CN105326628A - Lower limb rehabilitation power-assisted mechanism employing external balance support - Google Patents

Abstract

The invention discloses a lower limb rehabilitation power-assisted mechanism employing an external balance support, and aims at providing a mechanism with a lower limb rehabilitation power-assisted function. The lower limb rehabilitation power-assisted mechanism comprises a balance support mechanism and a lower limb rehabilitation mechanism. According to the main points of the technical scheme, the stability and the safety when the lower limb rehabilitation mechanism moves are ensured by the balance support mechanism through universal wheel mechanisms in four directions and a double anti-dumping mechanism; and the lower limb rehabilitation power-assisted mechanism achieves a walking rehabilitation function through associated movement of a hip joint drive mechanism, a thigh drive mechanism, a knee-joint drive mechanism and an ankle joint drive mechanism. The lower limb rehabilitation power-assisted mechanism is applicable to old people and disabled people with lower limb movement inconvenience.

Description

An external balance support lower limb rehabilitation assisting mechanism

technical field

The invention relates to the field of walking aids for lower limbs, in particular to an external balance support lower limb rehabilitation assisting mechanism.

Background technique

According to the data of the Second National Sample Survey on Disabled Persons in 2006, the total number of disabled persons in the country is 82.86 million, accounting for 6.34% of the total population of the country, of which 24.12 million are physically disabled, accounting for 29.07%. Highest percentage of all disability categories. Families with persons with disabilities have accounted for nearly 1/5 of the total number of households in the country. As the population continues to increase, the number of patients with cerebrovascular diseases such as stroke and limb dysfunction caused by work-related injuries, car accidents, and trauma will increase, and this number will further increase. Nowadays, the development of rehabilitation product technology related to rehabilitation equipment, especially the development of lower limb rehabilitation product technology, will directly affect the health and life of the disabled and the elderly, who account for more than 1/6 of my country's population.

At present, there have been many designs and researches on lower limb rehabilitation robots at home and abroad, and the foreign designs are relatively mature, with a high degree of mechanization and automation; The demand for multi-functional rehabilitation equipment, currently the only fully functional lower limb rehabilitation equipment in the domestic market comes from the lower limb rehabilitation robot of Jinghe Technology, which is relatively advanced, but due to the huge size and high price of the equipment, it cannot meet the needs of individual users. Can be used in high-end rehabilitation hospitals. Therefore, it is extremely important to design a mechanical device with moderate volume, low price and the function of lower limb rehabilitation.

SUMMARY OF THE INVENTION The purpose of the present invention is to provide an external balance support lower limb rehabilitation assisting mechanism to overcome the deficiencies in the prior art, and provide a moderate volume, optimized structure, and lower limb rehabilitation for the disabled and elderly groups with inconvenient lower limb mobility. Mechanical device for power assist function.

In order to achieve the above object, the technical scheme adopted in the present invention is:

An external balance support lower limb rehabilitation assisting mechanism is characterized in that it includes four vertically arranged balance support brackets, the four balance support brackets are distributed in a rectangle in space and form four vertical sides of the rectangle respectively, and each balance support The lower ends of the brackets are expanded horizontally and vertically and then extended vertically downwards. Except for the two adjacent balance support brackets on the front side, the upper ends of the other two adjacent balance support brackets are respectively horizontally connected with upper connecting frames, and the rest of the adjacent balance support brackets are connected horizontally. The lower connection frames are connected horizontally between the positions above the horizontal and vertical inflection points of the two balance support brackets, and the front ends of the upper connection frames on the left and right sides are respectively bent vertically upward to form handrails, and the center of the inner wall of the upper connection frame on the rear side is fixed with a vertical panel. The lower end of each balance support bracket is slidingly fitted with a tubular balance support telescopic rod, and the balance support telescopic rod and the corresponding balance support bracket are connected by pins, and the lower end of each balance support telescopic rod is respectively installed with The universal wheel consists of a balanced support bracket, upper and lower connecting frames, handrails, support plates, balanced support telescopic rods, and universal wheels to form a balanced support mechanism;

