CN113041100B - Separable multipurpose lower limb exoskeleton robot - Google Patents
Separable multipurpose lower limb exoskeleton robot Download PDFInfo
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- CN113041100B CN113041100B CN201911373725.4A CN201911373725A CN113041100B CN 113041100 B CN113041100 B CN 113041100B CN 201911373725 A CN201911373725 A CN 201911373725A CN 113041100 B CN113041100 B CN 113041100B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 210000000689 upper leg Anatomy 0.000 claims abstract description 45
- 230000001681 protective effect Effects 0.000 claims abstract description 28
- 210000002414 leg Anatomy 0.000 claims description 57
- 239000002184 metal Substances 0.000 claims description 14
- 210000002683 foot Anatomy 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 9
- 230000032683 aging Effects 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003863 physical function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical equipment, in particular to a separable multipurpose lower limb exoskeleton robot; the invention comprises a movable protective frame device and an exoskeleton device which are movably connected; the exoskeleton device comprises a waist connecting mechanism, a thigh connecting mechanism, a shank connecting mechanism and a sole supporting mechanism which are connected in sequence; a control box for control is arranged in the waist connecting mechanism, and the control box is electrically connected with the thigh connecting mechanism and the shank connecting mechanism through cables; the exoskeleton device is movably connected with the movable protective frame device, can be independently used and can also be arranged on the movable protective frame device, so that the patient who can independently walk and the patient who cannot independently walk can conveniently carry out rehabilitation training, and the exoskeleton device can drive the thighs and the shanks of the patient to carry out rehabilitation training, thereby being beneficial to the rapid rehabilitation of the patient.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a separable multipurpose lower limb exoskeleton robot.
Background
During the period of 2000 to 2050, the proportion of the world's population over the age of 60 will double, growing from 11% to 22%. The number of elderly people over the age of 60 will increase from 6 to 500 to 20 billion in the 50 years. More than half of the elderly worldwide live in asia, and secondly europe, many countries are gradually stepping into aging society. The aging society brings a series of problems to the society and the economy, the general decrease of physical functions, the increase of prevalence of various diseases such as cardiovascular and cerebrovascular diseases and the like in the aging population often causes the apoplexy and the hemiplegia of patients, the decrease of the motion function of lower limb limbs, the insufficient self-balancing capability of the body, and the obvious decrease of the basic motion function of the lower limbs such as walking and the like, so that the daily life range of the patients is seriously limited, the rehabilitation type lower limb exoskeleton can not only help the patients to carry out rehabilitation training, help the patients to recover and improve the autonomous motion capability of the lower limbs, but also can enable the patients to get rid of wheelchairs, realize the autonomous outdoor walking training or walking assistance of the patients, and obviously improve the life quality and the activity range of the patients.
The existing wearable exoskeleton robot products cannot solve the self-balancing problem of the exoskeleton, so that an independent exoskeleton product is generally provided with auxiliary supporting equipment of a crutch, the exoskeleton is only used for a patient with slight lower limb dysfunction and can stand independently, and the exoskeleton cannot provide help for the patient who cannot stand independently; some imported rehabilitation exoskeleton products are provided with huge fixing frames which help to fix the exoskeleton, and are immovable and heavy.
Disclosure of Invention
The invention mainly solves the technical problem of providing a separable multipurpose lower limb exoskeleton robot, wherein an inner exoskeleton device is movably connected with a movable protective frame device, the exoskeleton device can be independently used and also can be arranged on the movable protective frame device, so that patients who can independently walk and patients who cannot independently walk can carry out rehabilitation exercises, and the exoskeleton device can drive thighs and shanks of the patients to carry out rehabilitation exercises, thereby being beneficial to quick rehabilitation of the patients.
