Three-joint complete gait walking device

Abstract

The present application relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device, comprising a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on a leg fixing mechanism, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a calf adjusting block and a calf supporting rod, the knee joint mounting plate is arranged on the thigh adjusting block, and the calf supporting rod is adjustably arranged on the calf adjusting block; the ankle joint movement mechanism is arranged at the lower end of the calf supporting rod; driving mechanisms are arranged on the hip joint mounting plate and the knee joint mounting plate. The present application is used for gait training of patients with rehabilitation needs of walking disorders, the combined movement process is closer to normal gait walking, and it is more beneficial for gait training and improves the training effect.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robots, specifically to a three-joint complete gait walking device. Background Technology

[0002] Gait rehabilitation robots represent a novel application combining robotics and rehabilitation medicine. By incorporating various robot control methods, these robots can provide both active and passive rehabilitation training for patients with lower limb paralysis. Against the backdrop of my country's aging population, the application of rehabilitation robots not only alleviates the heavy workload of rehabilitation therapists in traditional rehabilitation treatments, but more importantly, they can provide rehabilitation treatment anytime, anywhere, according to the patient's wishes. The treatment process can be monitored and recorded in real time, and the data analysis can continuously improve rehabilitation treatment. Given my country's aging population and the strong demand for high-quality medical services, gait rehabilitation robots have a very promising future in the field of rehabilitation medicine.

[0003] According to relevant data, stroke has become a major killer of the elderly, robbing them of their lives and disrupting their normal lives. Hemiplegia, in particular, significantly impacts the elderly's ability to walk and perform daily activities. How to effectively restore walking ability and correct gait posture for these individuals is a major clinical challenge, and gait rehabilitation robots offer a solution. They effectively help rehabilitation patients find the correct walking posture and assist in the neural reconstruction of gait function, largely meeting the needs of rehabilitation patients and clinical practice. Currently, most gait rehabilitation robots on the market are simply mechanical exercises combined with weight reduction and treadmills, or upgraded versions of active and passive lower limb training. Their intelligence level is low, and they can only achieve a single (active or passive) training mode, lacking intelligent and effective training assessment methods. In clinical use, it is well known that the entire human gait process is achieved through the coordinated movement of the hip, knee, and ankle joints. However, most robots on the market only have two joints moving (hip and knee joints), lacking ankle joint training; they only perform simple interconnected movements, resulting in incomplete functionality. For rehabilitation patients who need to regain their gait and walking ability, a correct gait posture and a good training model are crucial. Summary of the Invention

[0004] To address the problem of incomplete walking function in gait walking robots, this invention provides a three-joint complete gait walking device for gait training for patients with gait disorders undergoing rehabilitation.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A three-joint complete gait walking device includes a back connection device, a hip joint motion mechanism, a knee joint motion mechanism, and an ankle joint motion mechanism. Leg fixation mechanisms are symmetrically arranged on both sides of the back connection device, and the hip joint motion mechanism is mounted on the leg fixation mechanism. The hip joint motion mechanism includes a hip joint mounting plate, a thigh support rod, and a thigh adjustment block. The hip joint mounting plate is mounted on the leg fixation mechanism, and the thigh support rod is rotatably mounted on the hip joint mounting plate. The thigh adjustment block is adjustablely mounted on the thigh support rod. The knee joint motion mechanism includes a knee joint mounting plate, a lower leg adjustment block, and a lower leg support rod. The knee joint mounting plate is mounted on the thigh adjustment block, and the lower leg adjustment block is rotatably mounted on the knee joint mounting plate. The lower leg support rod is adjustablely mounted on the lower leg adjustment block. The ankle joint motion mechanism is located at the lower end of the lower leg support rod. Both the hip joint mounting plate and the knee joint mounting plate are equipped with drive mechanisms, which are respectively connected to the thigh support rod and the lower leg adjustment block. Both the thigh adjustment block and the lower leg adjustment block are equipped with fastening mechanisms.

