A lower limb assistive mobility rehabilitation device

Abstract

A lower limb auxiliary mobile rehabilitation device includes an omnidirectional mobile chassis, a support mechanism and a lower limb auxiliary movement mechanism; the omnidirectional mobile chassis is an overall U-shaped structure, and the support mechanism is arranged just above the middle of the U-shaped bottom edge of the omnidirectional mobile chassis; the lower limb auxiliary movement mechanism is hoisted on the support mechanism, and the lower limb auxiliary movement mechanism can adapt to patients of different heights. In the early stage of rehabilitation training, a passive training mode can be performed. As the rehabilitation training proceeds, when the patient's hemiplegic leg strength gradually recovers, it can gradually transition to an active training mode. The lower limb auxiliary mobile rehabilitation device of the present invention has the characteristics of simple structure, easy use, and the ability to independently realize lower limb rehabilitation training. During the rehabilitation training process, it can assist patients to realize forward, backward, turning and other movements, can guide the patient's hemiplegic leg movement with a scientific gait, and exercise the patient's lower limb muscles through daily walking exercises to accelerate the recovery of the patient's normal walking function.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation training equipment, and in particular relates to a lower limb auxiliary movement rehabilitation device. Background Art

[0002] For patients with lower limb motor dysfunction, scientific rehabilitation training can play a very important role in restoring and improving lower limb motor ability.

[0003] At present, the lower limb rehabilitation training system mainly relies on treadmills, suspension systems, etc., while traditional lower limb rehabilitation training equipment generally has shortcomings such as single function and the need for professional assistance during training. In addition, the movement form during lower limb rehabilitation training is inconsistent with the actual movement mechanism of the human body, which affects the effect of lower limb rehabilitation training.

[0004] With the development of science and technology, more and more rehabilitation robots are appearing on the market, but they are generally service robots. For patients with lower limb motor dysfunction, there is a lack of specialized lower limb rehabilitation training equipment with strong pertinence. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a lower limb auxiliary mobile rehabilitation device, which has the characteristics of simple structure, easy use, and can independently realize lower limb rehabilitation training. During the rehabilitation training process, it can assist patients to realize movements such as moving forward, backward, and turning, and can guide the patient's hemiplegic leg movement with a scientific gait. Through daily walking exercises, the patient's lower limb muscles are exercised, thereby accelerating the recovery of the patient's normal walking function.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a lower limb auxiliary mobile rehabilitation device, comprising an omnidirectional mobile chassis, a supporting mechanism and a lower limb auxiliary movement mechanism; the omnidirectional mobile chassis is an overall U-shaped structure, and the supporting mechanism is arranged just above the middle of the U-shaped bottom edge of the omnidirectional mobile chassis; the lower limb auxiliary movement mechanism is hoisted on the supporting mechanism.

[0007] The omnidirectional mobile chassis includes a left front MY3 omnidirectional wheel mechanism, a right front MY3 omnidirectional wheel mechanism, a left rear MY3 omnidirectional wheel mechanism, a right rear MY3 omnidirectional wheel mechanism, a front chassis frame, a left rear chassis frame and a right rear chassis frame; the front chassis frame adopts a double-layer structure, and the internal space of the front chassis frame is used as the installation space for the central controller and the battery pack; the left front MY3 omnidirectional wheel mechanism is arranged at the upper left corner of the front chassis frame; the right front MY3 omnidirectional wheel mechanism is arranged at the upper right corner of the front chassis frame; the left The rear chassis frame is a single-layer structure, the left rear chassis frame is located at the lower left corner of the front chassis frame, and a left suspension mechanism is arranged between the left rear chassis frame and the upper plate body of the front chassis frame; the left rear MY3 omnidirectional wheel mechanism is arranged behind the left rear chassis frame; the right rear chassis frame is a single-layer structure, the right rear chassis frame is located at the lower right corner of the front chassis frame, and a right suspension mechanism is arranged between the right rear chassis frame and the upper plate body of the front chassis frame; the right rear MY3 omnidirectional wheel mechanism is arranged behind the right rear chassis frame.

