CN111888187A - Active type knee hyperextension lower limb rehabilitation exoskeleton device - Google Patents

Abstract

The invention belongs to the technical field of rehabilitation orthoses, and discloses an active knee hyperextension lower limb rehabilitation exoskeleton device. The rehabilitation exoskeleton device includes a back component, a right waist control component, a left waist control component, a right Knee joint motion execution assembly and left knee joint motion execution assembly, the right waist control assembly and the left waist control assembly are respectively disposed on the back assembly, and the two are symmetrically disposed; the right waist control assembly The assembly and the left waist control assembly are respectively connected to the right knee joint motion execution assembly and the left knee joint execution assembly. The exoskeleton device not only has the characteristics of comfortable wearing, compact structure, reliable positioning, long battery life, and large bearing capacity, but also can effectively enhance the autonomous control of patients with hyperextension of the knee, and reduce the weight and weight of the motion execution component at the knee joint of the patient. The local compression of the lower limbs during the wearing process does not affect the functional activities of the patient.

Description

An active knee hyperextension lower limb rehabilitation exoskeleton device

technical field

The invention belongs to the technical field of rehabilitation orthoses, and more particularly, relates to an active knee hyperextension lower limb rehabilitation exoskeleton device.

Background technique

Stroke is one of the diseases with high morbidity and disability rates. About 80% of patients are accompanied by functional impairments such as limbs, speech, and consciousness. Among them, 40% to 68% of patients have knee hyperextension. Studies have shown that patients with hyperextension of the knee have poor control of body balance, especially lack of control of knee extension from 0° to 15°, and patients often cannot achieve normal alignment of the femur and tibia during walking, interfering with the situation. The normal alignment of the body during the stance phase in turn hinders the patient's knee flexion before the swing phase begins.

The traditional rehabilitation exoskeletons for knee hyperextension are mostly passive orthoses, such as Swedish knee hyperextension orthosis, AFO and KAFO, etc., as far as individuals are concerned, they have their own defects. The Swedish knee hyperextension orthosis is likely to cause excessive compression of the patient's knee, resulting in poor blood circulation in the entire patient's lower extremity or with obvious pain and other side effects. At the same time, it has no knee joint setting, which will also affect the patient's functional activities such as standing up, sitting down, and going up and down stairs to a certain extent. Due to poor knee control in stroke patients, the correction effect of AFO may not be ideal for patients with more severe knee hyperextension. The weight of KAFO is heavier for hemiplegic patients, which will affect the patient's walking ability, increase energy consumption, and easily produce fatigue. In terms of commonality, most traditional passive orthoses lack the relevant settings to enhance the patient's active motion control ability, and cannot effectively enhance the patient's ability to control knee extension within a specific angle, and most patients need one-on-one external force assistance from physicians during the rehabilitation process. , greatly increased social pressure.

SUMMARY OF THE INVENTION

In view of the above defects or improvement needs of the prior art, the present invention provides an active knee hyperextension lower extremity rehabilitation exoskeleton device, which can greatly relieve the pressure of hospitals and society, and enhance the wearing comfort of knee hyperextension patients. Correspondingly, it not only has the characteristics of comfortable wearing, compact structure, reliable positioning, long battery life, and large bearing capacity, but also can effectively enhance the autonomous control ability of patients with knee hyperextension and reduce the risk of knee hyperextension. The weight of the motion execution components at the joints reduces the local compression of the patient's lower limbs during the wearing process, and at the same time does not affect the patient's functional activities such as standing up, sitting down, and going up and down stairs.

In order to achieve the above object, according to one aspect of the present invention, an active knee hyperextension lower limb rehabilitation exoskeleton device is provided, the rehabilitation exoskeleton device includes a back component, a right waist control component, a left waist control component, a right A side knee joint motion execution assembly and a left knee joint motion execution assembly, the right waist control assembly and the left waist control assembly are respectively disposed on the back assembly, and the two are symmetrically disposed; the right waist The control assembly and the left waist control assembly are respectively connected to the right knee joint motion execution assembly and the left knee joint execution assembly;

The right knee joint motion execution assembly includes at least one thigh strap, at least one calf strap, a thigh connecting piece, a calf connecting piece, a first thigh rotating piece, a calf rotating piece, a tension spring, a third rope, and a thigh positioning piece The support pin and the calf positioning support pin, the thigh strap is connected to one end of the thigh connector, the calf strap is connected to one end of the calf connector, and the other end of the thigh connector is connected to the thigh connector. The other end of the calf connector is rotatably connected; one end of the first thigh connector is rotatably connected to the middle of the thigh connector through the thigh positioning support pin, and the other end is rotatably connected to one end of the calf rotating component , the other end of the lower leg rotating member is rotatably connected to the middle of the lower leg connecting member through the lower leg positioning support pin shaft; the two ends of the tension spring are respectively connected to one end of the thigh positioning support pin shaft and the other end of the lower leg positioning support pin. one end of the lower leg positioning support pin; one end of the third rope is connected to the lower leg connecting piece adjacent to the lower leg positioning support pin, and the other end is connected to the right waist control assembly; the right The side waist control assembly transmits an external force to the right knee joint motion execution assembly through the third rope to control the rotation between the upper leg connecting member and the lower leg connecting member.

Further, the right knee joint motion execution assembly includes a sixth internal thread positioning connecting shaft, and the first thigh rotating member is rotatably connected to the calf rotating member through the sixth internal thread positioning connecting shaft; The side of the rotating member facing the first thigh connecting member is provided with an arc-shaped groove; the side of the first thigh rotating member facing the calf rotating member is provided with a first limiting cylindrical boss, the first limiting The cylindrical boss is inserted into the arc-shaped groove, and a sliding connection is formed between the first limiting cylindrical boss and the arc-shaped groove.

Further, the back assembly includes a back lithium battery support, a back lithium battery support cover, a second strap, a first strap, two waist width adjustment members, two flexible substrates, and two flexible load-bearing connections. and a first strap, the cover plate of the back lithium battery support member is arranged at one end of the back lithium battery support member, and the second strap is connected to the cover plate of the back lithium battery support member; One end of the waist width adjustment member is respectively connected to the other end of the back lithium battery support member, and the two waist width adjustment members are symmetrically arranged with respect to the central axis of the back lithium battery support member; The two ends are respectively connected to the other ends of the two waist width adjustment members; the two flexible substrates are respectively arranged on the inner side of the two waist width adjustment members; one ends of the two flexible load-bearing connecting members are respectively connected On the two flexible substrates, the other ends are respectively connected to the thigh connecting piece of the right knee joint motion execution assembly and the thigh connecting piece of the left knee joint motion execution assembly.