In order to solve the technical problems, the invention adopts a technical scheme that: a detachable multi-purpose lower extremity exoskeleton robot is provided, comprising a mobile cradle device and an exoskeleton device which are movably connected, wherein the exoskeleton device is used for supporting legs of a patient; the exoskeleton device comprises a waist connecting mechanism for propping against the waist of a patient, a thigh connecting mechanism for driving the thigh of the patient, a shank connecting mechanism for driving the shank of the patient and a sole supporting mechanism for supporting the leg of the patient, which are connected in sequence; the waist connecting mechanism is internally provided with a control box for control, and the control box is respectively and electrically connected with the thigh connecting mechanism and the shank connecting mechanism through cables.
As an improvement of the present invention, the thigh connecting mechanism includes a thigh driving assembly, a leg back plate and a leg guard plate, the thigh driving assembly includes a motor, the leg guard plate is connected to the motor, and the leg back plate is connected to the leg guard plate.
As a further improvement of the present invention, the motor is installed in a motor fixing housing, a motor shaft is arranged on the motor, the motor shaft is coupled to the output end of the motor, the output end of the motor is connected to a cable guide plate, and the cable guide plate is connected to the cable; the leg guard plate is connected with the output end of the motor.
As a further improvement of the invention, the lower end of the output end of the motor is connected with a leg adjusting rod, an adjusting handle is sleeved on the leg adjusting rod in a threaded manner, a locking rotating sleeve is sleeved on the adjusting handle through external threads, and a thigh adjusting rod is sleeved in the adjusting handle through internal threads.
As a further improvement of the present invention, the lower leg link mechanism and the upper leg link mechanism have the same structure.
As a further improvement of the invention, the sole support mechanism comprises a rubber sole and a metal sole, the rubber sole is adhered on the metal sole, and the metal sole is connected with the lower leg connecting mechanism through a foot connecting piece.
As a further improvement of the invention, the waist connecting mechanism comprises a back plate, a waist guard plate, a rib guard plate, a waist sliding block, a waist rotating shaft, a waist longitudinal adjusting sleeve and a waist longitudinal adjusting rod; the backplate with the waist backplate is connected, the rib portion backplate with the backplate is connected, the both sides of waist backplate all are connected with the waist slider, the waist pivot with the vertical adjusting collar of waist is connected, the waist pivot is passed the centre bore of waist slider, the vertical adjusting lever of waist inserts in the rectangular hole of the vertical adjusting collar of waist, the vertical adjusting collar of waist with the vertical adjusting lever of waist is fixed together, the vertical adjusting lever of waist with thigh coupling mechanism connects.
As a further improvement of the invention, the movable protective frame device comprises a protective frame body, a pulley assembly, a linear guide rail, a sliding block and a connecting block; pulley assembly and linear guide all install protect on the frame body, slider sliding connection is in linear guide is last, the connecting block respectively with slider, pulley assembly are connected, waist coupling mechanism swing joint is in on the connecting block.
As a further improvement of the present invention, the pulley assembly includes a rope, a movable pulley and four fixed pulleys, the four fixed pulleys are fixedly connected to the cradle body, the rope is wound around the movable pulley and the four fixed pulleys, and the movable pulley is connected to the connecting block.
As a further improvement of the invention, the bottom of the protection frame body is provided with universal wheels.
The invention has the beneficial effects that: compared with the prior art, the movable exoskeleton device is movably connected with the movable protective frame device through the exoskeleton device, the exoskeleton device can be independently used and also can be arranged on the movable protective frame device, so that a patient who can independently walk and a patient who cannot independently walk can conveniently carry out rehabilitation training, the exoskeleton device can drive thighs and shanks of the patient to carry out rehabilitation training, and the patient can be quickly rehabilitated; the invention has the advantages of wide application range, multiple purposes, small volume, convenient operation and strong practicability.
