Exoskeleton-assisted and lower limb rehabilitation integrated robot

Abstract

The present invention provides an exoskeleton power-assisting and lower limb rehabilitation integrated robot, comprising a support frame and an exoskeleton robot, the exoskeleton robot comprising a hip, a thigh, a calf and a foot that are rotatably connected in sequence, and a driving member is provided at any connection between the hip and the thigh, the thigh and the calf, and the calf and the foot; the support frame comprises a base, a support frame body and a mounting frame that are detachably connected in sequence, a limiting assembly is provided on the mounting frame, and the hip is connected to the mounting frame through the limiting assembly. The exoskeleton robot is detachably mounted on the support frame through a limiting assembly composed of two limiting blocks installed on a mounting rod, and by adjusting the position of the support frame body on the base and the position of the mounting frame on the support frame body, the spatial position of the exoskeleton robot on the support frame can be adjusted, which is helpful to adapt to the lower limb rehabilitation treatment of different users, and the exoskeleton robot can also be used alone to assist the user's walking.

Description

Technical Field

[0001] The present invention relates to the field of exoskeleton robots, and in particular to an exoskeleton power-assisting and lower limb rehabilitation integrated robot. Background Art

[0002] Rehabilitation robots are an important branch of medical robots, which are widely used in rehabilitation care, prostheses and rehabilitation therapy. Currently, lower limb rehabilitation robots usually assist users in lower limb movement to provide rehabilitation therapy for users.

[0003] The existing Chinese patent with publication number CN215193457U discloses an exoskeleton robot for lower limb rehabilitation training. The exoskeleton robot for lower limb rehabilitation training includes a mounting column; a first connecting rod, the first connecting rod is fixedly mounted on one side of the mounting column; a first adjusting rod, the first adjusting rod is slidably sleeved on the first connecting rod; a second connecting rod, the second connecting rod is arranged at one end of the first adjusting rod; a second adjusting rod, the second adjusting rod is rotatably mounted on the end of the second connecting rod away from the first adjusting rod; and a third connecting rod, the third connecting rod is slidably mounted on the second adjusting rod.

[0004] The inventor believes that the lower limb exoskeleton robot in the prior art can only be fixed in a specific position for use, cannot provide assistance to the user's normal movements, has a small scope of use, and has room for improvement. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide an exoskeleton-assisted and lower limb rehabilitation integrated robot.

[0006] According to the present invention, an exoskeleton-assisted and lower limb rehabilitation integrated robot is provided, comprising a support frame and an exoskeleton robot, wherein a limiting assembly for detachably connecting the support frame and the exoskeleton robot is arranged between the support frame and the exoskeleton robot; the exoskeleton robot comprises a hip, a thigh, a calf and a foot which are rotatably connected in sequence, and a driving member is arranged at the connection between any of the hip and the thigh, the thigh and the calf, and the calf and the foot; the support frame comprises a base, a support frame body and a mounting frame which are detachably connected in sequence, the limiting assembly is arranged on the mounting frame, and the hip is connected to the mounting frame via the limiting assembly.

[0007] Preferably, the crotch is rotatably connected to the thigh, a first drive motor is fixedly installed at the connection between the crotch and the thigh, and the output shaft of the first drive motor penetrates into the thigh and is tightly connected thereto; the calf is rotatably connected to the thigh, a second drive motor is fixedly installed at the connection between the thigh and the calf, and the output shaft of the second drive motor penetrates into the calf and is tightly connected thereto; the foot is rotatably connected to the calf, a third drive motor is fixedly installed at the connection between the calf and the foot, and the output shaft of the third drive motor penetrates into the foot and is tightly connected thereto.

[0008] Preferably, the support frame body is fixedly mounted on the base, the mounting frame is mounted on the support frame body and slidingly cooperates with the support frame body, and the mounting frame and the support frame body are fixedly connected via a connecting block; the connecting block includes two connecting half blocks hinged to each other, one of the connecting half blocks is detachably connected to the mounting frame, and the other connecting half block is detachably connected to the support frame body.

