Bedside rehabilitation devices and systems

Abstract

The present invention provides a bedside rehabilitation device and system, which relates to the technical field of rehabilitation devices. The bedside rehabilitation device includes a hip flexion and extension motor, a hip adduction and abduction motor, an exoskeleton thigh, a knee flexion and extension motor, an exoskeleton calf and an exoskeleton shoe on the affected side; the hip flexion and extension motor is connected to the hip adduction and abduction motor to drive the hip adduction and abduction motor to rotate with a first direction as the axis; the exoskeleton thigh is connected to the hip adduction and abduction motor, and is rotationally connected to the exoskeleton calf through the knee flexion and extension motor, the hip adduction and abduction motor is used to drive the exoskeleton thigh to rotate with a second direction as the axis, and the knee flexion and extension motor is used to drive the exoskeleton calf to rotate with a third direction as the axis; the exoskeleton shoe on the affected side is connected to the exoskeleton calf, and the exoskeleton shoe on the affected side, the exoskeleton thigh and the exoskeleton calf all have straps. The bedside rehabilitation device has the advantages of being able to determine the position of the hip and knee joints and achieve the maximum movement angle of the human joints.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation devices, and in particular to a bedside rehabilitation device and system. Background Art

[0002] According to the different parts of the body that need rehabilitation, the existing bedside rehabilitation devices are mainly divided into lower limb rehabilitation machines and upper limb rehabilitation machines. For example, the invention patent with application number CN202220548988.5 discloses a lower limb rehabilitation robot that can realize the rehabilitation training of the lower limb hip joint and knee joint within the 3D space. However, the above patent has the following shortcomings:

[0003] 1. The position of the hip and knee joints cannot be determined, which affects the accuracy and stability of the movement. Since the above patent uses the end traction method, the fixed position is the foot and calf, and the three rotational degrees of freedom of the hip joint are not controlled during the movement, then when the hip and knee are flexed, the hip joint may be in a state of abduction or adduction, and the accuracy of the movement will be deviated.

[0004] 2. The maximum angle of movement cannot be achieved. Since the above patent adopts the form of a mechanical arm, the rotation angle of the joint movement motor of the mechanical arm does not correspond to the joint movement angle of the human body. The angle conversion between the two will cause a large deviation due to the length of the human leg, the placement of the equipment, etc. Therefore, in order to avoid the harm of the mechanical arm movement to the human body, the movement angle is often reduced, and the maximum joint angle of the human body cannot be achieved.

[0005] Therefore, how to provide a bedside rehabilitation device and system that can solve at least one of the above-mentioned technical problems is one of the technical problems that technical personnel in this field need to solve. Summary of the invention

[0006] The object of the present invention is to provide a bedside rehabilitation device and system, which has the advantages of being able to determine the position of the hip and knee joints and achieve maximum angle of movement.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a bedside rehabilitation device, including a hip flexion and extension motor, a hip adduction and abduction motor, an exoskeleton thigh, a knee flexion and extension motor, an exoskeleton calf, and an affected-side exoskeleton shoe;

[0009] The hip joint flexion and extension motor is connected to the hip joint adduction and abduction motor to drive the hip joint adduction and abduction motor to rotate with the first direction as the axis;

[0010] One end of the exoskeleton thigh is connected to the hip joint adduction and abduction motor, and the other end is rotationally linked to the exoskeleton shank through the knee joint flexion and extension motor, the hip joint adduction and abduction motor is used to drive the exoskeleton thigh to rotate with the second direction as the axis, and the knee joint flexion and extension motor is used to drive the exoskeleton shank to rotate relative to the exoskeleton thigh with the third direction as the axis, and the third direction is parallel to the first direction and perpendicular to the second direction;

[0011] The affected-side exoskeleton shoe is connected to the exoskeleton calf, and the affected-side exoskeleton shoe, the exoskeleton thigh and the exoskeleton calf all have straps.

[0012] Further, the exoskeleton thigh includes a first extension arm and a second extension arm;

[0013] One end of the first extension arm is fixedly connected to the hip joint adduction and abduction motor, and the other end is slidably matched with the second extension arm, and the sliding direction is parallel to the extension direction of the first extension arm;

[0014] One end of the second extension arm away from the first extension arm is rotationally connected to the exoskeleton calf through the knee joint flexion and extension motor.

[0015] Furthermore, the second extension arm extends into the first extension arm and slidably cooperates with the first extension arm.

[0016] Further, one of the second extension arm and the first extension arm has a slide rail, and the other has a slide groove matched with the slide rail.

[0017] Furthermore, the second extension arm has a rotating shaft, and the rotating shaft is used to divide the second extension arm into a first connecting section and a second connecting section that can generate relative rotation, and the axial direction of the rotating shaft is parallel to the second direction.

[0018] Furthermore, the rotating shaft is located at one end of the second extension arm close to the knee flexion and extension motor.

[0019] Furthermore, the strap on the exoskeleton thigh is a thigh strap, and the boundary of the thigh strap close to the knee flexion and extension motor corresponds to the position of the rotating shaft.

[0020] Furthermore, the hip joint flexion and extension motor includes a motor body and a connecting bracket, the connecting bracket is connected to the power output shaft of the motor body, and the hip joint adduction and abduction motor is installed on the connecting bracket.