It also includes a belt-shaped waist member arranged on a plane. The center of the front part of the waist member is broken to form a fracture. The left end extends horizontally to the left and the right end to the right respectively, and hip joint stepping motors are respectively installed on the rear of the left and right ends of the rear part of the waist member. A round seat is installed, and the hip joint stepping motor at each end is respectively connected with the rotating shaft at the corresponding end, and the center of the round seat at each end is respectively connected with a hip joint connecting plate forward and downward. The seat and the hip joint connecting plate constitute the hip joint mechanism;

The lower end of the hip joint connecting plate at each end is respectively connected with the thigh fixing rod through the rotation of the central axis along the left and right horizontal direction. The thigh fixing rod is respectively slid and installed with a tubular thigh telescopic rod, and the thigh fixing rod is connected with the hip joint connecting plate. There are thigh stepping motors at each position, and the thigh stepping motor is connected with the lower end of the hip joint connecting plate and the thigh fixing rod through the rotating shaft transmission. Thigh protective belts are respectively fixed on the inner sides of the rods opposite to each other, and the thigh telescopic mechanism is formed by the thigh fixing rod, the thigh telescopic rod, the fastening screw and the thigh protective belt;

The lower ends of the thigh telescopic rods at each end are respectively connected to the lower leg fixing rods through the central shaft along the left and right horizontal directions. The calf fixing rods are respectively slid and installed with tubular calf telescopic rods. Knee joint stepping motors are respectively provided, and the knee joint stepping motor is connected with the shaft transmission connection between the thigh telescopic rod and the calf fixed rod, the calf fixed rod and the calf telescopic rod are fixed to each other by fastening screws, and the two calf telescopic rods are connected to each other. A calf protective belt is respectively fixed on the opposite inner side, and a calf telescopic mechanism is formed by a calf fixing rod, a calf telescopic rod, a fastening screw, and a calf protective belt;

The lower end of each calf telescopic rod is rotated and connected with a foot support through the central axis along the left and right horizontal direction of the rotating shaft. An ankle joint stepping motor is respectively arranged on the connection position between the calf telescopic rod and the foot support, and the ankle joint stepping motor is connected with the foot. The shaft transmission connection between the support and the calf telescopic rod.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: the thigh fixing rod is tubular, one side of the thigh fixing rod is provided with a fracture, the side of the thigh telescopic rod is provided with a through hole in the same direction, and the diameter of the fracture of the thigh fixing rod is Larger than the diameter of the through hole of the thigh telescopic rod, a convex slider is slidably installed in the thigh fixing rod, and the convex slider is inserted into the fracture of the thigh fixing rod, and a fastening screw is screwed in the convex slider, and the tightening The fixing screw passes through the through hole of the telescopic rod of the thigh, and the part of the telescopic rod passing through the thigh is screwed with a locking nut;

The calf fixing rod is tubular, one side of the calf fixing rod is provided with a fracture, and the side of the calf telescopic rod in the same direction is provided with a threaded through hole. A convex slider, the convex slider snaps into the fracture of the calf fixing rod, and a fastening screw is screwed in the convex slider, and the fastening screw passes through the through hole of the calf telescopic rod, and the fastening screw A lock nut is screwed and installed on the telescoping rod part passing through the calf.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: a cylindrical gear is fixed on the output shaft of the thigh stepping motor, and another shaft end is fixed between the lower end of the hip joint connecting plate and the thigh fixing rod. Cylindrical gears, two cylindrical gears are in transmission and meshing with each other, and a thigh driving mechanism is formed by a thigh stepping motor and two cylindrical gears.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: a cylindrical gear is fixed on the output shaft of the stepping motor of the knee joint, and another cylindrical gear is fixed at the shaft end of the shaft between the telescopic rod of the thigh and the fixed rod of the calf. The two cylindrical gears are driven and meshed with each other, and the knee joint drive mechanism is composed of a knee joint stepping motor and two cylindrical gears.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: a cylindrical gear is fixed on the output shaft of the stepping motor of the ankle joint, and another cylindrical gear is fixed at the shaft end of the shaft between the foot support and the calf telescopic rod. The gears are mutually transmission meshed between the two cylindrical gears, and the ankle joint drive mechanism is formed by the ankle joint stepping motor and the two cylindrical gears.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: an anti-dumping support rod is horizontally connected between the two balance support telescopic rods on the rear side, and a pair of connecting rods are connected obliquely downward on the anti-dumping support rod. The lower ends of the connecting rods are respectively rotated with anti-dumping wheels.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: the upper ends of the thigh fixing rods at each end are respectively provided with notches, and the notches run through the upper ends of the thigh fixing rods front and back, and the lower ends of the hip joint connecting plates at each end pass through the central axis respectively. The rotating shaft arranged along the left and right horizontal directions is rotatably connected in the notch at the upper end of the leg fixing pipe.

