CN211382258U - A multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit - Google Patents

Abstract

A multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit, comprising an incline drive unit, a lead screw, an H-shaped mobile platform, a guide rail, an inclined arm, a lift arm, a base drive unit, a lift platform, and a front drive unit , Chute support Chute, leg support and telescopic pedal, this application can be switched to the horizontal posture mode, which is used for the passive rehabilitation training of lying flat for patients with walking disorders in the initial stage of muscle weakness rehabilitation; it can also be switched to normal It can also be switched to the horizontal lift mode of the chair surface to adjust the height and angle of the chair surface to help users pick up and place items in high places; it can also be switched to auxiliary support The standing posture mode makes the chair turn forward to present a standing posture, and supports the patients in the later stage of rehabilitation. With the help of sensitive canes and flexible exoskeleton suits, they can get out of the wheelchair for landing rehabilitation training. Therefore, it has the characteristics of comprehensive functions and convenient use.

Description

A multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit

technical field

The utility model relates to the field of rehabilitation training supporting equipment for patients with mobility impairments, in particular to a multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit.

Background technique

For patients with mobility impairments, the classic means of transportation is a smart wheelchair. At present, many intelligent wheelchairs can realize various road conditions such as going up and down stairs and climbing. Patients can live a convenient and comfortable life with the help of wheelchairs. However, wheelchairs cannot provide patients with effective exercise rehabilitation training. After sitting for a long time, patients will experience muscle atrophy, Symptoms such as sores.

With the development of rehabilitation technology, the rapid development of rehabilitation exoskeleton systems in recent years can provide effective rehabilitation training for patients with lower limb paralysis, spinal cord injury, and stroke, so that the patient's muscle strength can be effectively restored, but most of these rehabilitation exoskeleton systems are fixed. Equipment and rehabilitation training scenarios are single, and rehabilitation patients are prone to exercise fatigue.

Utility model content

In order to solve the above problems, the present utility model provides a multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit, which aims to enable patients with walking disorders to achieve passive rehabilitation training in the initial stage of muscle weakness rehabilitation; During training, it can walk for the patient and realize a convenient life for the patient; in the later stage of rehabilitation, it can assist the patient to stand and realize the patient's movement-assisted walking.

In order to achieve this purpose, the present invention provides a multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit, which includes an upward inclined drive unit at the bottom of the seat surface, an H-shaped mobile platform, an inclined arm, a lifting arm, and a chute. A bracket, a power base, a lifting assembly connected to the incline drive unit, a leg support, a base drive unit that drives the lift assembly to work, and a front drive unit, the incline drive unit is rotatably connected with the lead screw, and the H-shaped moving The two sides of the platform are slidably assembled with the guide rails and are rotatably connected with the lead screw. The upward-sloping drive unit drives the lead screw to rotate forward and reverse to control the H-shaped moving platform to translate forward and backward along the lead screw and the guide rails on both sides. The platform also has a lifting boom hinged, the lifting boom is hinged with the bottom of the lower end of the seat surface, the lifting platform of the lifting assembly is rotatably connected to the middle of the lifting boom on both sides, and the T-shaped piece includes a screw part and a cross bar part, the T-shaped piece is a combination of the screw part and the horizontal bar rotatably connected, the screw part in the T-shaped piece is the working part of the screw in the base drive unit, and the two ends of the cross-bar part in the T-shaped piece pass through The two sides of the chute bracket are hinged with the lower end of the corresponding lifting boom, the chute bracket is fixed on the power base, the base drive unit is in the chute bracket, and the lower end of the seat is connected with a leg support through a rotating shaft The lower part of the leg support is connected with the telescopic pedal through the pedal telescopic rod, the lower end of the front drive unit is arranged on the front side bracket of the power base, the upper end of the front drive unit is linked with the lifting platform of the lifting assembly, and the front The built-in drive unit directly lifts the lifting platform of the lifting assembly to make the lifting boom follow the lifting platform to move upward, thereby driving the tilting forearm and the T-shaped piece to follow the action, and the power base drives the wheelchair lifting mechanism through the internal mobile driving unit. move.

