A detachable mobile lower limb exoskeleton device

Abstract

This application provides a detachable mobile lower limb exoskeleton device. The exoskeleton auxiliary support is detachably connected to the lower limb exoskeleton. The exoskeleton auxiliary support includes a main frame structure, a seating structure, a lumbar structure, and a lifting structure for moving the lumbar structure up and down. One end of the lifting structure is located in the middle of the main frame structure, and the other end is connected to the lumbar structure. The bottom of the lumbar structure is fixedly connected to the seating structure. The lumbar structure is detachably connected to the lower limb exoskeleton. When the lumbar structure lowers, the seating structure extends; when the lumbar structure rises, the seating structure folds. The support does not require an additional stool, and the device has a high degree of functional integration. Patients do not need to be manually placed to get on and off the machine, saving manpower. The waist and legs are installed separately, and the flexible and adaptive leg connection structure achieves the desired gait training effect.

Description

Technical Field

[0001] The present invention relates to the field of exoskeletons, and in particular to a detachable mobile lower limb exoskeleton device. Background Art

[0002] When patients with lower limb motor dysfunction wear lower limb exoskeletons for rehabilitation training, they cannot maintain body balance with their own limbs or rehabilitation lower limb exoskeletons. They need support from other people or assistance from fixed devices to ensure that the patients do not fall during rehabilitation training and cause secondary injuries.

[0003] The existing fixed device assistance on the market only provides hand-held assistance to patients, or only supports the support for ground-based mobile walking rehabilitation training, or only supports the support for in-situ suspended gait rehabilitation training.

[0004] However, existing technologies require the assistance of multiple people, take up a lot of labor, have no reliable fixed connection, pose a risk of patients falling and getting injured, have a single applicable scenario, and cannot meet the rehabilitation requirements of different patients as well as the limitations of rehabilitation training venues. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a detachable mobile lower limb exoskeleton device that overcomes the above problems or at least partially solves the above problems.

[0006] A detachable mobile lower limb exoskeleton device, which is used for active lower limb rehabilitation training of patients, comprises: a lower limb exoskeleton and an exoskeleton auxiliary support for assisting the lower limb exoskeleton;

[0007] The exoskeleton auxiliary support is detachably connected to the lower limb exoskeleton;

[0008] The exoskeleton auxiliary support comprises a main frame structure, a seat structure, a waist structure and a lifting structure for driving the waist structure to move up and down;

[0009] One end of the lifting structure is arranged in the middle of the main frame structure, and the other end of the lifting structure is connected to the waist structure, and the bottom of the waist structure is fixedly connected to the seat structure; wherein the waist structure is detachably connected to the lower limb exoskeleton;

[0010] When the waist structure descends, the seat structure extends;

[0011] When the waist structure rises, the seat structure folds.

[0012] Preferably, the lower limb exoskeleton comprises a backpack structure, a leg structure, an operation panel, and an exoskeleton shoe for detecting the pressure of the user's foot;

[0013] The backpack is connected to the exoskeleton shoe through the leg structure; the operation panel is arranged on the exoskeleton auxiliary bracket.

[0014] The leg structure includes a flexible driver, and the flexible driver is correspondingly arranged at at least one joint structure.

[0015] Preferably, the exoskeleton shoe comprises a shoe body and a pressure device arranged inside the shoe body;

[0016] The pressure device includes an upper shoe plate, a lower shoe plate, a control circuit board, and a bridge-type steel sheet sensor for sensing pressure;

[0017] The bridge-type steel sheet sensor and the control circuit board are provided between the upper shoe plate and the lower shoe plate; wherein at least one bridge-type steel sheet sensor is provided;

[0018] The control circuit board is electrically connected to the bridge type steel sheet sensor.

[0019] Preferably, the bridge-type steel sheet sensor includes a first sensor, a second sensor, a third sensor and a fourth sensor;

[0020] The first sensor and the second sensor are arranged at the position of the forefoot of the user, and the third sensor and the fourth sensor are arranged at the position of the backfoot of the user;

[0021] The control circuit board is arranged between the first sensor, the second sensor and the third sensor and the fourth sensor.

[0022] Preferably, the leg structure comprises a left leg structure and a right leg structure, and the left leg structure and the right leg structure are respectively provided with an exoskeleton robot leg length adjustment mechanism;

[0023] The exoskeleton robot leg length adjustment mechanism comprises a thigh component, a calf component and a shoe plate connector for externally connecting an exoskeleton shoe;

[0024] The thigh component is connected to the shoe plate connector via the calf component;

[0025] The thigh assembly includes a hip joint fixing plate, a thigh extension plate and a thigh motor push rod; one end of the thigh motor push rod is connected to the hip joint fixing plate, and the other end of the thigh motor push rod is connected to the thigh extension plate;

[0026] The calf assembly includes a knee joint fixing plate, a calf expansion plate and a calf motor push rod; one end of the calf motor push rod is connected to the knee joint fixing plate, and the other end of the calf motor push rod is connected to the calf expansion plate;

[0027] When the thigh component needs to be extended or shortened, the thigh motor push rod is extended or shortened and drives the thigh extension plate to move;

[0028] When the calf assembly needs to be extended or shortened, the calf motor push rod is extended or shortened and drives the calf extension plate to move.

[0029] Preferably, the seat structure comprises a base plate, a bench board assembly, a support bar and a bottom fixing member;

[0030] One side of the base plate is fixedly connected to the waist structure, and the bottom of the base plate is hinged to the bench assembly; one end of the support bar is hinged to the bench assembly, and the other end of the support bar is hinged to the bottom fixing member; the bottom fixing member is fixedly connected to the exoskeleton auxiliary bracket; wherein one end of the support bar moves within the preset space of the bench assembly;

[0031] An elastic reset member for resetting the support bar is provided between the support bar and the bottom fixing member.

[0032] Preferably, the lifting structure includes a guide structure, a control button structure, and a motor screw structure for driving the guide structure to move up and down;

[0033] The guide structure is arranged above the motor screw structure, and the control button structure is arranged above the guide structure;

[0034] The waist structure is arranged on the main frame structure through the guide structure, the guide structure is detachably connected to the waist structure, and the guide structure moves up and down within a preset range of the main frame structure;

[0035] The guide structure and the motor lead screw structure are electrically connected to the control button structure.

[0036] Preferably, the waist structure includes a waist connection structure, a flexible adaptive connection structure, and a hand-cranked screw structure for adjusting the width of the hip joint of the lower limb exoskeleton;

[0037] One side of the hand-cranked screw structure is connected to the guide structure, and the other side of the hand-cranked screw structure is provided with the flexible adaptive connection structure and the waist connection structure.

[0038] Preferably, the flexible adaptive connection structure comprises a first flexible structure and a second flexible structure;

[0039] The waist connection structure is provided between the first flexible structure and the second flexible structure, and the distance between the first flexible structure and the second flexible structure is adjusted by the hand-cranked screw structure;

[0040] The first flexible structure is connected to the left leg structure of the lower limb exoskeleton; the second flexible structure is connected to the right leg structure of the lower limb exoskeleton.

[0041] Preferably, the first flexible structure comprises: a fixing seat, a first supporting seat, a second supporting seat, a sliding rod, a sliding block, an elastic element and a connecting seat;

[0042] The first supporting seat and the second supporting seat are arranged opposite to each other and fixed to the fixing seat;

[0043] The slide bar is arranged between the first support seat and the second support seat; the slider is sleeved on the slide bar and slides along the axial direction of the slide bar;

[0044] One end of the connecting seat is fixedly connected to the slider, and the other end of the connecting seat is connected to the first target structure; the elastic element is arranged between the slider and the second supporting seat to buffer the pressure applied by the first target structure to the second target structure.