The aforementioned external balance support lower limb rehabilitation assisting mechanism is characterized in that: the outer side of the lower end of the thigh telescopic rod at each end is connected downward with a support plate, the front side of the lower end of the thigh telescopic rod at each end is connected with a limiting plate downward, and the calf at each end is fixed The upper ends of the rods are respectively connected to the support plate through the central axis along the left and right horizontal rotation shafts, and the limit plate restricts the forward rotation of the calf fixing rod. The telescopic rod and the shank fixing rod are connected by rotating shaft transmission.

The advantages of the present invention are: (1) A balance support mechanism is installed on the periphery of the lower limb rehabilitation mechanism, which avoids the situation that the user loses balance and falls due to insufficient strength of the lower limbs; (2) The design of the mechanism is simple and practical, and the occupied space is small.

Description of drawings

Fig. 1 is an overall structural diagram of an external balance support lower limb rehabilitation assisting mechanism of the present invention.

Fig. 2 is a cross-sectional view of the telescoping mechanism of the lower limbs of the external balance support lower limb rehabilitation assisting mechanism of the present invention.

Fig. 3 is a structural diagram of a balance support mechanism of an external balance support lower limb rehabilitation assisting mechanism of the present invention.

Fig. 4 is a diagram of the longitudinal movement state of the lower limb rehabilitation mechanism of the external balance support lower limb rehabilitation assisting mechanism of the present invention.

Fig. 5 is a lateral motion state diagram of the lower limb rehabilitation mechanism of the external balance support lower limb rehabilitation assisting mechanism of the present invention.

detailed description

As shown in Figures 1 to 5, an external balance support lower limb rehabilitation assisting mechanism includes four vertically arranged balance support brackets 1, and the four balance support brackets 1 are distributed in a rectangular shape in space and form four rectangular vertical support brackets respectively. To the side, the lower ends of each balanced support bracket 1 are respectively horizontally and vertically expanded and then vertically extended downwards. Except for the two adjacent balanced support brackets 1 on the front side, the upper ends of the other two adjacent balanced support brackets 1 are respectively horizontal. The upper connecting frame 2 is connected, and the lower connecting frame 3 is horizontally connected between the positions above the horizontal and vertical inflection points of the remaining two adjacent balance support brackets 1, and the front ends of the left and right upper connecting frames are respectively bent vertically upward to form handrails 4. The center of the inner wall of the upper connecting frame on the side is fixed with a support plate 5 vertically arranged on the board surface, and the lower end of each balance support bracket 1 is respectively slidingly fitted with a tubular balance support telescopic rod 6, and the balance support telescopic rod 6 and the corresponding balance support bracket The lower ends of 1 are connected by pins 7, and the lower ends of each balance support telescopic rod 6 are respectively equipped with universal wheels 8, which are composed of balance support bracket 1, upper and lower connecting frames 2, 3, handrail 4, support plate 5, and balance support telescopic rod 6. The universal wheel 8 constitutes a balance supporting mechanism;