[0009] Preferably, the mounting frame includes two mounting rods, and the two mounting rods are both arranged on the support frame body and slidably cooperate with the support frame body. The limiting assembly includes a limiting block, and at least two limiting blocks are arranged at intervals on any mounting rod, and any of the limiting blocks is fastened to the mounting rod by means of bolts and nuts; the hips of the exoskeleton robot are arranged on the two mounting rods, and two adjacent limiting blocks clamp the hips of the exoskeleton robot.

[0010] Preferably, the base includes a second support rod and a third support rod, the second support rod is fixedly installed at both ends of the third support rod, and the third support rod is located at one quarter to one half of the length of the second support rod; reinforcement plates are fastened on both upper and lower sides of the connection between the second support rod and the third support rod.

[0011] Preferably, the thigh portion includes a thigh frame, the thigh frame includes a first thigh support, a second thigh support and a first connecting strip, the first connecting strip is fastened to the first thigh support and the second thigh support, the end of the first thigh support away from the second thigh support is fastened to the output shaft of the first drive motor, and the second drive motor is installed at the end of the second thigh support away from the first thigh support; the thigh portion also includes a first inner protective cover, a first outer protective cover, a second inner protective cover and a second outer protective cover; the first inner protective cover and the first outer protective cover are fastened to the thigh frame and cover the first thigh support and the first drive motor; the second inner protective cover and the second outer protective cover are fastened to the thigh frame and cover the second thigh support and the second drive motor.

[0012] Preferably, the calf portion includes a calf frame, the calf frame includes a first calf support, a second calf support and a second connecting strip, the second connecting strip is fastened to the first calf support and the second calf support, the end of the first calf support away from the second calf support is fastened to the output shaft of the second drive motor, and the third drive motor is installed at the end of the second calf support away from the first calf support; the calf portion also includes a third inner protective cover, a third outer protective cover, a fourth inner protective cover and a fourth outer protective cover; the third inner protective cover and the third outer protective cover are fastened to the calf frame and cover the first calf support; the fourth inner protective cover and the fourth outer protective cover are fastened to the calf frame and cover the second calf support and the third drive motor.

[0013] Preferably, the foot comprises a foot frame, and the foot frame extends to the inside of the exoskeleton robot.

[0014] Preferably, a backpack structure is fastened to the upper side of the crotch portion, and a Velcro is provided on the backpack structure for fixing and connecting the user's waist; Velcro is provided on any of the thigh and calf portions.

[0015] Preferably, the support frame is arranged on one side of the base, the mounting frame extends from the support frame to the other side of the base, and the exoskeleton robot is arranged at one end of the mounting frame extending into the base.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention uses a limiting assembly composed of two limiting blocks installed on a mounting rod to detachably install an exoskeleton robot that simulates a human body and has a crotch, thigh, calf and foot on a support frame, and the support frame can adjust the spatial position of the exoskeleton robot on the support frame by adjusting the position of the support frame body on the base and the position of the mounting frame on the support frame body, which helps to adapt to lower limb rehabilitation treatment for different users and improve applicability. The exoskeleton robot can also be used alone to assist the user's walking;

[0018] 2. The present invention sets the exoskeleton robot to imitate the human body structure, and uses the first drive motor to rotate and connect the crotch and thigh, the second drive motor to rotate and connect the thigh and calf, and the third drive motor to rotate and connect the calf and foot, which helps to improve the rotation accuracy of the joints of the exoskeleton robot and can achieve assisted walking and lower limb rehabilitation assistance;

[0019] 3. The present invention realizes the movement of eight degrees of freedom of the exoskeleton robot by rotating two crotch connecting parts installed on the crotch supporting part, two thigh parts rotatably connected to the crotch connecting parts, two calf parts rotatably connected to the thigh parts, and two feet connected to the calf parts, which helps to improve the movement reliability of the exoskeleton robot, and has a simple structure and good streamline shape;

