CN212326867U

CN212326867U - Exoskeleton for limb rehabilitation

Info

Publication number: CN212326867U
Application number: CN201921614541.8U
Authority: CN
Inventors: 谭高辉; 马舜; 张莉萍
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2021-01-12
Anticipated expiration: 2029-09-25

Abstract

The utility model discloses a recovered ectoskeleton of limbs, recovered ectoskeleton of limbs includes: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the positioning structure comprises a first component, a second component and a connecting plate, a sliding groove is formed in one surface of the connecting plate, at least part of the second component is arranged in the sliding groove, a second supporting rod covers at least part of a groove opening of the sliding groove and is fixedly connected with the connecting plate, and the first component can movably abut against the second component so that the second component can slide or stop in the sliding groove. The utility model discloses technical scheme can play the effect of direction when adopting the supplementary human body of ectoskeleton to the movement track of laminating limbs improves recovered effect, reduces the volume that occupies of the recovered ectoskeleton of limbs.

Description

Exoskeleton for limb rehabilitation

Technical Field

The utility model relates to an ectoskeleton technical field, in particular to recovered ectoskeleton of limbs.

Background

In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.

In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. And through artificially carrying out acute phase rehabilitation training, the rehabilitation mode can not be well controlled, such as effective switching of passive, active and impedance modes, or the existing rehabilitation training can also assist guidance rehabilitation through some machines, but the motion track of the existing auxiliary machine is not smooth enough, large errors exist between the motion track of limbs, and the motion is not stable enough, so that the rehabilitation effect is not ideal, and the occupied volume of the auxiliary machine is large.

The above description is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission of prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a recovered ectoskeleton of limbs, when aiming at adopting the supplementary human body of ectoskeleton recovered, play the effect of direction to the movement track of laminating limbs, and the motion is steady, improves recovered effect, reduces the volume that occupies of the recovered ectoskeleton of limbs.

In order to achieve the above object, the utility model provides a recovered ectoskeleton of limbs, recovered ectoskeleton of limbs includes:

a first support bar;

the second support rod is rotatably connected with the first support rod;

the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod;

the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod;

the positioning structure comprises a first member, a second member and a connecting plate, a sliding groove is formed in one surface of the connecting plate, at least part of the second member is arranged in the sliding groove, the second supporting rod covers at least part of a groove opening of the sliding groove and is fixedly connected with the connecting plate, and the first member can movably abut against the second member so that the second member can slide or stop in the sliding groove.

Optionally, the second member includes a sliding connection section and a support section connected to the sliding connection section, the sliding groove penetrates through an end surface of the connecting plate along a length direction of the connecting plate, the sliding connection section is slidably received in the sliding groove, the first member is movably abutted against the sliding connection section, the second support rod is abutted against a surface of the sliding connection section, which is away from a groove bottom of the sliding groove, and the support section extends out of the sliding groove.

Optionally, the limb rehabilitation exoskeleton further comprises a mounting part, the mounting part is arranged adjacent to the second support rod and covers the notch of the sliding groove of the other part, the mounting part is fixedly connected with the connecting plate, and the first member is fixedly connected with the mounting part.

Optionally, the sliding groove includes a first groove section and a second groove section connected to the first groove section, the groove width of the first groove section is greater than the groove width of the second groove section, the sliding connection section protrudes in the width direction of the sliding groove to form a protruding block, the second support rod is arranged to cover at least part of the second groove section, and the mounting member covers the joint of the first groove section and the second groove section.

Optionally, the mounting member is formed with a mounting hole, the mounting hole is provided in a region where the mounting member covers the second groove section, the first member is an index pin, and the index pin is mounted in the mounting hole and telescopically abuts against the sliding section.

Optionally, the mounting member is formed with a first connecting hole, the connecting plate is formed with a second connecting hole, and the limb rehabilitation exoskeleton further comprises a connecting member which passes through the first connecting hole and the second connecting hole and fixedly connects the mounting member with the connecting plate.

Optionally, the quantity of first connecting hole is a plurality of, a plurality of first connecting hole interval distribution with the installed part, the quantity of second connecting hole is a plurality of, a plurality of second connecting hole evenly distributed with the both sides of spout, the quantity of connecting piece is a plurality of, one the connecting piece passes one first connecting hole fixed connection in one the second connecting hole.

Optionally, in a rotation direction of the first support rod and/or the second support rod, the first support rod and/or the second support rod rotate to form an included angle, and the support section is bent from the sliding connection section toward the first support rod.

Optionally, the end of the support section facing away from the sliding connection section is arranged in an arc shape.

Optionally, in a rotation direction of the first support rod and/or the second support rod, the first support rod and/or the second support rod rotate to form an included angle, the first guide wheel assembly is disposed on a side of the first support rod facing the second support rod, and the second guide wheel assembly is disposed on a side of the second support rod facing the first support rod.

The utility model discloses technical scheme is through rotating first bracing piece and second bracing piece to be connected, locate the tip that first bracing piece deviates from the second bracing piece with first guide pulley subassembly again, and locate the tip that the second bracing piece deviates from first bracing piece with the second guide pulley subassembly, when first bracing piece rotates at the relative second bracing piece of external force down, first guide pulley subassembly can play the effect of direction to the tip motion that deviates from the second bracing piece of first bracing piece, and the second guide pulley subassembly also can play the effect of direction to the tip motion that the second bracing piece deviates from first bracing piece. The second guide wheel assembly can be connected with the second support rod in a sliding mode through the sliding groove, so that the position of the second guide wheel assembly relative to the second support rod can be adjusted, and before the limb rehabilitation exoskeleton is used, a user can adjust the relative distance between the second guide wheel assembly and the second support rod according to the needs of the user, so that the limb rehabilitation exoskeleton adapts to people with different heights, the wearing comfort is improved, the limb rehabilitation exoskeleton can stably run during movement, and the rehabilitation effect is improved; and because the sliding distance can be restricted by the length of the chute, the second supporting rod covers at least part of the groove opening of the chute, the connecting plate and the second supporting rod can be arranged in a staggered mode, the mounting space of the positioning structure is reduced to a certain extent, the occupied size of the limb rehabilitation exoskeleton is avoided being too large, and the second member is prevented from shaking too much, so that the use is facilitated.