[0045] The present application specifically includes the following advantages:

[0046] In the embodiments of the present application, compared with the prior art that "requires assistance from multiple people, occupies more labor, has no reliable fixed connection, has the risk of patients falling and getting injured, has a single applicable scenario, and cannot meet the rehabilitation requirements of different patients and the limitations of rehabilitation training venues", the present application provides a solution in which one end of the lifting structure is arranged above the main frame structure, the other end of the lifting structure is connected to the waist structure, and a seat structure is arranged below the waist structure, specifically: the exoskeleton auxiliary support is detachably connected to the lower limb exoskeleton; the exoskeleton auxiliary support includes a main frame structure, a seat structure, a waist structure and a lifting structure for driving the waist structure to move up and down; one end of the lifting structure is arranged in the middle of the main frame structure, the other end of the lifting structure is connected to the waist structure, and the bottom of the waist structure is fixedly connected to the seat structure; wherein, the waist structure is detachably connected to the lower limb exoskeleton; when the waist structure descends, the seat structure extends; when the waist structure rises, the seat structure is folded. The main frame structure, seat structure, waist structure and the lifting structure for driving the waist structure to move up and down have solved the technical problems of "requiring the assistance of multiple people, occupying more labor, having no reliable fixed connection, posing the risk of patients falling and getting injured, having a single applicable scenario, and failing to meet the rehabilitation requirements of different patients and the limitations of rehabilitation training venues". A single person can quickly complete the process of patients putting on or taking off the lower limb rehabilitation training exoskeleton, so that lower limb rehabilitation training activities can be carried out safely and reliably in multiple scenarios such as fixed or mobile. The bracket does not need to be equipped with an additional stool, and the equipment has a high degree of functional integration. There is no need for personnel to place stools for patients to get on and off the machine, which saves manpower. The waist and legs are installed separately, and the training gait effect is achieved by the flexible and adaptive leg connection structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 It is a schematic diagram of the structure of the exoskeleton auxiliary support of the present invention;

[0049] Figure 2 It is a schematic diagram of the back structure of the exoskeleton auxiliary support of the present invention;

[0050] Figure 3 It is a structural schematic diagram of a detachable mobile lower limb exoskeleton device of the present invention;

[0051] Figure 4 is a schematic diagram of the waist structure of the present invention;

[0052] Figure 5 is a side structural schematic diagram of the seat structure of the present invention;

[0053] Figure 6 It is a structural schematic diagram of the seat structure of the present invention;

[0054] Figure 7 It is a schematic structural diagram of the first step of the seat structure of the present invention being unfolded as the waist structure descends;

[0055] Figure 8 It is a schematic structural diagram of the second step of the follow-up lifting seat structure of the present invention being unfolded as the waist structure descends;

[0056] Fig. 9 It is a schematic structural diagram of the third step of the follow-up lifting seat structure of the present invention being unfolded as the waist structure descends;

[0057] Fig.10 is a structural schematic diagram of the flexible adaptive connection structure of the present invention;

[0058] Fig.11 It is a schematic diagram of the overall structure of the leg length adjustment mechanism of the exoskeleton robot of the present invention;

[0059] Fig.12 It is a schematic diagram of the cross-sectional structure of the back side of the exoskeleton robot leg length adjustment mechanism of the present invention;

[0060] Fig.13 It is a side structural schematic diagram of the leg length adjustment mechanism of the exoskeleton robot of the present invention;

[0061] Fig.14 It is a structural schematic diagram of the leg length adjustment mechanism of the exoskeleton robot of the present invention;

[0062] Fig.15 It is a structural schematic diagram of the leg length adjustment mechanism of the exoskeleton robot of the present invention;

[0063] Fig.16 is an exploded view of the exoskeleton shoe of the present invention;

[0064] Fig.17 is a schematic diagram of an exploded view of a pressure component of an exoskeleton shoe of the present invention;

[0065] Fig.18 It is a schematic structural diagram of the upper of the exoskeleton shoe of the present invention;

[0066] Fig.19 It is a schematic diagram of the arrangement structure of the bridge-type steel sheet sensor of the exoskeleton shoe of the present invention;

[0067] Fig. 20 is a side cross-sectional view of a bridge-type steel sheet sensor of an exoskeleton shoe of the present invention;

[0068] 1. Main frame structure; 110, mobile chassis frame; 120, vertical support; 130, cart armrest frame; 2. Lifting structure; 210, motor screw structure; 220, guide structure; 230, control button structure 3. Waist structure; 310, hand-cranked screw structure; 320, flexible adaptive connection structure; 321, fixed seat; 322, first support seat; 323, slide bar; 324, slide block; 325, spring washer; 326, elastic element; 327, adapter plate; 3 28, connecting seat; 329, second supporting seat; 330, waist connecting structure; 340, armrest structure; 401, base plate; 402, first hinge pin; 403, stool bracket; 404, stool surface; 405, second hinge pin; 406, support bar; 407, third hinge pin; 408, return torsion spring; 409, bottom fixing piece; 410, limit bar; 411, stool bracket slide; 5, lower limb exoskeleton; 510, backpack structure; 520, right leg structure; 530 , left leg structure; 540, operation panel; 610, thigh assembly; 611, inner side fixed base plate of hip joint; 612, outer side fixed plate of hip joint; 613, thigh shoulder hinge pin; 614, thigh electric push rod; 615, thigh nylon guide sleeve; 616, thigh extension plate; 620, calf assembly; 621, inner side fixed base plate of knee joint; 622, outer side fixed plate of knee joint; 623, calf shoulder hinge pin; 624, calf electric push rod; 625, calf nylon guide sleeve; 626, calf expansion plate; 630, shoe plate connector; 7, exoskeleton shoes; 710, upper assembly; 711, sole surface; 712, upper ear; 713, buckle strap; 714, buckle; 715, connecting shaft; 720, pressure assembly; 721, upper shoe plate; 722, bridge steel sheet sensor; 723, first screw; 724, control circuit board; 725, second screw; 726, lower shoe plate; 727, third screw; 730, rubber sole. DETAILED DESCRIPTION

[0069] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0070] By analyzing the prior art, the inventors found that there are three main types of similar implementation solutions available on the market: 1. After the patient wears the lower limb rehabilitation exoskeleton, it only provides hand-held assistance to the patient, and there is no bracket that provides a reliable fixed connection for the patient or the exoskeleton; 2. A bracket that has a reliable fixed connection with the exoskeleton and only supports ground-based mobile walking rehabilitation training; 3. A bracket that has a reliable fixed connection with the exoskeleton and only supports in-situ suspended gait rehabilitation training.

[0071] However, the existing technology requires the assistance of multiple people and takes up a lot of labor; there is no reliable fixed connection, and there is a risk of patients falling and getting injured; the applicable scenarios are single and cannot meet the rehabilitation requirements of different patients and the limitations of rehabilitation training venues; the functional integration is low and requires the assistance of multiple accessories, which makes the operation cumbersome and inconvenient.

[0072] The present application can achieve that a single person can quickly complete the process of patients putting on or taking off the lower limb rehabilitation training exoskeleton, and achieve safe and reliable lower limb rehabilitation training activities in multiple scenarios such as fixed or mobile. The present application has a follow-up lifting stool structure with high functional integration and simplified operation; the waist and legs are installed separately, and the training gait effect is achieved by the flexible and adaptive leg connection structure. The bracket does not need to be equipped with an additional stool, and the equipment has a high functional integration; patients do not need to operate the stool to place it when getting on and off the machine, saving manpower; the single leg is flexibly driven through the flexible adaptive leg connection structure to achieve active gait training mode, and the foot shoes will not drag on the ground to hinder the completion of the entire gait training process.

[0073] Therefore, the present application invents a detachable mobile lower limb exoskeleton device that can be put on or taken off quickly by a single person, has an integrated design that saves space, and can achieve follow-up lifting, retraction and deployment at a low cost.

[0074] It should be noted that the exoskeleton auxiliary support can be compatible with the installation of various models of lower limb exoskeletons through a standard connection structure, and adapt to various usage scenarios. This application lists one lower limb exoskeleton, but the exoskeleton auxiliary support of this application is not limited to the lower limb exoskeleton of this application.