[0020] 4. The present invention connects the first thigh support and the second thigh support through the first connecting strip. By adjusting the length of the first connecting strip extending into the first thigh support and the second thigh support, the length of the thigh can be adjusted without affecting the normal operation of the first drive motor and the second drive motor, which helps to improve the applicability of the exoskeleton robot;

[0021] 5. The present invention arranges matching grooves on the third support rod, the second support rod, the first support rod, the vertical guide rod, the stabilizing rod and the mounting rod. On the one hand, they cooperate with bolts and nuts to realize detachable fastening connection of various components of the support frame. On the other hand, they play a guiding role, which helps to improve the convenience and accuracy of the staff in adjusting the spatial position of the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is a schematic diagram of the installation structure of the exoskeleton power assistance and lower limb rehabilitation integrated robot mainly embodied in the present invention;

[0024] Figure 2 This is a schematic diagram of the explosion structure of the exoskeleton robot mainly embodied in the present invention;

[0025] Figure 3 This is a schematic diagram of the overall structure of the support frame mainly embodied in the present invention.

[0026] As shown in the figure:

[0027] Backpack structure 1 First drive motor 18

[0028] Backpack shell 2 First outer protective cover 19

[0029] Crotch shell 3 Second outer protective cover 20

[0030] Crotch support part 4 Third outer protective cover 21

[0031] Crotch connection part 5 Fourth outer protective cover 22

[0032] Crotch inner shell 6 Second thigh support 23

[0033] First thigh support 7 Second calf support 24

[0034] First connecting bar 8 Mounting rod 25

[0035] Second drive motor 9 Vertical guide rod 26

[0036] Second connecting strip 10 Reinforcement plate 27

[0037] First calf support 11 Second support rod 28

[0038] The third driving motor 12 universal wheel 29

[0039] First inner protection cover 13 Third support rod 30

[0040] Second inner protection cover 14 Stabilizing bar 31

[0041] Third inner protective cover 15 connecting block 32

[0042] Fourth inner protective cover 16 First support rod 33

[0043] Footrest 17 Limit block 34 DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0045] like Figure 1 As shown, an exoskeleton-assisted and lower limb rehabilitation integrated robot provided according to the present invention includes a support frame and an exoskeleton robot, and a limit assembly for detachably connecting the two is installed between the support frame and the exoskeleton robot. The exoskeleton robot includes a hip, a thigh, a calf, and a foot that are rotatably connected in sequence, and a driving member is installed at any connection between the hip and the thigh, the thigh and the calf, and the calf and the foot. The driving member in this application is a robot joint motor. The support frame includes a base, a support frame body, and a mounting frame that are detachably connected in sequence. The limit assembly is arranged on the mounting frame, and the hip is connected to the mounting frame through the limit assembly.

[0046] The exoskeleton robot is mounted on the mounting frame of the support frame through a limiting assembly, so that the exoskeleton robot can be detachably mounted on the support frame. The exoskeleton robot in the present application is of a humanoid structure, which is modeled after the lower limbs of the human body. It has eight degrees of freedom and can be mounted on the frame to provide assistance for the user's rehabilitation treatment, and can also be used independently to assist walking.

[0047] Specifically, Figure 2 As shown, the exoskeleton robot includes a crotch, a thigh, a calf and a foot, wherein one thigh is rotatably mounted on each side of the crotch, one calf is rotatably mounted on one end of each thigh away from the crotch, and one foot is rotatably mounted on one end of each calf away from the thigh. The exoskeleton robot in this application is a humanoid robot, and driving parts are arranged at its joints to realize relative rotation of each joint.