As a further improvement of the present invention, an intelligent wheelchair is formed after the wheelchair lifting mechanism is matched with the seat. The wheelchair lifting mechanism matched seat includes a backrest, an armrest and a seat cushion. The bottom of the backrest is rotatably connected to one side of the seat cushion and the angle is adjustable. An angle-adjustable armrest is fixed on both sides of the middle part of the backrest, and the seat cushion is fixed on the seat surface of the wheelchair lifting mechanism. Horizontal lift mode and auxiliary support stance mode;

The flat-lying mode is used for passive rehabilitation of the patient's lower limbs. The front drive unit and the base drive unit work together to lower the seat height, the backrest is lowered backwards, the levers of the leg pedals are extended and raised upwards, and the backrest and the seat cushion present a certain angle , the armrests are placed horizontally, and the patient is in a comfortable lying position;

The normal sitting posture mode is used for the patient's daily transportation. The incline drive unit, the front drive unit and the base drive unit are not working. The seat cushion is level and the patient sits on it;

The horizontal lift mode of the chair surface is used to assist the patient to pick up and place items at high places. The incline drive unit does not work. The patient controls the front drive unit through the controller. The seat surface and the leg support are in a vertical state, and the backrest and the seat cushion are kept in a vertical state. The user can use a crutch to help the user to pick up and place items in high places;

The auxiliary support stance mode is used for the rehabilitation training of patients on the ground. The front drive unit and the base drive unit drive the push rod to raise the chair surface horizontally, and the incline drive unit drives the H-shaped mobile platform to drive the inclined forearm to move forward, so that the chair surface is turned forward. It presents a standing posture, the backrest and the seat cushion are at a certain angle, and the leg support is perpendicular to the ground, and the user can use crutches for ground rehabilitation training;

The utility model drives different mechanism components through the drive mechanism, and can be switched to a horizontal posture mode, which is used for passive rehabilitation training of lying flat for patients with walking disorders in the initial stage of muscle weakness rehabilitation; the intelligent wheelchair lifting mechanism can be switched to a normal wheelchair The sitting posture mode is used for the patient to move around and realize the convenient life of the patient; the intelligent wheelchair lifting mechanism can be switched to the horizontal lifting mode of the chair surface, and the angle and height of the seat surface can be adjusted to help users pick up and place items in high places; the intelligent wheelchair lifting mechanism can be switched Auxiliary support standing posture mode is adopted, so that the chair is turned forward to present a standing posture, and patients in the later stage of rehabilitation are supported.

As a further improvement of the present invention, the power base adopts a wheel drive, and the power base is a wheel drive including a pair of front support wheels, a forearm beam, a main wheel and a rear support wheel, and the front support wheels are installed on the On the forearm beam, it can rotate and turn around the front end of the forearm beam by 360°. The end of the forearm beam is rotatably connected to the front drive axle of the power base. The main drive axle of the power base is rotatably connected, the rear support wheel is rotatably installed on the main axle side through a long rod, and is connected with the main axle through a clutch. The power base also has a shock-absorbing spring, which is connected to the forearm beam and main axle connection;

The front support wheel of the utility model is mounted on the forearm beam, can rotate and turn around the front end of the forearm beam 360°, the end of the forearm beam is rotatably connected to the front drive axle of the base, and the shock-absorbing spring is connected with the forearm beam to dampen the front wheel. The main wheel is placed on the vertical axis of the center of gravity of the wheelchair, and is rotatably connected with the main drive axle of the base, and the shock-absorbing spring is connected with the main axle to ensure the stability of the overall system. The rear support wheel is rotatably mounted on the side of the main axle through a long rod, and is connected to the main axle through a simple clutch. When it is necessary to hit the curb, the wheelchair turns away from the curb, and when the main wheel is reversed and contacts the curb, the rear support wheel long rod is pressed down, and the lever principle is used to assist the main wheel to reverse and climb the curb. The continuous work of the motor of the front support wheel during the obstacle climbing process indirectly offsets the vibration of the wheelchair.