[0075] In the embodiments of the present application, compared with the prior art that "requires assistance from multiple people, occupies more labor, has no reliable fixed connection, has the risk of patients falling and getting injured, has a single applicable scenario, and cannot meet the rehabilitation requirements of different patients and the limitations of rehabilitation training venues", the present application provides a solution in which one end of the lifting structure is arranged above the main frame structure, the other end of the lifting structure is connected to the waist structure, and a seat structure is provided below the waist structure. Specifically, one end of the lifting structure is arranged in the middle of the main frame structure, the other end of the lifting structure is connected to the waist structure, and the seat structure is provided below the waist structure; wherein the waist structure is detachably connected to the lower limb exoskeleton; when the waist structure descends, the seat structure extends; when the waist structure rises, the seat structure is folded. The main frame structure, seat structure, waist structure and the lifting structure for driving the waist structure to move up and down have solved the technical problems of "requiring the assistance of multiple people, occupying more labor, having no reliable fixed connection, posing the risk of patients falling and getting injured, having a single applicable scenario, and failing to meet the rehabilitation requirements of different patients and the limitations of rehabilitation training venues". A single person can quickly complete the process of patients putting on or taking off the lower limb rehabilitation training exoskeleton, so that lower limb rehabilitation training activities can be carried out safely and reliably in multiple scenarios such as fixed or mobile. The bracket does not need to be equipped with an additional stool, and the equipment has a high degree of functional integration. There is no need for personnel to place stools for patients to get on and off the machine, which saves manpower. The waist and legs are installed separately, and the training gait effect is achieved by the flexible and adaptive leg connection structure.

[0076] Reference Figure 1-20 , showing a schematic structural diagram of a detachable mobile lower limb exoskeleton device of the present invention, specifically comprising the following structures: a main frame structure, a seat structure, a waist structure and a lifting structure for driving the waist structure to move up and down; one end of the lifting structure is arranged in the middle of the main frame structure, the other end of the lifting structure is connected to the waist structure, and the seat structure is arranged below the waist structure; wherein, the waist structure is detachably connected to the lower limb exoskeleton; when the waist structure descends, the seat structure extends; when the waist structure rises, the seat structure is folded.

[0077] In the embodiment of the present application, one end of the lifting structure 2 is arranged in the middle of the main frame structure 1, and the main frame structure 1 includes a vertical support 120, a cart armrest frame 130 and a mobile chassis frame 110 for moving the exoskeleton auxiliary support; the vertical support 120 is arranged above the mobile chassis frame 110, the waist structure is arranged on one side of the vertical support 120, and the cart armrest frame 130 is arranged on the other side of the vertical support 120.

[0078] In a specific embodiment, the vertical support 120 is a vertical frame, the vertical support 120 is vertically arranged with the mobile chassis frame 110, the middle part of the vertical support 120 is movably connected to the lifting structure 2, the lifting structure 2 can move up and down on the vertical support 120, and the vertical support 120 is fixed with a trolley handrail frame 130 on the side away from the lifting structure 2. The vertical support 120 is also provided with a vertical screw, and the lifting mechanism is arranged on both sides of the screw.

[0079] In a specific embodiment, the cart armrest 130 is vertically arranged with the vertical support 120, and the cart armrest 130 is parallelly arranged with the mobile chassis frame 110. The cart armrest 130 is used to push the entire exoskeleton auxiliary support to move with the help of external force; the height of the cart armrest 130 is adapted to the height of the human body. The cart armrest 130 is fixedly connected with the vertical support 120. The cart armrest 130 includes a first armrest and a second armrest, and the second armrest is arranged parallel to one side of the first armrest, and the first armrest and the second armrest are symmetrically arranged.

[0080] In the embodiment of the present application, the lifting structure 2 includes a guide structure 220, a control button structure and a motor screw structure 210 for driving the guide structure 220 to move up and down; the guide structure 220 is arranged above the motor screw structure 210, and the control button structure is arranged above the guide structure 220; the waist structure is arranged on the vertical bracket 120 through the guide structure 220, the guide structure 220 is detachably connected to the waist structure, and the guide structure 220 moves up and down within a preset range of the vertical bracket 120; the guide structure 220 and the motor screw structure 210 are electrically connected to the control button structure.

[0081] In a specific embodiment, the motor screw structure 210 is disposed below the vertical support 120 , the motor screw structure 210 provides driving force for the guide structure 220 , and the motor screw structure 210 is disposed on one side of the cart handrail 130 .

[0082] In a specific embodiment, the motor screw structure 210 drives the guide structure 220 to move up and down on the screw of the vertical support 120. The guide structure 220 is a horizontal plate. One side of the guide structure 220 is arranged in the middle of the vertical support 120, and the other side of the guide structure 220 is connected to the waist structure.

[0083] In a specific embodiment, the control button structure can realize pressing a button to control the lifting and lowering of the guide structure 220. The control button structure is arranged above the vertical bracket 120. The control button structure is electrically connected to the motor screw structure 210, so that the motor screw structure 210 can be controlled to operate by pressing the button, thereby driving the guide structure 220 to move up and down along the screw.

[0084] In the embodiment of the present application, the waist structure 3 includes a waist connection structure, a flexible adaptive connection structure, and a hand-cranked screw structure 310 for adjusting the width of the hip joint of the lower limb exoskeleton 5; one side of the hand-cranked screw structure is connected to the guide structure 220, and the other side of the hand-cranked screw structure 310 is provided with the flexible adaptive connection structure and the waist connection structure. The hand-cranked screw structure 310 can be adapted to drive a motor to realize electric / automatic width control.

[0085] In a specific embodiment, the waist structure is used to connect the lower limb exoskeleton 5, and the hand-cranked screw structure of the waist structure is connected to the guide structure 220. The hand-cranked screw structure 310 adjusts the width of the waist structure through a hand-cranked handle set on the side, so that the waist structure can adapt to different waist-hip distances to adapt to patients of different body shapes and improve product comfort.

[0086] In a specific embodiment, the flexible adaptive connection structure 320 includes a first flexible structure and a second flexible structure; the waist connection structure is provided between the first flexible structure and the second flexible structure.

[0087] The first flexible structure is connected to the left leg structure 530 of the lower limb exoskeleton 5; the second flexible structure is connected to the right leg structure 520 of the lower limb exoskeleton 5.

[0088] The first flexible structure includes a fixing seat 321, and the fixing seat 321 is used to connect the waist structure and the support seat. One end of the fixing seat is fixedly connected to the waist structure, and the other end of the fixing seat 321 is fixedly connected to the first support seat 322 and the second support seat 329.

[0089] 0 A first support seat 322, the first support seat 322 is used to connect the slide bar 323 and the fixed

[0090] The fixed seat 321 , one end of the first supporting seat 322 is connected to the sliding rod 323 , and the other end of the first supporting seat 322 is connected to the fixed seat 321 .

[0091] The second support seat 329 is used to connect the slide bar 323 and the fixed

[0092] The fixed seat 321, one end of the second support seat 329 is connected to the slide bar 323, and the other end of the second support seat 3295 is connected to the fixed seat 321.

[0093] The slide rod 323 is used to connect the first support seat 322, the second support seat 329, and the slider 324. The slide rod is cylindrical in shape, and the cylindrical slide rod can easily fit the spring and the spring washer.

[0094] The slider 324 is sleeved on the slide rod 323 and slides along the direction of the slide rod. The slider 324 is provided with two circular openings, and the two circular openings are convenient for sleeved the two slide rods 323.

[0095] The elastic element 326 is a spring, and is used to buffer the relative pressure between the waist structure and the leg structure. Different elastic elements 326 can be adapted according to patients of different weights. The elastic element can float vertically along the slide bar through stretching and compression.

[0096] Spring washers 325 are used to prevent the spring from wearing the slider and the second support seat 5. There are four spring washers, which are respectively located at the two ends of the two elastic elements.

[0097] The adapter plate 327 is used to connect the connecting seat and the slider. The surface of the adapter plate includes a variety of spiral options, which makes the installation, fixation and transfer of the slider and the connecting seat more flexible and convenient.

[0098] The connecting seat 328 is used to connect the slider 324 and the leg structure. The connecting seat 328 is conical. The bottom of the connecting seat 328 is connected to the slider 324, and the top of the connecting seat 328 is connected to the leg structure. The connecting seat 328 can be replaced according to different leg structures.