Drawings
FIG. 1 is a schematic view of a connection structure according to the present invention;
FIG. 2 is a schematic structural view of the exoskeleton device of the present invention;
FIG. 3 is a schematic structural view of the mobile protective frame device of the present invention;
fig. 4 is a schematic view of the connection of the sheave assembly of the present invention;
reference numerals: 1-mobile cradle device, 2-exoskeleton device, 3-rope housing, 4-screw, 5-slider, 6-rope sleeve, 7-fixed pulley, 8-rope, 9-universal wheel, 10-linear guide connection, 11-linear guide, 12-connection block, 13-movable pulley, 14-back plate, 15-rib guard, 16-control box, 17-waist guard, 18-waist longitudinal adjustment sleeve, 19-waist longitudinal adjustment rod, 20-hand nut, 21-leg connection block, 22-joint housing, 23-rubber sole, 24-nut, 25-foot connection, 26-metal sole, 27-ankle bolt, 28-calf adjustment rod, 29-guard fixing base, 30-thigh adjustment rod, 31-locking turn sleeve, 32-adjustment handle, 33-leg back plate, 34-leg adjustment rod, 35-leg guard, 36-cable guide, 37-motor fixing shell, 38-leg rotation shaft, 39-waist slider, 40-rotation shaft, 41-motor, 42-waist output, 43-cradle body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 4, the invention provides a separable multipurpose lower limb exoskeleton robot, which comprises a movable stand device 1 and an exoskeleton device 2 which are movably connected, wherein the exoskeleton device 2 is used for supporting legs of a patient.
As shown in fig. 2, the exoskeleton device 2 comprises a waist connecting mechanism for propping against the waist of a patient, a thigh connecting mechanism for driving the thigh of the patient, a shank connecting mechanism for driving the shank of the patient and a sole supporting mechanism for supporting the leg of the patient, which are connected in sequence; a control box 16 for control is arranged in the waist connecting mechanism, and the control box 16 is electrically connected with the thigh connecting mechanism and the shank connecting mechanism through cables.
In the invention, the exoskeleton device 2 is movably connected with the movable protective frame device 1, the exoskeleton device 2 can act independently and can also be arranged on the movable protective frame device 1, so that the patient who can walk independently and the patient who cannot walk independently can carry out rehabilitation training, and the exoskeleton device 2 can drive the thighs and the shanks of the patient to carry out rehabilitation training, thereby being beneficial to the rapid rehabilitation of the patient.
As shown in fig. 2, the thigh connecting mechanism comprises a thigh driving assembly, a leg back plate 33 and a leg guard 35, the thigh driving assembly comprises a motor 41, the leg guard 35 is connected with the motor 41, the leg back plate 33 is connected with the leg guard 35, the leg back plate 33 and the leg guard 35 are used for supporting the thigh of the patient, and the thigh driving assembly drives the leg back plate 33 and the leg guard 35 to move the thigh of the patient.
In the invention, a motor 41 is arranged in a motor fixing shell 37, a motor shaft is arranged on the motor 41 and is coupled with a motor output end 42, a cable guide sheet 36 is connected on the motor output end 42, and the cable guide sheet 36 is connected with a cable; the leg guard 35 is connected to the motor output 42 so that the motor 41 is protected by the motor fixing case 37 and the motor output 42 drives the leg guard 35 to move, thereby driving the thigh of the patient to move.
Further, the lower end of the motor output end 42 is connected with the leg adjusting rod 34, the adjusting handle 32 is in threaded sleeve connection with the leg adjusting rod 34, the locking rotating sleeve 31 is in threaded sleeve connection with the adjusting handle 32, and the thigh adjusting rod 30 is in threaded sleeve connection with the adjusting handle.