For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod is fixed with a shank of the human body, and the second support rod is fixed with a thigh of the human body, the first support rod is driven to rotate relative to the second support rod, so that the lower limbs are driven to do flexion and extension movement. When a human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly is arranged on the first support rod, so that when the first support rod does exercise, the first guide wheel assembly is in contact with the support surface and rolls relative to the support surface, resistance of the first support rod in the exercise process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of limbs, and the human body is ensured to move along the set direction. The second guide wheel assembly can be connected with the second support rod in a sliding mode through the sliding groove, so that the position of the second guide wheel assembly relative to the second support rod can be adjusted, and before the limb rehabilitation exoskeleton is used, a user can adjust the relative distance between the second guide wheel assembly and the second support rod according to the needs of the user, so that the limb rehabilitation exoskeleton adapts to people with different heights, the wearing comfort is improved, the limb rehabilitation exoskeleton can stably run during movement, and the rehabilitation effect is improved; and because the sliding distance can be restricted by the length of the chute, the second supporting rod covers at least part of the groove opening of the chute, the connecting plate and the second supporting rod can be arranged in a staggered mode, the mounting space of the positioning structure is reduced to a certain extent, the occupied size of the limb rehabilitation exoskeleton is avoided being too large, and the second member is prevented from shaking too much, so that the use is facilitated. Therefore, the technical scheme of the utility model can play the effect of direction when adopting the supplementary human body of ectoskeleton recovered to the movement track of laminating limbs improves recovered effect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of the limb rehabilitation exoskeleton of the present invention;

fig. 2 is a schematic structural view of another perspective of the exoskeleton for limb rehabilitation according to the present invention;

fig. 3 is a schematic structural view of another perspective of an embodiment of the exoskeleton for limb rehabilitation according to the present invention;

fig. 4 is a schematic partial structural view of an embodiment of a first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention;

fig. 5 is a schematic partial structural view of another embodiment of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention;

fig. 6 is a front view of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention with the first support rod removed;

fig. 7 is an exploded view of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention with the first support rod removed;

fig. 8 is a schematic partial structural view of an embodiment of a first guide wheel of the exoskeleton for limb rehabilitation according to the present invention;

fig. 9 is a schematic structural diagram of an embodiment of an installation state of the second support rod and the positioning structure of the limb rehabilitation exoskeleton of the present invention;

fig. 10 is a schematic structural diagram of an embodiment of the second support rod and the positioning structure of the exoskeleton of limb rehabilitation according to another view angle;

fig. 11 is a schematic view of a partial structure of an embodiment of the second guide wheel assembly and the positioning structure of the exoskeleton for limb rehabilitation of the present invention

Fig. 12 is an exploded view of an embodiment of the second guide wheel assembly and positioning structure of the exoskeleton for limb rehabilitation according to the present invention;

fig. 13 is an exploded view of an embodiment of the positioning structure of the exoskeleton for limb rehabilitation according to the present invention;

fig. 14 is a schematic structural view of an embodiment of a second member of the positioning structure of the limb rehabilitation exoskeleton of the present invention;

fig. 15 is a sectional view along the direction D-D of an embodiment of the second member of the positioning structure of the limb rehabilitation exoskeleton of the present invention.

The reference numbers illustrate:

the purpose of the present invention is to provide a novel and improved method and apparatus for operating a computer.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a limb rehabilitation exoskeleton 100, which aims to facilitate the lower limb rehabilitation of patients.

Referring to fig. 1-3 and 9-11, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 includes:

a first support bar 10;

the second support rod 20 is rotatably connected with the first support rod 10;

the first guide wheel assembly 30 is arranged at the end part of the first support rod 10, which is far away from the second support rod 20;

the second guide wheel assembly 40 is arranged at the end part of the second support rod 20, which is far away from the first support rod 10;

the positioning structure 60 includes a first member 61, a second member 62 and a connecting plate 63, a sliding slot 631 is formed on a surface of the connecting plate 63, at least a portion of the second member 62 is disposed in the sliding slot 631, the second support rod 20 covers at least a portion of the slot of the sliding slot 631 and is fixedly connected to the connecting plate 63, and the first member 61 is movably abutted against the second member 62, so that the second member 62 can slide or stop in the sliding slot 631.

The utility model discloses technical scheme is through rotating first bracing piece 10 and second bracing piece 20 and connecting, locate the tip that first bracing piece 10 deviates from second bracing piece 20 with first guide pulley subassembly 30 again, and locate the tip that second bracing piece 20 deviates from first bracing piece 10 with second guide pulley subassembly 40, when first bracing piece 10 rotates at the effect of external force relative second bracing piece 20 down, first guide pulley subassembly 30 can play the effect of direction to the tip motion that deviates from second bracing piece 20 of first bracing piece 10, and second guide pulley subassembly 40 also can play the effect of direction to the tip motion that second bracing piece 20 deviates from first bracing piece 10. In addition, the position of the second guide wheel assembly 40 relative to the second support rod 20 can be adjusted through the sliding connection with the sliding groove 631 relative to the second support rod 20, and before the limb rehabilitation exoskeleton 100 is used, a user can adjust the relative distance between the second guide wheel assembly 40 and the second support rod 20 according to the needs of the user, so that the limb rehabilitation exoskeleton 100 is suitable for people with different heights, the wearing comfort is improved, the stable running of the limb rehabilitation exoskeleton 100 during movement is ensured, and the rehabilitation effect is improved; and since the sliding distance is limited by the length of the sliding groove 631, after the second support rod 20 covers at least part of the groove of the sliding groove 631, the connecting plate 63 and the second support rod 20 can be arranged in a staggered manner, so that the installation space of the positioning structure 60 is reduced to a certain extent, the occupied volume of the limb rehabilitation exoskeleton 100 is prevented from being too large, and the second member 62 is prevented from being too large to shake, which is convenient for use.