[0021] Furthermore, when the exoskeleton thigh and the exoskeleton calf are unfolded to form an angle of 180°, and the surface of the affected-side exoskeleton shoe used to support the sole of the foot is perpendicular to the exoskeleton calf, the exoskeleton thigh, the exoskeleton calf and the affected-side exoskeleton shoe are all symmetrical about a center plane, and the center plane is perpendicular to the second direction.

[0022] In a second aspect, the present invention further provides a bedside rehabilitation system, comprising a support structure and the bedside rehabilitation device described in the above scheme, wherein the hip flexion and extension motor is mounted on the support structure.

[0023] Furthermore, the bedside rehabilitation system further comprises a base plate, a healthy side exoskeleton shoe and a linkage mechanism, wherein the linkage mechanism is mounted on the base plate and is adjustable relative to the base plate along the direction of human body height, the affected side exoskeleton shoe and the healthy side exoskeleton shoe are connected to both sides of the linkage mechanism, and the linkage mechanism is used to realize the linkage between the affected side exoskeleton shoe and the healthy side exoskeleton shoe;

[0024] The bottom plate is provided with a first clamping structure, the linkage mechanism is provided with a second clamping structure for clamping with the first clamping structure, and the position of the second clamping structure relative to the first clamping structure along the height direction of the human body is adjustable;

[0025] The bottom plate is provided with a first track and a second track, the first track and the second track are distributed on both sides of the linkage mechanism and the extension direction is parallel to the height direction of the human body, the exoskeleton shoe on the affected side is slidably matched with the first track, and the exoskeleton shoe on the healthy side is slidably matched with the second track;

[0026] The linkage mechanism includes a first pulley, a second pulley and a conveyor belt, and the conveyor belt is connected between the first pulley and the second pulley. The exoskeleton shoe on the affected side and the exoskeleton shoe on the healthy side are respectively rotatably matched with the conveyor belt through a set of connecting lock components, so that when one leg changes from straight to bent, the other leg changes from bent to straight under the action of the linkage mechanism.

[0027] Furthermore, the bedside rehabilitation system also includes a support base and a crank pedal assembly, wherein the crank pedal assembly passes through the support base and is rotatably connected to the support base, and the two ends of the crank pedal assembly are respectively used to cooperate with the affected foot and the healthy foot of the human body, so that the affected foot and the healthy foot of the human body are linked.

[0028] When using the above-mentioned bedside rehabilitation device, the exoskeleton thigh and exoskeleton calf fix the person's calves and thighs through straps, the hip adduction and abduction motor can be used as a power source for hip adduction and abduction, and the hip flexion and extension motor and the knee flexion and extension motor are responsible for the flexion and extension of the hip and knee. The straps on the skeleton shoe are used to fix the person's foot to the exoskeleton shoe on the affected side, limiting the movement of the calf along the direction of the leg relative to the exoskeleton calf.

[0029] The bedside rehabilitation device and system provided by the present invention can produce the following beneficial effects:

[0030] 1. The position of the hip and knee joints can be determined. Since the degrees of freedom of each joint are controlled by motors, and the exoskeleton thigh, exoskeleton calf and exoskeleton shoe on the affected side are all equipped with straps, when the hip and knee are flexed, the abduction and adduction angles of the hip joint are controlled by the hip joint abduction and adduction motors, which will not affect the accuracy and stability of the movement.

[0031] 2. To achieve maximum angle of movement, the bedside rehabilitation device provided by the present invention adopts an exoskeleton single-arm style. The knee flexion and extension motor is installed on the human knee joint, and the hip flexion and extension motor and the hip adduction and abduction motor are installed on the hip joint. The rotation angles of the above three motors correspond to the three movement angles of the human body one by one, and the swing angle of the limbs is accurately controlled. There is sufficient space for movement, and the patient can achieve the maximum movement angle of each joint of the human body under the control of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of a three-dimensional structure of a bedside rehabilitation device provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of a three-dimensional structure of a bedside rehabilitation system provided by an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a bedside rehabilitation device provided by an embodiment of the present invention cooperating with a human body in three states: adduction, abduction and repositioning;

[0036] Figure 4 A schematic diagram of a three-dimensional structure of a bedside rehabilitation system in a first use state provided by an embodiment of the present invention Figure 1 ;

[0037] Figure 5A schematic diagram of a three-dimensional structure of another bedside rehabilitation system provided by an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of a three-dimensional structure of a bedside rehabilitation system in a first use state provided by an embodiment of the present invention Figure 2 ;

[0039] Figure 7 A schematic diagram of the three-dimensional structure of a bedside rehabilitation system in a second use state provided by an embodiment of the present invention;

[0040] Figure 8 for Figure 2 A local enlarged schematic diagram of point A;

[0041] Fig. 9 for Figure 2 A local enlarged schematic diagram of point B;

[0042] Fig.10 A schematic diagram of a three-dimensional structure of a bedside rehabilitation system (without a housing) provided in an embodiment of the present invention in a first use state Figure 3 ;

[0043] Fig.11 A schematic diagram of the three-dimensional structure of another bedside rehabilitation system provided in an embodiment of the present invention.