[0099] It should be noted that the structures of the first flexible structure and the second flexible structure are the same, and will not be described again herein.

[0100] As an example, the flexible adaptive connection structure is provided with an armrest structure on the side away from the hand-cranked screw structure, and the armrest structure is used to place the patient's hand, so that the device is more adaptable to the human body and the patient has better stability when using it.

[0101] In a specific embodiment, the armrest structure includes a handle and a support pad connected to the handle, the handle is used for the patient to hold, the handle is arranged at the front, and the support pad is arc-shaped to fit the shape of the arm, so that the patient can use it more comfortably, apply force in place, and be safer.

[0102] As an example, the armrest structure includes a first armrest structure and a second armrest structure, the first armrest structure and the second armrest structure are the same, the first armrest structure is connected to the hand crank screw structure through a first flexible structure, and the second armrest structure is connected to the hand crank screw structure through a second flexible structure.

[0103] In a specific embodiment, the mobile chassis 110 is arranged at the bottom of the device and is used to move the entire device. The mobile chassis 110 includes a first vertical rod, a second vertical rod and a cross rod, and the first vertical rod is connected to the second vertical rod through the cross rod; wherein the first vertical rod and the second vertical rod are arranged in parallel, and the first vertical rod and the cross rod are arranged vertically.

[0104] In the embodiment of the present application, a first universal caster assembly is provided at the bottom of the first vertical rod, a second universal caster assembly is provided at the bottom of the second vertical rod, and the bottom of the seat assembly is fixedly connected to the cross rod.

[0105] The present invention is composed of a main frame structure 1, a lifting structure 2, a waist structure 3, and a follow-up lifting seat structure, which are composed of four parts. The main frame structure 1 is composed of a steel frame structure and universal casters, providing overall support and movement functions. The lifting structure 2 adopts a motor screw structure 210 to electrically adjust the height of the machine from the ground to meet the needs of different heights and scenes. The waist structure is suitable for installing a lower limb exoskeleton 5. The follow-up lifting seat structure provides safe and reliable support for patients when wearing the lower limb exoskeleton 5 when getting on and off the machine.

[0106] The waist structure is connected to the lower limb exoskeleton 5, and the backpack structure 510 is connected to the right leg structure 520 and the left leg structure 530 separately. That is, the backpack structure 510 is connected to the waist connection structure, and the right leg structure and the left leg structure are connected to the left and right flexible adaptive connection structures respectively. The three are independent of each other and do not interfere with each other. The waist-hip distance can be adjusted by the hand-cranked screw structure to adapt to patients of different body shapes and improve the comfort of the product. The right leg structure and the left leg structure are connected to the left and right flexible adaptive connection structures respectively. Through the elastic elements of the flexible adaptive connection structure, the effect of adaptive auxiliary switching of the center of gravity when walking on the ground is achieved, making the rehabilitation training gait closer to the gait of normal people.

[0107] The present invention is composed of a main frame structure 1, a lifting structure 2, a waist structure 3, and a follow-up lifting seat structure, which are composed of four parts. The main frame structure 1 is composed of a steel frame structure and universal casters, providing overall support and movement functions. The lifting structure 2 adopts a motor screw structure 210 to electrically adjust the height of the machine from the ground to meet the needs of different heights and scenes. The waist structure is suitable for installing a lower limb rehabilitation exoskeleton robot. The follow-up lifting seat structure provides safe and reliable support for patients when they get on and off the machine wearing the lower limb rehabilitation exoskeleton robot.

[0108] The operator controls the motor screw structure 210 through the control button structure to adjust the height of the waist structure 3 from the ground. When the patient needs to get on and off the machine, the height of the waist structure 3 from the ground needs to be adjusted to the lowest position. In this process, the follow-up lifting seat continues to descend with the waist structure, and the seat gradually extends. When the waist structure reaches the lowest position, the follow-up lifting seat is fully extended, and the seat surface reaches a parallel state relative to the moving chassis and stops.

[0109] The waist structure is connected to the lower limb rehabilitation exoskeleton robot, and a waist backpack structure 510 is used to connect the right leg structure 520 and the left leg structure 530 separately. That is, the backpack structure 510 is connected to the waist connection structure, and the right leg structure 520 and the left leg structure 530 are respectively connected to the left and right flexible adaptive connection structures. The three are independent of each other and do not interfere with each other. The waist-hip distance can be adjusted by the hand-cranked screw structure 310 to adapt to patients of different body shapes and improve the comfort of the product. The right leg structure 520 and the left leg structure 530 are respectively connected to the left and right flexible adaptive connection structures. Through the elastic elements of the flexible adaptive connection structure, the effect of adaptive auxiliary switching of the center of gravity when walking on the ground is achieved, so that the rehabilitation training gait is closer to the gait of a normal person. An operation panel 540 is also provided on the top of the main frame structure 1.

[0110] The present application includes a base plate 401, a bench board assembly, a support bar 406 and a bottom fixing member 409; one side of the base plate 401 is fixedly connected to the waist structure, and the bottom of the base plate 401 is hinged to the bench board assembly; one end of the support bar 406 is hinged to the bench board assembly, and the other end of the support bar 406 is hinged to the bottom fixing member 409; the bottom fixing member 409 is fixedly connected to the exoskeleton auxiliary support; wherein, one end of the support bar 406 moves within the preset space of the bench board assembly; an elastic reset member for resetting the support bar 406 is provided between the support bar 406 and the bottom fixing member 409; when the waist structure rises, driving the base plate 401 to rise, the support bar 406 moves in the preset space toward the base plate 401, thereby the bench board assembly is folded; when the waist structure descends, driving the base plate 401 to descend, the support bar 406 moves at the top of the preset space away from the base plate 401, thereby the bench board assembly is unfolded.

[0111] Next, the structure of the follow-up lifting seat in this exemplary embodiment will be further described.

[0112] In one embodiment of the present application, one side of the base plate 401 is fixedly connected to the waist structure, and the bottom of the base plate 401 is hinged to the bench board assembly; specifically, the bottom of the base plate 401 is connected to one end of the bench board assembly via a first hinge pin 402.

[0113] In a specific embodiment, the base plate 401 is fixedly connected to the waist structure of the exoskeleton auxiliary support, so that it moves up and down with the waist structure; when the waist structure rises, it drives the base plate 401 to rise; when the waist structure falls, it drives the base plate 401 to fall.

[0114] In a specific embodiment, the base plate 401 may be rectangular or square, and the base plate 401 may be connected to the waist structure via bolts. The base plate 401 may also be in the shape of a long column.

[0115] In a specific embodiment, a groove is provided at the bottom of the base plate 401, and the groove is used to accommodate one end of the stool bracket 403, so that the stool bracket 403 can rotate in the groove through the first hinge pin 402, and the stool bracket 403 is arranged vertically to the base plate 401, and the stool bracket 403 can rotate below the vertical line of the base plate 401.

[0116] In one embodiment of the present application, the stool board assembly includes a stool surface 404, a stool bracket 403 and a stool bracket slide groove 411; the top end surface of the stool bracket 403 is connected to the stool surface 404, and the lower end surface of the stool bracket 403 is connected to the stool bracket slide groove 411; wherein, the stool bracket slide groove 411 is provided with the preset space, and one end of the stool bracket 403 is connected to the bottom of the base plate 401.

[0117] As an example, the stool surface 404 is circular, or square, and the stool surface 404 can be made of leather material with a sponge pad inside, or can be made of plastic. The stool surface 404 is provided with a sponge pad inside, which can make the seat more comfortable. The stool bracket 403 is used to support the stool surface 404, and one end of the stool bracket 403 is connected to the base plate 401.

[0118] In one embodiment of the present application, the top surface of the stool bracket 403 is connected to the stool surface 404, and the lower end surface of the stool bracket 403 is connected to the stool bracket slide groove 411; wherein the stool bracket slide groove 411 is provided with the preset space; one end of the stool bracket 403 is connected to the bottom of the base plate 401. The bottom of the stool bracket 403 is provided with a stool bracket slide groove 411, and the stool bracket slide groove 411 is provided with a slide groove, and the slide groove is arranged parallel to the stool surface.