As a further improvement of the present utility model, the wheelchair lifting mechanism is also equipped with lower limb rehabilitation assistance equipment, and the lower limb rehabilitation assistance equipment is a flexible rehabilitation assistance exoskeleton suit. The flexible exoskeleton suit includes: an upper body elastic binding strap, a waist strap Binding belt, flexible binding pants, flexible thigh leggings, flexible calf leggings and wire drive motors, the upper body elastic binding straps carry the driving battery and are arranged on the back plate and the waist frame, and the waist binding waistband elastically ties the upper body The lower part of the strap is fixed on the user's waist, the flexible restraint pants are used for the user's legs, the thigh flexible leggings and the calf flexible leggings are fixed on the user's corresponding thighs and calves, and the user's back waist is matched with a pair of lines A drive motor, each of the wire drive motors emits two cables, and the cables pass through the hips and legs to connect to the thigh flexible leggings and the calf flexible leggings. When the patient walks, the motor performs the work of retracting and releasing the cables to provide assistance to the leg muscles.

The beneficial effects of the utility model are as follows: the multi-mode intelligent wheelchair lifting mechanism equipped with the flexible exoskeleton suit has movable characteristics, which is different from the current fixed rehabilitation training device, and can realize passive rehabilitation training anytime and anywhere; the utility model The involved smart wheelchair system equipped with a lightweight flexible exoskeleton suit, the large-capacity battery of the smart wheelchair provides a long enough battery life, a wider range of activities, and a faster movement speed, which makes up for the current shortness of the battery life of the rehabilitation exoskeleton. board; the intelligent wheelchair system equipped with a light-weight flexible exoskeleton suit related to the utility model includes a sensitive walking stick with a built-in pressure sensor and a gyroscope, which can detect the patient's posture in real time, and the driving system used to control the exoskeleton suit realizes the detection of the patient's posture. Effectively assist walking; the intelligent wheelchair system equipped with light-weight flexible exoskeleton suits involved in the utility model, the electric wheelchair chute support can be built with the drive system and control system of the flexible exoskeleton suits, etc., which is different from the current exoskeleton system, greatly The weight that should be loaded on the patient is reduced, the weight of the flexible exoskeleton suit is lighter, and the wearing comfort is improved; the intelligent wheelchair system equipped with the light-weight flexible exoskeleton suit related to the utility model, when the patient wears the flexible exoskeleton During the assisted walking process, the intelligent wheelchair and the patient maintain a state of follow-up, providing energy and control signals for the flexible exoskeleton suit without dragging the exoskeleton suit.

Description of drawings

Figure 1 shows the main lifting structure of the wheelchair.

Figure 2 is the position diagram of the main drive motor of the wheelchair.

Figure 3 shows the wheelchair lying down mode.

Figure 4 shows the normal sitting posture mode of the wheelchair.

Figure 5 shows the horizontal lifting mode of the wheelchair.

Figure 6 shows the wheelchair standing mode.

Figure 7 is a mannequin wearing an exoskeleton.

in:

1. Inclining drive unit; 2. Lead screw; 3. H-type mobile platform; 4. Inclined arm; 5. Lifting boom; 6. T-piece; 7. Chute bracket; 8. Power base; 9. Front support wheel; 10. Telescopic pedal; 11. Lifting platform; 12. Guide rail; 13. Leg support; 14. Base drive unit; 15. Pedal telescopic rod; 16. Front drive unit; 17. Rear support wheel; 18 .Main wheel; 19. Shock spring; 20. Front support wheel arm beam; 1' backrest; 2' armrest; 3' seat cushion.