The invention provides a concrete connection mode of a thigh connection mechanism,
the back plate 14 is connected with the waist guard 17 through a screw 4, and the rib guard 15 is connected with the back plate 14 through a screw; the waist sliding block 39 is fixed at two sides of the waist guard plate 17 through screws, the waist rotating shaft 40 is fixed with the waist longitudinal adjusting sleeve 18 through screws, the waist rotating shaft 40 passes through a central hole of the waist sliding block 39, the waist longitudinal adjusting rod 19 is inserted into a rectangular hole of the waist longitudinal adjusting sleeve 18, and the waist longitudinal adjusting sleeve 18 and the waist longitudinal adjusting rod 19 are fixed together by screwing the nut 20 with hands; the leg rotating shaft 38 is fixed with the waist longitudinal adjusting rod 19 through a screw, the leg rotating shaft 38 passes through a rotating shaft hole of the leg connecting block 21, and the leg connecting block 21 can rotate around the leg rotating shaft 38; the motor fixing shell 37 is fixed with the lower end of the leg connecting block 21 through a hand nut 20, the motor 41 is fixed with the motor fixing shell 37 through a screw, the motor shaft 41 is connected with the motor output end 42, and the joint shell 22 is connected with the motor fixing shell 37 through a screw; the cable guide sheet 36 is connected with the motor output end 42 through a screw, the lower end of the motor output end 42 is connected with the leg adjusting rod 34 through a screw, the leg protection plate 35 is connected with the lower part of the motor output end 42 through a screw, and the leg back plate 33 is connected with the leg protection plate 35 through a screw; the adjusting handle 32 is connected with the leg adjusting rod 34 through threads, the locking rotary sleeve 31 is connected with the adjusting handle 32 through threads, the lower end of the locking rotary sleeve is in external thread connection, and the thigh adjusting rod 30 is connected with the lower end of the adjusting handle 32 through threads.
In the present invention, the shank link mechanism has the same structure as the thigh link mechanism, and the shank link mechanism has a shank adjusting lever 28 instead of a thigh adjusting lever 30.
As shown in fig. 2, the sole support mechanism comprises a rubber sole 23 and a metal sole 26, the rubber sole 23 is adhered on the metal sole 26, and the metal sole 26 is connected with the shank connection mechanism through a foot connection member 25; specifically, the shank adjusting rod 28 is connected to the foot connecting member 25 by the ankle bolt 27 and the nut 24, the foot connecting member 25 is connected to the metal sole 26 by a screw, and the rafter sole 23 is adhered to the metal sole 26.
As shown in fig. 2, in the invention, the waist connecting mechanism comprises a back plate 14, a waist guard 17, a rib guard 15, a waist slider 39, a waist rotating shaft 40, a waist longitudinal adjusting sleeve 18 and a waist longitudinal adjusting rod 19; the back plate 14 is connected with a waist guard plate 17, the rib guard plate 15 is connected with the back plate 14, both sides of the waist guard plate 17 are connected with waist sliders 39, a waist rotating shaft 40 is connected with the waist longitudinal adjusting sleeve 18, the waist rotating shaft 40 passes through a central hole of the waist slider 39, the waist longitudinal adjusting rod 19 is inserted into a rectangular hole of the waist longitudinal adjusting sleeve 18, the waist longitudinal adjusting sleeve 18 and the waist longitudinal adjusting rod 19 are fixed together, and the waist longitudinal adjusting rod 19 is connected with a thigh connecting mechanism; specifically, the back plate 14 is connected with the waist guard 17 through screws, the rib guard 15 is connected with the back plate 14 through screws, the waist sliding blocks 39 are fixed on both sides of the waist guard 17 through screws, the waist rotating shaft 40 is fixed with the waist longitudinal adjusting sleeve 18 through screws, the waist rotating shaft 40 passes through a central hole of the waist sliding block 39, the waist longitudinal adjusting rod 19 is inserted into a rectangular hole of the waist longitudinal adjusting sleeve 18, and the waist longitudinal adjusting sleeve 18 and the waist longitudinal adjusting rod 19 are fixed together through screwing nuts 20 by hands.