[0048] More specifically, the crotch is rotatably connected to the thigh, and a first drive motor 18 is fixedly installed at the connection between the crotch and the thigh, and the output shaft of the first drive motor 18 penetrates the thigh and is tightly connected thereto. The calf is rotatably connected to the thigh, and a second drive motor 9 is fixedly installed at the connection between the thigh and the calf, and the output shaft of the second drive motor 9 penetrates the calf and is tightly connected thereto. The foot is rotatably connected to the calf, and a third drive motor 12 is fixedly installed at the connection between the calf and the foot, and the output shaft of the third drive motor 12 penetrates the foot and is tightly connected thereto. The first drive motor 18, the second drive motor 9, and the third drive motor 12 in the present application are all robot joint motors, which have high rotation accuracy, high action reliability, and simple structure.

[0049] like Figure 2 As shown, the crotch portion includes a crotch portion outer shell 3, a crotch portion inner shell 6, a crotch portion connecting portion 5 and a crotch portion supporting portion 4, and one crotch portion connecting portion 5 is rotatably mounted on each side of the crotch portion supporting portion 4. A robot joint motor is fastened and mounted at the connection between the crotch portion supporting portion 4 and any crotch portion connecting portion 5, and both robot joint motors pass through the crotch portion supporting portion and rotate with it, and the output ends of both robot joint motors pass through the corresponding crotch portion supporting portion 4 and are fastened and connected with it by bolts. Thus, the two crotch portion connecting portions 5 can rotate around the axis of the output shaft of the robot joint motor at the connection between them and the crotch portion supporting portion 4.

[0050] The hip outer shell 3 and the hip inner shell 6 cooperate to clamp the hip support part 4, and one end of any hip connection part 5 away from the hip support part 4 is rotatably connected to a thigh, one end of any thigh away from the hip connection part 5 is rotatably connected to a calf, and one end of any calf away from the thigh is rotatably connected to a foot. Since the exoskeleton robot in this application is a humanoid structure, the left leg and the right leg have the same structure, and now one leg is used as an example for explanation.

[0051] like Figure 2As shown, the thigh portion includes a thigh frame, and the thigh frame includes a first thigh support 7, a second thigh support 23 and a first connecting strip 8. The first connecting strip 8 is fastened to the first thigh support 7 and the second thigh support 23 by bolts. When the length of the thigh portion needs to be changed, the bolts can be loosened, and then the length of the first connecting strip 8 extending into the first thigh support 7 and the second thigh support 23 can be adjusted, and then the bolts can be tightened to adjust the length of the thigh portion without affecting the normal operation of the first drive motor 18 and the second drive motor 9.

[0052] One end of the first thigh support 7 away from the second thigh support 23 is fastened to the output shaft of the first drive motor 18 , and the second drive motor 9 is installed at one end of the second thigh support 23 away from the first thigh support 7 .

[0053] The thigh portion also includes a first inner protective cover 13, a first outer protective cover 19, a second inner protective cover 14 and a second outer protective cover 20. The first inner protective cover 13 and the first outer protective cover 19 are fastened to the thigh frame and cover the first thigh support 7 and the first drive motor 18. Specifically, the first inner protective cover 13 and the first outer protective cover 19 are fastened by the plug-in cooperation of mutually matching pins and sockets, and the first inner protective cover 13 and the first outer protective cover 19 cooperate to clamp the first thigh support 7 so that the first inner protective cover 13 and the first outer protective cover 19 can move with the first thigh support 7. A protrusion similar to the appearance of the first drive motor 18 is formed at the position of the first outer protective cover 19 corresponding to the first drive motor 18, and the protrusion can completely cover the first drive motor 18 and can rotate relative to the first drive motor 18.

[0054] The second inner protective cover 14 and the second outer protective cover 20 are fastened to the thigh frame and cover the second thigh support 23 and the second drive motor 9. Specifically, the structural principle of the second inner protective cover 14 and the second outer protective cover 20 covering the second thigh support 23 and the second drive motor 9 is the same as the structural principle of the first inner protective cover 13 and the first outer protective cover 19 covering the first thigh support 7 and the first drive motor 18.