[0119] In a specific embodiment, the stool support groove 411 is used to limit the sliding of the support bar 406, and one end of the support bar 406 can move in a preset space in the stool support groove 411, and the preset space is arranged parallel to the stool support 403.

[0120] In one embodiment of the present application, one end of the support bar 406 is connected to the stool support slide groove 411 through a second hinge pin 405 , and the other end of the support bar 406 is connected to the bottom fixing member 409 through a third hinge pin 407 .

[0121] In one embodiment of the present application, a limit bar 410 for limiting the rotation angle of the support bar 406 is provided at one end of the support bar 406 connected to the bottom fixing member 409 , and the limit bar 410 and the support bar 406 are at a preset angle.

[0122] In a specific embodiment, one end of the support bar 406 can slide in the stool support slide groove 411, and the other end of the support bar 406 is connected to the bottom fixing member 409. Both ends of the support bar 406 can rotate, and a limit bar 410 is further provided at one end close to the bottom fixing member 409, and the limit bar 410 limits the rotation angle of the support bar 406. The preset angle can be 120 degrees or 150 degrees, and the value range of the preset angle is 120 degrees to 150 degrees.

[0123] In one embodiment of the present application, the elastic reset member is a return torsion spring 408; the return torsion spring 408 is arranged at the connection between the support bar 406 and the bottom fixing member 409. The bottom fixing member 409 is fixedly connected to the exoskeleton auxiliary support by bolts.

[0124] In a specific embodiment, the base plate 401 is connected and fixed to the waist structure, and moves up and down with the waist structure. The bottom fixing member 409 is connected and fixed to the mobile chassis frame of the exoskeleton auxiliary support, and is fixed. The base plate 401 is connected to the stool support 403 through the first hinge pin 402, and the stool support 403 can rotate around the second hinge pin 405. The stool surface 404 is fixedly connected to the stool support 403.

[0125] In a specific embodiment, the stool support 403 is connected to the support bar 406 through the second hinge pin 405, and the support bar 406 can rotate around the second hinge pin 405, and the second hinge pin 405 can slide in the stool support slide groove 411. The support bar 406 is connected to the bottom fixing member 409 through the third hinge pin 407, and the support bar 406 can rotate around the third hinge pin 407. The return torsion spring 408 continuously provides the support bar 406 with a return elastic force toward the bottom fixing member 409.

[0126] In a specific embodiment, when the waist structure rises to a high position, the stool support 403 and the stool surface 404 naturally droop due to gravity, and the support bar 406 is acted upon by the elastic force of the return torsion spring 408. The end of the support bar 406 away from the base plate 401 remains pressed against the back plate of the exoskeleton auxiliary support, forming a retracted state.

[0127] As the waist structure moves downward, the second hinge pin 405 slides in the stool support slot 411. When the second hinge pin 405 slides along the preset space of the stool support slot 411 to the end of the stool support slot 411 close to the base plate 401, the support bar 406 is stressed, and the support bar 406 separates from the back plate and gradually rotates forward. When the limit bar 410 contacts the chassis cross bar surface of the exoskeleton auxiliary support, the support bar 406 stops rotating, and the stool support 403 slides and rotates relative to the stool support slot 411 and the second hinge pin 405, gradually changing its posture forward and upward until the stool surface 404 moves to parallel with the mobile chassis frame of the exoskeleton auxiliary support and stops, reaching a fully extended state, completing a stool extension process. The reverse operation is the stool recovery process.

[0128] The structure includes: a fixed seat 321, a first support seat 322, a first support seat 329, a sliding rod 323, a slider 324, an elastic element 326 and a connecting seat 328; the first support seat 322 and the first support seat 329 are arranged opposite to each other and fixed to the fixed seat 321; the sliding rod 323 is arranged between the first support seat 322 and the first support seat 329; the slider 324 is sleeved on the sliding rod 323 and slides axially along the sliding rod 323;

[0129] One end of the connecting seat 328 is fixedly connected to the slider 324, and the other end of the connecting seat 328 is connected to the first target structure; the elastic element 326 is arranged between the slider 324 and the first supporting seat 329 to buffer the pressure exerted by the first target structure on the second target structure.

[0130] Next, the first flexible structure in this exemplary embodiment will be further described.

[0131] In one embodiment of the present invention, the first flexible structure includes: a fixing seat, a first supporting seat, a second supporting seat, a sliding rod, a sliding block, an elastic element and a connecting seat.

[0132] In one embodiment of the present invention, an adapter plate 327 is provided between the connecting seat 328 and the slider 324, and the connecting seat 328 is fixedly connected to the slider 324 through the adapter plate 327; wherein, the adapter plate 327 is used to connect the connecting seat 328 and the slider 324, and the surface of the adapter plate 327 includes a variety of spiral options, so that the installation, fixation and transfer of the slider 324 and the connecting seat 328 are more flexible and convenient.

[0133] In one embodiment of the present invention, the sliding rod 323 includes two sliding rods 323, which are arranged in parallel and respectively arranged between the first support seat 322 and the first support seat 329; the sliding rod 323 is cylindrical in shape, and the cylindrical sliding rod 323 can be easily inserted into the spring and spring washer 325.

[0134] In one embodiment of the present invention, the sliders 324 are slidably connected to the slide rods 323 respectively; the sliders 324 are square sliders, and two circular holes are provided on the sliders 324 for inserting the slide rods 323, each circular hole is inserted into a slide rod 323, and the sliders 324 slide along the slide rods 323.

[0135] In one embodiment of the present invention, the elastic element 326 is sleeved on the sliding rod 323; the elastic element 326 is a spring, and the elastic element 326 is used to buffer the relative pressure between the waist structure and the leg structure. Different elastic elements 326 can be adapted according to patients of different weights. The elastic element 326 can float vertically along the sliding rod 323 through stretching and compression.

[0136] In one embodiment of the present invention, a spring washer 325 is provided between the elastic element 326 and the second support seat 329 , and a spring washer 325 is also provided between the elastic element 326 and the slider 324 ; the spring washer 325 is used to prevent the spring from wearing the slider 324 and the first support seat 329 .

[0137] In one embodiment of the present invention, the connecting seat 328 is a conical connecting seat, wherein the cross-sectional area of ​​one end of the connecting seat 328 connected to the slider 324 is larger than the end away from the slide rod 323; the leg structure is installed on the connecting seat 328, and the weight of the leg structure itself plus the weight loaded on the leg when the patient wears the leg for exercise are finally transmitted to the elastic element 326 through this structure. The connecting seat 328 is conical, and the bottom of the connecting seat 328 is connected to the slide rod 323, and the top of the connecting seat 328 is connected to the leg structure. The connecting seat 328 can be replaced according to different leg structures.

[0138] In one embodiment of the present invention, the fixing seat 321 is provided with a plurality of mounting holes for adjusting the mounting positions of the first supporting seat 322 , the first supporting seat 329 and the second target structure; wherein the second target structure is a waist structure.

[0139] In one embodiment of the present invention, the right leg structure 520 and the left leg structure 530 are respectively installed on the connection seats 328 of the two independent flexible adaptive connection structures 320 on the left and right sides of the waist structure 310, and the backpack structure 510 is installed on the waist connection structure 330, forming an exoskeleton robot backpack structure 510, right leg structure 520, and left leg structure 530 that are separated and independently formed into a layout structure of three modules.

[0140] In one embodiment of the present invention, when a patient wearing a lower limb rehabilitation exoskeleton robot actively lifts his legs, the leg structure will unload a portion of the patient's body gravity, and the elastic element 326 will autonomously release a compressive elastic force equivalent to the unloaded portion of the gravity. The elastic element 326 will stretch, pushing the slider 324 upward, and the connecting seat 328 and the leg structure installed thereon will move upward, so that the pressure transmitted to the elastic element 326 by the leg structure at this time is balanced with the elastic force of the elastic element 326, thereby increasing the distance between the exoskeleton robot's foot shoes and the ground, avoiding friction with the ground, and completing the leg-lifting forward step process.