[0044] Icons: 1-hip flexion and extension motor; 11-motor body; 111-first limiting protrusion; 12-connecting bracket; 121-first limiting slot; 122-second limiting slot; 2-hip adduction and abduction motor; 3-exoskeleton thigh; 31-first extension arm; 311-second limiting protrusion; 32-second extension arm; 321-rotating shaft; 322-first connecting section; 323-second connecting section; 3231-third limiting slot; 4-knee flexion and extension motor; 5-exoskeleton calf; 51-third limiting protrusion; 6-exoskeleton shoe on the affected side; 61-surface; 7-strap; 8-support structure; 81-support arm; 9-rotation center of human hip joint; 10-human thigh; 0 11-first track; 012-second track; 013-human knee joint; 014-exoskeleton calf without pivot; 015-pivot position; 016-binding edge; 017-bottom plate; 0171-first track; 0172-second track; 0173-plate; 0174-flat track; 018-exoskeleton shoe on healthy side; 019-linkage mechanism; 0191-first pulley; 0192-second pulley; 0193-conveyor belt; 0194-housing; 020-first clamping structure; 021-connecting lock assembly; 022-support seat; 023-crank pedal assembly; 0231-first crank; 0232-second crank; 0233-pedal; 024-center plane. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "hip flexion and extension", "hip adduction and abduction", and "knee flexion and extension" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0049] The first aspect of the present invention provides a bedside rehabilitation device, such as Figure 1 As shown, it includes a hip joint flexion and extension motor 1, a hip joint adduction and abduction motor 2, an exoskeleton thigh 3, a knee joint flexion and extension motor 4, an exoskeleton calf 5 and an affected-side exoskeleton shoe 6;

[0050] The hip joint flexion and extension motor 1 is connected to the hip joint adduction and abduction motor 2 to drive the hip joint adduction and abduction motor 2 to rotate with the first direction as the axis;

[0051] One end of the exoskeleton thigh 3 is connected to the hip joint adduction and abduction motor 2, and the other end is rotationally connected to the exoskeleton shank 5 through the knee joint flexion and extension motor 4. The hip joint adduction and abduction motor 2 is used to drive the exoskeleton thigh 3 to rotate with the second direction as the axis, and the knee joint flexion and extension motor 4 is used to drive the exoskeleton shank 5 to rotate relative to the exoskeleton thigh 3 with the third direction as the axis, and the third direction is parallel to the first direction and perpendicular to the second direction;

[0052] The affected-side exoskeleton shoe 6 is connected to the exoskeleton calf 5 , and the affected-side exoskeleton shoe 6 , the exoskeleton thigh 3 and the exoskeleton calf 5 all have straps 7 .

[0053] In the above-mentioned bedside rehabilitation device, the affected-side exoskeleton shoe 6, the exoskeleton thigh 3 and the exoskeleton calf 5 can be tied to the foot, thigh and calf respectively through straps, that is, they correspond to the bones of the foot, thigh and calf respectively. At the same time, the hip flexion and extension motor 1 and the hip adduction and abduction motor 2 both correspond to the hip joint of the human body, can determine the position of the hip and knee joints, and drive the hip joint to flex and adduct and abduct. The knee flexion and extension motor 4 corresponds to the knee joint of the human body, can determine the position of the knee joint, and drive the knee joint to flex. The above-mentioned bedside rehabilitation device has a high degree of matching with the human skeleton, and the patient can achieve the maximum movement angle of each joint under the control of the three motors.

[0054] During installation, if Figure 1 As shown, the first direction and the third direction are parallel to the horizontal plane direction, and the second direction is perpendicular to the horizontal plane direction.

[0055] In order to make the above-mentioned bedside rehabilitation device more compatible with the human skeleton during exercise, in some embodiments, the exoskeleton thigh 3 is retractable and / or the exoskeleton thigh 3 is bendable, and the bending axis is parallel to the second direction. The above-mentioned bending can be achieved by adding a rotating shaft 321.

[0056] like Figure 1 As shown, the hip adduction and abduction motor 2 is used as the power source for hip adduction and abduction. Figure 3 This is a schematic diagram of the principle of hip adduction and abduction after a person wears a rehabilitation device. The meaning of each line is explained in detail below. Figure 3The symbols are: exoskeleton thigh 3 (this length changes during movement); the angle of hip adduction and abduction motor 2 when doing abduction is θ1 (this angle changes during movement); hip adduction and abduction motor 2 (this position does not change during movement); the angle of human hip joint when doing adduction is θ2 (this angle changes during movement); the center distance from hip adduction and abduction motor 2 to human hip joint is L1 (this distance does not change during movement 100mm); human hip joint rotation center 9 (this position does not change during movement); human thigh length is L2, L2=450mm (this length does not change during movement); human thigh 10 (human The length of the thigh remains unchanged during the movement); the maximum angle of human adduction is θ3, θ3 = 30°; the first trajectory 011 is 450mm away from the center of the hip joint adduction and abduction motor 2; the second trajectory 012 is 450mm away from the human hip joint rotation center 9; the length of the human leg is L3 (this length remains unchanged during the movement, which is 430mm); the exoskeleton leg 5 (this length remains unchanged during the movement, which is 430mm); the shaft 321 (used to compensate for the angle change between the exoskeleton thigh 3 and the human thigh 10 when doing hip joint adduction and abduction); the length of the exoskeleton thigh 3 when doing the maximum adduction angle is L4, L4 is about 50 mm; the distance between the center of the rotating shaft 321 and the center of the knee flexion and extension motor 4 is L5, L5 = 30mm (this distance does not change during movement); human knee joint 013; the distance between the human knee joint 013 and the knee flexion and extension motor 4 is L6 (this distance does not change during movement, which is 100mm); knee flexion and extension motor 4; the maximum abduction angle of the human body θ4 = 45°; the angle formed by the line connecting the human knee joint 013 and the knee flexion and extension motor 4 and the human thigh 10 is θ5 (this angle does not change 90°); if there is no rotating shaft 321, the distance L7 deviated by the end of the exoskeleton calf 5 is about 38mm (can be obtained through the rotating shaft 32 1 compensation); shaftless exoskeleton calf 014; the distance between the end of the exoskeleton calf 5 and the rotation axis 321 is L8, L8 is 460mm (this distance does not change during movement); the length of the exoskeleton thigh 3 changes to L9 when the maximum abduction angle is 45°, and L9 is about 99mm; the angle formed by the line connecting the knee flexion and extension motor 4 and the human knee joint 013 and the line connecting the knee flexion and extension motor 4 and the rotation axis 321 is θ6 (this angle does not change to 90°); the rotation axis position during abduction is 015; the angle formed by the line connecting the knee flexion and extension motor 4 and the human knee joint 013 and the exoskeleton thigh 3 is θ7 (this angle changes during movement).

