous shaft 16, which runs through the lid 12 and is connected to it in rotation. The surface is fixedly equipped with a synchronous gear 17, and the synchronous gear 17 is connected with the rack 15 through meshing transmission. The outer surface of the synchronous shaft 16 is fixedly equipped with a locking wheel 18, and the locking wheel 18 is located on the side of the box cover 12 away from the connection box 7. On the locking wheel 18, the A locking bolt handwheel 19 that runs through it is installed by threads, and one end of the A locking bolt handwheel 19 is rotatably equipped with a locking piece 20, and the locking piece 20 can be in contact with the lid 12, so that It has quick-wearing and general-purpose functions, is suitable for patients of different sizes, and can be quickly worn on the exoskeleton, which is easy to use. When the patient needs to wear the exoskeleton, he can unscrew the A locking bolt handwheel 19, and then put the The two waist clips 1 are pulled apart from each other, and then the two waist clips 1 are placed on both sides of the patient's waist, and then the pulling force on the waist clip 1 is slowly withdrawn. At this time, the pulling force of the extension spring 10 can make the two waist clips The clip 1 automatically approaches and fits on the patient's waist, and then tightens the A locking bolt handwheel 19 to realize the waist wearing, and is suitable for patients with different waist circumferences, and is easy to use;

Two thigh arms 2, thigh sleeve arms 3, two waist clips 1 are located between the two thigh arms 2, a three-way adjustment member is provided between a waist clip 1 and a thigh arm 2, and the three-way adjustment member Including a fixed cylinder 21, the fixed cylinder 21 is fixedly installed on the outer side of the waist clip 1, the outer side of the fixed cylinder 21 is rotatably installed with a rotating shaft cover 22, one end of the rotating shaft cover 22 is provided with a sliding groove, and the inner side of the sliding groove is slidably installed with an adjusting rod 23. The clamping piece 24, the clamping piece 24 is threadedly installed with the B locking bolt handwheel 25 passing through it, one end of the B locking bolt handwheel 25 is rotatably mounted on the fixed cylinder 21, and one side of the adjusting rod 23 is set There is a long hole 26, the B locking bolt handwheel 25 can slide inside the long hole 26, the B locking bolt handwheel 25 runs through the rotating shaft cover 22 and is connected to it in rotation, and the adjustment rod 23 and the thigh arm 2 rotate through the rotating shaft connect;

A first lock adjustment member is arranged between a thigh support arm 2 and a thigh sleeve arm 3, and the first lock adjustment member includes a C locking bolt hand wheel 27, and an A adjustment groove 28 is provided on the upper surface of the thigh sleeve arm 3, and the thigh The support arm 2 can slide on the inner side of the A adjustment slot 28, the upper movable hole 29 is arranged on one side of the thigh support arm 2, the C locking bolt handwheel 27 can slide on the inner side of the upper movable hole 29, and the C locking bolt handwheel 27 passes through the outside A B clamping piece 30 is threadedly connected, and a connecting hole is provided on one side of the thigh sleeve arm 3, and the connecting hole communicates with the A adjustment groove 28, and the B clamping piece 30 can slide inside the connecting hole;

