Anti-gravity airbag exoskeleton device

Abstract

The present invention belongs to the field of exoskeleton technology, specifically an anti-gravity airbag exoskeleton device, including an anti-gravity airbag device, and also including a lower limb exoskeleton located inside the airbag; also including a sitting support component and an airbag retracting and releasing component, wherein the clamping part of the sitting support component can engage the bag cover body and support the lower limb exoskeleton to maintain a sitting posture; the airbag retracting and releasing component can connect to the bag top component, and drive the bag top component of the airbag to move, so that the airbag mouth moves from the thigh of the lower limb exoskeleton to the foot, until the bag top component fits the base. In the present invention, the sitting support component can assist the lower limb exoskeleton to maintain a sitting posture, and at the same time, the set airbag retracting and releasing component can drive the bag top component to move along the posture of the lower limb, and finally move the airbag mouth to the foot, so that the user only needs to be in a sitting posture when transferring the user, and this anti-gravity airbag exoskeleton device can better meet the use needs and psychological needs of people with lower limb dysfunction.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeletons, in particular to an anti-gravity airbag exoskeleton device. Background Art

[0002] The anti-gravity airbag running device is a method of using air pressure to reduce the pressure on the user's joints when running. It has a good rehabilitation effect on users with ankle, knee and other injuries. However, for people with lower limb dysfunction (incomplete), such as hemiplegia or lower limb paraplegia, since they cannot move autonomously, they cannot use the existing anti-gravity airbag running device to rehabilitate them. However, although the patient has leg dysfunction, it is essential to properly move the lower limbs. The invention patent with publication number CN105832496A discloses a new lower limb exoskeleton rehabilitation training device, which essentially also belongs to the category of anti-gravity airbag running technology. The rehabilitation training device is equipped with a lower limb exoskeleton in the airbag, and the lower limb exoskeleton is installed on the height adjustment mechanism, that is, the training device is provided with a lower limb exoskeleton integrated with the anti-gravity treadmill. After the user enters the training device, the exoskeleton is adjusted to a suitable height and width, and then worn. This solution can indeed solve the problem that the existing anti-gravity airbag running device is not suitable for people with lower limb dysfunction. However, for patients with hemiplegia or lower limb paraplegia, their movement usually requires the use of a transfer machine, and it is very difficult for them to stand up. Therefore, the above-mentioned rehabilitation training device only solves the problem functionally. Summary of the invention

[0003] The purpose of the present invention is to provide an anti-gravity airbag exoskeleton device to solve the problem mentioned in the above background technology that the existing anti-gravity airbag device is not convenient for people with lower limb dysfunction to use.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an anti-gravity airbag exoskeleton device, including an anti-gravity airbag device, which includes an airbag and a base, wherein the top of the airbag is a bag top assembly, the bag top assembly has an airbag opening, and has a bag cover body that can be worn on a human body and block the airbag opening. The exoskeleton device also includes a set of lower limb exoskeleton, which is located inside the airbag and has its upper end connected to the bag cover body; when the airbag is filled with air, the lower limb exoskeleton can perform walking or standing movements, and as the airbag is continuously deflated, the lower limb exoskeleton can contact the base with its feet in a sitting posture; the exoskeleton device also includes a sitting support component and an airbag retracting and releasing component, wherein the sitting support component is located outside the airbag and has a clamping part, which can clamp the clamping matching part on the bag cover body and support the lower limb exoskeleton to maintain a sitting posture; the airbag retracting and releasing component can be connected to the bag top component, and as the airbag is continuously deflated, the airbag retracting and releasing component drives the bag top component of the airbag to move, and moves the airbag opening from the thigh of the lower limb exoskeleton to the foot until the bag top component fits the base.

