CN112691003A - A rehabilitation device for low limbs rehabilitation training - Google Patents

Abstract

The utility model relates to a rehabilitation device for lower limb rehabilitation training, belonging to the technical field of rehabilitation medical appliances, comprising a weight reduction system, an exoskeleton system, a sling system, an exoskeleton adjustment system and an exoskeleton fixing system; the exoskeleton fixing system and the sling system are both fixedly connected to the weight reduction system; the exoskeleton adjusting system is connected to the exoskeleton fixing system in a sliding mode along the vertical direction; the exoskeleton adjustment system comprises an exoskeleton fixing seat; the exoskeleton fixing seat is fixedly connected with the exoskeleton fixing system, and the exoskeleton fixing seat drives the exoskeleton fixing system to be arranged in a sliding mode along the horizontal direction. The beneficial effects of this disclosure are: the exoskeleton can be quickly adjusted relative to different patient sizes, so that the rehabilitation device can adapt to patients of different age groups, different sexes, different heights and different body sizes, and the application range of the device is expanded.

Description

A rehabilitation device for low limbs rehabilitation training

Technical Field

The present disclosure relates to the field of rehabilitation medical equipment technology, and more particularly, to a rehabilitation device for lower limb rehabilitation training.

Background

In the field of rehabilitation training, weight-reduction type rehabilitation training is a common method for performing rehabilitation treatment on lower limbs with dysfunction, not only can unload the weight of the body of a patient, but also can maintain the balance of the body of the patient, and can perform walking training by simulating the track of a normal person under the control of an upper computer system, so that the patient can be helped to gradually recover the function of the legs, and the normal walking capability is realized. The weight-reducing rehabilitation training principle is based on the research result of rehabilitation medicine, and is also verified in clinical tests, and a large amount of training of patients can promote the recombination and the functional reconstruction of the nervous system.

However, the current weight-reducing rehabilitation training device has low walking freedom degree of the patient and poor training effect, can not be adjusted freely according to the height and the body type of the patient, greatly reduces the comfort of the patient, and the gravity of the patient can fluctuate along with the walking process, however, the exoskeleton playing a supporting role can not fluctuate along with the fluctuation of the gravity, so that the stress of the lower limbs of the patient is changed greatly, the comfort of the patient is reduced easily, and the lower limbs of the patient are subjected to secondary damage seriously.

In order to solve the above problems, the present disclosure proposes a rehabilitation device for lower limb rehabilitation training.

Disclosure of Invention

In order to solve at least one of the above technical problems, the present disclosure provides a rehabilitation device for lower limb rehabilitation training, comprising a weight reduction system, an exoskeleton system, a sling system, an exoskeleton adjustment system, and an exoskeleton fixing system; the exoskeleton fixing system and the sling system are both fixedly connected to the weight reduction system; the exoskeleton adjusting system is connected to the exoskeleton fixing system in a sliding mode along the vertical direction; the exoskeleton adjustment system comprises an exoskeleton fixing seat; the exoskeleton fixing seat is fixedly connected with the exoskeleton fixing system, and the exoskeleton fixing seat drives the exoskeleton fixing system to be arranged in a sliding mode along the horizontal direction.

Preferably, the exoskeleton fixing system comprises a support frame, a first support seat, a first lead screw and a first guide rail; the support frame is connected to the weight reduction system, one side of the first support seat is fixedly arranged on the support frame, and the other side of the first support seat is connected with the first guide rail and the first lead screw; the first guide rails are arranged in the vertical direction, and the exoskeleton adjusting system is connected to the first guide rails in a sliding manner; the first lead screw is arranged along the vertical direction, and is connected with the exoskeleton adjusting system and drives the exoskeleton adjusting system to move up and down.

Preferably, a plurality of hydraulic buffers are connected to the first supporting seat, and the plurality of hydraulic buffers are oppositely arranged on the upper side and the lower side of the first supporting seat and can be abutted against the upper surface and the lower surface of the exoskeleton adjusting system.

Preferably, the exoskeleton adjusting system comprises a second supporting seat, a second lead screw and an exoskeleton fixing seat, wherein the second supporting seat is vertically and slidably connected to the first supporting seat; the second lead screw is connected to the third supporting seat along the horizontal direction; the exoskeleton fixing seats are arranged on the third supporting seat in a horizontally sliding mode, the exoskeleton fixing seats are connected to two ends of the second lead screw respectively, and the rotating directions of threads at two ends of the second lead screw are opposite.