[0008] The left front MY3 omnidirectional wheel mechanism, the right front MY3 omnidirectional wheel mechanism, the left rear MY3 omnidirectional wheel mechanism and the right rear MY3 omnidirectional wheel mechanism have the same structure, and all include a MY3 omnidirectional wheel, an omnidirectional wheel drive motor and an omnidirectional wheel frame; the MY3 omnidirectional wheel is mounted on the omnidirectional wheel frame; the omnidirectional wheel drive motor is mounted on the omnidirectional wheel frame and is located above the MY3 omnidirectional wheel; an omnidirectional wheel transmission mechanism is arranged between the motor shaft of the omnidirectional wheel drive motor and the wheel axle of the MY3 omnidirectional wheel, and the omnidirectional wheel transmission mechanism adopts a belt and pulley structure; an omnidirectional wheel transmission belt tensioner is arranged on the omnidirectional wheel frame, and the position of the omnidirectional wheel transmission belt tensioner relative to the omnidirectional wheel frame is adjustable.

[0009] The left suspension mechanism and the right suspension mechanism have the same structure, and both include a spring shock absorber, a rotating shaft, a bearing seat and an adapter frame; the rotating shaft is horizontally arranged above the left rear chassis frame / right rear chassis frame through the bearing seat; the lower end of the adapter frame is fixedly connected to the rotating shaft, and the upper end of the adapter frame is fixedly connected to the lower surface of the upper plate of the front chassis frame; the spring shock absorber is located on both sides of the rotating shaft, the lower end of the spring shock absorber is hinged to the left rear chassis frame / right rear chassis frame, and the upper end of the spring shock absorber is hinged to the upper plate of the front chassis frame.

[0010] The support mechanism includes a support column, a support cross bar, a support longitudinal bar, a support handrail and a damping and buffering transition mechanism; the support column is vertically fixed in the middle of the upper plate of the front chassis frame; the support cross bar is arranged at the upper end of the support column through the damping and buffering transition mechanism, and the support cross bar adopts a length-adjustable telescopic structure; the support longitudinal bar is fixedly installed at both ends of the support cross bar; the support handrail is fixedly installed at the rear end of the support longitudinal bar.

[0011] The damping and buffering transfer mechanism includes a damping telescope, a guide rail, a guide slider and an adapter plate; the damping telescope is vertically fixed on the supporting column; the guide rail adopts a parallel double-rail structure, the guide rail is vertically fixed on the supporting column and is located on both sides of the damping telescope; the guide slider is located on the guide rail; the adapter plate is fixedly installed on the guide slider; the top end of the telescopic rod of the damping telescope is fixedly connected to the adapter plate; the supporting cross bar is fixedly installed on the adapter plate.

[0012] The lower limb auxiliary motion mechanism comprises a lower limb auxiliary motion drive motor, a hip joint gear transmission box, a thigh swing rod, a thigh swing drive cam, a thigh swing follower roller, an inter-articular belt pulley transmission box, a knee joint gear transmission box, a calf swing rod, a calf swing drive cam and a calf swing follower roller; the lower limb auxiliary motion drive motor and the hip joint gear transmission box are fixedly installed in parallel below the supporting longitudinal rod; the hip joint gear transmission box comprises a power input shaft and two power output shafts, and the two power output shafts are respectively recorded as the first power output shaft and the second power output shaft; the motor shaft of the lower limb auxiliary motion drive motor is coaxially fixedly connected with the power input shaft of the hip joint gear transmission box; the upper end of the thigh swing rod is rotatably connected to one end of the first power output shaft of the hip joint gear transmission box through a bearing, the box body of the inter-articular belt pulley transmission box is rotatably connected to the other end of the first power output shaft of the hip joint gear transmission box through a bearing, and the thigh swing rod and the box body of the inter-articular belt pulley transmission box are fixedly connected through a transfer rod; the thigh swing rod adopts a length-adjustable telescopic structure; The power input shaft of the belt pulley transmission box and the first power output shaft of the hip joint gear transmission box are coaxial structures; the knee joint gear transmission box is located at the lower end of the thigh swing rod, and the box body of the knee joint gear transmission box is fixedly connected to the lower end of the thigh swing rod; the power input shaft of the knee joint gear transmission box and the power output shaft of the inter-articular belt pulley transmission box are coaxial structures; the thigh swing drive cam is installed on the second power output shaft of the hip joint gear transmission box, and a thigh bionic swing guide groove is opened on the wheel surface of the thigh swing drive cam. The rotating follower roller is located in the thigh bionic swing guide groove, and the thigh swing follower roller is connected to the thigh swing rod; the calf swing driving cam is installed on the power output shaft of the knee joint gear transmission box, and a calf bionic swing guide groove is opened on the wheel surface of the calf swing driving cam, the calf swing follower roller is located in the calf bionic swing guide groove, and the calf swing follower roller is connected to the calf swing rod; the upper end of the calf swing rod is rotatably connected to the power input shaft of the knee joint gear transmission box through a bearing, and the lower end of the calf swing rod is a free end.