For example, when the exoskeleton assists in lower limb rehabilitation of a human body, the first support rod 10 is fixed with a calf of the human body, and the second support rod 20 is fixed with a thigh of the human body, the first support rod 10 is driven to rotate relative to the second support rod 20, so as to drive the lower limb to make flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly 30 is arranged on the first support rod 10, so that when the first support rod 10 does exercise, the first guide wheel assembly 30 is in contact with the support surface and rolls relative to the support surface, the resistance of the first support rod 10 in the exercise process can be reduced, the movement of the lower leg part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. In addition, the position of the second guide wheel assembly 40 relative to the second support rod 20 can be adjusted through the sliding connection with the sliding groove 631 relative to the second support rod 20, and before the limb rehabilitation exoskeleton 100 is used, a user can adjust the relative distance between the second guide wheel assembly 40 and the second support rod 20 according to the needs of the user, so that the limb rehabilitation exoskeleton 100 is suitable for people with different heights, the wearing comfort is improved, the stable running of the limb rehabilitation exoskeleton 100 during movement is ensured, and the rehabilitation effect is improved; and since the sliding distance is limited by the length of the sliding groove 631, after the second support rod 20 covers at least part of the groove of the sliding groove 631, the connecting plate 63 and the second support rod 20 can be arranged in a staggered manner, so that the installation space of the positioning structure 60 is reduced to a certain extent, the occupied volume of the limb rehabilitation exoskeleton 100 is prevented from being too large, and the second member 62 is prevented from being too large to shake, which is convenient for use. Therefore, the technical scheme of the utility model can play the effect of direction when adopting the supplementary human body of ectoskeleton recovered to the movement track of laminating limbs improves recovered effect.

In an embodiment of the present application, when the second support bar 20 covers a part of the sliding groove 631, a through hole communicating with the sliding groove 631 may be disposed on the connecting plate 63, so as to dispose at least a part of the first member 61 in the through hole, so that the first member 61 can movably abut against the second member 62 in the through hole, thereby limiting the second member 62; or a through hole communicated with the sliding groove 631 is formed in the second support rod 20, so that at least a part of the first member 61 is disposed in the through hole, and the first member 61 can movably abut against the second member 62 in the through hole, thereby limiting the second member 62. Similarly, in an embodiment, the second support rod 20 may cover all of the sliding grooves 631, and at this time, the first member 61 may limit the second member 62 according to a manner of disposing through holes communicating with the sliding grooves 631, which will not be described herein.

It will be appreciated that in one use configuration, a user may place a lower limb on the limb rehabilitation exoskeleton 100 such that the first support bar 10 supports the lower leg and the second support bar 20 supports the upper leg, thereby performing rehabilitation training on the lower leg and the upper leg when the first support bar 10 and the second support bar 20 are driven to rotate relatively. And, in order to fix the position of the limb of the patient relative to the first support rod 10 and the second support rod 20, in the present technical solution, the fixing member 50 is disposed on the first support rod 10 and/or the second support rod 20, in an embodiment of the present application, the fixing member 50 is disposed on the upper side of the first support rod 10 and the second support rod 20, or the fixing member 50 is correspondingly disposed on a plane parallel to the rotation direction of the first support rod 10 and the second support rod 20, so as to fix the leg laterally, when the limb rehabilitation exoskeleton 100 is connected to the human body, the patient can be in a lying posture or a sitting posture. The fixing member 50 may be made of elastic materials such as rubber, latex, etc., or may be made of multiple layers of cloth and/or cotton yarn to increase the air permeability and facilitate the use by the patient.

It should be noted that, in the present application, the "end portion" of the end portion of the first support rod 10, which is away from the second support rod 20, of the first guide wheel assembly 30 is not limited to the end surface of the first support rod 10 in the length direction, and may be understood as the free end of the first support rod 10, that is, the first guide wheel assembly 30 may be installed at the free end of the first support rod 10, and may be located at a distance from the end surface of the first support rod 10 in the length direction or fixed on the end surface, and the same "end portion" of the end portion of the second support rod 20, which is away from the first support rod 10, of the second guide wheel assembly 40 "is referred to the foregoing description, and is not repeated herein.

In an embodiment of the present application, each of the first support bar 10 and the second support bar 20 may be rod-shaped or flat-plate-shaped, and in order to reduce the weight of the first support bar 10 and the second support bar 20, a hollow structure may be disposed on the first support bar 10 and the second support bar 20. The first support rod 10 and the second support rod 20 may be made of metal (the metal may be made of stainless steel, aluminum alloy, copper alloy, iron alloy, etc.), plastic (the plastic may be made of hard plastic, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), other alloy materials, etc. Or a mixture of a metal material and plastic may be used as long as the stability of the first and second support bars 10 and 20 is improved. So, be favorable to promoting the stability that sets up of first bracing piece 10 and second bracing piece 20 more to effectively promote practicality, reliability, and the durability of first bracing piece 10 and second bracing piece 20. In an embodiment of the present application, the second support bar 20 is larger than the first support bar 10, and since the size of the thigh of the human body is larger than the size of the shank, the size of the second support bar 20 for supporting the thigh is larger than the size of the first support bar 10 for supporting the shank, which makes the structure of the extremity rehabilitation exoskeleton 100 more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc.