Further, the back assembly further includes two lithium batteries, and the two lithium batteries are respectively arranged in the back lithium battery support; when in use, the second strap is tied to the upper body of the user, so the The first strap and the waist adjusting member are bound together on the waist of the user, and the thigh strap and the calf strap are respectively bound on the user's thigh and calf.

Further, the back assembly further includes two waist assembly positioning support frames, the two waist assembly positioning support frames are respectively arranged on the outer sides of the two waist width adjustment members, and the two waist assembly positioning supports The components are respectively connected to the right waist control assembly and the left waist control assembly.

Further, the rehabilitation exoskeleton device further includes a connected angle sensor and a controller; the right knee joint motion execution assembly and the left knee joint motion execution assembly are respectively provided with the angle sensor, and the The angle sensor is used to detect the flexion and extension angle of the thigh and the calf during walking, and transmits the detected flexion and extension angle data to the controller, and the controller controls the right waist control component respectively according to the received data and the left waist control assembly, and then control the right knee joint motion execution assembly and the left knee joint motion execution assembly.

Further, the flexion and extension angle range during the patient's walking is set to be 0° to 150°, and within this flexion and extension angle range, it does not affect the patient's standing up, sitting down, and going up and down stairs; the motor of the right lumbar control assembly and the motor of the left lumbar control assembly to respectively provide tension to the ropes in the right lumbar control assembly and the left lumbar control assembly; when the flexion and extension angle is 15° to 150°, the patient is within the range of this flexion and extension angle. It can freely do flexion and extension movements. At this time, the motor is only used to balance the tension of the extension spring within the flexion and extension angle range, so as to ensure that the corresponding rope is always in a tensioned state during the whole movement process, and then the corresponding rope Prevent the phenomenon of rope skipping during the patient's walking; when the flexion and extension angle is between 0° and 15°, the active knee hyperextension lower extremity rehabilitation exoskeleton device starts to control the patient's flexion and extension, within the range of this flexion and extension angle. , the patient performs flexion and extension movements under the combined action of the pulling force of the extension spring, the pulling force exerted by the motor and the force exerted by the patient on the active knee hyperextension lower limb rehabilitation exoskeleton device, thereby realizing the walking of the patient. Normal alignment of the femur to the tibia during the procedure.

Further, the right waist control assembly includes a box body, a motor arranged in the box body, a reducer, a first rotating pulley, a second rotating pulley, and a first rope, and the output shaft of the motor is connected to the the speed reducer, the output shaft of the speed reducer is fixedly connected to the first rotating pulley, one end of the first rope is fixedly connected to the first rotating pulley, and is wound on the second rotating pulley, The central axis of the first rotating pulley is perpendicular to the central axis of the second rotating pulley, so that the first rope is turned.

Further, the right waist control assembly further includes a motor frame, a slider and a second rope, the motor frame is formed with a first chute, the slider is slidably arranged in the first chute, so The other end of the first rope passes through a groove wall of the first chute and is connected to one end of the slider, and one end of the second rope passes through another groove wall of the first chute is connected to the other end of the slider, the other end of the second rope is connected to the third rope, and the motor sequentially passes through the reducer, the first rope, the second rope and the A third cord provides power for the rotation of the lower leg link and the thigh link.

Further, the motor frame is also formed with a positioning slot, and the positioning slot is spaced from the first chute; the right waist control assembly further includes a fixing plate, a guide rod, a guide block, a compression spring and a cam handle , the fixing plate is provided with a first through groove, and the first through groove is communicated with the first chute; the side of the fixing block facing the cam handle is provided with U-shaped grooves arranged at intervals, so The U-shaped groove is communicated with the first through groove, and the length directions of the two are vertical; the middle part of the guide rod is provided with a square guide boss, and one end of the guide rod passes through the first through groove. It enters the first chute and is connected with the slider, and the other end passes through the compression spring and the guide block in turn and is connected to the middle of the pin at the cam handle. The end is rotatably connected with the cam handle; the front and rear sides of the guide block are provided with U-shaped clamping blocks, the shape of the clamping block is consistent with the shape of the U-shaped groove, and the two cooperate; The cam handle is used to adjust the distance between the guide block and the U-shaped groove, so that the clamping block is clamped in the U-shaped groove or disengaged from the U-shaped groove, thereby making the exoskeleton The device is in a locked state or a movable state.

In general, compared with the prior art, the active knee hyperextension lower extremity rehabilitation exoskeleton device provided by the present invention mainly has the following beneficial effects:

1. The right waist control assembly and the left waist control assembly are respectively arranged on the back assembly, and the two are symmetrically arranged; the right waist control assembly and the left waist control assembly are respectively connected to The right knee joint motion execution assembly and the left knee joint motion execution assembly, such that the power output assembly and the joint motion execution assembly are separately arranged, not only have the advantages of comfortable wearing, compact structure, reliable positioning, long battery life, and large bearing capacity. It can effectively enhance the voluntary motion control ability of patients with hyperextension of the knee, reduce the weight of the motion execution device at the knee joint of the patient, reduce the local compression of the patient's lower limbs during the wearing process, and does not affect the patient's standing, sitting and sitting. , down stairs and other functional activities.

2. Both ends of the extension spring are respectively connected to one end of the thigh positioning support pin and one end of the lower leg positioning support pin to provide restoring force for the lower leg connector and the thigh connector.

3. The first limiting cylindrical boss is inserted into the arc-shaped groove, and a sliding connection is formed between the first limiting cylindrical boss and the arc-shaped groove, so that the rotation of the thigh rotating member is Limit.

4. The angle sensor is used to detect the flexion and extension angles of the thigh and calf during walking, and transmit the detected flexion and extension angle data to the controller, and the controller controls the right and left sides according to the received data. The side waist control assembly and the left waist control assembly further control the right knee joint motion execution assembly and the left knee joint motion execution assembly, which realizes automatic control and has strong applicability.

5. Adjust the distance between the guide block and the U-shaped groove by rotating the cam handle, so that the clamping block is clamped in the U-shaped groove or separated from the U-shaped groove, thereby The exoskeleton device is made to be in a locked state or a movable state, so that the motor is prevented from being in a locked-rotor working state for a long time, and the service life is prolonged.