[0057] In summary, in some embodiments, Figure 1 and Figure 2As shown, the exoskeleton thigh 3 includes a first extension arm 31 and a second extension arm 32; one end of the first extension arm 31 is fixedly connected to the hip adduction and abduction motor 2, specifically, it can be fixedly connected to the power output end of the hip adduction and abduction motor 2, and the other end of the first extension arm 31 is slidably matched with the second extension arm 32, and the sliding direction is parallel to the extension direction of the first extension arm 31, so as to compensate for the tendency of the human leg and the exoskeleton thigh 3 to be misaligned when the human leg is adducted and abducted due to the certain distance between the human hip joint rotation center 9 and the center of the hip joint flexion and extension motor 1.

[0058] Specifically, when the human leg is adducted, the first extension arm 31 and the second extension arm 32 can slide relative to each other to extend the length of the exoskeleton thigh 3; when the human leg is abducted, the first extension arm 31 and the second extension arm 32 can slide relative to each other to shorten the length of the exoskeleton thigh 3.

[0059] In addition, one end of the second extension arm 32 away from the first extension arm 31 is rotationally connected to the exoskeleton calf 5 through the knee joint flexion and extension motor 4 to simulate the human knee joint.

[0060] In some embodiments, the second extension arm 32 extends into the first extension arm 31 and slidably cooperates with the first extension arm 31 .

[0061] In some other embodiments, the first extension arm 31 may extend into the second extension arm 32 to slide with the second extension arm 32 , or the side of the first extension arm 31 may slide with the side of the second extension arm 32 .

[0062] In some embodiments, one of the second extension arm 32 and the first extension arm 31 has a slide rail, and the other has a slide groove that cooperates with the slide rail, so as to achieve sliding cooperation between the two.

[0063] The above-mentioned sliding groove can be recessed on a sliding block, and the sliding block is installed on the second extension arm 32 or the first extension arm 31.

[0064] In some embodiments, the second extension arm 32 has a rotating shaft 321, which is used to divide the second extension arm 32 into a first connecting section 322 and a second connecting section 323 that can generate relative rotation, and the axial direction of the rotating shaft 321 is parallel to the second direction.

[0065] The rotating shaft 321 can compensate for the changing angle between the exoskeleton leg and the human leg when the hip joint is adducted and abducted.

[0066] Specifically, one end of the first connecting section 322 away from the second connecting section 323 is slidably matched with the first extension arm 31; one end of the second connecting section 323 away from the first connecting section 322 is rotationally connected with the exoskeleton shank 5 through the knee joint flexion and extension motor 4. The housing of the knee joint flexion and extension motor 4 can be fixed on the second connecting section 323, and the power output shaft of the knee joint flexion and extension motor 4 can be fixed on the exoskeleton shank 5. When the knee joint flexion and extension motor 4 is started, the exoskeleton shank 5 can be rotated relative to the exoskeleton thigh 3.

[0067] In some embodiments, the rotating shaft 321 is located at one end of the second extension arm 32 close to the knee flexion and extension motor 4. Compared with installing the rotating shaft 321 on the exoskeleton shank 5, a bend can be formed at the exoskeleton thigh 3 to make the knee flexion and extension motor 4 and the exoskeleton shank 5 maintain their positions relative to the human knee joint 013 and the human shank respectively during the movement, reduce the influence of the angle deviation on the knee flexion and extension motor 4, ensure that the knee flexion and extension motor 4 rotates perpendicular to the human knee joint 013 as much as possible, and improve the movement accuracy.

[0068] In some embodiments, the strap 7 on the exoskeleton thigh 3 is a thigh strap, and the boundary of the thigh strap close to the side of the knee flexion and extension motor 4 corresponds to the position of the rotating shaft 321, which can move with the first connecting section 322 relative to the second connecting section 323, thereby stably limiting the position of the first connecting section 322 relative to the human thigh 10, and ensuring that the second connecting section 323 is as parallel to the human thigh 10 as possible.

[0069] like Figure 1 As shown, strap boundary 016 is the boundary on the other side of the thigh strap.

[0070] It should be noted that a calf strap is provided on the exoskeleton calf 5. The exoskeleton calf 5 and the calf strap will rotate along with the rotating shaft. The calf strap can ensure that the exoskeleton calf 5 is always parallel to the human calf as much as possible, thereby improving the accuracy of movement.