Detailed ways

Below in conjunction with the accompanying drawings and specific embodiments, the present utility model is described in further detail:

The utility model provides a multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit, which aims to enable patients with walking disorders to achieve passive rehabilitation training in the initial stage of muscle weakness rehabilitation; To walk for patients, to achieve a convenient life for patients; in the later stage of rehabilitation, to assist patients to stand, to achieve the patient's movement to help walking.

As an embodiment of the present utility model, the present utility model provides a multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit as shown in Figs. Mobile platform 3, tilting forearm 4, lifting boom 5, chute bracket 7, power base 8, lifting assembly connected to incline drive unit 1, leg support 13, base drive unit 14 that drives the lifting assembly to work, and front A drive unit 16 is installed, which is characterized in that the upwardly inclined driving unit 1 is rotatably connected with the lead screw 2, the two sides of the H-shaped mobile platform 3 are slidably assembled with the guide rails 12 and are rotatably connected with the lead screw 2, and the upwardly inclined drive unit 1 is rotatably connected with the lead screw 2. The unit 1 drives the lead screw 2 to rotate forward and reverse to control the H-type mobile platform 3 to translate forward and backward along the lead screw 2 and the guide rails 12 on both sides. The boom 5 is hinged to the bottom of the lower end of the seat surface, the lifting platform 11 of the lifting assembly is rotatably connected to the middle of the lifting boom 5 on both sides, and the T-shaped piece 6 includes a screw part and a cross-bar part. 6 is the combination of the screw part and the horizontal bar rotatably connected, the screw part in the T-shaped piece 6 is the working part of the screw in the base drive unit 14, and the two ends of the horizontal rod part in the T-shaped piece 6 pass through the sliding part. The chute on both sides of the chute bracket 7 is hinged with the lower end of the corresponding lifting boom 5. The chute bracket 7 is fixed on the power base 8, the base drive unit 14 is in the chute bracket 7, and the lower end of the seat passes through the rotating shaft. A leg support 13 is connected, and the lower part of the leg support 13 is connected with the telescopic pedal 10 through the pedal telescopic rod 15. The lower end of the front drive unit 16 is arranged on the front support of the power base 8, and the front drive unit 16 The upper end is linked with the lifting platform 11 of the lifting assembly, and the front drive unit 16 makes the lifting boom 5 follow the lifting platform 11 to move upward by directly lifting the lifting platform 11 of the lifting assembly, thereby driving the inclined arm 4 and the T-shaped arm The power base 8 drives the wheelchair lifting mechanism to move through the internal mobile drive unit. The power base 8 is driven by wheels, and the power base 8 is wheel-driven and includes front support wheels 9 arranged in pairs. , the forearm beam 20, the main wheel 18 and the rear support wheel 17, the front support wheel 9 is installed on the forearm beam 20, and can rotate and turn around the front end of the forearm beam 20 360°, and the end of the forearm beam 20 is rotated and connected to the power base 8 On the front drive axle, the main wheel 18 is placed on both sides of the power base 8 and is the vertical axis of the wheelchair's center of gravity, and is rotatably connected to the main drive axle of the power base 8, and the rear support wheel 17 is rotatably installed on the wheel through a long rod. The shaft side of the main wheel 18 is connected with the main wheel shaft through the clutch, and the power base 8 also has a shock-absorbing spring 19, and the shock-absorbing spring 19 is connected with the forearm beam 20 and the main wheel shaft; the front support wheel of the utility model is installed on the forearm beam It can rotate and turn 360° around the front end of the forearm beam, the end of the forearm beam is rotatably connected to the front drive axle of the base, and the shock-absorbing spring is connected with the forearm beam to dampen the front wheel. The main wheel is placed on the vertical axis of the center of gravity of the wheelchair, and is rotatably connected with the main drive axle of the base, and the shock-absorbing spring is connected with the main axle to ensure the stability of the overall system. The rear support wheel is rotatably mounted on the side of the main axle through a long rod, and is connected to the main axle through a simple clutch. When it is necessary to hit the curb, the wheelchair turns away from the curb, and when the main wheel is reversed and contacts the curb, the long rod of the rear support wheel is pressed down, and the lever principle is used to assist the main wheel to reverse and climb the curb. In the process of obstacle climbing, the motor of the front support wheel continuously works to indirectly offset the vibration of the wheelchair.