Referring to fig. 12 and 13, in an embodiment of the present application, the second member 62 includes a sliding contact section 622 and a support section 623 connected to the sliding contact section 622, the sliding groove 631 penetrates through an end surface of the connecting plate 63 along a length direction of the connecting plate 63, the sliding contact section 622 is slidably received in the sliding groove 631, the first member 61 movably abuts against the sliding contact section 622, the second support rod 20 abuts against a surface of the sliding contact section 622 facing away from a groove bottom of the sliding groove 631, and the support section 623 extends out of the sliding groove 631. In this embodiment, the sliding section 622 for sliding and the supporting section 623 for supporting are provided to facilitate the supporting of the second member 62 while sliding, and the second guide wheel assembly 40 is supported with the supporting surface, so that the second guide wheel assembly 40 is provided on the supporting section 623 extending out of the sliding groove 631 to facilitate the supporting of the second guide wheel assembly 40. The second support rod 20 abuts against the surface of the sliding section away from the bottom of the sliding groove 631, so that the degree of freedom of the sliding section can be limited, and the sliding stability of the sliding section can be improved.

Referring to fig. 11 to 13, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a mounting part 64, the mounting part 64 is disposed adjacent to the second support bar 20 and covers a slot of the sliding groove 631 of another part, the mounting part 64 is fixedly connected with the connecting plate 63, and the first member 61 is fixedly connected with the mounting part 64. The mounting part 64 is further arranged to cover the notch part of the sliding groove 631 uncovered by the second support rod 20, so that the part of the second member 62, which is not covered by the second support rod 20, in the sliding groove 631 can be limited and covered, and the sliding stability of the second member 62 is improved. In one embodiment, the mounting member 64 is a block with a quadrilateral bottom surface, which is close to the slot of the chute 631, so as to better cover the chute 631 and facilitate the installation of the first member 61.

Referring to fig. 13, in an embodiment of the present application, the sliding groove 631 includes a first groove segment 6311 and a second groove segment 6312 connected to the first groove segment 6311, a groove width of the first groove segment 6311 is greater than a groove width of the second groove segment 6312, the sliding connection segment 622 protrudes in a width direction of the sliding groove 631 to form a protruding block 6221, the second support rod 20 is disposed to cover at least a portion of the second groove segment 6312, and the mounting member 64 covers a connection portion of the first groove segment 6311 and the second groove segment 6312. The slide groove 631 is formed by a first groove segment 6311 and a second groove segment 6312, and the slide joint segment 622 is provided with a projection 6221, which can display the limit position of the slide joint segment 622 sliding in the slide groove 631, so that the slide joint segment 622 is always in the slide groove 631. And the mode simple structure that sets up lug 6221, spacing effectual is convenient for improve location structure 60's positional stability. In an embodiment, since the sliding extending direction of the sliding connection section 622 is from the first slot segment 6311 to the second slot segment 6312, the suspended portion is longer when the sliding connection section 622 slides to the second slot segment 6312, and since the protrusion 6221 is provided, the portion of the sliding connection section 622 is still located in the first slot segment 6311 (i.e. mainly located at the connection point of the first slot segment 6311, the first slot segment 6311 and the second slot segment 6312), and the mounting member 64 is covered at the connection point of the first slot segment 6311 and the second slot segment 6312, the second member 62 in the good limit extending state of the mounting member 64 can be enabled, thereby facilitating to improve the structural stability when the limb rehabilitation exoskeleton 100 extends the second guide wheel assembly 40 relative to the second support rod 20.

Referring to fig. 13, in an embodiment of the present application, the mounting part 64 is formed with a mounting hole 642, the mounting hole 642 is provided in a region where the mounting part 64 covers the second groove segment 6312, the first member 61 is an index pin, and the index pin is mounted in the mounting hole 642 and telescopically abuts against the sliding segment 622. In an embodiment, the sliding extending direction of the sliding connection section 622 is from the first slot segment 6311 to the second slot segment 6312, when the sliding connection section 622 slides to the second slot segment 6312, the suspended portion is longer, and due to the protrusion 6221, the portion of the sliding connection section 622 is still located in the first slot segment 6311 (that is, mainly located at the connection point of the first slot segment 6311, the first slot segment 6311 and the second slot segment 6312), the mounting hole 642 is disposed in the first slot segment 6311, so that the main portion of the sliding connection section 622 located in the sliding groove 631 can be abutted and fixed, and the second member 62 in the good limit extending state of the mounting part 64 can be made, thereby facilitating to improve the structural stability when the limb rehabilitation exoskeleton 100 extends the second guide wheel assembly 40 relative to the second support rod 20.

The index pin comprises an elastically telescopic part, so that the first member 61 can be elastically abutted against the second member 62, the gap is conveniently eliminated, the cost of the index pin is low, and the production cost can be reduced. Further, by providing a plurality of linearly arranged fastening holes 621, the first member 61 can be fastened to different positions of the second member 62 more easily, so that the second guide wheel assembly 40 and the second support rod 20 have a plurality of adjustable positions, thereby adapting to different users.

Referring to fig. 14 and 15, in an embodiment of the present application, the distance between each of the clamping holes 621 is a, and a value range of the distance may be: a is more than or equal to 10mm and less than or equal to 50mm, so that when users with different heights use the exoskeleton 100 for limb rehabilitation, the gravity center is stable, and the rehabilitation effect is improved. It is understood that the value of a may also be: the height of the gravity center of the limb rehabilitation exoskeleton 100 is 15mm, 20mm, 25mm, 30mm, 35mm, 40mm, 45mm and the like, so that when users with different heights use the exoskeleton, the gravity center of the limb rehabilitation exoskeleton 100 is stable, and the rehabilitation effect is improved. In an embodiment of the present application, the fastening hole 621 is a blind hole, so that the first member 61 is also abutted against the second member 62 when being inserted into the fastening hole 621, so as to eliminate a gap between the second member 62 and the sliding groove 631.