[0071] In some embodiments, Figure 1 As shown, the hip joint flexion and extension motor 1 includes a motor body 11 and a connecting bracket 12 . The connecting bracket 12 is connected to the power output shaft of the motor body 11 , and the hip joint adduction and abduction motor 2 is installed on the connecting bracket 12 .

[0072] When using, Figure 4 As shown, the outer shell of the motor body 11 can be fixed on the supporting structure 8, and the power output shaft of the motor body 11 is fixedly connected to the connecting bracket 12, driving the connecting bracket 12 to rotate with the first direction as the axis. Since the hip adduction and abduction motor 2 is installed on the connecting bracket 12, the connecting bracket 12 can drive the hip adduction and abduction motor 2 to rotate.

[0073] In some embodiments, in order to prevent the connecting bracket 12 from interfering with the rotation of the exoskeleton thigh 3, the connecting bracket 12 is bent into a U shape, surrounding the outside of the hip adduction and abduction motor 2, and the power output end of the hip adduction and abduction motor 2 can be fixedly connected to the first extension arm 31.

[0074] Based on the above embodiments, one device can be used for both left-handed and right-handed users. Figure 5 As shown, when the exoskeleton thigh 3 and the exoskeleton calf 5 are unfolded to form an angle of 180°, and the surface 61 of the affected-side exoskeleton shoe 6 used to support the affected-side sole is perpendicular to the extension direction of the exoskeleton calf 5, the exoskeleton thigh 3, the exoskeleton calf 5 and the affected-side exoskeleton shoe 6 are all symmetrical about the central plane 024, and the central plane 024 is perpendicular to the second direction.

[0075] It is understandable that when the exoskeleton thigh 3 and the exoskeleton shank 5 are unfolded at an angle of 180°, the extension directions of the exoskeleton thigh 3 and the exoskeleton shank 5 are parallel. When the exoskeleton thigh 3 and the exoskeleton shank 5 are laid flat, the affected exoskeleton shoe 6 is placed vertically, and the exoskeleton thigh 3, the exoskeleton shank 5 and the affected exoskeleton shoe 6 are all symmetrical about the center plane 024. Figure 6 and Figure 7 As shown, the entire exoskeleton is rotated 180° around the central axis of the hip flexion and extension motor 1 (the hip flexion and extension motor 1 can be controlled to rotate automatically without manual rotation), and the entire machine is pushed from the left side to the right side of the bedside, which can be changed from the left-side patient use state to the right-side patient use state, realizing the left-right interchange function.

[0076] In some embodiments, Figure 8 and Fig. 9 As shown, the bedside rehabilitation device also has a limiting structure, which is used to limit the movement angle of the human joints.

[0077] When the movement of the hip flexion and extension motor 1, the hip adduction and abduction motor 2 and the knee flexion and extension motor 4 causes the patient's limb movement angle to exceed the limit, the limiting structure can replace the patient's limbs to resist the force of the above motors, thereby protecting the patient.

[0078] The limiting structure can be formed between the hip flexion and extension motor 1 and the hip adduction and abduction motor 2, between the hip adduction and abduction motor 2 and the exoskeleton thigh 3, and between the exoskeleton thigh 3 and the exoskeleton calf 5.

[0079] The limiting function of the limiting structure can be achieved through the cooperation of the limiting groove and the limiting protrusion.

[0080] Specifically, the limiting structure includes a first limiting slot 121 and a first limiting protrusion 111. One of the motor body 11 and the connecting bracket 12 has the first limiting slot 121, and the other has the first limiting protrusion 111 extending into the first limiting slot 121. The first limiting slot 121 extends in an arc shape, and the first direction passes through the arc center corresponding to the first limiting slot 121. The first limiting protrusion 111 is used to limit the rotation angle of the first limiting slot 121 when it rotates along the first direction.

[0081] by Figure 8 For specific description, the connecting bracket 12 has a first limiting slot 121, and the motor body 11 has a first limiting protrusion 111 extending into the first limiting slot 121. When the connecting bracket 12 rotates until one end of the first limiting slot 121 abuts against the first limiting protrusion 111, the connecting bracket 12 reaches the first flexion and extension limit position; when the connecting bracket 12 rotates until the other end of the first limiting slot 121 abuts against the first limiting protrusion 111, the connecting bracket 12 reaches the second flexion and extension limit position.

[0082] Specifically, the limiting structure also includes a second limiting slot 122 and a second limiting protrusion 311. One of the connecting bracket 12 and the exoskeleton thigh 3 has a second limiting slot 122, and the other has a second limiting protrusion 311 extending into the second limiting slot 122. The second limiting slot 122 extends in an arc shape, and the second direction passes through the arc center corresponding to the second limiting slot 122. The second limiting slot 122 is used to limit the rotation angle of the second limiting protrusion 311 when it rotates along the second direction.

[0083] by Figure 8 For example, the connection bracket 12 has a second limiting slot 122, and the exoskeleton thigh 3 has a second limiting protrusion 311 extending into the second limiting slot 122. When the exoskeleton thigh 3 rotates until the second limiting protrusion 311 abuts against one end of the second limiting slot 122, the exoskeleton thigh 3 reaches the first internal and external abduction limit position; when the exoskeleton thigh 3 rotates until the second limiting protrusion 311 abuts against the other end of the second limiting slot 122, the exoskeleton thigh 3 reaches the second internal and external abduction limit position.