It also includes a belt-shaped waist member 9 arranged on a plane, the center of the front part of the waist member 9 is broken to form a fracture, and the rear part of the waist member 9 is connected as a whole with the support plate 5 on the upper connecting frame on the rear side of the balance support mechanism through the connecting plate 13 , the left end of the rear part of the waist member 9 extends horizontally to the left and the right end to the right respectively, and hip joint stepping motors 10 are respectively installed on the rear sides of the left and right ends of the rear part of the waist member 9, and the front sides of the left and right ends of the rear part of the waist member 9 respectively pass through A round seat 11 is installed perpendicular to the rotating shaft at the rear of the waist member, and the hip joint stepping motor 10 at each end is respectively connected to the rotating shaft at the corresponding end. Waist member 9, connecting plate 13, hip joint stepper motor 10, round seat 11, and hip joint connecting plate 12 form a hip joint mechanism;

The lower end of the hip joint connecting plate 12 at each end is respectively connected with a thigh fixed rod 14 through the central shaft along the left and right horizontal direction. Thigh stepping motors 16 are respectively arranged at the joints of the hip joint connecting plate 12, and the thigh stepping motors 16 are connected with the lower end of the hip joint connecting plate 12 and the thigh fixing rod 14 through the rotating shaft transmission, and the thigh fixing rod 14 and the thigh telescopic rod 15 Between mutually fix by fastening screw, two thigh telescoping rods 15 are respectively fixed with thigh protective belt 17 on the inner surface opposite to each other; mechanism;

Thigh telescopic rod 15 lower ends of each end are respectively connected with shank fixed rod 18 through the rotating shaft that central shaft is arranged along left and right horizontal directions, and the outside of shank fixed rod 18 is slidingly installed with tubular shank telescopic rod 19 respectively, and thigh telescopic rod 19 is connected with shank. Knee joint stepper motors 20 are respectively arranged at the joints of the fixed rods 18, and the knee joint stepper motors 20 are connected with the shaft transmission between the thigh telescopic rods 15 and the calf fixed rods 18, and between the calf fixed rods 18 and the calf telescopic rods 19 Fix each other by fastening screws, two shank telescopic rods 19 are respectively fixed with shank protective belts 21 on the inner side surfaces opposite to each other, and shank telescopic mechanisms are formed by shank fixed rods 18, shank telescopic rods 19, fastening screws, and shank protective belts 21;

The lower end of each calf telescopic rod 19 is rotated and connected with a foot support 22 through the central shaft along the left and right horizontal directions, and an ankle joint stepper motor 23 is respectively arranged on the calf telescopic rod 19 at the joint position with the foot support 22. The joint stepper motor 23 is connected with the rotating shaft transmission between the foot support 22 and the calf telescopic rod 19 .

As shown in Figure 2, the thigh fixed rod 14 is tubular, and one side of the thigh fixed rod 14 is provided with a fracture, and one side of the same direction of the thigh telescopic rod 15 is provided with a through hole. Hole caliber, a convex slider 24 is slidingly installed in the thigh fixing rod 14, and the convex slider 24 snaps into the fracture of the thigh fixing rod 14, and a fastening screw is screwed in the convex slider 24, and the fastening screw is from The thigh telescopic rod 15 passes through the through hole, and the fastening screw passes through the thigh telescopic rod 15 and is screwed with a locking nut;

Calf fixed rod 18 is tubular, and one side of shank fixed rod 18 is provided with fracture, and one side of shank telescopic rod 19 same direction is provided with through hole, and shank fixed rod 18 fracture apertures are greater than shank telescopic rod 19 threaded through-hole diameters, and shank fixed rod 19 is provided with through hole. A convex slider is slidably installed in 18, and the convex slider snaps into the shank fixed rod 18 fractures, and a fastening screw is screwed in the convex slider 24, and the fastening screw passes through the 19 through holes of the calf telescopic rod. out, and the fastening screw passes through the 19 parts of the calf telescopic rod and is screwed with a lock nut.

A cylindrical gear is fixed on the 16 output shafts of the thigh stepping motor, and another cylindrical gear is fixed at the shaft end between the hip joint connecting plate 12 lower end and the thigh fixing rod 14. Stepper motor 16, two cylindrical gears constitute thigh driving mechanism.

A cylindrical gear is fixed on the output shaft of the knee joint stepper motor 20, another cylindrical gear is fixed at the end of the rotating shaft between the telescopic rod 15 of the thigh and the fixed rod 18 of the shank, and the two cylindrical gears are driven and meshed with each other. The stepper motor 20 and two cylindrical gears constitute the knee joint driving mechanism.