Referring to fig. 12 and 13, in an embodiment of the present application, the mounting member 64 is formed with a first connecting hole 641, the connecting plate 63 is formed with a second connecting hole 632, and the extremity rehabilitation exoskeleton 100 further comprises a connecting member passing through the first connecting hole 641 and the second connecting hole 632 to fixedly connect the mounting member 64 and the connecting plate 63. This embodiment is fixed with installed part 64 and connecting plate 63 through the mode that sets up connecting hole and connecting piece, and is concrete, and this connecting hole can be the spiro union hole, and this connecting piece can be the spiro union piece, and the cooperation through spiro union hole and spiro union piece can make the cooperation of installed part 64 and connecting plate 63 be convenient for install and dismantle to better fixed effect has.

In an embodiment of the present application, the number of the first connection holes 641 is a plurality of, a plurality of the first connection holes 641 is distributed at intervals with the mounting member 64, the number of the second connection holes 632 is a plurality of, a plurality of the second connection holes 632 is evenly distributed with both sides of the sliding groove 631, the number of the connecting members is a plurality of, and one of the connecting members passes through one of the first connection holes 641 and is fixedly connected to one of the second connection holes 632. A plurality of first connection holes 641 and second connection holes 632 are provided, and the mounting member 64 and the connection plate 63 have a plurality of areas connected to each other, improving the fixing stability of the mounting member 64 and the connection plate 63. In one embodiment, the second connection holes 632 are uniformly distributed on both sides of the sliding groove 631, and it is understood that the projection profiles of the first connection holes 641 and the connection plate 63 are also uniformly distributed on both sides of the sliding groove 631, so that the mounting member 64 and the connection plate 63 can be well matched on both sides of the sliding groove 631, and the stability of the limb rehabilitation exoskeleton 100 can be improved. Further, the connection manner of the second support bar 20 and the connection plate 63 can also adopt a similar connection hole and connection member manner, which is not described herein again. The connection mode of the second support rod 20 and the connection plate 63 or the clamping fixation mode and other modes are adopted, so long as the fixation can be better.

Referring to fig. 1 to 3, in an embodiment of the present application, in a rotation direction of the first support bar 10 and/or the second support bar 20, the first support bar 10 and/or the second support bar 20 rotate to form an included angle, and the support section 623 is bent from the sliding connection section 622 toward the first support bar 10. In an embodiment, the second member 62 is substantially "L" shaped, and the sliding connection portion 622 of the second member 62 and the second support rod 20 extend in the same direction, so that the second guide wheel assembly 40 mounted on the support portion 623 and the second support rod 20 are spaced apart from each other in the radial direction of the second support rod 20, thereby facilitating the mounting and supporting of the second guide wheel assembly 40 and improving the practicability.

Referring to fig. 12 to 14, in an embodiment of the present application, an end of the supporting segment 623 facing away from the sliding-contact segment 622 is disposed in an arc shape. Since the end of the supporting section 623 away from the sliding-contact section 622 is set to be an arc line along with the rotation of the second member 62 under the condition that the first supporting rod 10 and the second supporting rod 20 rotate, the second member 62 can be prevented from interfering with the supporting surface during the rotation. Of course, the outer contour of the projection and support section 623 of the second guide wheel assembly 40 can also include the support section 623 within the range of relative rotation of the first support rod 10 and the second support rod 20, so as to avoid the interference of the second member 62 with the support surface during rotation, and improve the rotational stability of the limb rehabilitation exoskeleton 100.

Referring to fig. 1 to 3, in an embodiment of the present application, in a rotation direction of the first support rod 10 and/or the second support rod 20, the first support rod 10 and/or the second support rod 20 rotate to form an included angle, at least two first guide wheels 31 are disposed on a same side of the first support rod 10, and the second guide wheel assembly 40 is disposed on a side of the second support rod 20 facing the first guide wheel assembly 30. When the first support rod 10 and the second support rod 20 form an included angle, that is, when the user is in a state of leg-folding during use, the first guide wheel assembly 30 is disposed on one side of the first support rod 10 (that is, at least two first guide wheels 31 are disposed on the same side in the rotation direction of the first support rod 10), the second guide wheel assembly 40 is disposed on one side of the second support rod 20 facing the first guide wheel assembly 30, and may be inner surfaces of the first support rod 10 and the second support rod 20 opposite to each other (that is, the first guide wheel assembly 30 is disposed on one side of the inner surface of the first support rod 10, and the second guide wheel assembly 40 is disposed on one side of the inner surface of the second support rod 20), that is, a rear side similar to the lower leg and a rear side of the upper leg, because muscle tissue of the human body wraps the upper leg and the lower leg, the first guide wheel assembly 30 and the second guide wheel assembly 40 are disposed on the rear side of, the limb rehabilitation exoskeleton 100 can be lifted by the first guide wheel assembly 30 and the second guide wheel assembly 40, so that the thighs and the shanks can be placed in abdicating mode, the muscle of the user is prevented from contacting a supporting surface, the rehabilitation effect is prevented from being influenced by excessive force output of the muscle, and the limb rehabilitation exoskeleton 100 can be supported favorably. It will be appreciated that when the first support rod 10 and the second support rod 20 are parallel, the portion of the first wheel guide assembly 30 that supports is disposed on the same side of the limb rehabilitation exoskeleton 100 (the rear side of the leg) as the portion of the second wheel guide assembly 40 that supports, which allows the limb rehabilitation exoskeleton 100 to support the user on the same side, providing increased support stability. And the arrangement of at least two first guide wheels 31 on the same side of the first support rod 10 also facilitates the simultaneous support of the first guide wheels 31, thereby improving the structural stability of the limb rehabilitation exoskeleton 100. It can be understood that the number of the first guide wheels 31 of the first guide wheel assembly 30 can also be 3, 4, 5, 6, etc., which can increase the contact area between the first guide wheel assembly 30 and the supporting surface and improve the structural stability.