[0084] Specifically, the limiting structure further includes a third limiting groove 3231 and a third limiting protrusion 51. One of the exoskeleton thigh 3 and the exoskeleton shank 5 has the third limiting groove 3231, and the other has the third limiting protrusion 51 extending into the third limiting groove 3231. Fig. 9 As shown, the third limiting slot 3231 extends in an arc shape, and the third direction passes through the arc center corresponding to the third limiting slot 3231. The third limiting protrusion 51 is used to limit the rotation angle of the third limiting slot 3231 when it rotates along the third direction.

[0085] by Fig. 9 For example, the second connection section 323 on the exoskeleton thigh 3 has a third limiting groove 3231, and the exoskeleton shank 5 has a third limiting protrusion 51 extending into the third limiting groove 3231. When the exoskeleton shank 5 rotates until the exoskeleton shank 5 abuts against one end of the third limiting groove 3231, the exoskeleton shank 5 is in a stretched state; when the exoskeleton shank 5 rotates until the third limiting protrusion 51 abuts against the other end of the third limiting groove 3231, the exoskeleton thigh 3 bends to the extreme position.

[0086] Both ends of each limit slot may be provided with hardware limit structures, and the hardware limit structures may be limit switches.

[0087] The above-mentioned limiting protrusions cooperate with the hardware limiting structures at the ends of the limiting through grooves to achieve the effects of hardware limiting and absolute mechanical limiting, thereby protecting the patient's limb movement from exceeding the limit.

[0088] The second aspect of the present invention provides a bedside rehabilitation system. Figure 6 As shown, the bedside rehabilitation system provided by the embodiment of the second aspect of the present invention includes a support structure 8 and the above-mentioned bedside rehabilitation device, and the hip flexion and extension motor 1 is installed on the support structure 8.

[0089] The bedside rehabilitation system provided in the second aspect of the present invention has the bedside rehabilitation device provided in the embodiment of the first aspect of the present invention, and thus has all the beneficial effects of the bedside rehabilitation device provided in the embodiment of the first aspect of the present invention.

[0090] Among them, Figure 7 As shown, the support structure 8 may have a support arm 81 , and the housing of the hip joint flexion and extension motor 1 may be fixedly mounted on the support arm 81 .

[0091] In some embodiments, the bedside rehabilitation system is further provided with a linkage device, and when the affected leg is performing hip and knee flexion and extension movements, the linkage device can drive the healthy leg to move accordingly. To adapt to the use of people of different heights, the position of the entire or partial structure of the linkage device can be adjusted along the direction of human height.

[0092] According to the different types of linkage devices, it can be divided into the following two embodiments.

[0093] Embodiment 1:

[0094] In this embodiment 1, Figure 6 and Figure 7 As shown, the linkage device includes a base plate 017, a healthy side exoskeleton shoe 018 and a linkage mechanism 019, wherein:

[0095] The linkage mechanism 019 is mounted on the bottom plate 017, and its position relative to the bottom plate 017 along the direction of human height can be adjusted to accommodate people of different heights.

[0096] The affected-side exoskeleton shoe 6 and the healthy-side exoskeleton shoe 018 are connected to both sides of a linkage mechanism 019 , and the linkage mechanism 019 is used to realize the linkage between the affected-side exoskeleton shoe 6 and the healthy-side exoskeleton shoe 018 .

[0097] When in use, the healthy foot is inserted into the healthy exoskeleton shoe 018, and the exoskeleton shoe 6 on the affected side moves under the drive of the hip flexion and extension motor 1, the hip adduction and abduction motor 2 and the knee flexion and extension motor 4. The exoskeleton shoe on the affected side drives the healthy exoskeleton shoe 018 to move accordingly through the linkage mechanism 019.

[0098] Since the lengths of a person's legs are basically the same, preferably, when one leg changes from straight to bent, the other leg can change from bent to straight under the action of the linkage mechanism 019, thereby achieving linear stepping motion of the legs on both sides.

[0099] The adjustment of the position of the linkage mechanism 019 can be achieved through a variety of structures, for example: the linkage mechanism 019 and the base plate 017 are slidably matched, and the locking or unlocking of the linkage mechanism 019 and the base plate 017 is achieved by connecting parts such as bolts; or there are multiple snap-in positions on the base plate 017, and the linkage mechanism 019 can choose to snap into any one of the snap-in positions to adjust its own position, which is used to adapt to patients of different heights, etc.

[0100] In this embodiment 1, Figure 7 As shown, the bottom plate 017 is provided with a first clamping structure 020. The first clamping structure 020 may include a plurality of clamping slots recessed on the bottom plate 017, and the plurality of clamping slots are evenly spaced and arranged in a straight line. When the bottom plate 017 is installed, the arrangement direction of the plurality of clamping slots is along the height direction of the human body.

[0101] The linkage mechanism 019 is provided with a second clamping structure for clamping with the first clamping structure 020. The second clamping structure may include a protrusion protruding from the bottom of the linkage mechanism 019, and the protrusion may be one or more. When there are multiple protrusions, the interval between the protrusions is equal to the interval between the grooves, and each protrusion can be clamped in any one of the clamping grooves. The position of the linkage mechanism 019 is adjusted by adjusting each protrusion to clamp with different grooves.