[0141] When a patient wearing a lower limb rehabilitation exoskeleton robot actively presses his legs downward, the leg structure will be loaded with a portion of the patient's body gravity, and the elastic element 326 will be subjected to a pressure equivalent to that portion of gravity. The connecting seat 328 and the leg structure installed thereon will move downward, driving the slider 324 to compress the elastic element 326. The elastic element 326 compresses and stores energy. When the compression elastic force and the pressure transmitted from the leg structure at this time are not balanced, the exoskeleton robot's shoes have stepped on the ground, completing the downward stepping process.

[0142] Since the leg structure is connected to the bracket through the flexible adaptive structure 320, the leg floats up and down within the sliding range of the slide bar 323 during the entire gait training process, and realizes a vertical floating connection with the bracket, avoiding the problem of the robot lifting the bracket off the ground during gait training due to excessive downward adjustment of the waist structure. The flexible adaptive leg connection structure can be driven by an independent XY linear motor module, and can adapt to the patient's gait awareness through sensors, algorithm control, etc., to achieve active center of gravity switching.

[0143] The lower limb exoskeleton includes a backpack structure, a leg structure, an operation panel and an exoskeleton shoe for detecting the pressure of the user's foot; the backpack is connected to the exoskeleton shoe through the leg structure; the operation panel is arranged on the exoskeleton auxiliary bracket; the leg structure includes a flexible driver, and the flexible driver is correspondingly arranged at at least one joint structure.

[0144] A schematic diagram of the structure of a leg length adjustment mechanism of an exoskeleton robot of the present invention may specifically include the following structures: a thigh component 610, a calf component 620, and a shoe plate connector 630 for externally connecting an exoskeleton shoe; the thigh component 610 is connected to the shoe plate connector 630 via the calf component 620; the thigh component 610 includes a hip joint fixing plate, a thigh extension plate 616, and a thigh motor push rod; one end of the thigh motor push rod is connected to the hip joint fixing plate, and the other end of the thigh motor push rod is connected to the thigh extension plate 616 connection; the calf component 620 includes a knee joint fixing plate, a calf expansion and contraction plate 626 and a calf motor push rod; one end of the calf motor push rod is connected to the knee joint fixing plate, and the other end of the calf motor push rod is connected to the calf expansion and contraction plate 626; when the thigh component 610 needs to be extended or shortened, the thigh motor push rod is extended or shortened and drives the thigh expansion and contraction plate 616 to move; when the calf component 620 needs to be extended or shortened, the calf motor push rod is extended or shortened and drives the thigh expansion and contraction plate 616 to move.

[0145] It should be noted that the lower limb exoskeleton robot has a left leg and a right leg, and the left leg and the right leg have the same structure. Only the exoskeleton robot leg length adjustment mechanism is described here. The two legs are respectively provided with the exoskeleton robot leg length adjustment mechanism of the present application.

[0146] In the embodiment of the present application, the thigh component 610 is connected to the shoe plate connector 630 via the calf component 620; the thigh component 610 includes a hip joint fixing plate, a thigh extension plate 616 and a thigh motor push rod; one end of the thigh motor push rod is connected to the hip joint fixing plate, and the other end of the thigh motor push rod is connected to the thigh extension plate 616; when the thigh component 610 needs to be extended or shortened, the thigh motor push rod extends or shortens and drives the thigh extension plate 616 to move.

[0147] In the embodiment of the present application, the hip joint fixation plate includes an inner hip joint solid base plate 611 and an outer hip joint fixation plate 612; the inner hip joint solid base plate 611 is arranged relative to the outer hip joint fixation plate 612, and the inner hip joint solid base plate 611 and the outer hip joint fixation plate 612 are adapted to each other; the inner hip joint solid base plate 611 and the outer hip joint fixation plate 612 cooperate to form a first space for accommodating the thigh extension plate 616 and the thigh motor push rod.

[0148] In a specific embodiment, the medial hip joint fixing plate 611 of the hip joint fixing plate is arranged at a position close to the patient, and the lateral hip joint fixing plate 612 is arranged at a position away from the patient. The medial hip joint fixing plate 611 and the lateral hip joint fixing plate 612 are arranged relative to each other to form a first space for accommodating the thigh extension plate 616 and the thigh motor push rod.

[0149] As an example, the inner side of the hip joint fixed base plate 611 and the outer side of the hip joint fixed plate 612 are connected by screws, and screws are arranged around the inner side of the hip joint fixed base plate 611 and the outer side of the hip joint fixed plate 612. The knee joint fixed plate is provided with a joint limit block and outlets for the push rod motor line and the sensor line.

[0150] In a specific embodiment, the medial hip joint fixing plate 611 and the lateral hip joint fixing plate 612 are both semi-shell shaped, and the two are combined to form a complete space. The medial hip joint fixing plate 611 and the lateral hip joint fixing plate 612 are respectively provided with grooves.

[0151] In the embodiment of the present application, the thigh assembly 610 further includes a thigh shoulder hinge pin 613; the thigh motor push rod is fixedly connected to the hip joint lateral fixing plate 612 through the thigh shoulder hinge pin 613. A Hall sensor is provided inside the thigh electric push rod 614; a Hall sensor is provided inside the calf electric push rod 624. One end of the thigh motor push rod is connected to the hip joint fixing plate, and the other end of the thigh motor push rod is connected to the thigh extension plate 616.

[0152] It should be noted that the Hall sensor is a magnetic field sensor made based on the Hall effect. The Hall effect is a type of magnetoelectric effect. This phenomenon was first discovered by AH Hall (1855-1938) in 1879.

[0153] It was discovered when studying the conductive mechanism of metals. Later, it was found that semiconductors and conductive fluids also have this effect, and the Hall effect of semiconductors is better than that of metals. Various Hall elements made using this phenomenon are

[0154] It is widely used in industrial automation technology, detection technology and information processing.

[0155] In a specific embodiment, the thigh electric push rod 614 is disposed in the first space, and the thigh electric push rod 614 can be extended or shortened, thereby driving the thigh extension plate 616 to move in the first space.

[0156] In the embodiment of the present application, the thigh component 610 further includes a thigh nylon guide sleeve 615 for guiding the moving direction of the thigh expansion plate 616; the thigh nylon guide sleeve 615 is provided between the hip joint fixing plate and the thigh expansion plate 616, and the thigh nylon guide sleeve 615 is fixedly connected to the hip joint fixing plate.

[0157] In a specific embodiment, the thigh expansion plate 616 is supported by the thigh nylon guide sleeve 615 to bear the lateral load and the external guidance of the extended end, so that the thigh expansion plate 616 can move better in the first space.

[0158] This application can change the user experience of the product. When the user's leg length is input on the operation screen, the thigh electric push rod 614 and the calf electric push rod 624 automatically extend and retract to adjust the length to complete different

[0159] The leg length can be adjusted quickly; it can avoid the situation where the data is adjusted incorrectly by human operation, and the accuracy error is smaller. In a specific embodiment, one end of the thigh expansion plate 616 is set in the first space,

[0160] The other end is exposed and connected to the calf component 620.

[0161] In a specific embodiment, the thigh motor push rod is provided inside the hip joint fixation plate, and the end of the thigh motor push rod is connected to the thigh extension plate 616.

[0162] In the embodiment of the present application, the calf assembly 620 includes a knee joint fixing plate, a calf extension plate 5626 and a calf motor push rod; one end of the calf motor push rod is connected to the knee joint fixing plate, and the other end of the calf motor push rod is connected to the calf extension plate 626; when the calf assembly 620 needs to be extended or shortened, the calf motor push rod extends or shortens and drives the thigh extension plate 616 to move.

[0163] In the embodiment of the present application, the knee joint fixation plate includes an inner side fixed base plate 621 of the knee joint and an outer side fixed base plate 622 of the knee joint; the inner side fixed base plate 621 of the knee joint is arranged relative to the outer side fixed base plate 622 of the knee joint, and the inner side fixed base plate 621 of the knee joint and the outer side fixed base plate 622 of the knee joint are adapted to each other; the inner side fixed base plate 621 of the knee joint and the outer side fixed base plate 622 cooperate to form a second space for accommodating the calf extension plate 626 and the calf motor push rod.