A cylindrical gear is fixed on the 23 output shafts of the ankle joint stepping motor, and another cylindrical gear is fixed at the shaft end of the shaft between the foot support 22 and the calf telescopic rod 19. Advance motor 23, two cylindrical gears constitute ankle joint driving mechanism.

Horizontally connected with anti-dumping support rod 25 between the two balance support telescopic rods on the rear side, a pair of connecting rods 26 are connected with a tilt on the anti-dumping supporting rod 25, and each connecting rod 26 lower ends are rotated with anti-dumping wheels 27 respectively.

The upper ends of the thigh fixing rods 14 at each end are respectively provided with notches, and the notches run through the upper ends of the thigh fixing rods 14 front and back. in the upper notch.

The outer side of the lower end of the telescopic rod 15 of each end is connected with a support plate 28 downwards, the front side of the lower end of the telescopic rod 15 of each end is connected with a limit plate 29 downwards, and the upper end of the fixed rod 18 of each end is respectively arranged along the left and right horizontal directions through the central axis. The rotating shaft is rotatably connected on the support plate 28, and the shank fixed rod 18 is restricted from rotating forward by the limit plate 29. Inter-shaft drive connection.

In the present invention, a support plate 28 is arranged on the outer side of the telescopic thigh rod 15, which is used to rotate and connect the fixed rod 18 of the calf. , the limiting plate 29 can limit the shank fixing rod 18 to continue to rotate forward, so that the user's knee joint will not have a tendency to excessively rotate forward during the activity, and the user's knee joint has been effectively limited.

In the present invention, the thigh telescopic rod 15 and the thigh fixing rod 14 are fixed by a convex slider 24 with fastening screws, and the calf telescopic rod 19 and the calf fixing rod 18 are also fixed by a convex slider fastening screw mechanism. Fixed, the cross-sectional view of the convex slider 24 is as shown in Figure 2. Taking the thigh telescopic rod 15 and the thigh fixed rod 14 as examples, the thigh fixed rod 14 is set on the outer surface of the thigh telescopic rod 15, and the convex slider 24 is installed on the thigh. In the fixed rod 14, the through hole for the fastening screw screw is set on the thigh telescopic rod 15, and the fastening screw is installed in the convex slide block 24, and the fastening screw passes through the through hole on the thigh telescopic rod 15, and is locked by the supporting lock. The nut is fixedly connected with the thigh telescopic rod 15 and the thigh fixed rod 14, and the stepless adjustment of the length of the thigh telescopic rod 15 is realized by loosening-tightening the locking nut.

In the present invention, the balance support telescopic rod 6 is pinned to the lower end of the corresponding balance support bracket 1 through a pin 7, and the pin 7 fixes the balance support telescopic rod 6 on the balance support bracket 1 to realize the balance support mechanism and the hip joint mechanism high degree of coordination.

In the present invention, the balance support mechanism is not equipped with a power drive mechanism, and the universal wheel mechanism 8 connected to the balance support telescopic rod 6 in the four directions of the balance support mechanism is four driven wheel mechanisms, and the four driven wheel mechanisms follow the rehabilitation of the lower limbs of the present invention. The power-assisted mechanism moves and moves. The balance supporting mechanism is mainly a movable base, which is used as an anti-dumping device of the lower limb rehabilitation assisting mechanism of the present invention to prevent the lower limb rehabilitation assisting mechanism of the present invention from toppling in four directions. The anti-dumping support rod 25 is consolidated and installed between the balance support telescopic rods 6 on the rear side, and the two anti-dumping wheels 27 on the lower side of the anti-dumping support rod 25 adopt universal wheels with less wheel diameter, so that the steering is more convenient. It is the double anti-dumping device on the rear side of the lower limb rehabilitation assisting mechanism of the present invention, which makes the movement of the lower limb rehabilitation assisting mechanism of the present invention more stable.