[0102] Specifically, Figure 7 As shown, the linkage mechanism 019 includes a shell 0194, and a second clamping structure is provided at the bottom of the shell 0194.

[0103] In the first embodiment, in order to enable the affected side exoskeleton shoe 6 and the healthy side exoskeleton shoe 018 to move smoothly, Figure 6 and Figure 7As shown, the bottom plate 017 is recessed with a first track 0171 and a second track 0172; the first track 0171 and the second track 0172 are distributed on both sides of the linkage mechanism 019 and the extension direction is parallel to the height direction of the human body (when the human body is lying flat); the exoskeleton shoe 6 on the affected side is slidably matched with the first track 0171 to move in a direction parallel to the height of the human body under the guidance of the first track 0171; the exoskeleton shoe 018 on the healthy side is slidably matched with the second track 0172 to move in a direction parallel to the height of the human body under the guidance of the second track 0172.

[0104] It can be understood that the extension direction of the first track 0171 is the length direction of the first track 0171 , and the extension direction of the second track 0172 is the length direction of the first track 0171 .

[0105] In order to make the healthy side exoskeleton shoe 018 and the affected side exoskeleton shoe 6 better cooperate with their respective tracks, the healthy side exoskeleton shoe 018 and the affected side exoskeleton shoe 6 can have rollers on both sides, and the rollers can slide in the track to reduce the friction between the healthy side exoskeleton shoe 018 and the affected side exoskeleton shoe 6 and their respective tracks.

[0106] Specifically, Fig.10 As shown, the base plate 017 may include a plate body 0173 and a flat rail 0174 detachably connected to the plate body 0173, a first clamping structure 020 is provided on the flat rail 0174, and the linkage mechanism 019 is installed on the flat rail 0174 through a second clamping structure, and a first track 0171 and a second track 0172 are formed between the two sides of the flat rail and the plate body 0173 respectively.

[0107] It should be noted that any structure that can realize the linkage between the affected exoskeleton shoe 6 and the healthy exoskeleton shoe 018 can be the linkage mechanism 019 mentioned in the above embodiment. For example, the linkage mechanism 019 includes a belt transmission mechanism, or the linkage mechanism 019 includes a belt chain mechanism, etc.

[0108] In this embodiment 1, Fig.10 As shown, the linkage mechanism 019 includes a first pulley 0191, a second pulley 0192 and a conveyor belt 0193, and the conveyor belt 0193 is transmission-connected between the first pulley 0191 and the second pulley 0192. The affected-side exoskeleton shoe 6 and the healthy-side exoskeleton shoe 018 are each rotationally coordinated with the conveyor belt 0193 through a set of connecting lock assemblies 021, so that when one leg changes from straight to bent, the other leg changes from bent to straight under the action of the linkage mechanism 019.

[0109] like Fig.10As shown, when the left leg is bent, the conveyor belt 0193 is driven to move counterclockwise, and the patient's right leg will stretch under the drive of the conveyor belt 0193, thereby realizing the patient's stepping action. When the patient does not step on both legs, it is only necessary to cancel the connection between the exoskeleton shoe 6 on the affected side and the conveyor belt 0193, and then remove the flat track 0174, so that the bedside rehabilitation device can drive the affected leg to perform rehabilitation exercises alone.

[0110] The connecting lock assembly 021 may be a universal structure capable of realizing relative rotation between two objects, which may include a universal joint, a rotating bearing, and the like.

[0111] Among them, the connecting lock assembly 021 may include a stepper connecting lock and a conveyor belt connecting lock, one end of the stepper connecting lock is fixed to the side of the affected exoskeleton shoe 6 or the side of the healthy exoskeleton shoe 018, and the other end is rotatably connected to the conveyor belt connecting lock, and the end of the conveyor belt connecting lock away from the stepper connecting lock is fixed to the conveyor belt 0193.

[0112] Embodiment 2:

[0113] In the second embodiment, Fig.11 As shown, the bedside rehabilitation system also includes a support seat 022 and a crank pedal assembly 023, and the crank pedal assembly 023 penetrates the support seat 022 and is rotatably connected to the support seat 022. When in use, the affected exoskeleton shoe 6 on the affected foot of the human body cooperates with one end of the crank pedal assembly 023, and the healthy foot of the human body cooperates with the other end of the crank pedal assembly 023. Under the linkage of the crank pedal assembly 023, the healthy foot of the human body will follow the movement of the affected foot of the human body.