Description of drawings

1 is a schematic diagram of the use state of the active knee hyperextension lower limb rehabilitation exoskeleton device provided by the present invention;

Fig. 2 is another use state schematic diagram of the active knee hyperextension lower limb rehabilitation exoskeleton device in the figure;

Fig. 3 is the structural representation of the back component of the active knee hyperextension lower limb rehabilitation exoskeleton device in Fig. 1;

Figure 4 is a partial exploded view of the back region of the back component of the active hyperextension lower extremity rehabilitation exoskeleton device of Figure 3;

5 is a partial exploded view of the lumbar region of the back component of the active knee hyperextension lower extremity rehabilitation exoskeleton device of FIG. 3;

Fig. 6 is a perspective view of the right waist control assembly of the active knee hyperextension lower extremity rehabilitation exoskeleton device in Fig. 1;

Fig. 7 is the exploded schematic diagram of the right waist control assembly in Fig. 6;

Fig. 8 is the exploded schematic diagram of the manual locking part of the right waist control assembly in Fig. 6;

FIG. 9 is a schematic perspective view of the left waist control assembly of the active knee hyperextension lower extremity rehabilitation exoskeleton device in FIG. 1;

Figure 10 is a partial exploded schematic view of the left waist control assembly in Figure 9;

Figure 11 is an exploded schematic view of the manual locking control part of the left waist control assembly in Figure 9;

12 is a schematic structural diagram of the right knee joint motion execution component of the active knee hyperextension lower extremity rehabilitation exoskeleton device in FIG. 1;

Fig. 13 is a partial exploded schematic view of the knee joint steering part of the right knee joint motion execution assembly in Fig. 12;

Fig. 14 is a partial exploded schematic view of the rotating part of the right knee joint motion execution assembly in Fig. 12:

Fig. 15 is a schematic diagram of a modified example of the knee joint motion execution assembly.

In all figures, the same reference numerals are used to refer to the same elements or structures, wherein: 1 - user, 2 - back assembly, 201 - lithium battery, 202 - back lithium battery support cover, 203 - back Lithium battery support, 204-waist width adjustment piece, 205-flexible pad, 206-waist assembly positioning support frame, 207-flexible load-bearing connecting belt, 208-first strap, 209-second strap, 210-belt Hole pin shaft, 211-R-type pin, 212-First internal thread positioning connecting shaft, 213-Second internal thread positioning connecting shaft, 214-Third internal thread positioning connecting shaft, 3-Right waist control assembly, 301- Left cover, 302-motor support and positioning piece, 303-encoder, 304-motor, 305-reducer, 306-upper cover, 307-first rotating pulley, 308-right cover, 309-first rope, 310- Steel ball with holes, 311- Second rotating pulley, 312- Oil-free bushing, 313- Bearing cover, 314- Lower base, 315- Motor frame, 316- Second rope, 317- Fastening nut, 318- Bowden Conduit, 319-Bowden Conduit Fitting, 320-Slide Cover, 321-Slide, 322-First Retaining Ring, 323-Slide End Pin, 324-Fixing Plate, 325-Guide Rod, 326-compression spring, 327-guide block, 328-second elastic ring, 329-pin shaft at cam handle, 330-cam handle, 4-left waist control assembly, 401-left waist control assembly lower base, 402 - Left waist control assembly motor frame, 403- Left waist control assembly upper cover, 5- Right knee joint motion execution assembly, 501- Thigh strap, 502- Thigh connecting piece, 503- Third rope, 504- calf connector, 505-calf strap, 506-calf strap frame, 507- lower thigh strap frame, 508- upper thigh strap frame, 509- countersunk head screw, 510-first bearing positioning piece, 511-sink Head screw cap, 512-Anti-overadjustment stepped shaft, 513- Bushing cover, 514-Second oil-free bushing, 515-Linear optical axis, 516-Bearing, 517-Fourth female thread positioning connecting shaft, 518- The second bearing positioning piece, 519-calf support positioning pin, 520-thigh support positioning pin, 521-fifth internal thread positioning connecting shaft, 522-first sleeve, 523-first thigh rotating piece, 524-th Six internal thread positioning connecting shaft, 525-second sleeve, 526-calf rotating piece, 527-third sleeve, 528-extension spring, 529-second thigh rotating piece, 6-left knee joint motion execution component .

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Please refer to FIG. 1 and FIG. 2 , an active knee hyperextension lower limb rehabilitation exoskeleton device provided by the present invention, the rehabilitation exoskeleton device includes a back component 2, a right waist control component 3, a left waist control component 4, a right The knee joint motion execution component 5 and the left knee joint motion execution component 6, the right lumbar control component 3 and the left lumbar control component 4 are respectively arranged on the back component 2, and the two are symmetrically arranged. The right waist control assembly 3 and the left waist control assembly 4 are respectively connected to the right knee joint motion execution assembly 5 and the left knee joint motion execution assembly 6 .

Please refer to FIGS. 3 , 4 and 5 , the back assembly 2 includes two lithium batteries 201 , a back lithium battery support cover 202 , a back lithium battery support 203 , two arc-shaped waist width adjustment members 204 , Two flexible pads 205, two waist positioning supports 206, two flexible load-bearing connecting straps 207, a first strap 208, a second strap 209, four pin shafts 210 with holes, four R-shaped pins 211, Four first internal thread positioning connection shafts 212 , four second internal thread positioning connection shafts 213 and four third internal thread positioning connection shafts 214 .

The end of the back lithium battery support member 203 away from the right waist control assembly 3 is provided with two first card slots, and the two lithium batteries 201 are respectively disposed in the two first card slots. The cover plate 202 of the back lithium battery support member is connected to the end of the back support member 203 formed with the first slot by screws, and the lithium battery 201 is fixed in the first slot at the same time. One end of the back lithium battery support member cover plate 202 forms a connecting plate, the connecting plate is located on one side of the back lithium battery support member 203, and is provided with a strip-shaped notch. The second strap 209 is connected to the back lithium battery support member cover 202 through the strip-shaped slot, and is tied to the upper body of the user 1 during use.

The back side of the lithium battery support 203 facing the back of the user 1 is provided with a plurality of first through holes, and the first through holes are arranged in two rows along the width direction of the back lithium battery support 203 , And the two rows of the first through holes are symmetrically arranged with respect to the central axis of the back lithium battery support member 203 . One end of the waist positioning support frame 206 is provided with two first stepped holes arranged at intervals. A through hole is equally spaced along the back lithium battery support member 203 , and the positions are corresponding to each other. One ends of the four pin shafts with holes 210 pass through the corresponding first stepped holes and the first through holes in sequence and then are connected to the R-shaped pins 211, so that the waist width adjustment member 204 is connected to the corresponding R-shaped pin 211. The back lithium battery support members 203 are connected together, and the two waist width adjustment members 204 are symmetrically distributed with respect to the central axis of the back lithium battery support member 203 .