As shown in fig. 3, the mobile cradle device 1 comprises a cradle body 43, a pulley assembly, a linear guide rail 11, a sliding block 5 and a connecting block 12; the pulley assembly and the linear guide rail 11 are both arranged on the protective frame body 43, the sliding block 5 is connected to the linear guide rail 11 in a sliding manner, the connecting block 12 is respectively connected with the sliding block 5 and the pulley assembly, and the waist connecting mechanism is movably connected to the connecting block 12; the bottom of the protective frame body 43 is provided with a universal wheel 9; the protection frame body 43 can move through the universal wheel 9, the pulley component drives the connecting block 12 to move, and the connecting block 12 moves in the linear guide rail 11 under the guidance of the sliding block 5.
In the invention, as shown in fig. 4, the pulley assembly comprises a rope 8, a movable pulley 13 and four fixed pulleys 7, the four fixed pulleys 7 are fixedly connected on the cradle body 43, the rope 8 is wound on the movable pulley 13 and the four fixed pulleys 7 in a penetrating way, and the movable pulley 13 is connected with the connecting block 12.
In the present invention, the mobile cradle device 1 provides a specific embodiment, the universal wheels 9 are welded at the bottom of the cradle body 43, the lower end of the linear guide rail 11 is fixed on the steel plate of the cradle body 43 through the guide rail connecting piece 10, and the upper end of the linear guide rail 11 is connected with the cradle body 43 through the guide rail connecting piece 10; the rope sleeve 6 is adhered to one side of the protection frame body 43, the fixed pulleys 7 are fixed below the rope sleeve, the other four fixed pulleys 7 are fixed on the rectangular square tube above the protection frame body 43, the rope outer cover sleeve 3 is sleeved on the rectangular square tube above the protection frame body 43, the sliding block 5 is connected with the connecting block 12 through a screw, the sliding block 5 can slide on the linear guide rail 11, and the movable pulley 13 is connected with the connecting block 12 through a screw; one end of the rope 8 is fixed with the vertical pipe of the protection frame body 43, and the other end of the rope goes around the fixed pulley 7 and the movable pulley 13 above the protection frame body 43, passes through the rope sleeve 6 and goes around the fixed pulley 7; when the other end is pulled strongly, the movable pulley 13 can be pulled, so that the slide block 5 slides on the linear guide rail 11.
The present invention provides an embodiment comprising an articulated mobile cradle device 1 and an exoskeleton device 2, the exoskeleton device 2 being adapted to support a leg of a patient;
the universal wheels 9 are welded at the bottom of the protective frame body 43, the lower end of the linear guide rail 11 is fixed on a steel plate of the protective frame body 43 through a guide rail 10 connecting piece, and the upper end of the linear guide rail 11 is connected with the protective frame body 43 through the guide rail 10 connecting piece; the rope sleeve 6 is adhered to one side of the protection frame body 43, the fixed pulleys 7 are fixed below the rope sleeve, the other four fixed pulleys 7 are fixed on a rectangular square tube above the protection frame body 43, the rope outer cover sleeve 3 is sleeved on the rectangular square tube above the protection frame body 43, the sliding block 5 is connected with the connecting block 12 through a screw, the sliding block 5 can slide on the linear guide rail 11, and the movable pulley 13 is connected with the connecting block 12 through a screw; one end of the rope 8 is fixed with the vertical pipe of the protection frame body 43, and the other end of the rope goes around the fixed pulley 7 and the movable pulley 13 above the protection frame body 43, passes through the rope sleeve 6 and goes around the fixed pulley 7; when the other end is pulled by force, the movable pulley 13 can be pulled, so that the sliding block 5 slides on the linear guide rail 11; the back plate 14 is connected with the waist guard plate 17 through screws, and the rib guard plate 15 is connected with the back plate 14 through screws; the waist sliding block 39 is fixed at two sides of