[0007] In a further preferred embodiment, the drive mechanism includes a drive motor and a reducer. The reducers of the two drive mechanisms are respectively mounted on the hip joint mounting plate and the knee joint mounting plate, corresponding to the rotation centers of the thigh support rod and the calf adjustment block. The drive motor and the reducer are connected by a belt drive mechanism, and the two reducers are respectively connected to the thigh support rod and the calf adjustment block.

[0008] In a further preferred embodiment, both the hip joint mounting plate and the knee joint mounting plate are provided with mounting brackets. The mounting brackets are bottle cap shaped, and a reducer is fixedly mounted on the flat end of the mounting bracket. Through slots are opened on both sides of the arc-shaped surface of the mounting bracket. Sensor mounting plates are provided at the upper ends of the thigh support rod and the calf adjustment block. The sensor mounting plates pass through one of the through slots of the mounting bracket. A photoelectric sensor is provided between the sensor mounting plate and the mounting bracket. The photoelectric sensor is electrically connected to the drive motor. The lower ends of the thigh support rod and the calf adjustment block extend outward through the other through slot of the mounting bracket.

[0009] In a further preferred embodiment, the thigh support rod is fitted inside the thigh adjustment block and slidably disposed with the thigh adjustment block, the calf support rod is fitted inside the calf adjustment block and slidably connected with the calf adjustment block, and both the thigh adjustment block and the calf adjustment block are provided with a first handle buckle, and the two first handle buckles fix the thigh support rod and the calf support rod respectively.

[0010] In a further preferred embodiment, both the thigh support rod and the calf support rod are provided with multiple evenly distributed through holes, and both the thigh adjustment block and the calf adjustment block are provided with fixing pins. The pins of the two fixing pins pass through the thigh adjustment block and the calf adjustment block respectively and are inserted into the through holes of the thigh support rod and the calf support rod.

[0011] In a further preferred embodiment, both the thigh adjustment block and the calf adjustment block are provided with mounting shells, and a connecting rod is inserted through the mounting shell. The connecting rod is fastened to the mounting shell by a second handle. The connecting rod is "L"-shaped and is provided with the fastening mechanism.

[0012] In a further preferred embodiment, the fastening mechanism includes a connecting block, a fastening block, a fastening handle, and a fixing plate. The connecting block has a through hole in the middle for the connecting rod to pass through. The connecting block also has a through groove and a fastening hole. The through groove communicates with the through hole, and the fastening hole communicates with the through groove. One end of the through groove is hinged to the fastening block. The fastening handle is provided with a column, which is fixedly connected to the fastening block. The end of the column is located in the fastening hole. The fixing plate is provided on the connecting block.

[0013] In a further preferred embodiment, the connecting block is provided with a first protrusion, the fixing plate is provided with a second protrusion, the second protrusion is provided with a groove, and the first protrusion is located in the groove and is rotatably connected to the second protrusion by a pin.

[0014] In a further preferred embodiment, the ankle joint motion mechanism is adjustablely disposed at the lower end of the calf support rod via a first sliding adjustment mechanism and a second sliding adjustment mechanism.

[0015] The beneficial effects of the present invention through the above technical solution are as follows:

[0016] This invention provides hip, knee, and ankle joint motion mechanisms that correspond to the thigh, calf, and foot, respectively. The knee joint motion mechanism is mounted on the thigh adjustment block of the hip joint motion mechanism, and the distance between the knee and hip joint mounting plates is adjustable. The ankle joint motion mechanism is mounted on the calf support of the knee joint motion mechanism, making the distance between the ankle joint motion mechanism and the knee joint mounting plate adjustable to accommodate different leg lengths. Furthermore, hip joint exercise training can be performed alone, or knee and / or ankle joint exercise training can be performed in conjunction with hip joint exercises. Similarly, knee joint exercise training can be performed alone, or ankle joint exercise training can be performed in conjunction with knee joint exercises, creating different operational curves. The combined exercise process more closely resembles normal gait walking, facilitating gait training and improving training effectiveness. Attached Figure Description