[0005] In the above technical scheme, the bag cover body is used to seal the airbag opening and hold up the user. By connecting the lower limb exoskeleton to the lower part of the bag cover body, the user can exercise with the assistance of the lower limb exoskeleton. At the same time, the lower limb exoskeleton can independently bear the weight of the user's thigh, calf and foot, thereby reducing the burden on the human joints. In this scheme, the lower limb exoskeleton can assist the user to make a sitting posture, and the provided sitting support assembly can be connected to the bag cover body and assist the exoskeleton to maintain a sitting posture. At the same time, the provided airbag retracting assembly can drive the bag top assembly to move along the posture of the lower limb, and finally move the airbag opening to the foot. Since the exoskeleton and the user are still in a sitting posture at this time, the shifting device can be used to directly transfer the user. Similarly, the shifting device can also be used to transfer the user wearing the lower limb exoskeleton and in a sitting posture to the anti-gravity airbag exoskeleton device, and the process of reciprocating the user will not be affected by the airbag. Compared with existing similar devices, this technical scheme can be used in combination with existing shifting equipment to better meet the use needs and psychological needs of people with lower limb dysfunction.

[0006] As a preferred solution of the anti-gravity airbag exoskeleton device of the present invention, the airbag retracting and releasing assembly includes two parts that are symmetrically arranged on the left and right, each of which includes a horizontal moving assembly I and a longitudinal moving assembly, wherein the longitudinal moving assembly adopts a chain supporter, and the horizontal moving assembly I is connected to the lower part of the chain supporter and can push the chain supporter to move back and forth; a support hook is installed at the top of the chain of the chain supporter, and correspondingly, a support hook connector is arranged on the left and right sides of the bag top assembly, and the chain moves upward to enable the support hook to connect the support hook connector, and the bag top assembly is supported by two chains. The chain of the chain supporter can extend upward and support the bag top assembly, and can also pull the bag top assembly downward by contraction, and cooperate with the horizontal moving assembly I, the entire airbag retracting and releasing assembly can move the bag top assembly downward according to a preset curved path; because the chain can be completely retracted into the chain supporter, the airbag retracting and releasing assembly occupies very little space, and will not affect normal rehabilitation training when not in use.

[0007] As a preferred solution, the bag top assembly includes a top cover and a support ring arranged in contact with the top cover, the support hook connector is arranged on the support ring, and includes two support shafts extending in the left and right directions, and the support hook has a bayonet opening upward, and the bayonet can clamp the support shaft from bottom to top. The support hook with a bayonet on the top is used to connect the support shaft to realize the connection between the chain support and the bag top assembly. First, it can realize automatic connection and disconnection. In addition, as the chain support moves forward, the rear part of the airbag will pull the bag top assembly, so that the bag top assembly deflects backward around the support shaft. At this time, the airbag opening is deflected relative to the lower limb exoskeleton, which is more conducive to the airbag opening passing through various parts of the lower limb exoskeleton smoothly.

[0008] As a preferred solution, the base includes an inner platform, which is located inside the airbag. Two installation grooves I are symmetrically arranged on the top surface of the inner platform. The installation grooves I are located on both sides of the action range of the lower limb exoskeleton, and the airbag retracting assembly is correspondingly installed in the installation grooves I; the support ring is located on the back of the top cover. This solution sets the airbag retracting assembly inside the airbag, and the connection structure between the chain support and the bag top assembly is also built-in, which can effectively utilize the internal space of the airbag. At the same time, since the upper outer contour area of ​​the airbag in the anti-gravity airbag device is not larger than the lower outer contour area, if the airbag retracting assembly is placed externally, it is necessary to have a longer connection structure extending to both sides of the bag top assembly, which will increase the space occupied by the entire device. At the same time, such a structure can avoid mutual interference between the airbag retracting assembly and the sitting support assembly.