the waist guard plate 17 through screws, the waist rotating shaft 40 is fixed with the waist longitudinal adjusting sleeve 18 through screws, the waist rotating shaft 40 passes through a central hole of the waist sliding block 39, the waist longitudinal adjusting rod 19 is inserted into a rectangular hole of the waist longitudinal adjusting sleeve 18, and the waist longitudinal adjusting sleeve 18 and the waist longitudinal adjusting rod 19 are fixed together by screwing the nut 20 with hands; the leg rotating shaft 38 is fixed with the waist longitudinal adjusting rod 19 through a screw, the leg rotating shaft 38 passes through a rotating shaft hole of the leg connecting block 21, and the leg connecting block 21 can rotate around the leg rotating shaft 38; the motor fixing shell 37 is fixed with the lower end of the leg connecting block 21 through a hand nut 20, the motor 41 is fixed with the motor fixing shell 37 through a screw, the motor shaft 41 is connected with the motor output end 42, and the joint shell 22 is connected with the motor fixing shell 37 through a screw 4; the cable guide sheet 36 is connected with the motor output end 42 through a screw, the lower end of the motor output end 42 is connected with the leg adjusting rod 34 through a screw, the leg protection plate 35 is connected with the lower part of the motor output end 42 through a screw, and the leg back plate 33 is connected with the leg protection plate 35 through a screw; the adjusting handle 32 is connected with the leg adjusting rod 34 through threads, the locking rotary sleeve 31 is connected with the lower end external threads of the adjusting handle 32 through threads, and the thigh adjusting rod 30 is connected with the lower end internal threads of the adjusting handle 32 through threads; the lower part of the shank adjusting rod 28 is connected with the inner thread at the lower end of the adjusting handle 32 through threads; the shank adjusting rod 28 is connected with the foot connecting piece 25 through the ankle bolt 27 and the nut 24, the foot connecting piece 25 is connected with the metal sole 26 through the screw, and the rubber sole 23 is adhered on the metal sole 26.
In the present invention, when the exoskeleton device 2 is separated from the mobile frame device 1, the control box 16 is hung on the hanging hole of the waist guard 17 of the exoskeleton device 2 through the hook on the panel; when the exoskeleton device 2 is used with the mobile easel device 1, the control box 16 is placed on the platform of the easel body 43; the waist guard plate 17 of the exoskeleton device 2 is connected with the connecting block of the protective frame body 43 through screws to form a whole.
When a patient who cannot stand independently uses the exoskeleton device 2, the exoskeleton device 2 and the movable cradle device 1 need to be used; after the patient wears the exoskeleton device 2, an operator pulls the rope 8 on the movable protective frame device 1 to enable the sliding block 5 to move upwards, and at the moment, the exoskeleton device 2 can move along with the sliding block 5, so that the effect of lifting the person and the exoskeleton device 2 together is achieved; when the sole of the exoskeleton device 2 leaves the ground, the switch key on the control box 16 is started, and the motor at the joint rotates, so that the thigh and shank connecting mechanism of the exoskeleton device is driven to move, and the thigh and the shank of the person move along with the movement of the person because the person is tied on the exoskeleton device 2, thereby realizing the walking rehabilitation training. When the exoskeleton is used by a patient capable of standing independently, the exoskeleton can be separated from the movable protective frame and used independently.
When the exoskeleton device 2 is worn by a patient, the switch key on the control box 16 is started, the motor at the joint rotates, so that the thigh and the shank of the exoskeleton device 2 are driven to move in a connecting manner, and the thigh and the shank of the patient also move along with the movement of the person because the person is tied on the exoskeleton device 2, so that walking rehabilitation training, slope ascending and descending training, stair ascending and descending training and the like are realized.