[0055] like Figure 2 As shown, the calf portion includes a calf frame, and the calf frame includes a first calf support 11, a second calf support 24 and a second connecting strip 10. The second connecting strip 10 is fastened to the first calf support 11 and the second calf support 24 by bolts. When the length of the calf portion needs to be changed, the bolts can be rotated to adjust the length of the second connecting strip 10 extending into the first calf support 11 and the second calf support 24, and then the bolts can be tightened to adjust the length of the calf portion without affecting the normal operation of the second drive motor 9 and the third drive motor 12.

[0056] One end of the first calf support 11 away from the second calf support 24 is fastened to the output shaft of the second drive motor 9, and the third drive motor 12 is installed at one end of the second calf support 24 away from the first calf support 11. The calf part also includes a third inner protective cover 15, a third outer protective cover 21, a fourth inner protective cover 16 and a fourth outer protective cover 22, and the third inner protective cover 15 and the third outer protective cover 21 are fastened to the calf frame and cover the first calf support 11. The fourth inner protective cover 16 and the fourth outer protective cover 22 are fastened to the calf frame and cover the second calf support 24 and the third drive motor 12.

[0057] Specifically, the structural principle of the third inner protective cover 15 and the third outer protective cover 21 covering the first calf support 11, and the structural principle of the fourth inner protective cover 16 and the fourth outer protective cover 22 covering the second calf support 24 and the third drive motor 12 are the same as the structural principle of the first inner protective cover 13 and the first outer protective cover 19 covering the first thigh support 7 and the first drive motor 18.

[0058] like Figure 2 As shown, the foot includes a foot frame 17, the upper part of the foot frame 17 is tightly connected to the output shaft of the third drive motor 12, the foot frame 17 is rotatably matched with the lower end of the second calf support 24, and the foot frame 17 extends from the connection between it and the third drive motor 12 to the inside of the exoskeleton robot.

[0059] Furthermore, a backpack structure 1 is fastened to the upper side of the crotch, and a backpack shell 2 is fastened to the backpack structure 1. Velcro is installed on the backpack structure for fixing the user's waist. Velcro is installed on any thigh and calf, so that the user can wear the exoskeleton robot easily.

[0060] The inventor believes that the lower limb exoskeleton robot can achieve eight degrees of freedom through the two rotatable hip connecting parts 5, the two rotatable thigh parts, the two rotatable calf parts and the two rotatable feet. And the robot joint motor directly drives each joint part to rotate, and the rotation accuracy is high and the reliability is good.

[0061] like Figure 3 As shown, the support frame includes a base, a support frame body, a mounting frame and a limit assembly. The support frame body is fixedly mounted on the base, and the length direction of the support frame body is perpendicular to the plane where the base is located. The mounting frame is mounted on the support frame body and slides with it. The mounting frame can slide along the length direction of the support frame body, and the mounting frame and the support frame body are fixedly connected by a connecting block 32. The limit assembly is mounted on the mounting frame and is used for detachably connecting the lower limb rehabilitation exoskeleton robot.

[0062] Through the detachable fastening connection between the frame-structured base, the support frame body and the mounting frame, the staff can adjust the height, front-back position, and left-right position of the lower limb rehabilitation exoskeleton and the person installed on the mounting frame to accommodate users of different heights and body shapes, thereby improving the applicability of the support frame.

[0063] like Figure 3 As shown, the base is horizontally arranged on the ground, and the base includes a second support rod 28, a third support rod 30 and a universal wheel. Two third support rods 30 are arranged in parallel, and the two third support rods 30 are located in the same horizontal plane and contact with each other. A second support rod 28 is horizontally fixedly installed at both ends of the third support rod 30, and the length direction of any second support rod 28 is parallel to the length direction of the third support rod 30.

[0064] The second support rod 28 and the third support rod 30 are both long rods with rectangular cross sections. The second support rod 28 and the third support rod 30 are integrally formed with matching grooves parallel to the length direction thereof around the four sides.