[0009] As a preferred solution, the sitting support assembly also includes a horizontal moving assembly II for controlling the translation of the clamping part, which can control the clamping part to be away from the airbag to provide the airbag with sufficient deformation space, and can also control the clamping part to be close to the airbag and clamp the bag cover when the lower limb exoskeleton is in a sitting posture. The only function of the sitting support assembly is to assist the lower limb exoskeleton in maintaining a sitting posture, so as to facilitate the use of the shifting device to transfer the user and facilitate the user to complete the connection and separation with the airbag in a sitting state. In this solution, the horizontal moving assembly II can control the clamping part to be away from the airbag, so that the clamping part does not need to be in contact with the bag cover all the time, so that the sitting support assembly has an adverse effect on the use of the anti-gravity airbag exoskeleton device.

[0010] For the technical solution of using a sitting support component with a horizontal moving component II, it is preferred that the horizontal moving component II has two screw components II that are symmetrically arranged on the left and right, and the clamping part is located behind the airbag, including two support rods that are symmetrically arranged on the left and right and a bracket that is fixedly connected to the upper ends of the two support rods, wherein a mounting component is arranged at the lower part of the support rod, and the mounting component is connected to the horizontal moving component II; the bracket is a bent part with the opening pointing forward, and the sitting support component clamps the bag cover body from back to front through the bracket, and the two horizontal moving components II move synchronously, so that the bracket clamps the bag cover body stably, and the entire device is located behind the airbag, which can avoid increasing the width on the left and right sides and facilitate the caregiver to assist in operation on both sides.

[0011] As a preferred solution, two installation grooves II are symmetrically arranged on the rear part of the front side of the base, and the horizontal moving component II is arranged in the installation groove II to avoid exposure of the horizontal moving component II. At the same time, the left and right side walls of the installation groove II contact the support rod to ensure the stability of the entire sitting support assembly.

[0012] As a preferred solution, the bag cover body is a rotating body as a whole, with a receiving hole in the middle for accommodating the waist of the human body, and an annular sealing bag is arranged in the upper half of the receiving hole, and the sealing bag can be closely attached to the waist of the human body by inflating it; plug buckles for connecting the lower limb exoskeleton are arranged on both sides of the lower part of the bag cover body; the middle part of the outer periphery of the bag cover body expands outward uniformly, so that the diameter of the middle part of the bag cover body is larger than the lower diameter of the airbag opening, and the airbag opening is finally sealed and fitted with the expanded part of the bag cover body after being fitted onto the bag cover body from bottom to top. The bag cover body of this solution is sealed with the human body inwardly and with the airbag opening outwardly, and as the airbag expands, the airbag opening automatically fits the bag cover body, and as the airbag opening is deflated, the airbag opening automatically detaches from the bag cover body. In addition, the bag cover body is arranged to fit the waist of the human body, and compared with the prior art, it can avoid the pressure of gravity above the waist on the pelvis.

[0013] For the above-mentioned rotating bag cover body, it is preferred that a locking tape I is provided on the upper outer periphery of the bag cover body, and a locking tape II is provided on the bag top assembly around the outer periphery of the airbag opening, and a zipper head is provided on the locking tape I or the locking tape II. The edges of the locking tape I and the locking tape II can be blocked and connected through the zipper head, and after the blocked connection, the locking tape I and the locking tape II are pulled mutually, thereby improving the airtightness between the bag cover body and the airbag opening.

[0014] As a preferred embodiment, the exoskeleton device also includes a treadmill, which is located inside the airbag and the feet of the lower limb exoskeleton can contact the treadmill. Regardless of the user's lower limb motor ability, the combination of the treadmill and the lower limb exoskeleton can enable the user to obtain a more realistic stride running experience. For a passive lower limb exoskeleton, the treadmill can guide the user's stride frequency and play a role in regulating the running speed.

[0015] As a preferred embodiment, the exoskeleton device also includes an armrest frame, the lower part of which is connected to the base, and the upper part of which extends above the airbag. The user can hold the armrest frame when walking or standing, which helps the user maintain body balance.