[0164] In a specific embodiment, the medial knee joint fixing plate 621 of the knee joint fixing plate is arranged at a position close to the patient, and the lateral knee joint fixing plate 622 is arranged at a position away from the patient. The medial knee joint fixing plate 621 and the lateral knee joint fixing plate 622 are arranged relative to each other to form a second space for accommodating the calf extension plate 626 and the calf motor push rod.

[0165] As an example, the inner side of the knee joint fixing plate 621 and the outer side of the knee joint fixing plate 622 are connected by screws, and screws are arranged around the inner side of the knee joint fixing plate 621 and the outer side of the knee joint fixing plate 622. The knee joint fixing plate also has an outlet for the traction rope and an outlet for the electrical connection.

[0166] In a specific embodiment, the inner side fixing plate 621 of the knee joint and the outer side fixing plate 622 of the knee joint are both in a semi-shell shape, and the two are combined to form a complete space, and each is provided with a groove.

[0167] In the embodiment of the present application, the calf assembly 620 also includes a calf nylon guide sleeve 625 for guiding the moving direction of the calf expansion and contraction plate 626; the calf nylon guide sleeve 625 is provided between the knee joint fixation plate and the calf expansion and contraction plate 626, and the calf nylon guide sleeve 625 is fixedly connected to the knee joint fixation plate.

[0168] In the embodiment of the present application, the knee joint fixation plate includes an inner side fixed base plate 621 of the knee joint and an outer side fixed base plate 622 of the knee joint; the inner side fixed base plate 621 of the knee joint is arranged relative to the outer side fixed base plate 622 of the knee joint, and the inner side fixed base plate 621 of the knee joint and the outer side fixed base plate 622 of the knee joint are adapted to each other; the inner side fixed base plate 621 of the knee joint and the outer side fixed base plate 622 cooperate to form a second space for accommodating the calf extension plate 626 and the calf motor push rod.

[0169] In a specific embodiment, the calf electric push rod 624 is disposed in the second space, and the calf electric push rod 624 can be extended or shortened, thereby driving the calf extension plate 626 to move in the second space.

[0170] In a specific embodiment, the calf motor push rod is provided inside the knee joint fixation plate, and the end of the calf motor push rod is connected to the calf extension plate 626.

[0171] In the embodiment of the present application, the thigh component 610 is connected to the shoe plate connector 630 via the calf component 620; the shoe plate connector 630 is used to connect the exoskeleton shoe.

[0172] In a specific embodiment, one end of the thigh electric push rod 614 is fixed to the hip joint outer side fixing plate 612 through the thigh shoulder hinge pin 613, and the other end is fixed to the thigh telescopic plate 616 through the calf shoulder hinge pin 623. The extended end of the thigh electric push rod 614 is provided with a thigh nylon guide sleeve 615. The thigh electric push rod 614 is extended or retracted to adjust the thigh length, so that the extension of the electric push rod drives the thigh telescopic plate 616 to move;

[0173] In a specific embodiment, one end of the calf electric push rod 624 is fixed to the outer side fixing plate 622 of the knee joint through the calf shoulder hinge pin 623, and the other end is fixed to the calf extension plate 626 through the calf shoulder hinge pin 623. The calf nylon guide sleeve 625 is fixedly connected to the knee joint fixing plate. The calf electric push rod 614 can adjust the calf length by extending or retracting, so that the electric push rod can be extended and retracted to drive the calf extension plate 626 to move.

[0174] In a specific embodiment, the leg length adjustment is accomplished by extending and retracting the electric push rod. Thigh adjustment: one end of the thigh electric push rod 614 is fixed at the hip joint, and the other end is fixed at the knee joint. Calf adjustment: one end of the calf electric push rod 624 is fixed at the knee joint, and the other end is fixed at the ankle joint. The nylon guide sleeve bears the lateral load and the external guide of the extended end.

[0175] In one embodiment of the present application, the shoe body includes a sole and an upper assembly 710 for connecting to a user's foot; the upper assembly 710 cooperates with the sole to form a preset space for accommodating the pressure assembly 720 .

[0176] In one embodiment of the present application, the upper assembly 710 includes a sole surface 711 and a connecting strap assembly for fixing the user's foot and the exoskeleton shoe 7; the connecting strap assembly is provided on a side of the sole surface 711 away from the sole. The connecting strap assembly includes an upper ear 712, a clamping strap, a buckle, and a connecting shaft 715;

[0177] The buckle is arranged on the shoe upper lug 712, and the buckle belt is connected to the shoe sole 711 via a connecting shaft 715; the buckle and the buckle belt are adapted to each other. The shoe upper assembly 710 also includes a heel strap for fixing the user's heel.

[0178] As an example, the shape of the sole surface 711 is the shape of a sole of a foot, and the sole surface 711 directly contacts the user or the user's shoes. The upper ear 712 is connected to the sole surface 711 through a connecting shaft 715, and the upper ear 712 can rotate around the sole surface 711. The buckle is set on the upper ear 712, and the upper ear 712 is made of foam rubber.

[0179] In one embodiment of the present application, the clip-on strap is a bar buckle 714 and a band 713, and the clip is a bar buckle 714; the upper assembly 710 further includes a heel strap for fixing the user's heel; the upper ear 712 and the sole surface 711 can both be made of foam rubber. The foam rubber is environmentally friendly foam rubber, which is not easy to rot and mold, is easy to clean when dirty, and has a simple structure and is easy to wear.

[0180] It should be noted that the foam rubber is elastic, and after the buckle 714 and the strap 713 are untied, the shoe upper will automatically pop open to the desired shape. Figure 3 state, this structural material property can improve the convenience of wearing.

[0181] In a specific embodiment, the clip-on strap is a long strap, and the clip-on strap is arranged on the shoe sole surface 711 via a connecting shaft 715 . The positions of the clip-on strap and the shoe upper lug 712 correspond to each other, so as to fix the sole of the user's foot.

[0182] In a specific embodiment, the clip-on strap is clipped into the buckle of the shoe upper ear 712, so as to fix the user's foot, and the user can wear the exoskeleton shoe 7 with ordinary shoes.

[0183] In one embodiment of the present application, the pressure assembly 720 is disposed inside the shoe body, and the pressure assembly 720 is disposed in a preset space formed by the upper assembly 710 and the sole for accommodating the pressure assembly 720. The pressure assembly 720 includes an upper shoe plate 721, a lower shoe plate 726, a control circuit board 724, and a bridge-type steel sheet sensor 722 for sensing pressure; the bridge-type steel sheet sensor 722 and the control circuit board 724 are disposed between the upper shoe plate 721 and the lower shoe plate 726; wherein at least one bridge-type steel sheet sensor 722 is disposed; and the control circuit board 724 and the bridge-type steel sheet sensor 722 are electrically connected.

[0184] In one embodiment of the present application, the bridge-type steel sheet sensor 722 includes a first sensor, a second sensor, a third sensor and a fourth sensor; the first sensor and the second sensor are arranged at the position of the user's forefoot, and the third sensor and the fourth sensor are arranged at the position of the user's backfoot; the control circuit board 724 is arranged between the first sensor, the second sensor and the third sensor and the fourth sensor.

[0185] In one embodiment of the present application, the bridge-type steel sheet sensor 722 is fixedly connected to the lower shoe plate 726 via a first screw 723 , and the control circuit board 724 is fixedly connected to the lower shoe plate 726 via a second screw 725 .

[0186] In a specific embodiment, the third screw 727 passes through the strain deformation area mounting hole of the bridge steel sheet sensor 722 to connect the strain deformation area of ​​the bridge steel sheet sensor 722 to the upper shoe plate 721; wherein the control circuit board 724 is connected to the lower shoe plate 726.