The two flexible pads 205 are respectively disposed on the inner sides of the two waist width adjustment members 204 , specifically, the flexible pads 205 are stitched with the inner sides of the corresponding waist width adjustment members 204 by needle and thread. stitched together. The two waist positioning support frames 206 are respectively connected to the outer sides of the two waist width adjusting members 204 through the two second internal thread positioning connecting shafts 213 and the two third internal thread positioning connecting shafts 214 . Both ends of the first strap 208 are respectively connected with one end of the two flexible pads 205 away from the back lithium battery support member 203 , and the flexible pads 205 are connected to the first strap 208 during use. Work together to bind with the waist of the human body. In this embodiment, the waist positioning support frame 206 defines a plurality of second mounting positioning holes 206-1.

One ends of the two flexible load-bearing connectors 207 are respectively connected to one side of the two flexible pads 205 , and the length direction of the flexible load-bearing connectors 207 is perpendicular to the length direction of the flexible pads 205 . Specifically, the flexible load-bearing connector 207 is sewed together with the flexible pad 205 by means of needle and thread stitching. The other ends of the two flexible load-bearing connecting members 207 are respectively connected to the right knee joint motion execution assembly 5 and the left knee joint motion execution assembly 6 to relieve local compression of the lower limbs.

Please refer to FIG. 6 , FIG. 7 and FIG. 8 , the right waist control assembly 3 is basically L-shaped, and includes a left cover plate 301 , a motor support and positioning member 302 , an encoder 303 , a motor 304 , a reducer 305 , and an upper cover Plate 306, first rotating pulley 307, right cover plate 308, first rope 309, perforated steel ball 310, second rotating pulley 311, oil-free bushing 312, bearing cover 313, lower base 314, motor frame 315, second rope 316, tightening nut 317, Bowden wire tube 318, Bowden wire tube fixing joint 319, slider cover 320, slider 321, first elastic retaining ring 322, slider end pin 323, fixing plate 324, guide The rod 325 , the compression spring 326 , the guide block 327 , the second elastic retaining ring 328 , the pin 329 at the cam handle and the cam handle 330 .

The left cover 301 is L-shaped, and is fixedly connected to the lower base 314 by screws. The lower bottom plate 314 is in a concave shape, the L-shaped right cover 308 is also fixedly connected to the lower base 314 , and the left cover 301 and the right cover 308 are respectively located on the lower base At the opposite ends of 314, the L-shaped upper cover 306 is also connected to the lower base 314, thereby connecting the left cover 301, the right cover 308, the lower base 314 and the upper The cover plates 306 are joined together to form the box structure. The lower base 314 is formed with a first groove.

The left side of the motor 304 is connected to the encoder 303 , the right side is connected to the reducer 305 , and the output end of the motor 304 is connected to the input end of the reducer 305 . The encoder 303 is connected to the lithium battery 201 through wires. The motor supporting and positioning member 302 is disposed on the bottom surface of the first groove, and a second through hole is formed in the upper part thereof. In this embodiment, the bottom of the motor support and positioning member 302 is provided with a first positioning hole, and bolts and nuts are used to cooperate with the first positioning hole to fixedly connect the motor support positioning member 302 and the lower base 314 .

The connecting part of the motor 304 and the reducer 305 is accommodated in the second through hole, and the central axis of the second through hole, the central axis of the reducer 305 and the motor 304 are connected to each other. The center axis coincides. The motor support and positioning member 302 is used to support the motor 304 and the reducer 305 on the one hand, and to prevent the motor 304 and the reducer 305 from shaking during operation.

The motor frame 315 is substantially L-shaped, and one end thereof is provided with a boss 315-2, and a first stepped through hole 315-3 is formed on the boss 315-2. The speed reducer 305 is connected to the boss 315-2 by screws, and the output shaft of the speed reducer 305 passes through the first stepped through hole 315-3. In this embodiment, the central axis of the first stepped through hole 315 - 3 coincides with the central axis of the output shaft of the reducer 305 .

The first rotating pulley 307 is fixedly connected to the output shaft of the reducer 305 by means of form-locking, and the rotating pulley 307 is provided with a first wire slot along the thickness direction and a first wire groove along its circumferential direction. rope slot. The perforated steel ball 310 is disposed in the first wire slot, and the first cord slot is used to accommodate the first cord 309 . One end of the first rope 309 is fixedly connected to the steel ball 310 with holes, so that one end of the first rope 309 is fixed relative to the first rotating pulley 307, so that one end of the first rope 309 is fixed in the first card slot.

The motor frame 315 is also provided with a stepped cylindrical boss 315-1 spaced from the boss 315-2. The stepped cylindrical boss 315-1 faces the upper cover plate 306 along its own length. A first inner threaded hole is opened in the direction. The oil-free bushing 312 is sleeved on the stepped cylindrical boss 315-1, and a sliding connection is formed therebetween. In this embodiment, the central axis of the oil-free bushing 312 coincides with the central axis of the stepped cylindrical boss 315-1. The second rotating pulley 311 is provided with a first central hole in the thickness direction, and a second rope groove is formed in the circumferential direction, and the second rope groove is used for receiving the first rope 309 . The oil-free bushing 312 is accommodated in the first central hole, and there is an interference fit between the oil-free bushing 312 and the second rotating pulley 311 , and the second rotating pulley 311 and the The oil-free bushing 312 can rotate around the stepped cylindrical boss 315-1. After the screw passes through the bearing cover 313, it forms a threaded connection with the first internal threaded hole, so that the bearing cover 313 is fixedly connected to the stepped cylindrical boss 315-1, and the bearing cover 313 is used for the The oil-free bushing 312 is positioned axially. Wherein, the first rope 309 is respectively wound in the first rope groove and the second rope groove, and the winding methods are the same.

As shown in FIG. 8 , the other end of the motor frame 315 is provided with a bar-shaped bump, and one end of the bar-shaped bump facing the upper cover plate 306 is provided with a first sliding slot 315 - 4 and a positioning slot 315 -5, the slider 321 is slidably disposed in the first chute 315-4, and the left and right ends of the slider 321 are respectively provided with lifting lugs, and the lugs are provided with second through holes along the thickness direction. The slider cover 320 is connected to the front end surface of the slider 321 by screws, and is located outside the first sliding groove 315-4. When the slider 321 slides in the first chute 315-4, the rear end surface of the slider 321 is in sliding contact with the bottom surface of the first chute 315-4, and its front end passes through the slider. The cover plate 320 is in sliding contact with the strip-shaped projections to limit the position of the sliding block 321 .