[0016] As a preferred solution, pedals are provided on both sides of the base. When the bag top assembly drops to fit the front of the base, the pedals can be moved above the bag top assembly and supported by the edge of the base. At this time, the plate can provide a reliable walking platform for the displacement device and also protect the airbag from being crushed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A schematic diagram of the side structure of an anti-gravity airbag exoskeleton device according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the anti-gravity airbag exoskeleton device shown;

[0020] Figure 3 for Figure 1 A schematic diagram of the position structure of the lower limb exoskeleton in the anti-gravity airbag exoskeleton device shown;

[0021] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the base platform in the anti-gravity airbag exoskeleton device shown;

[0022] Figure 5 It is a schematic diagram of the back three-dimensional structure of the capsule cover body;

[0023] Figure 6 It is a schematic diagram of the top three-dimensional structure of the capsule cover body;

[0024] Figure 7 It is a schematic diagram of the longitudinal section structure of the sealing capsule;

[0025] Figure 8 It is a schematic diagram of the top surface structure of the capsule top assembly;

[0026] Fig. 9 It is a schematic diagram of the back structure of the capsule top assembly;

[0027] Fig.10 It is a schematic diagram of the pre-matching structure of the support hook and the support shaft;

[0028] Fig.11 It is a schematic diagram of the installation structure of the airbag retracting and deploying assembly;

[0029] Fig.12 It is a structural schematic diagram of the sitting support assembly;

[0030] Fig.13 It is a schematic diagram of the state in which the sitting support assembly moves toward the bag cover body;

[0031] Fig.14 It is a schematic diagram of the state of the sitting support component and the airbag retracting and deploying component when the lower limb exoskeleton is in a sitting posture;

[0032] Fig.15 It is a schematic diagram of the state where the capsule top assembly lands on the inner platform;

[0033] Fig.16 for Fig.15 A schematic diagram of the structure in which the pedal is flipped to the front of the base in the state shown;

[0034] Fig.17 A schematic diagram of a placement state that enables the pedal to automatically flip over;

[0035] Fig.18 This is a schematic diagram of the state of using a transfer machine to transfer a user.

[0036] In the figure, base 1, airbag 2, handrail 3, ramp 4, sitting support assembly 5, pedal 6, bag top assembly 7, bag cover body 8, lower limb exoskeleton 9, inner platform 10, airbag groove 11, treadmill 12, mounting groove I13, mounting groove II14, screw assembly 15, chain support 16, threaded sleeve I17, chain 18, support hook 19, top cover 20, support ring 21, support shaft 22, airbag port 23, sealing pad 24, lock belt II 25, lower skirt 26, guide edge 27, drag groove 28, screw assembly II29, lower limit block 30, upper limit block 31, support rod 32, bracket 33, threaded sleeve II34, limit rod 35, sealing part 36, connecting part 37, plug buckle 38, locking belt I39, zipper head 40, internal socket 41, supporting edge plate 42, sealing bag 43, external socket 44, filling belt 45, transfer machine 100, seat part 101. DETAILED DESCRIPTION

[0037] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0038] Figure 1 and Figure 2 An embodiment of the present invention is an anti-gravity airbag exoskeleton device, which includes an anti-gravity airbag device and a set of lower limb exoskeleton devices 9, wherein the anti-gravity airbag device includes an airbag 2 and a base 1, the top of the airbag 2 is a bag top component 7, the bag top component 7 has an airbag opening 23, and has a bag cover body 8 that can be worn on the human body and block the airbag opening 23, such as Figure 3 As shown, the lower limb exoskeleton 9 is connected to the bag cover 8 and is located inside the airbag 2. In this embodiment, the base 1 includes an inner platform 10, which is located inside the airbag 2. Figure 4 As shown, an airbag groove 11 of a certain width is reserved on the outer periphery of the inner platform 10, and a treadmill 12 is arranged in the middle of the inner platform 10; wherein the treadmill 12 is at the same height as the top surface of the inner platform 10, and the top surface of the inner platform 10 is lower than the height of the outer periphery of the base 1.