The supporting seat of the wheelchair lifting mechanism of the present invention constitutes an intelligent wheelchair. The supporting seat of the wheelchair lifting mechanism includes a backrest 1', an armrest 2' and a cushion 3', and the bottom of the backrest 1' rotates with one side of the cushion 3'. Connected and the angle is adjustable, an angle-adjustable armrest is fixed on both sides of the middle of the backrest 1', and the seat cushion 3' is fixed on the seat surface of the wheelchair lifting mechanism. The intelligent wheelchair includes four modes during the working process. Lie down mode, normal sitting mode, chair horizontal lift mode and auxiliary support standing mode;

As shown in Fig. 3, the lying down mode is used for passive rehabilitation of the lower limbs of the patient. The front drive unit 16 and the base drive unit 14 work together to lower the seat height, the backrest is lowered backwards, and the rods of the leg pedals 10 are extended and lifted upwards. The backrest 1' and the seat cushion 3' present a certain angle, the armrest 2' is placed horizontally, and the patient is in a comfortable lying position;

The normal sitting posture mode is shown in Fig. 4 for the patient's daily walking. The incline drive unit 1, the front drive unit 16 and the base drive unit 14 are in a non-working state, the seat surface and the leg support 13 are in a vertical state, and the The backrest 1' and the seat cushion 3' are in a vertical state, the armrest 2' and the seat cushion 3' are in a horizontal state, and the patient sits on it;

As shown in Figure 5, the chair surface horizontal lift mode is used to assist the patient to pick up and place items at high places. The up-inclined drive unit 1 does not work. The patient controls the front drive unit 16 through the controller. The base drive unit 14 synchronously drives the respective rods to move the chair. The surface is horizontally raised to any height, the seat surface and the leg support 13 are in a vertical state, and the backrest 1' and the seat cushion 3' are kept in a vertical state, and the user can match the crutches to help the user to pick up and place items in high places;

As shown in Figure 6, the auxiliary support stance mode is used for patient landing rehabilitation training. The front drive unit 16 and the base drive unit 14 drive the push rod to raise the chair surface horizontally, and the incline drive unit 1 drives the H-shaped mobile platform 3 to drive the inclined forearm. 4. Move forward, so that the chair is turned forward to present a standing posture, the backrest 1' and the seat cushion 3' are at a certain angle, and the leg support 13 is perpendicular to the ground, the user can use crutches for ground rehabilitation training.

The utility model drives different mechanism components through the drive mechanism, and can be switched to a horizontal posture mode, which is used for passive rehabilitation training of lying flat for patients with walking disorders in the initial stage of muscle weakness rehabilitation; the intelligent wheelchair lifting mechanism can be switched to a normal wheelchair The sitting posture mode is used for the patient to move around and realize the convenient life of the patient; the intelligent wheelchair lifting mechanism can be switched to the horizontal lifting mode of the chair surface, and the angle and height of the seat surface can be adjusted to help users pick up and place items in high places; the intelligent wheelchair lifting mechanism can be switched Auxiliary support standing posture mode is adopted, so that the chair is turned forward to present a standing posture, and patients in the later stage of rehabilitation are supported.