Referring to fig. 1 to 5, in an embodiment of the present application, the first guide wheel assembly 30 further includes a first rotating shaft 123, the first rotating shaft 123 is disposed at an end of the first support rod 10 facing away from the second support rod 20, and the first guide wheel 31 is rotatably sleeved on the first rotating shaft 123;

the second guide wheel assembly 40 includes a second guide wheel 41 and a second rotating shaft 42, the second rotating shaft 42 is disposed at an end of the second support rod 20 departing from the first support rod 10, and the second guide wheel 41 is rotatably sleeved on the second rotating shaft 42. It is understood that first rotating shaft 123 is formed along a radial extension of first support rod 10 to facilitate the sleeving of first guide wheel 31, thereby facilitating the rotation of first guide wheel 31 on first rotating shaft 123. The end of first rotating shaft 123 facing away from first support rod 10 may include a limiting portion, so that when first guide wheel 31 is rotatably sleeved on first rotating shaft 123, first guide wheel 31 may be prevented from flying out in the using process. And, this first pivot 123 can also include the kerf that runs through the spacing portion, thus when installing first guide pulley 31, can through combining the spacing portion, and then pass first guide pulley 31, after first pivot passed first guide pulley 31, spacing portion opened and is spacing first guide pulley 31 in first pivot 123. Also, a second rotating shaft 42 is formed to extend in a radial direction of the second support rod 20, thereby facilitating the bell-and-spigot coupling of the second guide pulley 41. The end of the second rotating shaft 42 away from the second support rod 20 may include a limiting portion, so that the second guide wheel 41 may be prevented from flying out during use when the second guide wheel 41 is rotatably sleeved on the second rotating shaft 42. And, the second rotating shaft 42 may further include a slit penetrating through the limiting portion, so that when the second guide wheel 41 is installed, the limiting portion may be combined together and then pass through the second guide wheel 41, and after the second rotating shaft passes through the second guide wheel 41, the limiting portion is opened to limit the second guide wheel 41 to the second rotating shaft 42.

It is understood that the second guide wheel assembly 40 may also include a plurality of second guide wheels 41, and the plurality of second guide wheels 41 are coaxially disposed, so as to further improve the structural stability of the limb rehabilitation exoskeleton 100.

Referring to fig. 2, in an embodiment of the present application, a length L1 of the first guide wheel 31 in the axial direction has a range of values: l1 is more than or equal to 10mm and less than or equal to 200 mm; when the axial length of the first guide wheel 31 is less than 10mm, the contact area of the first guide wheel 31 and the supporting surface is small, which is easy to cause unstable support of the limb rehabilitation exoskeleton 100 in the rolling process and affect the rehabilitation effect of the user; when the axial length of first guide wheel 31 is greater than 200mm, the occupied space of first guide wheel 31 is too large, the overall structure of limb rehabilitation exoskeleton 100 is too large, the arrangement of a user is not facilitated, and when the value range of L1 is 10mm to 200mm, the user can be supported conveniently on one hand, and the user can not occupy too large volume and is convenient to use on the other hand. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 90mm, 100mm, 120mm, 150mm, 160mm, 180mm and the like, which are convenient for supporting and do not occupy too large volume.

The axial length L2 of the second guide wheel 41 has a value range of: l2 is more than or equal to 30mm and less than or equal to 120 mm. When the axial length of the second guide wheel 41 is less than 30mm, the contact area of the second guide wheel 41 and the supporting surface is small, which is likely to cause unstable support of the limb rehabilitation exoskeleton 100 in the rolling process and affect the rehabilitation effect of the user; when the length of the second guide wheel 41 in the axial direction is greater than 120mm, the occupied space of the second guide wheel 41 is too large, the overall structure of the limb rehabilitation exoskeleton 100 is too large, the arrangement of a user is not facilitated, and when the value range of the L2 is 30mm to 120mm, the user can be supported conveniently on one hand, and the overlarge volume cannot be occupied on the other hand, so that the use is facilitated. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 90mm, 100mm and the like, can be conveniently supported and do not occupy too large a volume.

Referring to fig. 3, in an embodiment of the present application, a radius of the first guide wheel 31 is r1, a radius of the second guide wheel 41 is r2, and a relationship between r1 and r2 is: r1 is not more than r 2. Considering that the diameter of the thigh of the human body is generally larger than that of the shank, the radius of the first guide wheel 31 is set to be smaller than or equal to that of the second guide wheel 41, so that the shape of the limb rehabilitation exoskeleton 100 is more adaptive to the shape of the human body, and the adaptation degree and the rehabilitation effect are improved.

Referring to fig. 1, 4 to 7, in an embodiment of the present application, the first guide wheel assembly 30 further includes a connecting frame 12, the connecting frame 12 is disposed at an end of the first support rod 10 facing away from the second support rod 20, the connecting frame 12 extends along a radial direction of the first support rod 10, and the first rotating shaft 123 extends along the radial direction of the first support rod 10 and is rotatably connected to the connecting frame 12. The arrangement of the connecting frame 12 and the first rotating shaft 123 extending along the radial direction of the first supporting rod 10 can increase the installation space of the first guide wheel 31, so that more first guide wheels 31 can be arranged on the first guide wheel assembly 30, thereby further increasing the contact area with the supporting surface and improving the structural stability of the limb rehabilitation exoskeleton 100. And it can be appreciated that when first guide wheel 31 and second guide wheel assembly 40 support the ground simultaneously, the support positions are distributed in a substantially triangular shape, and thus the stability of limb rehabilitation exoskeleton 100 during movement can be improved. In one embodiment, the connecting frame 12 is substantially in the form of an elongated plate, which is arranged to save production costs on the one hand and to extend in the radial direction of the first support bar 10 on the other hand. When the connecting frame 12 is connected to the first supporting rod 10, the limb rehabilitation exoskeleton 100 is substantially arranged in a T shape or an L shape, so that the structural stability is ensured.