[0114] The crank pedal assembly 023 includes a first crank 0231 and a second crank 0232 hinged on both sides of the support seat 022 around the same axis, and the first crank 0231 and the second crank 0232 extend in opposite directions to each other, forming an angle of 180°. The end of one of the cranks is used to be hinged to the affected exoskeleton shoe 6, and the end of the other crank is hinged with a pedal 0233, which can be stepped on by the healthy foot. When the bedside rehabilitation device drives the patient's affected foot to do cycling exercise, the crank pedal assembly 023 will drive the healthy foot to do cycling exercise synchronously.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bedside rehabilitation device, characterized in that: It includes a hip joint flexion and extension motor (1), a hip joint adduction and abduction motor (2), an exoskeleton thigh (3), a knee joint flexion and extension motor (4), an exoskeleton calf (5) and an affected side exoskeleton shoe (6); The hip joint flexion and extension motor (1) is connected to the hip joint adduction and abduction motor (2) to drive the hip joint adduction and abduction motor (2) to rotate with the first direction as the axis; One end of the exoskeleton thigh (3) is connected to the hip joint adduction and abduction motor (2), and the other end is rotationally connected to the exoskeleton shank (5) via the knee joint flexion and extension motor (4), the hip joint adduction and abduction motor (2) is used to drive the exoskeleton thigh (3) to rotate with the second direction as the axis, and the knee joint flexion and extension motor (4) is used to drive the exoskeleton shank (5) to rotate relative to the exoskeleton thigh (3) with the third direction as the axis, and the third direction is parallel to the first direction and perpendicular to the second direction; The affected-side exoskeleton shoe (6) is connected to the exoskeleton calf (5); the affected-side exoskeleton shoe (6), the exoskeleton thigh (3) and the exoskeleton calf (5) all have straps (7); The exoskeleton thigh (3) comprises a first extension arm (31) and a second extension arm (32); One end of the first extension arm (31) is fixedly connected to the hip joint adduction and abduction motor (2), and the other end is slidably matched with the second extension arm (32), and the sliding direction is parallel to the extension direction of the first extension arm (31); One end of the second extension arm (32) facing away from the first extension arm (31) is rotationally connected to the exoskeleton shank (5) via the knee joint flexion and extension motor (4); The second extension arm (32) extends into the first extension arm (31) and slidably cooperates with the first extension arm (31); When the exoskeleton thigh (3) and the exoskeleton shank (5) are unfolded to form an angle of 180°, and the surface (61) of the affected-side exoskeleton shoe (6) for supporting the affected-side sole is perpendicular to the exoskeleton shank (5), the exoskeleton thigh (3), the exoskeleton shank (5) and the affected-side exoskeleton shoe (6) are all symmetrical about a central plane (024), and the central plane (024) is perpendicular to the second direction.

2. The bedside rehabilitation device according to claim 1, characterized in that: One of the second extension arm (32) and the first extension arm (31) has a slide rail, and the other has a slide groove that matches the slide rail.

3. The bedside rehabilitation device according to claim 1, characterized in that: The second extension arm (32) has a rotating shaft (321), the rotating shaft (321) being used to divide the second extension arm (32) into a first connecting section (322) and a second connecting section (323) capable of generating relative rotation, and the axial direction of the rotating shaft (321) is parallel to the second direction.

4. The bedside rehabilitation device according to claim 3, characterized in that: The rotating shaft (321) is located at one end of the second extension arm (32) close to the knee joint flexion and extension motor (4).

5. The bedside rehabilitation device according to claim 3, characterized in that: The strap (7) on the exoskeleton thigh (3) is a thigh strap, and the boundary of the thigh strap close to the side of the knee joint flexion and extension motor (4) corresponds to the position of the rotating shaft (321).

6. The bedside rehabilitation device according to claim 1, characterized in that: The hip joint flexion and extension motor (1) comprises a motor body (11) and a connecting bracket (12), wherein the connecting bracket (12) is connected to a power output shaft of the motor body (11), and the hip joint adduction and abduction motor (2) is mounted on the connecting bracket (12).

7. A bedside rehabilitation system, characterized in that: It comprises a support structure (8) and a bedside rehabilitation device as claimed in any one of claims 1 to 6, wherein the hip joint flexion and extension motor (1) is mounted on the support structure (8).

8. The bedside rehabilitation system according to claim 7, characterized in that: The bedside rehabilitation system further comprises a base plate (017), a healthy side exoskeleton shoe (018) and a linkage mechanism (019); the linkage mechanism (019) is mounted on the base plate (017) and is positionally adjustable relative to the base plate (017) along the direction of the height of the human body; the affected side exoskeleton shoe (6) and the healthy side exoskeleton shoe (018) are connected to two sides of the linkage mechanism (019); the linkage mechanism (019) is used to realize the linkage between the affected side exoskeleton shoe (6) and the healthy side exoskeleton shoe (018); The bottom plate (017) is provided with a first clamping structure (020), the linkage mechanism (019) is provided with a second clamping structure for clamping with the first clamping structure (020), and the position of the second clamping structure relative to the first clamping structure (020) along the direction of human body height is adjustable; The bottom plate (017) is recessed with a first track (0171) and a second track (0172); the first track (0171) and the second track (0172) are distributed on both sides of the linkage mechanism (019) and their extension directions are parallel to the height direction of the human body; the exoskeleton shoe (6) on the affected side is slidably matched with the first track (0171), and the exoskeleton shoe (018) on the healthy side is slidably matched with the second track (0172); The linkage mechanism (019) comprises a first pulley (0191), a second pulley (0192) and a conveyor belt (0193); the conveyor belt (0193) is transmission-connected between the first pulley (0191) and the second pulley (0192); the affected-side exoskeleton shoe (6) and the healthy-side exoskeleton shoe (018) are rotationally matched with the conveyor belt (0193) via a set of connecting lock assemblies (021), so that when one leg changes from straight to bent, the other leg changes from bent to straight under the action of the linkage mechanism (019).

9. The bedside rehabilitation system according to claim 7, characterized in that: The bedside rehabilitation system further comprises a support seat (022) and a crank pedal assembly (023), wherein the crank pedal assembly (023) passes through the support seat (022) and is rotatably connected to the support seat (022), and the two ends of the crank pedal assembly (023) are respectively used to cooperate with the affected foot and the healthy foot of the human body, so that the affected foot and the healthy foot of the human body are linked.

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