In the present invention, the thigh stepping motor on the thigh fixing rod 14 drives the lower end of the hip joint connecting plate 12 and the shaft between the thigh fixing rod 14 to rotate through two cylindrical gears, thereby realizing the rotation of the hip joint. In the same way, the knee joint stepping motor 20 on the lower leg fixing rod 18 drives the rotation shaft between the thigh telescopic rod 19 and the lower leg fixing rod 18 through two cylindrical gears, thereby realizing the rotation of the knee joint. The ankle joint stepping motor 23 on the calf telescopic rod 19 drives the rotating shaft between the foot support 22 and the calf telescopic rod 19 to rotate, thereby realizing the rotation of the ankle joint.

In the present invention, a thigh protective belt 17 is installed on the thigh telescopic rod 15, and a calf protective belt 21 is installed on the calf telescopic rod 19. The thigh protective belt 17 and the calf protective belt 21 are used to respectively fix the user's thigh and shank On telescopic rod 15 and shank telescopic rod 19. The waist member 9 is used to fix the user at the center of the balance support mechanism, preventing the user from falling forward or backward.

In the present invention, the height of the lower limbs is adjusted through the left and right thigh telescopic rods 15 and the calf telescopic rods 19, and the balance support mechanism adjusts the overall height by adjusting the relative position between the balance support bracket 1 and the balance support telescopic rod 6, so that the lower limbs The telescopic part does not interfere with the balance supporting mechanism in height.

Claims (8)