Preferably, the second supporting seat is fixedly connected with a first tension spring, and the free end of the first tension spring is fixedly connected with the upper edge of the third supporting seat; a first spring is fixed on the lower edge of the third supporting seat, the free end of the first spring abuts against the restraint plate, and the restraint plate is fixed on the second supporting seat; the first spring is sleeved with a guide optical axis in a sliding mode, and the guide optical axis is fixed on the third supporting seat.

Preferably, the weight reduction system comprises two fourth supporting seats and a supporting rack, the four fourth supporting seats are respectively and fixedly connected to two sides of the supporting rack, the free end of one fourth supporting seat is connected with the supporting frame through a hinge, and the free end of the other fourth supporting seat is detachably and fixedly connected with the supporting frame through a lock catch.

Preferably, the exoskeleton system comprises a connecting piece, a first joint driving unit, an adjusting knob, a first fixing piece, a second joint driving unit, a binding seat, a second fixing piece and a binding band mounting seat; one end of the connecting piece is fixedly connected with the exoskeleton fixing seat, and the other end of the connecting piece is connected with the first joint driving unit; one end of the first fixing piece is connected with the first joint driving unit, and the other end of the first fixing piece is connected with the second joint driving unit; the second fixing piece is connected to the second joint driving unit; the first fixing piece and the second fixing piece are both fixed with a binding band mounting seat; the first fixing piece and the second fixing piece are both connected with adjusting knobs for adjusting the length; and the second fixing piece is connected with a binding seat for binding the ankle joint.

Preferably, the sling system comprises a sling and a waist belt, wherein one end of the sling is fixedly connected to the support rack, and the other end of the sling is connected with the waist belt.

Preferably, the system further comprises an adjustable armrest system, a patient viewing screen system and a ground sports running platform.

Preferably, the adjustable armrest system comprises armrests which are arranged on two sides of the support rack in a sliding manner along the vertical direction, and the free ends of the two armrests can be arranged in a bending manner; the screen watching system comprises a display screen which is arranged on the front side of the ground sports running platform.

The beneficial effects of this disclosure are:

the utility model discloses a rehabilitation device for lower limb rehabilitation training, but through the exoskeleton adjustment system of upper and lower gliding, adjusting device's height can realize the quick adjustment of exoskeleton relative different patient's height, but the exoskeleton fixing base horizontal slip simultaneously for adjust the width between two ectoskeletons, can realize the quick adjustment of exoskeleton relative different patient's physique, make this rehabilitation device adaptable different age bracket, different sexes, different height and the patient of different physique, increased the range of application of device, be favorable to promoting.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

FIG. 1 is a schematic structural view of a preferred embodiment;

FIG. 2 is a schematic structural view of the exoskeleton anchoring system;

FIG. 3 is a schematic diagram of the exoskeleton adjustment system;

FIG. 4 is a schematic structural view of a weight reduction system and an adjustable armrest system;

FIG. 5 is a schematic structural diagram of the exoskeleton system;

in the figure: 101-weight loss system, 102-adjustable armrest system, 103-patient viewing system, 104-ground sport running table, 105-exoskeleton system, 106-sling system, 107-exoskeleton adjustment system, 108-exoskeleton fixation system;

201-a first housing, 202-a support frame, 203-a latch, 204-a first support base, 205-a hydraulic buffer, 206-a first lead screw, 207-a first base, 208-a second base, 209-a first guide rail, 210-a hinge, 211-a third base, 212-a first lead screw locker, 213-a first handle;

301-a second support seat, 302-a fourth base, 303-a first slider, 304-a second guide rail, 305-a second handle, 306-a fifth base, 307-a second lead screw, 308-a first spring, 309-a third support seat, 310-an exoskeleton fixing seat, 311-a second lead screw locker, 312-a third guide rail, 313-a tension spring seat, 314-a lead screw nut seat, 315-a constraint plate, 316-a first tension spring, 317-a second slider;

401-a fourth guide rail, 402-a third slide block, 407-an armrest, 403-a fourth support seat, 404-a digital display system, 405-a support rack and 406-a second shell;