[0065] A reinforcing plate 27 is installed on both the upper and lower sides of the connection between any second support rod 28 and the third support rod 30. The reinforcing plate 27 is provided with a waist-shaped groove corresponding to the matching grooves on the two third support rods 30 and a waist-shaped groove corresponding to the matching groove on the second support rod 28, and any waist-shaped groove is fastened to the corresponding matching groove by the cooperation of bolts and nuts. Thus, a detachable fastening connection between the third support rod 30 and the second support rod 28 is realized. Since the mounting frame is mounted on the third support rod 30, by adjusting the position of the third support rod 30 in the length direction of the second support rod 28, the front and rear position of the exoskeleton rehabilitation robot on the support frame can be adjusted.

[0066] In order to ensure the position of the center of gravity of the user during use, preferably, the third support rod 30 is located at one quarter to one half of the length of the second support rod 28 .

[0067] Furthermore, a universal wheel 29 is installed at the lower side of both ends of the two second support rods 28, respectively, which improves the convenience of transporting the support frame.

[0068] like Figure 3As shown, the support frame includes a vertical guide rod 26, a stabilizing rod 31 and a first support rod 33. The vertical guide rod 26, the stabilizing rod 31 and the first support rod 33 are long rods with rectangular cross sections, and the vertical guide rod 26, the stabilizing rod 31 and the first support rod 33 are integrally formed with matching grooves parallel to their length directions around them. The vertical guide rod 26 and the stabilizing rod 31 are both fastened to the third support rod 30 of the base. Two vertical guide rods 26 are vertically installed on one of the third support rods 30, and one stabilizing rod 31 is vertically installed on the other third support rod 30, and the stabilizing rod 31 is located in the middle of the two vertical guide rods 26.

[0069] The bottoms of the two vertical guide rods 26 and the one stabilizing rod 31 are fastened to the corresponding third support rod 30 through an articulated block. The articulated block includes two articulated halves, one of which is fastened to the corresponding vertical guide rod 26 or the matching groove on the stabilizing rod 31 through bolts and nuts, and the other articulated half is fastened to the corresponding matching groove on the third support rod 30 through bolts and nuts.

[0070] The first support rod 33 is horizontally fastened and installed on the top of the two vertical guide rods 26, and the first support rod 33 is fastened and connected to the two vertical guide rods 26 and a stabilizing rod 31 respectively through the cooperation of bolts, nuts and hinge blocks, and the length direction of the first support rod 33 is parallel to the length direction of the third support rod 30. By moving the support frame body on the third support rod 30 along the length direction of the third support rod 30, the left and right position of the exoskeleton robot installed on the support frame body on the support frame can be adjusted.

[0071] The mounting frame includes two mounting rods 25, both of which are long rods with rectangular cross sections, and the four sides of the two mounting rods 25 are integrally formed with matching grooves parallel to their lengths. The two mounting rods 25 are respectively horizontally mounted on the sides of the two vertical guide rods 26 that are away from each other, and the two mounting rods 25 extend horizontally from the connection between them and the vertical guide rods 26 to the other side of the base, and the two mounting rods 25 can slide along the length direction of the matching grooves on the vertical guide rods 26. Any mounting rod 25 is fastened to the corresponding vertical guide rod 26 through a connecting block 32, and a connecting block 32 is installed on the side of any mounting rod 25 that contacts and is adjacent to the vertical guide rod 26.

[0072] The connecting block 32 includes two mutually hinged connecting half blocks, one of which is detachably connected to the mounting frame by bolts and nuts, and the other is detachably connected to the support frame body by bolts and nuts. At this time, the mounting frame is adjusted in the vertical direction, and the mounting frame can be fixed at any height along the length of the vertical guide rod 26, so that the height of the exoskeleton robot installed on the mounting frame on the support frame can be adjusted.