1. An external balance support lower limb rehabilitation assisting mechanism is characterized in that: it comprises four vertically arranged balance support supports, and the four balance support supports are distributed in space by a rectangle and form four vertical sides of the rectangle respectively, each The lower ends of the balance support brackets are respectively horizontally and vertically expanded and then vertically extended downwards. Except for the two adjacent balance support brackets on the front side, the upper ends of the other two adjacent balance support brackets are respectively horizontally connected with an upper connecting frame, and the rest The lower connecting frames are connected horizontally between the positions above the horizontal and vertical inflection points of the two adjacent balance support brackets, the front ends of the upper connecting frames on the left and right sides are respectively bent vertically upward to form handrails, and the center of the inner wall of the upper connecting frame on the rear side is fixed with a vertical plate. The support plate arranged in the opposite direction, the lower end of each balance support bracket slides and sets the tubular balance support telescopic rod respectively, the balance support telescopic rod and the corresponding balance support bracket lower end are connected by pins, and the lower ends of each balance support telescopic rod respectively Universal wheels are installed, and the balance support mechanism is composed of balance support brackets, upper and lower connecting frames, handrails, support plates, balance support telescopic rods, and universal wheels; It also includes a belt-shaped waist member arranged on a plane. The center of the front part of the waist member is broken to form a fracture. The left end extends horizontally to the left and the right end to the right respectively, and hip joint stepping motors are respectively installed on the rear of the left and right ends of the rear part of the waist member, and the front sides of the left and right ends of the rear part of the waist member are respectively rotated through the shaft perpendicular to the rear part of the waist member A round seat is installed, and the hip joint stepping motor at each end is respectively connected with the rotating shaft at the corresponding end, and the center of the round seat at each end is respectively connected with a hip joint connecting plate forward and downward. The seat and the hip joint connecting plate constitute the hip joint mechanism; The lower end of the hip joint connecting plate at each end is respectively connected with the thigh fixing rod through the rotation of the central axis along the left and right horizontal direction. The thigh fixing rod is respectively slid and installed with a tubular thigh telescopic rod, and the thigh fixing rod is connected with the hip joint connecting plate. There are thigh stepping motors at each position, and the thigh stepping motor is connected with the lower end of the hip joint connecting plate and the thigh fixing rod through the rotating shaft transmission. Thigh protective belts are respectively fixed on the inner sides of the rods opposite to each other, and the thigh telescopic mechanism is formed by the thigh fixing rod, the thigh telescopic rod, the fastening screw and the thigh protective belt; The lower ends of the thigh telescopic rods at each end are respectively connected to the lower leg fixing rods through the central shaft along the left and right horizontal directions. The calf fixing rods are respectively slid and installed with tubular calf telescopic rods. Knee joint stepping motors are respectively provided, and the knee joint stepping motor is connected with the shaft transmission connection between the thigh telescopic rod and the calf fixed rod, the calf fixed rod and the calf telescopic rod are fixed to each other by fastening screws, and the two calf telescopic rods are connected to each other. A calf protective belt is respectively fixed on the opposite inner side, and a calf telescopic mechanism is formed by a calf fixing rod, a calf telescopic rod, a fastening screw, and a calf protective belt; The lower end of each calf telescopic rod is rotated and connected with a foot support through the central axis along the left and right horizontal direction of the rotating shaft. An ankle joint stepping motor is respectively arranged on the connection position between the calf telescopic rod and the foot support, and the ankle joint stepping motor is connected with the foot. The shaft transmission connection between the support and the calf telescopic rod. 2. A kind of external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: the thigh fixing rod is tubular, one side of the thigh fixing rod is provided with a fracture, and the side of the thigh telescopic rod in the same direction is provided with a through hole , the diameter of the fracture of the thigh fixing rod is larger than the diameter of the through hole of the thigh telescopic rod, a convex slider is installed slidingly inside the thigh fixing rod, and the convex slider is inserted into the fracture of the thigh fixing rod, and a tight screw is installed in the convex slider Fastening screw, the fastening screw passes through the through hole of the telescopic rod of the thigh, and the part of the telescopic rod passing through the thigh is screwed with a lock nut; The calf fixing rod is tubular, one side of the calf fixing rod is provided with a fracture, and the side of the calf telescopic rod in the same direction is provided with a threaded through hole. A convex slider, the convex slider snaps into the fracture of the calf fixing rod, and a fastening screw is screwed in the convex slider, and the fastening screw passes through the through hole of the calf telescopic rod, and the fastening screw A lock nut is screwed and installed on the telescoping rod part passing through the calf. 3. A kind of external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: a cylindrical gear is fixed on the output shaft of the thigh stepping motor, and the rotating shaft between the lower end of the hip joint connecting plate and the thigh fixing rod Another cylindrical gear is fixed on the shaft end, and the two cylindrical gears are in transmission and meshing with each other. The thigh stepping motor and the two cylindrical gears constitute the thigh driving mechanism. 4. A kind of external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: a cylindrical gear is fixed on the output shaft of the stepping motor of the knee joint, and the rotating shaft between the telescopic rod of the thigh and the fixed rod of the calf Another cylindrical gear is fixed at the end, and the two cylindrical gears are driven and meshed with each other. The knee joint drive mechanism is composed of a knee joint stepping motor and two cylindrical gears. 5. A kind of external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: a cylindrical gear is fixed on the output shaft of the ankle joint stepper motor, and the shaft end of the shaft between the foot support and the calf telescopic rod Another cylindrical gear is fixed, and the two cylindrical gears are driven and meshed with each other. An ankle joint driving mechanism is formed by an ankle joint stepping motor and two cylindrical gears. 6. An external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: an anti-dumping support rod is horizontally connected between the two balance support telescopic rods on the rear side, and the anti-dumping support rod is connected obliquely downward There is a pair of connecting rods, and the lower end of each connecting rod is respectively rotated and equipped with an anti-dumping wheel. 7. The external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: the upper ends of the thigh fixing rods at each end are respectively provided with notches, and the notches run through the upper ends of the thigh fixing rods front and back, and each end is connected to the hip joint The lower ends of the plates are respectively connected to the notches at the upper ends of the leg fixing pipes through the central shafts along the left and right horizontal directions of the rotating shafts. 8. An external balance support lower limb rehabilitation assisting mechanism according to claim 1, characterized in that: the outer side of the lower end of the thigh telescopic rod at each end is connected downward with a support plate, and the front side of the lower end of the thigh telescopic rod at each end is connected downward with a limit plate, the upper end of each calf fixing rod is connected to the support plate through the central shaft along the left and right horizontal direction, and the limit plate restricts the forward rotation of the calf fixing rod, and the knee joint stepper motor is arranged on the support plate The outer surface is connected with the rotating shaft transmission between the telescopic rod of the thigh and the fixing rod of the lower leg.