[0017] Figure 1 This is one of the structural schematic diagrams of a three-joint complete gait walking device according to the present invention;

[0018] Figure 2 This is the second schematic diagram of the structure of a three-joint complete gait walking device of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the hip joint motion mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of the knee joint motion mechanism of the present invention;

[0021] Figure 5 This is a schematic diagram of the ankle joint motion mechanism of the present invention;

[0022] Figure 6 This is one of the structural schematic diagrams of the fastening mechanism of the present invention;

[0023] Figure 7 This is the second schematic diagram of the fastening mechanism of the present invention;

[0024] The attached diagram is labeled as follows: 1 is the back connection device, 2 is the hip joint mounting plate, 3 is the thigh support rod, 4 is the thigh adjustment block, 5 is the knee joint mounting plate, 6 is the calf adjustment block, 7 is the calf support rod, 8 is the drive motor, 9 is the reducer, 10 is the mounting bracket, 11 is the sensor mounting plate, 12 is the first handle buckle, 13 is the fixing pin, 14 is the mounting shell, 15 is the connecting rod, 16 is the second handle buckle, 17 is the ankle joint movement mechanism, 20 is the connecting block, 200 is the first protrusion, 21 is the fastening block, 22 is the fastening handle, 23 is the fixing plate, 230 is the second protrusion, 31 is the sliding rod, and 32 is the third handle buckle. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0026] In the description of this invention, it should be understood that the terms "left," "right," "up," "down," "horizontal," and "vertical," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0027] like Figures 1 to 7As shown, this embodiment provides a three-joint complete gait walking device, including a back connection device 1, a hip joint motion mechanism, a knee joint motion mechanism, and an ankle joint motion mechanism. Leg fixing mechanisms are symmetrically arranged on both sides of the back connection device 1, and the hip joint motion mechanisms are mounted on the leg fixing mechanisms. The back connection device 1 in this embodiment is the back connection device disclosed in CN 111789746 A, "A Back Connection Device for a Lower Limb Rehabilitation Robot". The hip joint motion mechanism includes a hip joint mounting plate 2, a thigh support rod 3, and a thigh adjustment block 4. The hip joint mounting plate 2 is mounted on the leg fixation mechanism, and the thigh support rod 3 is rotatably mounted on the hip joint mounting plate 2. The thigh adjustment block 4 is adjustablely mounted on the thigh support rod 3. The knee joint motion mechanism includes a knee joint mounting plate 5, a calf adjustment block 6, and a calf support rod 7. The knee joint mounting plate 5 is mounted on the thigh adjustment block 4, and the calf adjustment block 6 is rotatably mounted on the knee joint mounting plate 5. The calf support rod 7 is adjustablely mounted on the calf adjustment block 6. The ankle joint motion mechanism is located at the lower end of the calf support rod 7. Both the hip joint mounting plate 2 and the knee joint mounting plate 5 are equipped with drive mechanisms. The two drive mechanisms are respectively connected to the thigh support rod 3 and the calf adjustment block 6, and drive the thigh support rod 3 and the calf adjustment block 6 to rotate. Both the thigh adjustment block 4 and the calf adjustment block 6 are equipped with fastening mechanisms to fix the thigh and the calf.

[0028] The aforementioned drive mechanism includes a drive motor 8 and a reducer 9. The reducers 9 of the two drive mechanisms are respectively mounted on the hip joint mounting plate 2 and the knee joint mounting plate 5, corresponding to the rotation centers of the thigh support rod 3 and the calf adjustment block 6. The drive motor 8 and the reducer 9 are connected via a belt drive mechanism, and the two reducers 9 are respectively connected to the thigh support rod 3 and the calf adjustment block 6. The drive motor 8 drives the reducer 9 to move via the belt drive mechanism, and the two reducers 9 respectively drive the thigh support rod 3 and the calf adjustment block 6 to rotate, thereby realizing the rotation of the thigh and the calf.