501-connecting piece, 502-first joint driving unit, 503-adjusting knob, 504-first fixing piece, 505-second joint driving unit, 506-binding seat, 507-second fixing piece and 508-binding band mounting seat.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1 to 5, a rehabilitation device for lower limb rehabilitation training comprises aweight reduction system 101, anexoskeleton system 105, asling system 106, anexoskeleton adjustment system 107, and anexoskeleton fixing system 108; theexoskeleton fixing system 108 and thesling system 106 are both fixedly connected to theweight reduction system 101; theexoskeleton adjustment system 107 is slidably coupled to theexoskeleton fixation system 108 in a vertical direction; theexoskeleton adjustment system 107 comprises anexoskeleton fixing base 310; theexoskeleton fixing base 310 is fixedly connected to theexoskeleton fixing system 108, and theexoskeleton fixing base 310 drives theexoskeleton fixing system 108 to be slidably disposed along the horizontal direction.

The height of the device is adjusted through theexoskeleton adjusting system 107 which slides up and down, so that the height of the exoskeleton can be quickly adjusted relative to different patients, meanwhile, theexoskeleton fixing seat 310 can slide horizontally to adjust the width between the two exoskeletons, so that the exoskeleton can be quickly adjusted relative to the body types of the different patients, the rehabilitation device can adapt to the patients with different age groups, different sexes, different heights and different body types, the application range of the device is expanded, and the device is favorable for popularization.

Theexoskeleton fixing system 108 comprises afirst shell 201, asupport frame 202, alock catch 203, afirst support seat 204, ahydraulic buffer 205, afirst lead screw 206, afirst base 207, asecond base 208, afirst guide rail 209, ahinge 210, athird base 211, a firstlead screw locker 212 and afirst handle 213;

one end of the supportingframe 202 is rotatably connected with theweight reduction system 101 through ahinge 210, and the other end of the supporting frame is buckled with theweight reduction system 101 through alock catch 203, so that the supporting frame is convenient to disassemble and assemble; one side of the first supportingseat 204 is fixedly installed on the supportingframe 202 through screws, and the other side is connected with afirst guide rail 209, ahydraulic buffer 205 and afirst lead screw 206;

at least onefirst guide rail 209 is provided, in this embodiment, twofirst guide rails 209 are provided, and are all fixedly connected to thefirst support base 204 through screws, and the plurality offirst guide rails 209 are all arranged along the vertical direction; theexoskeleton adjustment system 107 is slidably coupled to thefirst rail 209 and is slidably disposed up and down to undulate as the patient walks.

A plurality ofhydraulic buffers 205, four in this embodiment, are fixed on thesecond base 208 through a screw pair, and thesecond base 208 is fixed on the first supportingseat 204; thehydraulic buffers 205 are oppositely arranged on the upper side and the lower side of the first supportingseat 204 and can be abutted against the upper surface and the lower surface of theexoskeleton adjusting system 107, when a patient walks, the exoskeleton adjustingsystem 107 fluctuates up and down, and after thehydraulic buffers 205 are abutted against, thehydraulic buffers 205 are compressed and play a role in buffering, so that the rigid collision is avoided, and the comfort of the patient in walking is improved.

Thefirst base 207 and thethird base 211 are fixed on the first supportingseat 204, thefirst lead screw 206 is rotatably connected to thefirst base 207 and thethird base 211, at least onefirst lead screw 206 is arranged and connected with theexoskeleton adjusting system 107 and is arranged along the vertical direction, one end of thefirst lead screw 206 is fixedly connected with thefirst handle 213 through a screw, thefirst handle 213 rotates thefirst lead screw 206, theexoskeleton adjusting system 107 is driven to move up and down, and the requirements of different patient heights are met; meanwhile, thefirst lead screw 206 is also connected with the firstlead screw locker 212 to play a role of locking, so that the height of theexoskeleton adjusting system 107 is fixed.

Theexoskeleton adjustment system 107 comprises asecond support seat 301, afourth base 302, afirst slider 303, asecond guide rail 304, asecond handle 305, afifth base 306, asecond lead screw 307, afirst spring 308, athird support seat 309, anexoskeleton fixing seat 310, a secondlead screw locker 311, athird guide rail 312, atension spring seat 313, a leadscrew nut seat 314, and asecond slider 317.