Referring to fig. 4 and 5, in an embodiment of the present application, the connection frame 12 includes a support body 121 and a connection member 122 connected to the support body 121, the connection member 122 is used to fixedly connect the first support rod 10 to the support body 121, and the first rotation shaft 123 is rotatably connected to the support body 121. The connecting member 122 may be a nut, a snap structure or a limiting structure, and the first support rod 10 may further have a screw hole, a snap position or a matching position, so that the connecting member 122 can connect the first support rod 10 and the support body 121. The connection member 122 may fix the first support bar 10 to a surface of the support body 121, thereby facilitating the installation of a user. And, the support body 121 is arranged, so that the connecting frame 12 can be better used for supporting the limb rehabilitation exoskeleton 100, and the structural stability is improved.

Referring to fig. 4 and 5, in an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected to the support main body 121, the clamping member 1221 is formed with a first fitting hole 1221a for installing the first support rod 10, the clamping member 1221 is further formed with a second fitting hole 1221b penetrating the first fitting hole 1221a, the first support rod 10 is formed with a third fitting hole 11, and the connection member passes through the second fitting hole 1221b and the third fitting hole 11 to fixedly connect the clamping member 1221 and the first support rod 10. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, it can be understood that, the first fitting hole 1221a is provided to limit the position of the first support rod 10 in the radial direction of the hole, and the cross-sectional profile of the first fitting hole 1221a is preferably adapted to the cross-sectional profile of the first support rod 10, so as to improve the fixing effect when the first support rod 10 is inserted into the first fitting hole 1221 a. In this embodiment, the connecting member may be a nut, and the second and third

fitting holes

1221b and 11 may be screw holes, thereby facilitating the fixation of the clamping member 1221 to the first support rod 10.

In an embodiment of the present application, the connecting member 122 includes a connecting piece and a clamping piece 1221 detachably and fixedly connected with the supporting body 121, the clamping piece 1221 is formed with a clamping groove for clamping the first supporting rod 10, a notch of the clamping groove faces the supporting plate 1211, the clamping piece 1221 is further formed with a second matching hole 1221b penetrating through a wall of the clamping groove, the first supporting rod 10 is formed with a third matching hole 11, the connecting piece passes through the second matching hole 1221b and the third matching hole 11, and the clamping piece 1221 and the first supporting rod 10 are fixedly connected. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, since the clamping groove has a notch, the provision of the clamping groove may facilitate the installation of the first support bar 10 by a user. It is to be understood that the connecting member may be a nut, and the second and third

fitting holes

1221b and 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

Referring to fig. 6 and 7, in an embodiment of the present application, the support body 121 includes a support plate 1211 and a support protrusion 1212 connected to a surface of the support plate 1211, the connection member 122 is disposed on a surface of the support protrusion 1212 facing away from the support plate 1211, the support plate 1211 extends along a radial direction of the first support rod 10, the support protrusion 1212 is formed with a through hole along the radial direction of the first support rod 10, and the first rotation shaft 123 rotatably passes through the through hole. The first rotating shaft 123 may be supported by the support protrusion 1212, and the support protrusion 1212 and the support plate 1211 may be provided with screw holes, so that the support plate 1211 and the support protrusion 1212 may be fixedly connected by a nut.

Referring to fig. 6 and 7, in an embodiment of the present application, the number of the supporting protrusions 1212 is at least two, and the first rotating shaft 123 rotatably passes through the through hole of each supporting protrusion 1212. The provision of the plurality of support protrusions 1212 may allow the first rotating shaft 123 to be supported at a plurality of positions, thereby improving rotational stability of the first rotating shaft 123. When the plurality of first guide wheels 31 are provided, portions of the plurality of first guide wheels 31 may be disposed between the two support protrusions 1212, so that the first guide wheel assembly 30 has a better guiding effect.

Referring to fig. 5, in an embodiment of the present application, a surface of the support plate 1211 facing away from the support protrusion 1212 is recessed to form an abdicating groove 1211a, and the abdicating groove 1211a is used for positioning the limb. The abdicating groove 1211a can reduce the occupied space of the connecting frame 12 on one hand, and can position the limbs on the other hand, thereby improving the rehabilitation effect.

Referring to fig. 8, in an embodiment of the present application, the first guide pulley 31 includes:

a support hub 311, wherein the support hub 311 includes an inner rim 3111, an outer rim 3112 and a connecting rib 3113, the inner rim 3111 and the outer rim 3112 are sleeved with each other, the connecting rib 3113 is disposed between the inner rim 3111 and the outer rim 3112 and connects the inner rim 3111 and the outer rim 3112; and

an outer ring of the hub bearing 312 is fixedly connected to the inner ring 3111, and an inner ring of the hub bearing 312 is fixedly connected to the first rotating shaft 123. In an embodiment, the material of the support hub 311 may be made of plastic (the plastic may be selected from rigid plastics, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), so as to reduce the cost and facilitate the molding. The first guide roller 31 is disposed substantially in a cylindrical shape so as to facilitate rolling. Set up tie-bar 3113 and can further improve interior rim 3111 and outer rim 3112's stability to make the weight of first guide pulley 31 not too heavy, influence user's use experience. The hub bearing 312 is arranged to change the connection between the first guide wheel 31 and the first rotating shaft 123 into rolling friction, so that the rotating friction force is reduced, and therefore, when a user uses the limb rehabilitation exoskeleton 100 for rehabilitation training, the normal movement track of the limb is closer, and the use is convenient.