[0029] As described above, both the hip joint mounting plate 2 and the knee joint mounting plate 5 are equipped with mounting brackets 10. The mounting brackets 10 are cap-shaped, with a reducer 9 fixedly mounted on the flat end. Through slots are formed on both sides of the arc-shaped surface of the mounting bracket 10. Sensor mounting plates 11 are mounted on the upper ends of the thigh support rod 3 and the calf adjustment block 6. The sensor mounting plate 11 passes through one of the through slots of the mounting bracket 10, i.e., the upper through slot. A photoelectric sensor is positioned between the sensor mounting plate 11 and the mounting bracket 10. The photoelectric sensor is electrically connected to the drive motor 8. The lower ends of the thigh support rod 3 and the calf adjustment block 6 extend outwards through the other through slot of the mounting bracket 10. Specifically, the sensor mounting plate 11 is equipped with a photoelectric sensor transmitter, and two photoelectric sensor receivers are positioned at both ends of the upper through slot of the mounting bracket 10. The two receivers form two extreme positions. By transmitting and receiving the light beams of the photoelectric sensor transmitter and receivers, the two extreme positions of rotation are detected. When an extreme position is reached, the drive motor is controlled to shut off.

[0030] The thigh support rod 3 is fitted inside the thigh adjustment block 4 and is slidably disposed with the thigh adjustment block 4. The calf support rod 7 is fitted inside the calf adjustment block 6 and is slidably connected with the calf adjustment block 6. Both the thigh adjustment block 4 and the calf adjustment block 6 are provided with a first handle buckle 12, and the two first handle buckles 12 fix the thigh support rod 3 and the calf support rod 7 respectively.

[0031] Furthermore, both the thigh support rod 3 and the calf support rod 7 are provided with multiple evenly distributed through holes, and both the thigh adjusting block 4 and the calf adjusting block 6 are provided with fixing pins 13. The pins of the two fixing pins 13 pass through the thigh adjusting block 4 and the calf adjusting block 6 respectively and are inserted into the through holes of the thigh support rod 3 and the calf support rod 7. When adjusting the installation height of the thigh support rod 3 and the thigh adjusting block 4, first pull out the fixing pins 13 inserted on the thigh support rod 3, and then loosen the first handle buckle 12 on the thigh adjusting block 4 so that the thigh support rod 3 and the thigh adjusting block 4 can slide relative to each other. Then, the thigh adjusting block 4 can be slid to adjust the height. After the height adjustment of the thigh adjusting block 4 is completed, press the fixing pins 13 on the thigh adjusting block 4 into the through holes of the thigh support rod 3 to initially fix the thigh support rod 3. Then tighten the first handle buckle 12 on the thigh adjusting block 4 to secure the thigh adjusting block 4 and the thigh support rod 3, thereby completing the adjustment of the thigh length and the height of the knee joint movement mechanism. The methods and processes for adjusting the lower leg length and the height of the ankle joint motion mechanism are the same and will not be repeated here. It should be noted that the lower leg support rod 7 of the knee joint motion mechanism moves relative to the lower leg adjustment block 6. During adjustment, the lower leg support rod 7 is moved up and down.

[0032] As described above, both the thigh adjusting block 4 and the calf adjusting block 6 are provided with mounting shells 14. A connecting rod 15 passes through the mounting shell 14, and the connecting rod 15 is fastened to the mounting shell 14 by a second handle buckle 16. The connecting rod is "L"-shaped, and the fastening mechanism is provided on the connecting rod 15. When adjusting the front and back position of the fastening mechanism, the position of the connecting rod 15 can be adjusted by loosening the second handle buckle 16, and then the position of the connecting rod 15 can be moved. After the adjustment is completed, the second handle buckle 16 is tightened to compress the connecting rod 15 and fix it.