One end of the slider end pin 323 is connected to the first elastic retaining ring 322 after passing through the second through hole. One end of the slider end pin 323 is provided with a flange, and the flange is The outer end surfaces of the lifting lugs are in contact to axially position one side of the slider end pin shafts 323 , and the two first retaining rings 322 are respectively connected to the other ends of the two slider end pin shafts 323 . Axial positioning is performed. The other end of the first rope 309 passes through the groove wall of the first sliding groove 315 - 4 and is connected to the corresponding sliding block end pin 323 to provide pulling force for the left and right movement of the sliding block 321 . One end of the second rope 316 passes through the Bowden cable tube 318 and is connected to the other end pin 323 of the slider. The slider 321 moves the second rope 316 at the same time. One end of the Bowden cable tube 318 is fixedly connected to one end of the Bowden cable tube fixing joint 319, and the other end of the Bowden cable tube fixing joint 319 passes through the left cover plate 310 and the first The groove wall of the chute 315-4 is formed with an external thread, the two fastening nuts 317 are threadedly connected with the external thread, and the two fastening nuts 317 respectively abut against the left cover plate 310 On the opposite sides, the left cover plate 310 , the Bowden cable tube fixing joint 319 , the motor frame 315 and the fastening nut 317 are fixedly connected together.

The fixing block 324 is fixed in the positioning groove 315-5 by screws. The fixing block 324 is provided with a first through groove, and the first through groove is communicated with the first sliding groove, which is used for supplying the fixed block 324. The guide rod 325 passes through and provides guidance for the sliding of the guide rod 325 . A side of the fixing block 324 facing the cam handle 330 is provided with U-shaped grooves arranged at intervals, and the U-shaped grooves are communicated with the first through groove, and the length directions of the two are perpendicular to each other.

One end of the guide rod 325 passes through the first through groove and then enters the first sliding groove 315 - 4 and is screwed together with the sliding block 321 . The middle of the guide rod 325 is provided with a square guide boss 325-1, the other end of which is formed with an external thread, and the guide rod 325 is located on the cylinder between the external thread and the square guide boss 325-1. There are crescent-shaped incisions. The compression spring 326 is sleeved on the guide rod 325, the guide block 327 is slidably sleeved on the guide rod 325, and the compression spring 326 is located between the guide block 327 and the square guide protrusion Between the platforms 325-1, the guide block 327 and the square guide boss 325-1 jointly limit the compression spring 326. In this embodiment, U-shaped clamping blocks are provided on the front and rear sides of the guide block 327 , and the shape of the clamping blocks is consistent with the shape of the U-shaped groove, and the two are matched.

The bottom end of the cam handle 330 is provided with a slot, and a second stepped through hole that communicates with the slot is also provided along the thickness direction. One end of the pin shaft 329 at the cam handle passes through the second step The through hole is then connected to the second elastic retaining ring 328. The flange of the pin shaft 329 at the cam handle and the second elastic retaining ring 322 are jointly used for the axial direction of the pin shaft 329 at the cam handle. limit. One end of the guide rod 325 formed with an external thread penetrates into the slot and forms a threaded connection with the pin shaft 329 at the cam handle. The distance between the guide block 327 and the U-shaped groove is adjusted by rotating the cam handle 329, so that the clamping block is snapped into the U-shaped groove or disengaged from the U-shaped groove, thereby The right waist control assembly 3 is in a locked state or a movable state; at the same time, the guide rod 325 can move along the first through groove to adjust the bending angle of the right knee joint motion execution assembly 5 .

Part or all of the other components of the right waist control assembly 3 except the box are contained in the box, and the box plays the role of dustproof, waterproof, support and positioning for the components inside.

The bottom surface of the first groove is provided with a plurality of first installation positioning holes 314-1, and the motor frame 315 is provided with a plurality of countersunk seats corresponding to the plurality of first installation positioning holes 314-1 respectively. A plurality of the countersunk hole seat holes correspond to a plurality of the second mounting and positioning holes 206-1 respectively, the second internal thread positioning connecting shaft 213 and the third internal thread positioning connecting shaft 214 are in sequence After passing through the waist width adjusting member 204, the second positioning mounting hole 206-1, the countersunk seat hole and the first mounting positioning hole 314-1, it is connected with a screw, so that the waist width can be adjusted The component 204 , the waist assembly supporting and positioning frame 206 , the lower base 314 and the motor frame 315 are connected together.

In order to ensure reliable connection of the lower base 314 , the waist assembly support and positioning frame 206 and the waist width adjustment member 204 , the lower base 314 , the waist assembly support positioning frame 206 , and the waist width adjustment member 204 It is also connected together by the first internal thread positioning connecting shaft 212, and the first internal thread positioning connecting shaft 212 is axially positioned by using the boss end and the internal thread end on the first internal thread positioning connecting shaft 212, In order to ensure the reliability of the connection during the working process.

Please refer to FIG. 9 , FIG. 10 and FIG. 11 , the right waist control assembly 3 and the left waist control assembly 4 are arranged in mirror symmetry with respect to the sagittal plane of the user 1 . Due to the symmetry, the left waist Compared with the right waist control assembly 3, the left waist control assembly 4 includes the left waist control assembly lower base 401, the left waist control motor frame 402, and the left waist control upper cover of the left waist control assembly 4. The internal structure of the parts such as the plate 403 is not exactly the same as the lower base 314, the motor frame 315, and the upper cover 306 of the right waist control assembly 3, other parts are completely the same as the corresponding parts on the right side, and the installation The fixing sequence and method are the same as those of the right waist control assembly.

12 , 13 and 14 , the right knee joint motion execution assembly 5 includes a thigh strap 501 , a thigh connector 502 , a third rope 503 , a calf connector 504 , a calf strap frame 505 , and a calf strap Belt 506, lower thigh strap holder 507, upper thigh strap holder 508, countersunk head screw 509, first bearing positioning piece 510, countersunk head screw cap 511, anti-over-adjustment stepped shaft 512, bushing cover 513, second Oil-free bushing 514, linear optical axis 515, bearing 516, fourth internal thread positioning connection shaft 517, second bearing positioning member 518, calf support positioning pin shaft 519, thigh support positioning pin shaft 520, fifth internal thread positioning connection Shaft 521, first sleeve 522, first thigh rotating member 523, sixth internal thread positioning connection shaft 524, second sleeve 525, calf rotating member 526, third sleeve 527, tension spring 528 and second thigh Rotary member 529.