The wheelchair lifting mechanism of the present invention is also equipped with lower limb rehabilitation assistance equipment. The lower limb rehabilitation assistance equipment is the flexible rehabilitation assistance exoskeleton suit shown in FIG. 7 . Binding belts, flexible binding pants, flexible thigh leggings, flexible calf leggings and wire-driven motors, the upper body elastic binding straps carry the driving battery and are placed on the back plate and the waist frame, and the waist binding waistbands elasticize the upper body The lower part of the binding strap is fixed on the user's waist, the flexible binding pants are used for the user's legs, the thigh flexible leggings and the calf flexible leggings are fixed on the user's corresponding thighs and calves, and a pair of back waists on both sides of the user is matched A wire-driven motor, each of which emits two cables, and the cables pass through the buttocks and legs to connect to the thigh flexible leggings and the calf flexible leggings. When the patient walks, the motor performs the work of retracting and releasing the wires to provide assistance to the leg muscles.

The above are only preferred embodiments of the present utility model, and are not intended to limit the present utility model in any other form, and any modifications or equivalent changes made according to the technical essence of the present utility model still belong to the present utility model. Scope of protection claimed.

Claims (7)

1. A multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit, comprising an inclining drive unit (1) at the bottom of a seat surface, an H-shaped mobile platform (3), a tilting forearm (4), and a lifting arm ( 5), the chute bracket (7), the power base (8), the lift assembly connected to the upward inclined drive unit (1), the leg support (13), the base drive unit (14) that drives the lift assembly to work, and the front The drive unit (16) is characterized in that: the upwardly inclined drive unit (1) is rotatably connected with the lead screw (2), and the two sides of the H-shaped mobile platform (3) are slidably assembled with the guide rail (12) and with the lead screw (2) Rotational connection, the upward-sloping drive unit (1) drives the lead screw (2) forward and reverse rotation to control the H-shaped moving platform (3) to translate forward and backward along the lead screw (2) and the guide rails (12) on both sides, the The tilting arm (4) is hinged with the H-shaped mobile platform (3) and the lifting boom (5), the lifting boom (5) is hinged with the bottom of the lower end of the seat surface, and the lifting platform (11) of the lifting assembly is connected with The middle parts of the lifting arms (5) on both sides are rotatably connected, and the T-shaped piece (6) includes a screw part and a cross-bar part, and the T-shaped piece (6) is a combination of the screw part and the cross-bar rotatably connected. The part of the lead screw in the T-shaped piece (6) is the working part of the screw in the base drive unit (14), and the two ends of the transverse rod part of the T-shaped piece (6) pass through the chute on both sides of the chute bracket (7) and It is hinged with the lower end of the corresponding lifting arm (5), the chute bracket (7) is fixed on the power base (8), the base drive unit (14) is in the chute bracket (7), and the lower end of the seat passes through the rotating shaft A leg rest (13) is connected, the lower part of the leg rest (13) is connected with the telescopic pedal (10) through a pedal telescopic rod (15), and the lower end of the front drive unit (16) is arranged on the power base (8) On the front side bracket, the upper end of the front drive unit (16) is linked with the lifting platform (11) of the lifting assembly, and the front driving unit (16) directly lifts the lifting platform (11) of the lifting assembly to make the lifting larger. The arm (5) moves up following the lifting platform (11), thereby driving the inclined forearm (4) and the T-shaped piece (6) to follow the action, and the power base (8) drives the wheelchair lifting mechanism through the internal mobile drive unit to carry out the movement. move. 2 . The multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit according to claim 1 , wherein the supporting seat of the wheelchair lifting mechanism constitutes an intelligent wheelchair, and the supporting seat of the wheelchair lifting mechanism comprises: 3 . The backrest (1'), the armrest (2') and the seat cushion (3'), the bottom of the backrest (1') is rotatably connected to one side of the seat cushion (3') and the angle is adjustable, and the middle part of the backrest (1') two An angle-adjustable armrest is fixed on each side, and the seat cushion (3') is fixed on the seat surface of the wheelchair lifting mechanism. During the working process, the