Asecond slider 317 is fixedly arranged on one side of thesecond support base 301, athird guide rail 312 is fixedly arranged on the same side, thethird guide rail 312 is arranged along the vertical direction, twothird guide rails 312 are arranged, and thesecond slider 317 is matched with thefirst guide rail 209 and is arranged in a sliding manner along thefirst guide rail 209; thethird guide rail 312 is matched with thefirst slider 303, and thefirst slider 303 is vertically slidably disposed along thethird guide rail 312.

Twofourth bases 302 are arranged, through holes are formed in thefourth bases 302, first slidingblocks 303 are fixedly connected into thefourth bases 302, the outer sides of thefourth bases 302 are fixedly connected with third supportingseats 309, and the first slidingblocks 303 cross over the second supportingseats 301 and are installed onthird guide rails 312;

thesecond guide rails 304 are fixed on thethird support base 309 through screw connection, in this embodiment, twosecond guide rails 304 are provided, and thesecond lead screws 307 and thesecond guide rails 304 are arranged on thethird support base 309 in parallel and are both arranged along the horizontal direction; thesecond lead screw 307 is rotatably connected to the third supportingseat 309 through thefifth base 306; both ends of thesecond lead screw 307 are fixedly connected with thesecond handle 305 through screws, so that the adjustment is convenient; twoexoskeleton fixing seats 310 are arranged and slidably arranged on thesecond guide rail 304, and the twoexoskeleton fixing seats 310 are respectively connected to two ends of thesecond lead screw 307;

the screw thread turning directions at the two ends of thesecond screw 307 are opposite, one end is left-handed, the other end is right-handed, the twoexoskeleton fixing seats 310 are respectively located at the two ends of thesecond screw 307, and when thesecond screw 307 is rotated, the twoexoskeleton fixing seats 310 simultaneously move inwards or outwards, so that the variation of the exoskeleton waist width can be driven, and the exoskeleton waist width can be adapted to body types of different patients.

At least onetension spring seat 313 is arranged on thesecond support seat 301, afirst tension spring 316 is connected to thetension spring seat 313, one end of thefirst tension spring 316 is fixedly connected with thetension spring seat 313, and the other end of thefirst tension spring 316 is fixedly connected with the upper edge of thethird support seat 309; afirst spring 308 is fixed on the lower edge of thethird support seat 309, the free end of thefirst spring 308 abuts against arestraint plate 315, therestraint plate 315 is fixed on thesecond support seat 301, a guide optical axis is sleeved in thefirst spring 308 in a sliding manner, and the guide optical axis is fixed on thethird support seat 309 to play a role in guiding. The extension spring plays a buffering role withfirst spring 308 combined action, realizes that different pressures are out of shape during according to the rehabilitation training, and the influence of inertial force when buffering ectoskeleton position change improves patient's comfort when the fluctuation of center changes when adapting to patient's walking, has strengthened the training effect.

In this embodiment, twotension spring seats 313 and twofirst springs 308 are provided.

Thescrew nut seat 314 is connected to thesecond support seat 301.

Theweight reduction system 101 comprises foursupport seats 403, adigital display system 404, asupport rack 405 and asecond shell 406, wherein two of the foursupport seats 403 are fixedly connected to two sides of thesupport rack 405 respectively, one ends of the twofourth support seats 403 are fixedly connected to thesupport rack 405, the free end of one of the foursupport seats 403 is connected to thesupport frame 202 through ahinge 210, so that theexoskeleton fixing system 108 can rotate along thefourth support seat 403, and the free end of the otherfourth support seat 403 is detachably and fixedly connected to thesupport frame 202 through alock catch 203, supports theexoskeleton fixing system 108, and has an effect of facilitating dismounting and mounting of theexoskeleton fixing system 108.

Thedigital display system 404 is arranged on thesupport rack 405 and used for displaying the weight loss value of the patient in real time, so that the monitoring of medical staff is facilitated.

Thesecond housing 406 is fixedly mounted on thefourth support seat 403 by screws, so as to improve the overall appearance of theweight reduction system 101.

The lower end of thesupport rack 405 is provided with casters with adjustable height, so that the rehabilitation device can be moved conveniently.

Theexoskeleton system 105 comprises alink 501, a firstjoint drive unit 502, anadjustment knob 503, afirst fastener 504, a secondjoint drive unit 505, abinding mount 506, asecond fastener 507, and astrap mount 508. Theexoskeleton system 105 is provided in two, on either side, corresponding to the legs of the patient.