Two booster blocks 4, a booster block 4 and a thigh sleeve arm 3 are provided with a booster connection member, the booster connection member includes a booster shaft 31, a connection groove is provided on the lower surface of the thigh sleeve arm 3, and the booster block 4 is arranged on the connection On the inner side of the groove, the booster shaft 31 runs through the booster block 4 and is fixedly connected with it. The booster shaft 31 runs through the thigh sleeve arm 3 and is rotationally connected with it. The outer surface of the booster shaft 31 is fixedly equipped with a sector gear 32. The booster box 33 is rotatably installed with a rotating shaft 34 running through one side of the booster box 33. The outer surface of the rotating shaft 34 is fixed with a B gear 35. The B gear 35 is connected to the sector gear 32 through meshing transmission. The inside of the booster box 33 is provided with There is a torsion spring 36, one end of the torsion spring 36 is fixedly connected to the outer surface of the rotating shaft 34, the other end of the torsion spring 36 is fixedly installed on the inner wall of the booster box 33, and the limit shaft 37 is fixedly installed on the inner side of the connection groove, and the limiter is set on one side of the booster block 4 Slot 38, the limit shaft 37 can slide in the limit groove 38 inside, so that it has the power-assisted function of squatting, when the patient stands up, the patient can be provided with a booster, so that the patient can stand up and reduce the burden on the legs, and prevent the The patient causes secondary injuries, which has high safety, and does not need to install motors and power supply systems on the exoskeleton, which can greatly reduce its manufacturing cost and has high portability. When the patient is performing squat recovery training, the patient It is necessary to squat down first. When the patient squats down, the thigh sleeve arm 3 and the booster block 4 will rotate through the booster shaft 31. At the same time, the B gear 35 will move while rotating on the sector gear 32, and the B gear 35 will drive The rotating shaft 34 rotates, and when the rotating shaft 34 rotates, the torsion spring 36 will be twisted. When the torsion spring 36 is twisted, it will automatically store power. When the patient needs to stand up, the torsion spring 36 will automatically release the torsion force to make B The gear 35 rotates on the sector gear 32, at this time, the automatic power-assist function can be realized;

Two calf sleeve arms 5, a bidirectional adjustment member is arranged between a calf sleeve arm 5 and a booster block 4, and the bidirectional adjustment member includes a cross T-shaped frame 39, the upper surface of the cross T-shaped frame 39 and the lower surface of the booster block 4 are both A rotating piece 40 is fixedly installed, and the two rotating pieces 40 are rotatably connected by a rotating shaft. A cross groove is arranged on the upper surface of the calf sleeve arm 5, and the cross T-shaped frame 39 can slide inside the cross groove, and the cross T-shaped frame 39 is far away from each other. Limiting blocks 41 are fixedly installed on both sides of the leg cover arm 5, and limit holes are set on both sides of the calf cover arm 5. The limit block 41 can slide on the inside of the limit hole respectively. The D locking bolt handwheel 42 runs through it, and one end of the D locking bolt handwheel 42 can be in contact with the cross T-shaped frame 39, so that it has multi-directional adjustment, universal, and multiple steering functions, and can be applied to different heights and leg lengths patients, and can perform multiple steering without restricting the joints of the patient. Between the waist clip 1 and the thigh arm 2, the fixed cylinder 21, the rotating shaft cover 22, the adjustment rod 23, the clamping piece 24, and the B Lock the bolt handwheel 25 and the long hole 26 for rotation and telescopic adjustment, so that one end of the thigh support arm 2 can be accurately adjusted to the upper end of the patient's thigh, so that the patient's joints will not be restricted, and the thigh support arm Between 2 and the thigh sleeve arm 3, telescopic adjustment can be carried out through the C locking bolt handwheel 27, the A adjustment groove 28, the upper movable hole 29, and the B clamping piece 30, and the thigh support arm 2 and the thigh sleeve arm 3 can be adjusted The overall length is adjusted to match the length of the patient's thighs, thereby improving wearing comfort. The power block 4 and the calf sleeve arm 5 can be locked by the cross T-shaped frame 39, the rotating piece 40, the limit block 41, and the D The bolt hand wheel 42 is used for length adjustment and rotation, and the overall length of the booster block 4 and the calf sleeve arm 5 can be adjusted to match the length of the patient's calf, and can be rotated through the rotating piece 40, with a multi-directional range of motion ;

Two pedals 6, the upper surface of the pedal 6 is fixedly equipped with a shoe upper 48, a universal connecting member is provided between a pedal 6 and a calf sleeve arm 5, and the universal connecting member includes a connecting seat 43, which is connected Both sides up and down of the seat 43 can be rotatably equipped with a ball stud 44, one end of the ball stud 44 above is fixedly installed on the lower surface of the calf cover arm 5, and the lower surface of the ball stud 44 below is fixedly equipped with a fixed plate 45, The fixed piece 45 is fixedly installed on one side of the pedal 6, so that it has a universal rotation function, so that the connection between the shank and the ankle of the exoskeleton can be universally rotated, so that the patient's ankle will not be damaged when the patient's ankle moves. It causes restrictions, which can greatly improve the wearing comfort of the patient. When the patient wears it and the patient's ankle is active, the two ball studs 44 and the connecting seat 43 can be universally rotated, and the ball studs 44 It will not disengage from the connecting seat 43, and thus can realize universal rotation, without restricting the patient's ankle, which can greatly improve its flexibility and comfort;