[0033] The aforementioned fastening mechanism includes a connecting block 20, a fastening block 21, a fastening handle 22, and a fixing plate 23. The connecting block 20 has a through hole in its center for the connecting rod 15 to pass through. The connecting block 20 also has a through groove and a fastening hole. The through groove communicates with the through hole, and the fastening hole communicates with the through groove. One end of the through groove is hinged to the fastening block 21. The fastening handle 22 has a column fixedly connected to the fastening block 21, with the end of the column positioned within the fastening hole. The fixing plate 23 is mounted on the connecting block 20, and mounting holes are provided on both sides of the fixing plate 23 to facilitate the use of straps to secure the leg. More specifically, the fastening block 21 has a groove in its center corresponding to the connecting rod 15, and the side of the groove corresponding to the connecting rod 15 is flat. When it is necessary to adjust the position of the fastening mechanism on the connecting rod 15, pull the column of the fastening handle 22 out of the fastening hole to loosen the contact fastening block 21, and then move the position of the fastening mechanism on the connecting rod 15. After the position is adjusted, insert the column of the fastening handle 22 into the fastening hole, and fix the fastening mechanism on the connecting rod 15 by tightening and limiting the fastening block 21.

[0034] As described above, the connecting block 20 is provided with a first protrusion 200, and the fixing plate 23 is provided with a second protrusion 230. The second protrusion is provided with a groove, and the first protrusion is located in the groove and is rotatably connected to the second protrusion by a pin. Through the cooperation of the first and second protrusions, the fixing plate 23 has a certain degree of rotational freedom relative to the connecting block 20, and can rotate up and down within a small range relative to the connecting block 20, so that the fixing plate 23 is more in line with the angle of the leg, thereby improving the comfort during use.

[0035] As described above, the ankle joint motion mechanism is adjustablely mounted on the lower end of the calf support rod 7 via a first sliding adjustment mechanism and a second sliding adjustment mechanism. Specifically, in this embodiment, the lower end of the calf support rod 7 has a through hole in the front-to-back direction. The first sliding adjustment mechanism includes a slide rod 31 and a third handle buckle 32. The slide rod 31 passes through the through hole of the calf support rod 7, and the third handle buckle 32 is mounted on the calf support rod 7, applying pressure to the slide rod 31 to fix its position on the calf support rod 7. The rear end of the slide rod 31 is provided with a second sliding adjustment mechanism, which has the same structure as the first sliding adjustment mechanism. The ankle joint motion mechanism is fixed at the end of the slide rod of the second sliding adjustment mechanism. The front-to-back position of the ankle joint motion mechanism can be adjusted via the first sliding adjustment mechanism, and the left-to-right position can be adjusted via the second sliding adjustment mechanism. The ankle joint motion mechanism of this embodiment is the ankle joint motion mechanism disclosed in CN 111789739 A, "An Ankle Motion Mechanism for a Lower Limb Rehabilitation Robot".

[0036] Before use, the distance and height of the legs are adjusted according to the size of the patient's legs and overall height using the back connection device 1. The patient's legs are then clamped on both sides, specifically by fixing the thigh to the fastening mechanism on the thigh adjustment block 5, fixing the lower leg to the fastening mechanism on the lower leg adjustment block 6, and fixing the foot to the ankle joint movement mechanism. This ensures the patient's positioning and allows for lower limb gait training in conjunction with the accompanying software. This invention can perform both active and passive training.

[0037] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included within the scope of the present invention.