[0039] The exoskeleton device also includes a sitting support component 5 and an airbag retracting component, wherein the sitting support component 5 is located outside the airbag 2 and has a clamping part, which can clamp the clamping matching part set on the bag cover 8. When the airbag 2 is filled with air, the lower limb exoskeleton 9 contacts the treadmill 12 and can complete walking, stepping or standing movements. As the airbag 2 is continuously deflated, the lower limb exoskeleton 9 can contact the treadmill 12 with the feet in a sitting posture, and at this time, the sitting support component 5 can support the lower limb exoskeleton 9 to maintain the sitting posture, and the airbag retracting component can connect the bag top component 7, and drive the bag top component 7 of the airbag 2 to move, and move the airbag opening 23 from the thigh of the lower limb exoskeleton 9 to the foot, until the bag top component 7 fits the inner platform 10. Therefore, the user is in a sitting posture during the process of entering or leaving the airbag 2, and the airbag will move to a position that fits the inner platform, which will not interfere with the user and the displacement device, which is of great significance to users with lower limb dysfunction.

[0040] Specifically, regarding the bag cover body 8 and the bag top assembly 7. Figure 5 and Figure 6 As shown, the bag cover body 8 is a rotating body as a whole, and has a receiving hole in the middle for receiving the waist of a human body. The whole bag cover body 8 is divided into an upper sealing portion 36 and a lower connecting portion 37, wherein an annular sealing bag 43 is arranged in the inner circle of the sealing portion 36. After the bag cover body 8 is put on the waist of a human body, the sealing bag 43 can be inflated to make it close to the waist of the human body. To ensure airtightness, four annular filling belts 45 are arranged on one side of the sealing bag 43 that fits the human body, as shown in FIG. Figure 7 As shown, the edges of these filling strips 45 extend downward and fit the human body. In addition, a supporting edge plate 42 is provided at the upper rear of the outer periphery of the sealing portion 36, and the supporting edge plate 42 serves as a clip-fitting part that clips with the clip-fitting part; the outer periphery lower part of the sealing portion 36 expands outward uniformly, so that the diameter of the lower part of the sealing portion 36 is larger than the lower diameter of the airbag opening 23, and the airbag opening 23 is finally sealed and fitted with the expanded part of the bag cover body 8 after being inserted onto the bag cover body 8 from bottom to top. Figure 8 and Fig. 9 As shown, in order to ensure the airtightness of the fitting, a circle of sealing pad 24 is provided on the fitting surface between the airbag opening 23 and the bag cover body 8, and the lower part of the sealing pad 24 extends downward to form a lower skirt 26, and the lower skirt 26 can fit the outer periphery of the connecting portion 37. In addition, as shown in FIG. Figure 6 and Figure 8 As shown, a lock belt I39 is arranged on the periphery of the sealing portion 36, and a lock belt II25 is arranged on the bag top assembly 7 around the periphery of the airbag opening 23, and a zipper head 40 is arranged on the lock belt I39. The lock belt I39 and the lock belt II25 can be locked and connected at their edges through the zipper head 40, and after the locking connection, the lock belt I39 and the lock belt II25 are pulled mutually. In addition, the function of the connecting portion 37 is to connect the lower limb exoskeleton 9, as shown in FIG. Figure 5As shown, push-to-unlock plug buckles 38 are provided on both sides of the lower part of the connection part 37, so as to realize the quick disassembly and assembly of the lower limb exoskeleton 9. At the same time, a wire assembly is also provided on the bag cover 8, wherein the external connection jack 44 is provided at the front of the sealing part 36, and the internal connection jack 41 is provided at the lower part of the connection part 37, so that the lower limb exoskeleton 9 with a motor can be connected to the internal connection jack 41, and the external connection jack 44 can be connected through an external device, so as to control the lower limb exoskeleton 9.

[0041] like Figure 8 and Fig. 9 As shown, the bag top assembly 7 is divided into a top cover 20 on the front and a support ring 21 on the back of the top cover 20. Fig.10 As shown, a drag groove 28 is provided on the left and right sides of the support ring 21 , a support shaft 22 pointing to the left and right directions is provided in the middle of the drag groove 28 , and guide edges 27 are provided on both sides of the lower part of the drag groove 28 .