[0187] In a specific embodiment, a connecting plate is further provided on one side of the upper shoe plate 721 for connecting to the shoe plate connecting piece of the lower limb exoskeleton. The lower shoe plate 726 is partially hollowed out at a position corresponding to the bridge-type steel sheet sensor 722. The bridge-type sensor is a type of force sensor, and the "bridge-type" means that its mechanical structure has two fulcrums.

[0188] In one embodiment of the present application, the sole is a rubber sole 730 ; the sole is provided with a groove for accommodating the pressure assembly 720 , and the sole is fixedly connected to the upper assembly 710 .

[0189] In a specific embodiment, the present application mainly consists of three parts: an upper, a pressure assembly 720, and a rubber sole 730. The upper assembly 710 is used to fix the wearer's shoes, the pressure assembly 720 is used to install the sensor, and the entire module is placed in the cavity of the rubber sole 730. The upper assembly 710 can be connected to the rubber sole 730 by an adhesive, or connected to the pressure assembly 720 by a fastening screw.

[0190] The sole surface 711 and the upper lug 712 are made of environmentally friendly foam rubber and are integrally formed, and have the advantages of anti-skid, wear-resistant, corrosion-resistant and easy to clean. The buckle 714 belt 713 and the buckle 714 are respectively installed on the sole surface 711 and the upper lug 712 through the connecting shaft, and the buckle 714 belt 713 is inserted into the buckle 714 to achieve convenient fastening.

[0191] The pressure assembly 720 modularly integrates four bridge-type steel sheet sensors 722 and a control circuit board 724 for data integration and output. The bridge-type steel sheet sensor 722 is fixed to the lower shoe board 726 by a first screw 723, and the control circuit board 724 is fixed to the lower shoe board 726 by a second screw 725. The third screw 727 passes through the deformation area mounting hole of the bridge-type steel sheet sensor 722 to connect it to the upper shoe board 721 to form a module. The four-point uniformly distributed bridge-type steel sheet sensors 722 can effectively collect data from most areas of the sole, so that even if only a small area of ​​the sole is pressed against the ground and a small deformation is formed, it can be sensed by one or more of the sensors, thereby collecting more accurate sole pressure data.

[0192] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0193] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0194] The above is a detailed introduction to a detachable mobile lower limb exoskeleton device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A detachable mobile lower limb exoskeleton device, which is used for active lower limb rehabilitation training of patients, characterized in that: include: A lower limb exoskeleton and an exoskeleton auxiliary support for assisting the lower limb exoskeleton; The exoskeleton auxiliary support is detachably connected to the lower limb exoskeleton; The exoskeleton auxiliary support comprises a main frame structure, a seat structure, a waist structure and a lifting structure for driving the waist structure to move up and down; The seat structure includes a base plate, a bench board assembly, a support bar and a bottom fixing member; one side of the base plate is fixedly connected to the waist structure, and the bottom of the base plate is hinged to the bench board assembly; one end of the support bar is hinged to the bench board assembly, and the other end of the support bar is hinged to the bottom fixing member; the bottom fixing member is fixedly connected to the exoskeleton auxiliary support; wherein one end of the support bar moves within a preset space of the bench board assembly; an elastic reset member for resetting the support bar is provided between the support bar and the bottom fixing member; One end of the support bar connected to the bottom fixing piece is provided with a limit bar for limiting the rotation angle of the support bar, and the limit bar forms a preset angle with the support bar; The waist structure includes a flexible adaptive connection structure and a hand-cranked screw structure for adjusting the width of the hip joint of the lower limb exoskeleton, and the flexible adaptive connection structure includes a first flexible structure and a second flexible structure; a waist connection structure is provided between the first flexible structure and the second flexible structure, and the distance between the first flexible structure and the second flexible structure is adjusted by the hand-cranked screw structure; the first flexible structure is connected to the left leg structure of the lower limb exoskeleton; the second flexible structure is connected to the right leg structure of the lower limb exoskeleton; The first flexible structure comprises: a fixed seat, a first supporting seat, a second supporting seat, a sliding rod, a slider, an elastic element and a connecting seat; the first supporting seat and the second supporting seat are arranged opposite to each other and fixed to the fixed seat; the sliding rod is arranged between the first supporting seat and the second supporting seat; the slider is sleeved on the sliding rod and slides axially along the sliding rod; one end of the connecting seat is fixedly connected to the slider, and the other end of the connecting seat is connected to the first target structure; the elastic element is arranged between the slider and the second supporting seat to buffer the pressure exerted by the first target structure on the second target structure; One end of the lifting structure is arranged in the middle of the main frame structure, and the other end of the lifting structure is connected to the waist structure, and the bottom of the waist structure is fixedly connected to the seat structure; wherein the waist structure is detachably connected to the lower limb exoskeleton; When the waist structure descends, the seat structure extends; When the waist structure rises, the seat structure folds.

2. The detachable mobile lower limb exoskeleton device according to claim 1, characterized in that: The lower limb exoskeleton includes a backpack structure, a leg structure, an operation panel, and an exoskeleton shoe for detecting the pressure of the user's foot; The backpack is connected to the exoskeleton shoe through the leg structure; the operation panel is arranged on the exoskeleton auxiliary bracket. The leg structure includes a flexible driver, and the flexible driver is correspondingly arranged at at least one joint structure.

3. The detachable mobile lower limb exoskeleton device according to claim 2, characterized in that: The exoskeleton shoe comprises a shoe body and a pressure device arranged inside the shoe body; The pressure device includes an upper shoe plate, a lower shoe plate, a control circuit board, and a bridge-type steel sheet sensor for sensing pressure; The bridge-type steel sheet sensor and the control circuit board are provided between the upper shoe plate and the lower shoe plate; wherein at least one bridge-type steel sheet sensor is provided; The control circuit board is electrically connected to the bridge type steel sheet sensor.

4. The detachable mobile lower limb exoskeleton device according to claim 3, characterized in that: The bridge type steel sheet sensor comprises a first sensor, a second sensor, a third sensor and a fourth sensor; The first sensor and the second sensor are arranged at the position of the forefoot of the user, and the third sensor and the fourth sensor are arranged at the position of the backfoot of the user; The control circuit board is arranged between the first sensor, the second sensor and the third sensor and the fourth sensor.

5. The detachable mobile lower limb exoskeleton device according to claim 2, characterized in that: The leg structure comprises a left leg structure and a right leg structure, and the left leg structure and the right leg structure are respectively provided with an exoskeleton robot leg length adjustment mechanism; The exoskeleton robot leg length adjustment mechanism comprises a thigh component, a calf component and a shoe plate connector for externally connecting an exoskeleton shoe; The thigh component is connected to the shoe plate connector via the calf component; The thigh assembly includes a hip joint fixing plate, a thigh extension plate and a thigh motor push rod; one end of the thigh motor push rod is connected to the hip joint fixing plate, and the other end of the thigh motor push rod is connected to the thigh extension plate; The calf assembly includes a knee joint fixing plate, a calf extension plate and a calf motor push rod; One end of the calf motor push rod is connected to the knee joint fixing plate, and the other end of the calf motor push rod is connected to the calf extension plate; When the thigh component needs to be extended or shortened, the thigh motor push rod is extended or shortened and drives the thigh extension plate to move; When the calf assembly needs to be extended or shortened, the calf motor push rod is extended or shortened and drives the calf extension plate to move.

6. The detachable mobile lower limb exoskeleton device according to claim 1, characterized in that: The lifting structure includes a guide structure, a control button structure, and a motor screw structure for driving the guide structure to move up and down; The guide structure is arranged above the motor screw structure, and the control button structure is arranged above the guide structure; The waist structure is arranged on the main frame structure through the guide structure, the guide structure is detachably connected to the waist structure, and the guide structure moves up and down within a preset range of the main frame structure; The guide structure and the motor lead screw structure are electrically connected to the control button structure.

7. The detachable mobile lower limb exoskeleton device according to claim 6, characterized in that: The waist structure includes a waist connection structure; One side of the hand-cranked screw structure is connected to the guide structure, and the other side of the hand-cranked screw structure is provided with the flexible adaptive connection structure and the waist connection structure.

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