In an embodiment of the present application, one of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a convex key, and the other of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a key groove, and the convex key is inserted into the key groove to fixedly connect the first rotating shaft 123 and the hub bearing 312. In this embodiment, the mode through convex key and keyway realizes the fixed of bearing and axle, so set up can make the fixed effect of the two better, can adopt fixed modes such as spline, triangle key, as long as can realize better fixed can.

In an embodiment of the present application, the first guide wheel assembly 30 and the second guide wheel assembly 40 are disposed on a supporting surface, the first guide wheel assembly 30 is projected on the supporting surface to form a first projection area, the connecting frame 12 and the first support rod 10 are projected on the supporting surface to form a second projection area, and the length of the first projection area is greater than the length of the second projection area in the axial direction of the first guide wheel 31. That is, the width of first guide wheel subassembly 30 is greater than the width of first bracing piece 10 and link 12, because the one end that the limbs shank deviates from the thigh does not have other similar organs (unlike the thigh, the thigh root is similar), be difficult to obtain stably through the support of human body, it can make the structure of limbs recovered ectoskeleton 100 more stable to set up the great first guide wheel subassembly 30 of width, and then improves the first bracing piece 10 and the rotation of second bracing piece 20 steady in the rehabilitation training process, improves recovered effect.

Referring to fig. 9, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a power device 70, wherein the power device 70 drives the first support rod 10 to rotate relative to the second support rod 20. The power device 70 may be a motor, which may be a stepper motor or a servo motor or a brush motor or a brushless motor. The output shaft of the motor can also be in transmission connection with the first support rod 10 and/or the second support rod 20 through a transmission member. The transmission member may be a steel wire, a gear, a worm or a belt, etc., as long as it is convenient for transmission, in an embodiment, the motor may be disposed on the second support rod 20, when the power device 70 drives the first support rod 10 to rotate through the transmission assembly, the first support rod 10 drives the shank to move, so that the human body completes the actions of bending knees, straightening, etc., when these actions are completed, the position change amplitude of the power device 70 is very small, thereby reducing or even avoiding the power device 70 from doing work by overcoming its own gravity. The problems of leg rotation and joint misalignment caused by uneven gravity distribution of joint components are also avoided, and the rehabilitation of a user is better assisted. In order to facilitate the patient to wear the exoskeleton, in the embodiment, the power device 70 is detachably connected to the second support rod 20, when the exoskeleton is worn by the patient, the power device 70 can be detached first to reduce the weight of the exoskeleton when the patient wears the exoskeleton, and after the joint assembly is worn, the power device 70 is installed on the second support rod 20. In other embodiments of the present invention, the power device 70 can be fixedly connected to the second support rod 20 to reduce the number of steps required to wear the exoskeleton.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A limb rehabilitation exoskeleton, comprising:

a first support bar;

the second support rod is rotatably connected with the first support rod;

the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and

2. The limb rehabilitation exoskeleton of claim 1 wherein said second member comprises a sliding section and a support section connected to said sliding section, said sliding slot extends through an end surface of said connecting plate along a length direction of said connecting plate, said sliding section is slidably received in said sliding slot, said first member is movably abutted against said sliding section, said second support bar is abutted against a surface of said sliding section facing away from a bottom of said sliding slot, and said support section extends out of said sliding slot.

3. The limb rehabilitation exoskeleton of claim 2 further comprising a mounting member disposed adjacent to the second support bar and covering a slot of the other portion of the chute, the mounting member fixedly connected to the web, and the first member fixedly connected to the mounting member.

4. The limb rehabilitation exoskeleton of claim 3 wherein said sliding channel comprises a first channel section and a second channel section connected to said first channel section, said first channel section has a channel width greater than that of said second channel section, said sliding section protrudes in a width direction of said sliding channel to form a protrusion, said second support bar is disposed to cover at least a portion of said second channel section, and said mounting member covers a connection between said first channel section and said second channel section.

5. The limb rehabilitation exoskeleton of claim 4 wherein said mounting member is formed with a mounting hole provided in the region where said mounting member covers said second slot section, and said first member is an index pin mounted in said mounting hole and telescopically abutting said sliding section.

6. The limb rehabilitation exoskeleton of claim 3 wherein said mounting member is formed with a first coupling aperture and said connecting plate is formed with a second coupling aperture, said limb rehabilitation exoskeleton further comprising a coupling member passing through said first coupling aperture and said second coupling aperture to fixedly couple said mounting member to said connecting plate.

7. The limb rehabilitation exoskeleton of claim 6 wherein said first plurality of connection holes are spaced apart from said mounting member, said second plurality of connection holes are spaced apart from said mounting member, said plurality of connection members are spaced apart from said mounting member, and a connection member is disposed through a first connection hole and is fixedly connected to a second connection hole.

8. The limb rehabilitation exoskeleton of claim 2 wherein said first support bar and/or said second support bar are rotated to form an included angle in the rotation direction of said first support bar and/or said second support bar, and said support section is bent from said sliding section towards said first support bar.

9. The limb rehabilitation exoskeleton of claim 2 wherein the end of said support section facing away from said sliding section is disposed in an arc.

10. The limb rehabilitation exoskeleton of any one of claims 1 to 9 wherein the first support bar and/or the second support bar are angled in the direction of rotation of the first support bar and/or the second support bar, the first guide wheel assembly is provided on the side of the first support bar facing the second support bar, and the second guide wheel assembly is provided on the side of the second support bar facing the first support bar.