[0042] Regarding the airbag retracting and releasing assembly, it includes two parts that are symmetrically arranged on the left and right, each of which includes a horizontal moving assembly I and a longitudinal moving assembly, wherein the horizontal moving assembly I adopts a screw assembly 15, and the longitudinal moving assembly adopts a chain support 16, in order to save space, such as Fig.11 Therefore, the two are arranged in the installation grooves I13 arranged on the left and right sides of the inner platform 10, and the chain supporter 16 is located at the top, which is connected to the screw assembly 15 through the threaded sleeve I17 arranged at the bottom; the top of the chain 18 of the chain supporter 16 is installed with a hook 19, and the hook 19 has a bayonet opening upward. The upward movement of the chain 18 can make the bayonet of the hook 19 clamped at the lower part of the support shaft 22, and the bag top assembly 7 is supported by the two chains 18. By contracting the chain 18, the bag top assembly 7 can be pulled downward, and at the same time, in conjunction with the screw assembly 15, the entire airbag retracting assembly can move the bag top assembly 7 downward according to the preset curve path, and finally land at the foot of the lower limb exoskeleton. In this process, as the chain supporter 16 moves forward, the rear part of the airbag 2 will pull the bag top assembly 7, so that the bag top assembly 7 deflects backward around the support shaft 22, and at this time, the airbag opening 23 deflects relative to the lower limb exoskeleton, which is more conducive to the airbag opening 23 passing through various parts of the lower limb exoskeleton 9 smoothly.

[0043] like Fig.12As shown, the sitting support assembly 5 as a whole includes a horizontal moving assembly II and a clamping part, wherein the horizontal moving assembly II has two screw assemblies II29 that are symmetrically arranged on the left and right, and the two screw assemblies II29 are correspondingly installed in two installation grooves II14 that are symmetrically arranged at the rear of the base 1. The clamping part includes two support rods 32 that are symmetrically arranged on the left and right and an arc-shaped support 33 that is fixedly connected to the upper ends of the two support rods 32, wherein the lower part of the support rod 32 has a preset hole, and a threaded sleeve II34 is installed in the preset hole through a movable axis, and the threaded sleeve II34 is installed on the screw assembly II29, through which the support rod 32 can deflect left and right around the movable axis; in addition, a limit rod 35 is provided on the support rod 32, and the limit rod 35 is located above the installation groove II14, and at the same time, an upper limit block 31 and a lower limit block 30 are provided on the rear side of the installation groove II14. As shown Fig.12 As shown, at this time, the lower end of the support rod 32 contacts the lower limit block 30, and the part of the support rod 32 located at the notch of the installation groove II14 contacts the upper limit block 31. This position is the idle position of the clamping part, and the center of gravity of the entire clamping part is located on the front side of the movable shaft. In addition, it can be seen that the limit rod 35 does not contact the groove edge of the installation groove II14 at this time; when the screw assembly II29 controls the clamping part to move forward, the support rod 32 deflects counterclockwise around the movable shaft until the limit rod 35 is pressed on the upper edge of the installation groove II14. At this time, the entire clamping part begins to move forward horizontally, as shown in FIG. Fig.13 As shown, until the support member 33 is stuck under the support edge plate 42, as shown in FIG. Fig.14 When the supporting plate 42 presses the supporting member 33 downward, the limiting rod 35 presses on the upper edge of the installation groove II14, the threaded sleeve II34 presses on the screw assembly II29, and the side wall of the installation groove II14 limits the lower part of the supporting rod 32. These force factors jointly ensure the stability of the end support assembly 5.