Thigh sleeve arm 3, booster block 4, calf sleeve arm 5, and pedal 6 are fixedly installed with matching sub-bands 46 and female straps 47 on one side, and sub-bands 46 include two Velcro, the female strap The strap 47 includes a connecting buckle, and the child strap 46 and the female strap 47 cooperate with each other to be worn.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (10)

1. A lower extremity exoskeleton assembly for rehabilitation training, characterized in that it comprises: Two waist clips (1), and a self-fitting synchronous adjustment member is arranged between the two waist clips (1); Two thigh arms (2), thigh sleeve arms (3), two waist clips (1) located between the two thigh arms (2), one waist clip (1) and one thigh arm (2) are provided with a three-way adjustment member, and a first adjustment lock member is provided between one thigh support arm (2) and a thigh sleeve arm (3); Two booster blocks (4), a booster connecting member is arranged between one of the booster blocks (4) and a thigh sleeve arm (3); Two calf sleeve arms (5), a two-way adjustment member is arranged between one of the calf sleeve arms (5) and a booster block (4); Two pedals (6), a universal connecting member is arranged between one pedal (6) and one calf sleeve arm (5). 2. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that, the self-fitting synchronous adjustment member includes a connection box (7), and one side of the waist clip (1) Both are fixedly installed with two connecting pieces (8), the four connecting pieces (8) are distributed in a rectangle, and one side of the connecting box (7) is provided with two adjustment holes (9), and the connecting pieces (8) ) can slide on the inner side of the adjustment hole (9), a tension spring (10) is fixedly installed between the two connecting pieces (8), and two guide rods (11) are fixedly installed on the inner side of the connecting box (7). ), the guide rods (11) all run through the connecting piece (8) and are slidably connected with it, the side of the connecting box (7) is fixedly equipped with a box cover (12), and the inner side of the connecting box (7) is provided with a synchronous Displacement locking member. 3. A lower extremity exoskeleton assembly for rehabilitation training according to claim 2, characterized in that, the synchronous displacement locking member comprises two guide sleeves (13), and two guide sleeves (13) They are respectively fixed on the two connecting pieces (8) at the opposite corners, and the guide piece (14) can be slidably installed on the inside of the guide sleeve (13), and the guide piece (14) is fixedly installed on the connection box (7) On the inner side, a rack (15) is fixedly installed on the adjacent side of the guide sleeve (13), and a synchronous shaft (16) is rotatably installed on one side of the inner wall of the connection box (7), and the synchronous shaft (16) ) runs through the box cover (12) and is rotationally connected with it, and the outer surface of the synchronous shaft (16) is fixedly equipped with a synchronous gear (17), and the synchronous gear (17) is connected with the rack (15) through meshing transmission, so A lock wheel (18) is fixedly installed on the outer surface of the synchronous shaft (16), and the lock wheel (18) is positioned at the side of the lid (12) away from the connection box (7). The lock wheel (18) A locking bolt handwheel (19) passing through it is installed through threads, and one end of the A locking bolt handwheel (19) is rotatably equipped with a locking piece (20), and the locking piece (20) can be In contact with the lid (12). 4. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that, the three-way adjustment member comprises a fixed cylinder (21), and the fixed cylinder (21) is fixedly mounted on the waist clip On the outer side of (1), the outer side of the fixed cylinder (21) is rotatably equipped with a rotating shaft cover (22), and one end of the rotating shaft cover (22) is provided with a sliding groove, and the inside of the sliding groove is slidably installed with an adjusting Rod (23), clamping piece (24), the B locking bolt handwheel (25) passing through it is installed on the clamping piece (24) by thread, one end of the B locking bolt handwheel (25) It can be rotatably installed on the fixed cylinder (21), and a long hole (26) is provided on one side of the adjusting rod (23), and the B locking bolt handwheel (25) can slide inside the long hole (26), so The B locking bolt handwheel (25) runs through the rotating shaft cover (22) and is rotationally connected with it, and the adjustment rod (23) is rotationally connected with the thigh support arm (2) through a rotating shaft. 5. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that, said first lock adjusting member comprises a C locking bolt handwheel (27), and said thigh sleeve arm (3 ) is provided with an A adjustment groove (28) on the upper surface, the thigh support arm (2) can slide inside the A adjustment groove (28), and an upper movable hole (29) is provided on one side of the thigh support arm (2), The C locking bolt handwheel (27) can slide on the inner side of the upper movable hole (29), and the outside of the C locking bolt handwheel (27) is threaded with a B clamping piece (30), and the thigh sleeve One side of the arm (3) is provided with a connection hole, the connection hole communicates with the A adjustment groove (28), and the B clamping piece (30) can slide inside the connection hole. 6. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that, the power-assisted connection member comprises a power-assisted shaft (31), and the lower surface of the thigh sleeve arm (3) is provided with a connection The booster block (4) is arranged inside the connecting groove, the booster shaft (31) runs through the booster block (4) and is fixedly connected with it, and the booster shaft (31) runs through the thigh sleeve arm (3) and rotates with it connected, the outer surface of the booster shaft (31) is fixedly equipped with a sector gear (32), the booster block (4) is fixedly installed with a booster box (33) passing through it, and the booster box (33) is rotatable A rotating shaft (34) passing through one side is installed, and a B gear (35) is fixedly installed on the outer surface of the rotating shaft (34), and the B gear (35) is connected with the sector gear (32) through meshing transmission. A torsion spring (36) is provided inside the booster box (33), one end of the torsion spring (36) is fixedly connected to the outer surface of the rotating shaft (34), and the other end of the torsion spring (36) is fixedly mounted on the booster box (33). ) on the inner wall, the inner side of the connecting groove is fixedly installed with a limit shaft (37), and one side of the booster block (4) is provided with a limit groove (38), and the limit shaft (37) can slide in the limit groove ( 38) Inside. 7. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that the two-way adjustment member comprises a cross T-shaped frame (39), and the upper surface of the cross T-shaped frame (39) , The lower surface of the booster block (4) is fixedly equipped with a rotating piece (40), the two rotating pieces (40) are rotatably connected by a rotating shaft, and the upper surface of the calf sleeve arm (5) is provided with a cross groove, The cross T-shaped frame (39) can slide on the inner side of the cross groove, and the two sides of the cross T-shaped frame (39) are fixedly installed with limit blocks (41), and the calf sleeve arms (5) are far away from each other. Limiting holes are arranged on both sides of each of the limiting holes, and the limiting blocks (41) can slide on the inside of the limiting holes respectively. One side of the calf sleeve arm (5) is threaded with a D locking bolt handwheel running through it. (42), one end of the D locking bolt handwheel (42) can be in contact with the cross T-frame (39). 8. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that, said universal connecting member comprises a connecting seat (43), and both upper and lower sides of said connecting seat (43) are A ball head rod (44) is rotatably installed, and one end of the ball head rod (44) above is fixedly installed on the lower surface of the calf sleeve arm (5), and the lower surface of the ball head rod (44) below is fixedly installed There is a fixed piece (45), and the fixed piece (45) is fixedly installed on one side of the pedal (6). 9. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that, said thigh sleeve arm (3), booster block (4), calf sleeve arm (5), foot pedal (6) On one side, mutually matched child straps (46) and female straps (47) are fixedly installed. 10. A lower extremity exoskeleton assembly for rehabilitation training according to claim 1, characterized in that a shoe upper (48) is fixedly installed on the upper surface of the pedal (6).

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