One end of the connectingpiece 501 is fixedly connected with theexoskeleton fixing seat 310, and the other end is connected with the firstjoint driving unit 502; one end of thefirst fixing member 504 is connected with the firstjoint driving unit 502, and the other end is connected with the secondjoint driving unit 505; thesecond fixing part 507 is connected to the secondjoint driving unit 505; thefirst fixing piece 504 and thesecond fixing piece 507 are fixed with abandage mounting seat 508 for mounting a bandage for respectively binding the thigh and the shank of the patient; thefirst fixing part 504 and thesecond fixing part 507 are both connected with an adjustingknob 503 for adjusting the length of thefirst fixing part 504 and thesecond fixing part 507, so that the leg length of different patients can be adapted, and the application is more flexible.

Thesecond fixing member 507 is connected with a bindingseat 506 for binding the ankle joint of the patient.

Thefirst fixing member 504 corresponds to the thigh of the patient, the thigh is fastened to thefirst fixing member 504 by a strap, thesecond fixing member 507 corresponds to the calf of the patient, and the calf is fastened to thesecond fixing member 507 by a strap.

The firstjoint driving unit 502 corresponds to a hip joint of a patient, the secondjoint driving unit 505 corresponds to a knee joint of the patient, and can drive thefirst fixing piece 504 and thesecond fixing piece 507 to swing so as to drive the lower limbs of the patient to swing and complete rehabilitation training, and the firstjoint driving unit 502 and the secondjoint driving unit 505 are in the prior art and can adopt a combination form that a disc motor is provided with a speed reducer.

Thesuspender system 106 comprises a suspender and a waistband, one end of the suspender is fixedly connected to thesupport rack 405, the other end of the suspender is connected with the waistband, the waistband is bound on the waist of the patient, the suspender plays a role in reducing weight, and the patient is supported to perform rehabilitation training.

The rehabilitation device disclosed by the present disclosure further comprises anadjustable armrest system 102, apatient viewing system 103, and a groundsport running platform 104.

Theadjustable armrest system 102 comprises afourth guide rail 401, athird slider 402 and twoarmrests 407, thefourth guide rail 401 is fixed on two sides of thesupport rack 405 in the vertical direction, thethird slider 402 is slidably connected to thefourth guide rail 401, one end of eacharmrest 407 is fixedly connected with thethird slider 402, the other end of each armrest is a free end, and the free ends of thearmrests 407 can be bent to change the width of thearmrests 407 in the horizontal direction, so that the adjustable armrest system can be quickly adjusted to adapt to different patients and has an auxiliary support effect.

The affectedscreen viewing system 103 comprises a display screen, is arranged on the front side of the groundsports running platform 104, and can adjust the placing angle according to the requirements of the rehabilitation training of the patient.

The groundsports running platform 104 is placed in the middle of the upright columns on the two sides of theweight reduction system 101, the groundsports running platform 104 comprises a conveying belt, and a patient can directly run on the conveying belt, so that the patient can conveniently perform rehabilitation training in a limited space under the assistance of theweight reduction system 101.

In this embodiment, the height of theweight reduction system 101 is 1.2 times of the height of the patient, the structure is compact, theweight reduction system 101 and theground running platform 104 are integrated, and on the basis of saving the space occupied by the rehabilitation training system, the free space requirement meeting the training requirement is provided for the patient.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating 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 the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims (10)

1. A rehabilitation device for lower limb rehabilitation training is characterized in that: comprises a weight reduction system (101), an exoskeleton system (105), a sling system (106), an exoskeleton adjustment system (107) and an exoskeleton fixing system (108); the exoskeleton fixing system (108) and the sling system (106) are fixedly connected to the weight losing system (101); the exoskeleton adjustment system (107) is connected to the exoskeleton fixing system (108) in a sliding mode along the vertical direction; the exoskeleton adjustment system (107) comprises an exoskeleton fixing base (310); the exoskeleton fixing seat (310) is fixedly connected with the exoskeleton fixing system (108), and the exoskeleton fixing seat (310) drives the exoskeleton fixing system (108) to be arranged in a sliding mode along the horizontal direction.