[0073] like Figure 1 and Figure 3 As shown, the limit assembly includes a limit block 34, two of which are installed at intervals along the length of the corresponding mounting rod 25 on the upper side of any mounting rod 25, and the limit block 34 is a T-shaped structure, and any limit block 34 slides along the length direction of the matching groove on the corresponding mounting rod 25. The limit block 34 is provided with a threaded hole, and can be threadedly connected to clamp the crotch surface of the exoskeleton robot, so that the exoskeleton robot is tightly connected to the mounting rod 25.

[0074] Any limit block 34 is fastened to the corresponding mounting rod 25 by means of bolts and nuts. The space formed by the two limit blocks 34 on the same mounting rod 25 is the installation space of the exoskeleton robot. When the exoskeleton robot is installed in place, the limit blocks 34 are used to clamp or plug it to the mounting frame, so that the exoskeleton robot is fastened to the mounting rod 25, thereby achieving stable installation of the exoskeleton robot on the support frame.

[0075] By adjusting the left and right position of the support frame along the length direction of the third support rod 30, adjusting the front and rear position of the support frame along the length direction of the second support rod 28, and adjusting the height of the mounting frame along the length direction of the vertical guide rod 26, the spatial position of the exoskeleton robot installed on the mounting frame is adjusted to adapt to different users, thereby improving the applicability of the support frame.

[0076] How it works

[0077] By loosening the nut on the hinge block installed on the third support rod 30, the support frame can be relatively displaced with the third support rod 30, and then the support frame is moved along the length direction of the matching groove on the third support rod 30, and similarly, it is moved along the length direction of the matching groove on the second support rod 28 and the length direction of the matching groove on the vertical guide rod 26, thereby realizing the adjustment of the front and rear position, left and right position and height of the mounting frame in the space; then, the hip of the exoskeleton robot is clamped by the limit block, and the user can wear the exoskeleton robot through the Velcro on the backpack structure 1, thigh and calf, and the two hip connecting parts 5 are driven to rotate by the robot joint motor located at the connection between the hip support part 4 and the hip connecting part 5, the two thighs are driven to rotate by the two first drive motors 18, the two calves are driven to rotate by the two second drive motors 9, and the two feet are driven to rotate by the two third drive motors 12, thereby realizing the eight degrees of freedom of the exoskeleton robot, which can provide assistance for the user to walk or exercise the lower limbs, and has a simple structure and stable performance.