The exoskeleton device 2 and the movable protective frame device 1 form a whole together, and are connected through the special connecting block 12, so that two using modes of combination and separation of the exoskeleton device 2 and the movable protective frame device 1 are simply and conveniently realized, complex rehabilitation training items such as walking on flat ground, going up and down stairs, going up and down slopes and the like are realized, and the application range and product functionality of a user of the exoskeleton device 2 can be greatly expanded; the whole device has uniqueness and originality.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A separable multipurpose lower limb exoskeleton robot is characterized by comprising a movable protection frame device and an exoskeleton device which are movably connected, wherein the movable protection frame device comprises a connecting block; the exoskeleton device is configured to support a leg of a patient; the exoskeleton device comprises a waist connecting mechanism for propping against the waist of a patient, a thigh connecting mechanism for driving the thigh of the patient, a shank connecting mechanism for driving the shank of the patient and a sole supporting mechanism for supporting the leg of the patient, which are connected in sequence; the waist connecting mechanism is movably connected to the connecting block, a control box for control is arranged in the waist connecting mechanism, and the control box is electrically connected with the thigh connecting mechanism and the shank connecting mechanism through cables; the movable protective frame device also comprises a protective frame body, a pulley component, a linear guide rail and a sliding block; the pulley assembly and the linear guide rail are both arranged on the protective frame body, the sliding block is connected to the linear guide rail in a sliding manner, and the connecting block is respectively connected with the sliding block and the pulley assembly; the pulley assembly comprises a rope, a movable pulley and four fixed pulleys, the four fixed pulleys are fixedly connected to the protective frame body, the rope is wound on the movable pulley and the four fixed pulleys in a penetrating manner, and the movable pulley is connected with the connecting block; the lower end of the linear guide rail is fixed on a steel plate of the protection frame body through a guide rail connecting piece, and the upper end of the linear guide rail is connected with the protection frame body through the guide rail connecting piece; when the exoskeleton device is separated from the movable protective frame device for use, the control box is hung on a hanging hole of a waist protective plate of the exoskeleton device through a hook on a panel; when the exoskeleton device is in use with the mobile cradle device, the control box is disposed on a platform of the cradle body; the waist protection plate of the exoskeleton device is connected with the connecting block of the protection frame body through a screw.
2. The separable multi-purpose lower extremity exoskeleton robot of claim 1, wherein said thigh link mechanism comprises a thigh drive assembly, a leg shield, and a leg shield, said thigh drive assembly comprising a motor, said leg shield being coupled to said leg shield.
3. The separable multipurpose lower limb exoskeleton robot of claim 2, wherein the motor is mounted in a motor fixing shell, a motor shaft is arranged on the motor, the motor shaft is coupled with an output end of the motor, a cable guide plate is connected with the output end of the motor, and the cable guide plate is connected with the cable; the leg guard plate is connected with the output end of the motor.
4. The separable multipurpose lower limb exoskeleton robot as claimed in claim 3, wherein the lower end of the output end of the motor is connected with a leg adjusting rod, an adjusting handle is sleeved on the leg adjusting rod in a threaded manner, a locking rotating sleeve is sleeved on the adjusting handle through an external thread, and a thigh adjusting rod is sleeved in the adjusting handle through an internal thread.
5. The separable multi-purpose lower extremity exoskeleton robot of claim 4 wherein said lower leg link mechanism is structurally identical to said upper leg link mechanism.
6. The separable multi-purpose lower extremity exoskeleton robot of claim 1, wherein said sole support mechanism comprises a rubber sole and a metal sole, said rubber sole is adhered to said metal sole, said metal sole is connected to said lower leg connection mechanism by a foot connection.
7. The separable multi-purpose lower extremity exoskeleton robot of claim 1, wherein the waist connecting mechanism comprises a back plate, a waist guard, a rib guard, a waist slider, a waist rotating shaft, a waist longitudinal adjusting sleeve and a waist longitudinal adjusting rod; the backplate with the waist backplate is connected, the rib portion backplate with the backplate is connected, the both sides of waist backplate all are connected with the waist slider, the waist pivot with the vertical adjusting collar in waist is connected, the waist pivot is passed the centre bore of waist slider, the vertical adjusting collar in waist inserts in the rectangular hole of the vertical adjusting collar in waist, the vertical adjusting collar in waist with the vertical adjusting collar in waist is fixed together, the vertical adjusting collar in waist with thigh coupling mechanism connects.
8. The separable multi-purpose lower extremity exoskeleton robot of claim 1, wherein universal wheels are mounted to the bottom of said cage body.
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