[0044] The sitting support assembly 5 of the above structure can control the clamping part to be away from the airbag 2 to provide the airbag 2 with sufficient deformation space, and can also control the clamping part to be close to the airbag 2 and clamp the bag cover 8 when the lower limb exoskeleton 9 is in a sitting posture. The only function of the sitting support assembly 5 is to assist the lower limb exoskeleton 9 to maintain a sitting posture, so as to facilitate the use of the shifting device to transfer the user and facilitate the user to complete the combination and separation with the airbag 2 in a sitting state. In this embodiment, the horizontal movement assembly II can control the clamping part to be away from the airbag 2, so that the clamping part does not need to be in contact with the bag cover 8 all the time, thereby avoiding the sitting support assembly 5 from having an adverse effect on the use of the anti-gravity airbag exoskeleton device. At the same time, it can make the sitting support assembly 5 completely rear-mounted, which provides convenience for caregivers to take care of patients from both sides.

[0045] In addition to the above structure, this embodiment also has a handrail frame 3, the lower part of which is connected to the rear part of the base 1, and the upper part extends to the top of the airbag 2. When the user is walking or standing, his hands can grasp the handrail frame 3, which is helpful for the user to maintain body balance. In addition, pedals 6 are hingedly provided on both sides of the front part of the base 1. When the bag top assembly 7 is lowered to the Fig.15 In the state shown, the pedal 6 can be manually flipped over to the top of the base 1, as shown in FIG. Fig.16 As shown, at this time, the edge of the base 1 supports the pedal 6; and about the pedal 6, as shown Fig.17 As shown, it can also be leaned against the two sides of the airbag 2, and as the airbag continues to deflate, the pedal 6 can automatically lie flat to Fig.16 The state shown in FIG. 1 can save the process of manually turning over the two pedals 6. Fig.18 As shown, the anti-gravity airbag exoskeleton device can be combined with the transfer machine 100 disclosed in the patent application with application number 202211614854X. When the anti-gravity airbag exoskeleton device is in Fig.16 In the state shown, the caregiver moves the transfer machine 100 along the ramp 4 to the pedal 6, and then uses the seat part 101 of the transfer machine 100 to transfer the user in the sitting state to the transfer machine 100, and this transfer operation can be performed in two directions, that is, the user can be easily transferred between the anti-gravity airbag exoskeleton device and the transfer machine. Compared with existing similar devices, the present invention can be used in combination with existing transfer equipment, and the user only needs to maintain a sitting posture during the transfer process. Therefore, the present invention can better meet the use needs and psychological needs of people with lower limb dysfunction.

[0046] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0047] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0048] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. Changes and variations made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. An anti-gravity airbag exoskeleton device, comprising an anti-gravity airbag device, the anti-gravity airbag device comprising an airbag and a base, wherein the top of the airbag is a bag top assembly, the bag top assembly has an airbag opening, and has a bag cover body that can be worn on a human body and block the airbag opening, characterized in that: The exoskeleton device also includes a set of lower limb exoskeleton, which is located inside the airbag and has its upper end connected to the bag cover body; when the airbag is filled with air, the lower limb exoskeleton can perform walking or standing movements, and as the airbag is continuously deflated, the lower limb exoskeleton can contact the base with the feet in a sitting posture; the exoskeleton device also includes a sitting support component and an airbag retracting and releasing component, wherein the sitting support component is located outside the airbag and has a clamping part, which can clamp the clamping matching part on the bag cover body and support the lower limb exoskeleton to maintain a sitting posture; the airbag retracting and releasing component can be connected to the bag top component, and as the airbag is continuously deflated, the airbag retracting and releasing component drives the bag top component of the airbag to move, and moves the airbag opening from the thigh of the lower limb exoskeleton to the foot until the bag top component fits the base; The airbag retracting and releasing assembly includes two parts that are symmetrically arranged on the left and right, each part includes a horizontal moving assembly I and a longitudinal moving assembly, wherein the longitudinal moving assembly adopts a chain support, the horizontal moving assembly I is connected to the lower part of the chain support and can push the chain support to move back and forth; a support hook is installed at the top end of the chain of the chain support, and correspondingly, support hook connectors are arranged on the left and right sides of the bag top assembly, and the chain moves upward to enable the support hook to connect the support hook connector, and the bag top assembly is supported by the two chains; the sitting support assembly also includes a horizontal moving assembly II for controlling the translation of the clamping part, which can control the clamping part to move away from the airbag to provide sufficient deformation space for the airbag, and can also control the clamping part to approach the airbag and clamp the bag cover body when the lower limb exoskeleton is in a sitting posture.