[0078] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0079] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An exoskeleton-assisted and lower limb rehabilitation integrated robot, characterized in that: It includes a support frame and an exoskeleton robot, wherein a limiting component for detachably connecting the support frame and the exoskeleton robot is provided between the support frame and the exoskeleton robot; The exoskeleton robot comprises a crotch, a thigh, a calf and a foot which are connected in rotation in sequence, and a driving member is provided at any connection between the crotch and the thigh, the thigh and the calf, and the calf and the foot; The support frame comprises a base, a support frame body and a mounting frame which are detachably connected in sequence, the limiting assembly is arranged on the mounting frame, and the crotch portion is connected to the mounting frame via the limiting assembly; The crotch portion is rotatably connected to the thigh portion, a first drive motor (18) is fixedly installed at the connection between the crotch portion and the thigh portion, and an output shaft of the first drive motor (18) penetrates into the thigh portion and is tightly connected thereto; The calf portion is rotatably connected to the thigh portion, a second drive motor (9) is fixedly mounted at the connection between the thigh portion and the calf portion, and an output shaft of the second drive motor (9) penetrates into the calf portion and is tightly connected thereto; The foot is rotatably connected to the calf, a third drive motor (12) is fixedly mounted at the connection between the calf and the foot, and an output shaft of the third drive motor (12) penetrates into the foot and is tightly connected thereto; The thigh portion comprises a thigh frame, and the thigh frame comprises a first thigh support (7), a second thigh support (23) and a first connecting strip (8), the first connecting strip (8) is fastened to the first thigh support (7) and the second thigh support (23), an end of the first thigh support (7) away from the second thigh support (23) is fastened to the output shaft of the first drive motor (18), and the second drive motor (9) is installed at an end of the second thigh support (23) away from the first thigh support (7); The thigh portion further comprises a first inner protective cover (13), a first outer protective cover (19), a second inner protective cover (14) and a second outer protective cover (20); The first inner protective cover (13) and the first outer protective cover (19) are fixedly mounted on the thigh frame and cover the first thigh support (7) and the first drive motor (18); The second inner protective cover (14) and the second outer protective cover (20) are fixedly mounted on the thigh frame and cover the second thigh support (23) and the second drive motor (9); The calf portion comprises a calf frame, the calf frame comprises a first calf support (11), a second calf support (24) and a second connecting strip (10), the second connecting strip (10) being fastened to the first calf support (11) and the second calf support (24), an end of the first calf support (11) away from the second calf support (24) being fastened to the output shaft of the second drive motor (9), and the third drive motor (12) being mounted on an end of the second calf support (24) away from the first calf support (11); The calf portion further comprises a third inner protective cover (15), a third outer protective cover (21), a fourth inner protective cover (16) and a fourth outer protective cover (22); The third inner protective cover (15) and the third outer protective cover (21) are fixedly mounted on the calf frame and cover the first calf support (11); The fourth inner protective cover (16) and the fourth outer protective cover (22) are fixedly mounted on the calf frame and cover the second calf support (24) and the third drive motor (12); The crotch portion includes a crotch portion outer shell, a crotch portion inner shell, a crotch portion connecting portion and a crotch portion supporting portion. The crotch portion connecting portion is rotatably mounted on both sides of the crotch portion supporting portion. A robot joint motor is fastened and mounted at the connection between the crotch portion supporting portion and any crotch portion connecting portion. Both robot joint motors pass through the crotch portion supporting portion and are rotatably matched therewith. The mounting frame comprises two mounting rods (25), the two mounting rods (25) are both arranged on the support frame body and slidably cooperate with the support frame body, the limiting assembly comprises a limiting block (34), at least two limiting blocks (34) are arranged at intervals on any mounting rod (25), and any limiting block (34) is fastened to the mounting rod (25) by means of a bolt and a nut; The hip part of the exoskeleton robot is arranged on two mounting rods (25), and two adjacent limit blocks (34) clamp the hip part of the exoskeleton robot.

2. The exoskeleton-assisted and lower limb rehabilitation integrated robot according to claim 1, characterized in that: The support frame body is fixedly mounted on the base, the mounting frame is mounted on the support frame body and slidably cooperates with the support frame body, and the mounting frame and the support frame body are fixedly connected via a connecting block (32); The connecting block (32) comprises two connecting half blocks hinged to each other, one of the connecting half blocks being detachably connected to the mounting frame, and the other connecting half block being detachably connected to the supporting frame body.

3. The exoskeleton-assisted and lower limb rehabilitation integrated robot according to claim 1, characterized in that: The base comprises a second support rod (28) and a third support rod (30); the second support rod (28) is fixedly mounted at both ends of the third support rod (30), and the third support rod (30) is located at a quarter to a half of the length of the second support rod (28); Reinforcement plates (27) are fastened and mounted on both upper and lower sides of the connection between the second support rod (28) and the third support rod (30).

4. The exoskeleton-assisted and lower limb rehabilitation integrated robot according to claim 1, characterized in that: The foot comprises a foot frame (17), and the foot frame (17) extends to the inside of the exoskeleton robot.

5. The exoskeleton-assisted and lower limb rehabilitation integrated robot according to claim 1, characterized in that: A backpack structure (1) is fastened to the upper side of the crotch portion, and a Velcro strip for fixing the backpack structure (1) to the waist of the user is provided on the backpack structure (1); Any of the thigh and calf parts are provided with Velcro.

6. The exoskeleton-assisted and lower limb rehabilitation integrated robot according to claim 1, characterized in that: The support frame is arranged on one side of the base, the mounting frame extends from the support frame to the other side of the base, and the exoskeleton robot is arranged at one end of the mounting frame extending into the base.

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