2. The rehabilitation device for lower limb rehabilitation training according to claim 1, characterized in that: the exoskeleton fixing system (108) comprises a support frame (202), a first support seat (204), a first lead screw (206) and a first guide rail (209); the supporting frame (202) is connected to the weight reduction system (101), one side of the first supporting seat (204) is fixedly installed on the supporting frame (202), and the other side of the first supporting seat is connected with the first guide rail (209) and the first lead screw (206); the first guide rails (209) are arranged along the vertical direction, and the exoskeleton adjusting system (107) is connected to the first guide rails (209) in a sliding manner; the first lead screw (206) is arranged along the vertical direction, and the first lead screw (206) is connected with the exoskeleton adjusting system (107) and drives the exoskeleton adjusting system (107) to move up and down.

3. The rehabilitation device for lower limb rehabilitation training according to claim 2, characterized in that: the first supporting seat (204) is connected with a plurality of hydraulic buffers (205), and the hydraulic buffers (205) are oppositely arranged at the upper side and the lower side of the first supporting seat (204) and can be abutted against the upper surface and the lower surface of the exoskeleton adjusting system (107).

4. A rehabilitation device for lower limb rehabilitation training according to claim 3, characterized in that: the exoskeleton adjusting system (107) comprises a second supporting seat (301), a second lead screw (307) and an exoskeleton fixing seat (310), wherein the second supporting seat (301) is vertically and slidably connected to the first supporting seat (204); the second lead screw (307) is connected to a third supporting seat (309) along the horizontal direction; the two exoskeleton fixing seats (310) are arranged and arranged on the third supporting seat (309) in a horizontally sliding mode, meanwhile, the two exoskeleton fixing seats (310) are connected to two ends of the second lead screw (307) respectively, and the screwing directions of threads at two ends of the second lead screw (307) are opposite.

5. The rehabilitation device for lower limb rehabilitation training according to claim 4, characterized in that: a first tension spring (316) is fixedly connected to the second supporting seat (301), and the free end of the first tension spring (316) is fixedly connected with the upper edge of the third supporting seat (309); a first spring (308) is fixed on the lower edge of the third supporting seat (309), the free end of the first spring (308) abuts against the restraint plate (315), and the restraint plate (315) is fixed on the second supporting seat (301); a guide optical axis is sleeved in the first spring (308) in a sliding mode and is fixed on the third supporting seat (309).

6. The rehabilitation device for lower limb rehabilitation training according to claim 5, characterized in that: the weight reduction system (101) comprises four support seats (403) and a support rack (405), wherein the number of the four support seats (403) is two, the two support seats are respectively and fixedly connected to two sides of the support rack (405), the free end of one of the four support seats (403) is connected with the support frame (202) through a hinge (210), and the free end of the other one of the four support seats (403) is detachably and fixedly connected with the support frame (202) through a lock catch (203).

7. The rehabilitation device for lower limb rehabilitation training according to claim 6, characterized in that: the exoskeleton system (105) comprises a connecting piece (501), a first joint driving unit (502), an adjusting knob (503), a first fixing piece (504), a second joint driving unit (505), a binding seat (506), a second fixing piece (507) and a binding band mounting seat (508); one end of the connecting piece (501) is fixedly connected with the exoskeleton fixing seat (310), and the other end of the connecting piece is connected with the first joint driving unit (502); one end of the first fixing piece (504) is connected with a first joint driving unit (502), and the other end of the first fixing piece is connected with a second joint driving unit (505); the second fixing part (507) is connected to the second joint driving unit (505); the first fixing piece (504) and the second fixing piece (507) are both fixed with a bandage mounting seat (508); the first fixing piece (504) and the second fixing piece (507) are both connected with an adjusting knob (503) for adjusting the length; the second fixing piece (507) is connected with a binding seat (506) for binding the ankle joint.

8. The rehabilitation device for lower limb rehabilitation training according to claim 7, characterized in that: the sling system (106) comprises a sling and a waist belt, wherein one end of the sling is fixedly connected to the supporting rack (405), and the other end of the sling is connected with the waist belt.

9. The rehabilitation device for lower limb rehabilitation training according to any one of claims 6 to 8, characterized in that: also comprises an adjustable armrest system (102), a patient viewing system (103) and a ground sports running platform (104).

10. The rehabilitation device for lower limb rehabilitation training according to claim 9, characterized in that: the adjustable armrest system (102) comprises armrests (407), the armrests (407) are arranged on two sides of the supporting rack (405) in a sliding mode along the vertical direction, and the free ends of the two armrests (407) can be arranged in a bending mode; the screen watching system (103) comprises a display screen which is arranged on the front side of the ground sports running platform (104).

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