The two thigh straps 501 are respectively sewn together with the upper thigh strap frame 508 and the lower thigh strap frame 509 by needle thread. The upper thigh strap frame 508 and the lower thigh strap frame 509 are respectively connected with the thigh connecting member 502 by screws, and the two are arranged at intervals. In use, the thigh straps 501 and the calf straps 505 are respectively bound together with the user's thigh and calf. The two calf straps 506 are sewn together with the two calf strap frames 505 by needle thread. One end of the upper thigh strap holder 508 toward the back assembly 2 forms a protrusion, the protrusion is provided with a square through slot along the thickness direction, and the end of the flexible load-bearing connecting belt 207 away from the lithium battery 201 passes through The square through groove is then connected with the upper thigh strap frame 508 by means of needle and thread suturing, thereby reducing the local pressure on the joints of the lower limbs. One end of the thigh connector 502 is formed with a convex shoulder, and the convex shoulder is provided with a threaded through hole along the thickness direction; the end of the Bowden cable pipe fixing joint 319 with an external thread passes through the threaded through hole, and passes through the threaded through hole. Two nuts are threadedly connected to the Bowden cable tube fixing joint 319 and the two nuts are respectively located on opposite sides of the shoulder, so that the Bowden cable tube fixing joint 319 is in contact with the thigh connector 502 . connect. One of the Bowden cable tubes 318 is passed through the corresponding Bowden cable fixing joint 319 , and the other end of the second rope 316 is passed through the corresponding Bowden cable tube 318 .

As shown in FIG. 13 , a rotational connection is formed between the thigh connecting member 502 and the lower leg connecting member 504 . The thigh connector 502 is L-shaped, one end away from the shoulder is rotatably connected to the calf connector 504, and the other end is provided with a first stepped groove, and the groove walls of the first stepped groove are respectively provided with The second stepped hole, the third stepped hole, the second groove and the sixth through hole are arranged at intervals, and the second stepped hole, the third stepped hole and the sixth through hole pass through the second stepped groove The bottom surface of the second groove is provided with a third through hole communicating with the first stepped groove. The lower leg connector 504 is L-shaped, and one end of the second stepped groove is provided with a second stepped groove, and a fifth through hole, a third groove and a fourth stepped hole are sequentially opened on the groove wall of the second stepped groove. The bottom surface of the three grooves is provided with a fourth through hole, and the fourth through hole, the fifth through hole and the fourth stepped hole are all communicated with the second stepped groove.

One end of the thigh connector 502 is partially accommodated in the second stepped groove, the second oil-free bushing 514 is passed through the second stepped hole and the fourth stepped hole, the straight line The optical axis 515 passes through the second oil-free bushing 514 . The two bushing cover plates 513 are respectively connected to one end of the second stepped hole and one end of the fourth stepped hole to axially position the linear optical axis 515, so that the thigh connector 502 forms a rotational connection with the lower leg connector 504 . One end of the fourth internal thread positioning connection shaft 517 is fixedly connected to the countersunk head screw 509 after passing through the two fifth through holes. The two bearings 516 are respectively disposed in the two fourth through holes, and the second bearing positioning member 518 and the first bearing positioning member 510 are respectively disposed in the two third grooves, so as to align the two bearings. Each of the bearings 516 and the lower leg positioning pins 519 are used for axial positioning. One end of the lower leg positioning pin 519 passes through the second bearing positioning member 518 and one of the bearings 516 and is disposed in the other bearing 516 . The two fifth internal thread positioning connection shafts respectively pass through the two sixth through holes and then respectively extend into the other two corresponding sixth through holes and are fixedly connected with the countersunk head screws 509 . One of the second bearing positioning members 518 and one of the first positioning bearing members 510 are respectively arranged in the two second grooves, and the two bearings 516 are respectively arranged in the two third through holes. One end of the thigh support positioning pin 520 passes through the corresponding second bearing positioning member 518 and the bearing 516 and is then disposed in the corresponding other bearing 516 . The first bearing positioning member 510 and the first bearing positioning member 510 and the first bearing positioning member 510 The two bearing positioning members 518 are used for axial positioning of the thigh support positioning pin shaft 520 . The two ends of the anti-overshoot stepped shaft 512 are respectively disposed in the two third stepped holes, and the two countersunk head screw nuts 511 are also disposed in the two third stepped holes respectively and are located in the two third stepped holes. Both sides of the anti-overshoot stepped shaft 512 . The two countersunk head screws 509 respectively pass through the two countersunk head screw nuts 511 and are connected to both ends of the overshoot-proof stepped shaft 512 . One end of the two lower leg rotating members 526 and the third sleeve 527 are respectively sleeved on the lower leg supporting and positioning pin 519 , and the third sleeve 527 is located between the two lower leg rotating members 526 , the lower leg rotating member 526 is located between the groove walls of the second stepped groove.

One end of the first thigh rotating member 523 , one end of the second thigh rotating member 529 and the first sleeve 522 are respectively sleeved on the thigh support positioning pin 520 , and the first sleeve 522 Located between the first thigh rotating member 523 and the second thigh rotating member 529, the first thigh rotating member 523 and the second thigh rotating member 529 are located on two groove walls of the first stepped groove between. The other end of the lower leg rotating member 526 is respectively provided with a bearing through hole and an arc-shaped groove, and the other end of the first thigh rotating member 523 and the other end of the second thigh rotating member 529 are respectively provided with a first limiter. The position cylindrical boss and the second limit cylindrical boss. The two bearings 516 are respectively disposed in the two bearing through holes, and one end of the sixth internal thread positioning connecting shaft 524 passes through the first thigh rotating member 523, the corresponding bearings 516, The second sleeve 525 , the other corresponding bearing 516 and the second thigh rotating member 529 are connected with one of the countersunk head screws 509 , the first limiting cylindrical boss and the first limiting cylindrical boss. The two limiting cylindrical bosses are respectively inserted into the two arc-shaped grooves to limit the rotation of the first thigh rotating member 523 and the second thigh rotating member 529 relative to the lower leg rotating member 526 . The calf rotating member 526 is rotatably connected to the calf connecting member 504, the first thigh rotating member 523 and the second thigh rotating member 529 are rotatably connected to the thigh connecting member 502, respectively. The lower leg rotation member 526 can rotate around the lower leg support positioning pin shaft 519 ; the first thigh rotation member 523 and the second thigh rotation member 529 can rotate around the thigh support positioning pin shaft 520 . Both ends of the tension spring 528 are respectively fixed in the second slot of the thigh support and positioning pin 520 and the third slot of the calf support and positioning pin 519, so that the thigh connector 502 and the The rotational movement of the calf link 504 provides the restoring force.