2. The anti-gravity airbag exoskeleton device according to claim 1, characterized in that: The bag top assembly includes a top cover and a support ring arranged in close contact with the top cover. The support hook connector is arranged on the support ring and includes two support shafts extending in the left and right directions. The support hook has a bayonet opening upward, which can clamp the support shaft from bottom to top.

3. The anti-gravity airbag exoskeleton device according to claim 2, characterized in that: The base includes an inner platform, which is located inside the airbag. Two installation grooves I are symmetrically arranged on the top surface of the inner platform. The installation grooves I are located on both sides of the range of motion of the lower limb exoskeleton, and the airbag retraction and release components are correspondingly installed in the installation grooves I; the support ring is located on the back of the top cover.

4. The anti-gravity airbag exoskeleton device according to claim 1, characterized in that: The horizontal moving component II has two screw components II that are symmetrically arranged on the left and right. The clamping part is located behind the airbag, and includes two support rods that are symmetrically arranged on the left and right and a bracket that is fixedly connected to the upper ends of the two support rods, wherein a mounting component is arranged at the lower part of the support rod, and the mounting component is connected to the horizontal moving component II; the bracket is a bent part with an opening pointing forward, and the end-sitting support component clamps the bag cover body from back to front through the bracket.

5. The anti-gravity airbag exoskeleton device according to claim 4, characterized in that: Two installation grooves II are symmetrically arranged at the rear of the front side of the base, the horizontal moving component II is arranged in the installation groove II, and the left and right side walls of the installation groove II contact the support rod.

6. The anti-gravity airbag exoskeleton device according to claim 1, characterized in that: The bag cover body is a rotating body as a whole, with an accommodating hole in the middle for accommodating the human waist, and an annular sealing bag is arranged in the upper half of the accommodating hole, and the sealing bag can be made to fit tightly against the human waist by inflating it; plug buckles for connecting the lower limb exoskeleton are arranged on both sides of the lower part of the bag cover body; the middle part of the outer periphery of the bag cover body expands outward evenly, so that the diameter of the middle part of the bag cover body is larger than the lower diameter of the airbag opening, and the airbag opening is finally sealed and fitted with the expanded part of the bag cover body after being inserted onto the bag cover body from bottom to top.

7. The anti-gravity airbag exoskeleton device according to claim 6, characterized in that: A locking tape I is arranged on the upper periphery of the bag cover body, and a locking tape II is arranged on the bag top assembly around the periphery of the airbag opening. At the same time, a zipper head is arranged on the locking tape I or the locking tape II. The edges of the locking tape I and the locking tape II can be blocked and connected by the zipper head, and after the blocking connection, the locking tape I and the locking tape II are pulled mutually.

8. The anti-gravity airbag exoskeleton device according to any one of claims 1 to 7, characterized in that: The exoskeleton device also includes a treadmill, which is located inside the airbag and the foot of the lower limb exoskeleton can contact the treadmill.

9. The anti-gravity airbag exoskeleton device according to any one of claims 1 to 7, characterized in that: The exoskeleton device also includes an armrest frame, the lower part of which is connected to the base platform, and the upper part of which extends above the airbag, and the user can hold the armrest frame when walking or standing.

10. The anti-gravity airbag exoskeleton device according to any one of claims 1 to 7, characterized in that: Pedals are arranged on both sides of the base. When the capsule top assembly falls to fit the front of the base, the pedals can move above the capsule top assembly, and the edge of the base supports the pedals.

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