intelligent wheelchair includes four modes, a flat-lying mode, a normal sitting posture mode, and a horizontal seat surface. Lifting mode and auxiliary support stance mode; The lying down mode is used for passive rehabilitation of the lower limbs of the patient. The front drive unit (16) and the base drive unit (14) work together to lower the seat height, the backrest is lowered backwards, and the rods of the telescopic pedals (10) are extended and lifted upwards. The backrest (1') and the seat cushion (3') present a certain angle, the armrest (2') is placed horizontally, and the patient is in a comfortable lying position; The normal sitting posture mode is used for the patient's daily walking, the incline drive unit (1), the front drive unit (16) and the base drive unit (14) are in a non-working state, and the seat surface and the leg support (13) are in a vertical state , and keep the backrest (1') and the seat cushion (3') in a vertical state, the armrest (2') and the seat cushion (3') in a horizontal state, and the patient sits on it; The chair surface horizontal lift mode is used to assist the patient to pick up and place high objects. The up-slope drive unit (1) does not work. The patient controls the front drive unit (16) through the controller, and the base drive unit (14) synchronously drives the respective rods to move. The seat surface is raised horizontally to any height, the seat surface and the leg support (13) are in a vertical state, and the backrest (1') and the seat cushion (3') are kept in a vertical state. goods; The auxiliary support stance mode is used for patient landing rehabilitation training. The front drive unit (16) and the base drive unit (14) drive the push rod to raise the chair surface horizontally, and the incline drive unit (1) drives the H-shaped mobile platform (3) to drive The tilting forearm (4) moves forward, so that the seat face is turned forward to present a standing posture, the backrest (1') and the seat cushion (3') are at a certain angle, and the leg support (13) is perpendicular to the ground, so that the user can Supporting crutches for landing rehabilitation training. 3. The multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit according to claim 1 or 2, wherein the power base (8) is driven by wheels. 4. A multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit according to claim 3, characterized in that: the power base (8) is wheel-driven and includes paired front support wheels (9) , the forearm beam (20), the main wheel (18) and the rear support wheel (17), the front support wheel (9) is mounted on the forearm beam (20), and can rotate and turn around the front end of the forearm beam (20) 360°, The end of the forearm beam (20) is rotatably connected to the front drive axle of the power base (8), and the main wheels (18) are arranged on both sides of the power base (8) on the vertical axis that is the center of gravity of the wheelchair, and is connected to the power base (8). (8) The main driving wheel shaft is rotatably connected, the rear support wheel (17) is rotatably installed on the shaft side of the main wheel (18) through a long rod, and is connected with the main wheel shaft through a clutch. 5. A multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit according to claim 4, characterized in that: the power base (8) also has a shock-absorbing spring (19), and the shock-absorbing spring ( 19) Connect with the forearm beam (20) and the main axle. 6 . The multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit according to claim 1 or 2 , wherein the wheelchair lifting mechanism is also equipped with lower limb rehabilitation assisting equipment. 7 . 7. The multi-mode intelligent wheelchair lifting mechanism equipped with a flexible exoskeleton suit according to claim 6, wherein the lower limb rehabilitation assisting device is a flexible rehabilitation assisting exoskeleton suit, and the flexible exoskeleton suit comprises: Upper body elastic binding straps, waist binding belts, flexible binding pants, thigh flexible leggings, calf flexible leggings and wire drive motors, the upper body elastic binding straps carry a driving battery, and are arranged on the back plate and the waist frame. The waist binding belt fixes the lower part of the upper body elastic binding strap on the waist of the user, the flexible binding pants are used for the user's legs, the thigh flexible leggings and the calf flexible leggings are fixed to the user's corresponding thighs and calves, using A pair of line-driven motors are provided on both sides of the back waist of the patient, and the line-driven motors emit two cables each, and the cables pass through the hips and legs to connect the flexible leggings of the thigh and the flexible leggings of the calf. Work provides boost to the leg muscles.

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