One end of the third rope 503 is connected to the second rope 316 , and the other end is wound around the fourth internal thread positioning connection shaft 517 and is fixedly connected to the fourth internal thread positioning connection shaft 517 . The third rope 503 is wound on the circumference of the fifth internal thread positioning connecting shaft 521 , the first sleeve 522 , the second sleeve 525 and the third sleeve 527 in order from top to bottom , and are respectively tangent to the outer surfaces of the fifth internal thread positioning connecting shaft 521 , the first sleeve 522 , the second sleeve 525 and the third sleeve 527 . The tension powers the rotational movement of the thigh link 502 and the lower leg link 504 .

The left knee joint motion execution assembly 6 and the right knee joint motion execution assembly 5 are symmetrically distributed with respect to the sagittal plane of the patient's body, and the installation and positioning methods of each component and each component are the same as those of the right side. The knee joint motion execution component 5 is the same.

The left knee joint motion execution assembly 6 and the right knee joint motion execution assembly 5 are both equipped with an angle sensor connected to the controller at the knee joint, and the angle sensor is used to detect the thigh and the calf during walking. The flexion and extension angle of the patient is set; the range of the flexion and extension angle of the patient during walking is set to be 0° to 150°, within this range of flexion and extension angle, the patient’s functional activities such as standing up, sitting down, and going up and down stairs are not affected; at the same time, both ends When the extension spring 528 fixed on the calf support and positioning pin 519 and the thigh support and positioning pin 520 respectively, when the flexion and extension angle is 15°～150°, the patient can freely perform flexion and extension movements within the flexion and extension angle range, The function of the motor 304 is only to balance the tension of the tension spring 528 within the range of the flexion and extension angle, so as to ensure that the first rope 309 and the third rope 503 are always in a tensioned state during the entire movement process, preventing the patient from being injured. During the walking process, the first rope 309 and the third rope 503 appear rope skipping phenomenon; when the flexion and extension angle is between 0° and 15°, the active knee hyperextension lower limb rehabilitation exoskeleton device starts the flexion and extension process of the patient. Precise control, within this flexion and extension angle range, the patient's pulling force on the extension spring 528, the pulling force indirectly applied by the motor 304 to the third rope 503 and the patient's application to the active knee hyperextension lower extremity rehabilitation Under the combined action of the exoskeleton device, precise flexion and extension movements are performed, so that the patient can achieve normal alignment of the femur and tibia during walking.

In addition, in order to enhance the patient's ability to control knee extension from 0° to 15° during walking, achieve normal alignment of the femur and tibia, and ensure the normal alignment of the body during standing, in one gait cycle, the lower limb When in the knee flexion mode, the controller controls the motor to reverse, and when the lower limb is in the knee extension mode, the motor rotates forward; when the knee flexion (knee extension) angle is between 0° and 15°, the lower limb is in the motor torque and all. Under the joint action of the extension spring 528, the knee flexion (knee extension) movement is performed regularly. When the knee flexion (knee extension) angle is between 15° and 150°, the lower extremity is mainly under the control of the patient's own knee flexion (knee extension) to perform knee flexion (knee extension) movement. At this time, the reversal (forward rotation) of the motor is mainly It plays the role of ensuring that the rope is always in a straight state; when the femur and the tibia achieve normal alignment, that is, when the knee extension angle reaches 0°, under the combined action of the anti-overadjustment stepped shaft 512 and the arc-shaped groove, The thigh connector 502 and the calf connector 504 cannot be further rotated to the hyperextension state, that is, the occurrence of knee hyperextension symptoms of the patient is prevented; when the patient is in a static standing state for a long time, at this time, you can press the The cam handle 330 keeps the device in a locked state, preventing the motor from being in a locked-rotor working state for a long time, and prolonging the life of the motor.

Fig. 15 is a modification of the knee joint motion execution component of the present invention, which still belongs to the protection scope of the present invention.

In general, the present invention not only has the characteristics of comfortable wearing, compact structure, reliable positioning, long battery life, and large bearing capacity by introducing a power device and separating the power output assembly and the joint motion execution assembly, but also can effectively strengthen the knee joint. Hyperextended patients' voluntary motion control ability, reduce the weight of the motion execution device at the patient's knee joint, reduce the local compression of the patient's lower limbs during the wearing process, and at the same time do not affect the patient's functional activities such as standing up, sitting down, and going up and down stairs.

Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

Claims (10)

1. An active knee hyperextension lower limb rehabilitation exoskeleton device is characterized in that:

the rehabilitation exoskeleton device comprises a back component, a right waist control component, a left waist control component, a right knee joint movement execution component and a left knee joint movement execution component, wherein the right waist control component and the left waist control component are respectively arranged on the back component and are symmetrically arranged; the right waist control component and the left waist control component are respectively connected with the right knee joint movement executing component and the left knee joint executing component;

the right knee joint movement execution assembly comprises at least one thigh strap, at least one shank strap, a thigh connecting piece, a shank connecting piece, a first thigh rotating piece, a shank rotating piece, an extension spring, a third rope, a thigh positioning support pin shaft and a shank positioning support pin shaft, wherein the thigh strap is connected to one end of the thigh connecting piece, the shank strap is connected to one end of the shank connecting piece, and the other end of the thigh connecting piece is rotatably connected with the other end of the shank connecting piece; one end of the first thigh connecting piece is rotatably connected with the middle part of the thigh connecting piece through the thigh positioning support pin shaft, the other end of the first thigh connecting piece is rotatably connected with one end of the shank rotating piece, and the other end of the shank rotating piece is rotatably connected with the middle part of the shank connecting piece through the shank positioning support pin shaft; two ends of the extension spring are respectively connected with one end of the thigh positioning support pin shaft and one end of the shank positioning support pin shaft; one end of the third rope is connected to the part, close to the crus positioning and supporting pin shaft, of the crus connecting and connecting piece, and the other end of the third rope is connected to the right waist control assembly; the right waist control component transmits external force to the right knee joint movement execution component through the third rope so as to control the rotation between the thigh connecting piece and the shank connecting piece.

2. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 1, wherein: the right knee joint movement executing assembly comprises a sixth internal thread positioning connecting shaft, and the first thigh rotating part is rotatably connected with the shank rotating part through the sixth internal thread positioning connecting shaft; an arc-shaped groove is formed in one side, facing the first thigh connecting piece, of the shank rotating piece; one side of the first thigh rotating part, which faces the shank rotating part, is provided with a first limiting cylindrical boss, the first limiting cylindrical boss is inserted into the arc-shaped groove, and sliding connection is formed between the first limiting cylindrical boss and the arc-shaped groove.

3. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 2, wherein: the back assembly comprises a back lithium battery support piece, a back lithium battery support piece cover plate, a second bandage, a first bandage, two waist width adjusting pieces, two flexible substrates, two flexible load-bearing connecting pieces and a first bandage, wherein the back lithium battery support piece cover plate is arranged at one end of the back lithium battery support piece, and the second bandage is connected to the back lithium battery support piece cover plate; one end of each waist width adjusting piece is connected with the other end of the back lithium battery supporting piece, and the two waist width adjusting pieces are symmetrically arranged relative to the central axis of the back lithium battery supporting piece; two ends of the first binding band are respectively connected to the other ends of the two waist width adjusting pieces; the two flexible substrates are respectively arranged at the inner sides of the two waist width adjusting pieces; one end of each of the two flexible bearing connecting pieces is connected to the two flexible substrates, and the other end of each of the two flexible bearing connecting pieces is connected to the thigh connecting piece of the right knee joint movement executing assembly and the thigh connecting piece of the left knee joint movement executing assembly.

4. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 3, wherein: the back assembly further comprises two lithium batteries, and the two lithium batteries are respectively arranged in the back lithium battery support piece; when the waist adjusting piece is used, the second bandage is bound on the upper body of a user, the first bandage and the waist adjusting piece are bound on the waist of the user together, and the thigh bandage and the shank bandage are bound on the thigh and the shank of the user respectively.

5. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 3, wherein: the back subassembly still includes two waist subassembly location support frames, two waist subassembly location support frame sets up respectively two on the outside of waist width adjustment piece, and two waist subassembly location support piece connect respectively in right side waist control assembly reaches left side waist control assembly.

6. The active knee hyperextension lower limb rehabilitation exoskeleton device of any one of claims 1 to 5, wherein: the rehabilitation exoskeleton device further comprises an angle sensor and a controller which are connected; the right knee joint movement executing assembly and the left knee joint movement executing assembly are respectively provided with the angle sensor, the angle sensors are used for detecting the flexion and extension angles of thighs and shanks in the walking process and transmitting the detected flexion and extension angle data to the controller, and the controller respectively controls the right waist control assembly and the left waist control assembly according to the received data so as to control the right knee joint movement executing assembly and the left knee joint movement executing assembly.

7. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 6, wherein: setting the range of the flexion-extension angle of the patient in the walking process to be 0-150 degrees, wherein the range of the flexion-extension angle does not influence the patient to stand up, sit down, go upstairs and downstairs; the motor of the right side waist control assembly and the motor of the left side waist control assembly respectively provide tension for ropes in the right side waist control assembly and the left side waist control assembly; when the bending and stretching angle is 15-150 degrees, the patient can freely do bending and stretching movement within the bending and stretching angle range, and at the moment, the motor is only used for balancing the tension of the extension spring within the bending and stretching angle range, so that the corresponding rope is always in a tensioned state in the whole movement process, and the rope skipping phenomenon of the corresponding rope is prevented in the walking process of the patient; when the flexion and extension angle is between 0 and 15 degrees, the active knee hyperextension lower limb rehabilitation exoskeleton device starts to control the flexion and extension of a patient, and the patient performs flexion and extension movement under the combined action of the tension of the extension spring, the tension applied by the motor and the acting force applied by the patient to the active knee hyperextension lower limb rehabilitation exoskeleton device in the flexion and extension angle range, so that the normal alignment of the femur and the tibia in the walking process of the patient is realized.

8. The active knee hyperextension lower limb rehabilitation exoskeleton device of any one of claims 1 to 5, wherein: right side waist control assembly includes the box, sets up motor, reduction gear, first rotating pulley, second rotating pulley and first rope in the box, the output shaft of motor connect in the reduction gear, the output shaft fixed connection of reduction gear in first rotating pulley, the one end fixed connection of first rope in first rotating pulley, and its winding is in on the second rotating pulley, the center pin of first rotating pulley with the center pin of second rotating pulley is perpendicular, makes first rope takes place to turn to.

9. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 8, wherein: the right waist control assembly further comprises a motor frame, a sliding block and a second rope, wherein a first sliding groove is formed in the motor frame, the sliding block is arranged in the first sliding groove in a sliding mode, the other end of the first rope penetrates through one groove wall of the first sliding groove and then is connected to one end of the sliding block, one end of the second rope penetrates through the other groove wall of the first sliding groove and then is connected to the other end of the sliding block, the other end of the second rope is connected to the third rope, and the motor sequentially passes through the speed reducer, the first rope, the second rope and the third rope to provide power for rotation of the shank connecting piece and the thigh connecting piece.

10. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 9, wherein: the motor frame is also provided with a positioning groove, and the positioning groove and the first sliding groove are arranged at intervals; the right waist control assembly further comprises a fixed plate, a guide rod, a guide block, a compression spring and a cam handle, wherein the fixed plate is provided with a first through groove, and the first through groove is communicated with the first sliding groove; one side, facing the cam handle, of the fixing block is provided with U-shaped grooves which are arranged at intervals, the U-shaped grooves are communicated with the first through grooves, and the length directions of the U-shaped grooves and the first through grooves are perpendicular; a square guide boss is arranged in the middle of the guide rod, one end of the guide rod penetrates through the first through groove, enters the first sliding groove and is connected with the sliding block, the other end of the guide rod penetrates through the compression spring and the guide block in sequence and is connected to the middle of a pin shaft at the cam handle, and two ends of the pin shaft at the cam handle are rotatably connected with the cam handle; u-shaped fixture blocks are arranged on the front side and the rear side of the guide block, the shape of each fixture block is consistent with that of the U-shaped groove, and the fixture blocks are matched with the U-shaped groove; the distance between the guide block and the U-shaped groove is adjusted by rotating the cam handle, so that the clamping block is clamped in the U-shaped groove or separated from the U-shaped groove, and the exoskeleton device is in a locked state or a movable state.

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