Claims

1. A three-joint complete gait walking device, characterized in that, It includes a back connection device (1), a hip joint motion mechanism, a knee joint motion mechanism and an ankle joint motion mechanism. The back connection device (1) is symmetrically provided with leg fixing mechanisms on both sides, and the leg fixing mechanisms are provided with hip joint motion mechanisms. The hip joint motion mechanism includes a hip joint mounting plate (2), a thigh support rod (3) and a thigh adjustment block (4). The hip joint mounting plate (2) is mounted on the leg fixing mechanism. The thigh support rod (3) is rotatably mounted on the hip joint mounting plate (2). The thigh adjustment block (4) is adjustablely mounted on the thigh support rod (3). The knee joint motion mechanism includes a knee joint mounting plate (5), a lower leg adjustment block (6) and a lower leg support rod (7). The knee joint mounting plate (5) is mounted on the thigh adjustment block (4), the lower leg adjustment block (6) is rotatably mounted on the knee joint mounting plate (5), and the lower leg support rod (7) is adjustable on the lower leg adjustment block (6). The ankle joint motion mechanism is located at the lower end of the calf support (7); Both the hip joint mounting plate (2) and the knee joint mounting plate (5) are equipped with drive mechanisms, and the two drive mechanisms are respectively connected to the thigh support rod (3) and the calf adjustment block (6). The thigh support rod (3) is fitted inside the thigh adjustment block (4) and is slidably arranged with the thigh adjustment block (4). The calf support rod (7) is fitted inside the calf adjustment block (6) and is slidably connected with the calf adjustment block (6). Both the thigh adjustment block (4) and the calf adjustment block (6) are provided with first handle buckles (12). The two first handle buckles (12) fix the thigh support rod (3) and the calf support rod (7) respectively. The thigh support rod (3) and the calf support rod (7) are provided with multiple evenly distributed through holes. The thigh adjustment block (4) and the calf adjustment block (6) are provided with fixing pins (13). The pins of the two fixing pins (13) pass through the thigh adjustment block (4) and the calf adjustment block (6) respectively and are inserted into the through holes of the thigh support rod (3) and the calf support rod (7). Both the thigh adjustment block (4) and the calf adjustment block (6) are equipped with fastening mechanisms; Both the thigh adjustment block (4) and the calf adjustment block (6) are provided with mounting shells (14), and a connecting rod (15) is inserted inside the mounting shell (14). The connecting rod (15) is fastened to the mounting shell (14) by a second handle buckle (16). The connecting rod is "L" shaped and the fastening mechanism is provided on the connecting rod (15). The fastening mechanism includes a connecting block (20), a fastening block (21), a fastening handle (22), and a fixing plate (23). The connecting block (20) has a through hole in the middle for the connecting rod (15) to pass through. The connecting block (20) also has a through groove and a fastening hole. The through groove is connected to the through hole, and the fastening hole is connected to the through groove. One end of the through groove is hinged to the fastening block (21). The fastening handle (22) is provided with a column, which is fixedly connected to the fastening block (21). The end of the column is provided in the fastening hole. The fixing plate (23) is provided on the connecting block (20). The connecting block (20) is provided with a first protrusion, and the fixing plate (23) is provided with a second protrusion. The second protrusion is provided with a groove, and the first protrusion is located in the groove and is rotatably connected to the second protrusion by a pin.

2. The three-joint complete gait walking device according to claim 1, characterized in that, The drive mechanism includes a drive motor (8) and a reducer (9). The reducers (9) of the two drive mechanisms are respectively mounted on the hip joint mounting plate (2) and the knee joint mounting plate (5), corresponding to the rotation centers of the thigh support rod (3) and the calf adjustment block (6). The drive motor (8) and the reducer (9) are connected by a belt drive mechanism. The two reducers (9) are respectively connected to the thigh support rod (3) and the calf adjustment block (6).

3. The three-joint complete gait walking device according to claim 2, characterized in that, Mounting brackets (10) are provided on both the hip joint mounting plate (2) and the knee joint mounting plate (5). The mounting brackets (10) are bottle cap shaped. A reducer (9) is fixedly installed on the flat end of the mounting brackets (10). Through slots are provided on both sides of the arc surface of the mounting brackets (10). Sensor mounting plates (11) are provided on the upper ends of the thigh support rod (3) and the calf adjustment block (6). The sensor mounting plate (11) passes through one of the through slots of the mounting bracket (10). A photoelectric sensor is provided between the sensor mounting plate (11) and the mounting bracket (10). The photoelectric sensor is electrically connected to the drive motor (8). The lower ends of the thigh support rod (3) and the calf adjustment block (6) extend outward through the other through slot of the mounting bracket.

4. The three-joint complete gait walking device according to claim 1, characterized in that, The ankle joint motion mechanism is adjustablely mounted at the lower end of the calf support rod (7) via a first sliding adjustment mechanism and a second sliding adjustment mechanism.

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