[0013] The hip joint gear transmission box includes a driving gear, a first intermediate gear, a second intermediate gear, a third intermediate gear and a driven gear; the driving gear is fixedly mounted on the power input shaft of the hip joint gear transmission box; the first intermediate gear is fixedly mounted on the first power output shaft of the hip joint gear transmission box; the gear shafts of the second intermediate gear and the third intermediate gear are rotatably connected to the box body of the hip joint gear transmission box through bearings; the driven gear is fixedly mounted on the second power output shaft of the hip joint gear transmission box; the driving gear is meshed and transmitted with the driven gear through the first intermediate gear, the second intermediate gear and the third intermediate gear in turn.

[0014] The inter-articular belt pulley transmission box includes a driving pulley, a first tensioning intermediate pulley, a second tensioning intermediate pulley, a driven pulley, a quadrilateral articulated wheel frame and a wheelbase adjustment mechanism; the driving pulley is fixedly mounted on the power input shaft of the inter-articular belt pulley transmission box, and the power input shaft of the inter-articular belt pulley transmission box serves as the first hinge point of the quadrilateral articulated wheel frame; the driven pulley is fixedly mounted on the power output shaft of the inter-articular belt pulley transmission box, and the power output shaft of the inter-articular belt pulley transmission box serves as the second hinge point of the quadrilateral articulated wheel frame; the first tensioning intermediate pulley and the second tensioning intermediate pulley are respectively arranged Installed at the third hinge point and the fourth hinge point in the middle of the quadrilateral articulated wheel frame; the driving pulley, the first tensioning intermediate pulley, the second tensioning intermediate pulley and the driven pulley are connected by a belt transmission; the wheelbase adjustment mechanism is arranged between the two connecting rods at the lower end of the quadrilateral articulated wheel frame, and the wheelbase adjustment mechanism includes a positive and negative threaded screw, a front nut slide, a rear nut slide and a knob; the front nut slide is sleeved on the positive thread section of the positive and negative threaded screw and is hinged to the front connecting rod; the rear nut slide is sleeved on the negative thread section of the positive and negative threaded screw and is hinged to the rear connecting rod; the knob is fixedly mounted on the end of the positive and negative threaded screw.

[0015] The knee joint gear transmission box includes an input gear and an output gear; the input gear is fixedly mounted on the power input shaft of the knee joint gear transmission box; the output gear is fixedly mounted on the power output shaft of the knee joint gear transmission box; the input gear is meshed with the output gear for transmission.

[0016] Beneficial effects of the present invention:

[0017] The lower limb auxiliary mobile rehabilitation device of the present invention has the characteristics of simple structure, easy use, and can independently realize lower limb rehabilitation training. During the rehabilitation training process, it can assist the patient to realize forward, backward, turning and other movements, and can guide the patient's hemiplegic leg movement with a scientific gait. Through daily walking exercises, the patient's lower limb muscles are exercised, thereby accelerating the recovery of the patient's normal walking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a lower limb auxiliary mobility rehabilitation device of the present invention (viewing angle 1);

[0019] Figure 2 It is a structural schematic diagram of a lower limb auxiliary mobility rehabilitation device of the present invention (viewing angle 2);

[0020] Figure 3 It is a structural schematic diagram of a lower limb auxiliary mobility rehabilitation device of the present invention (viewing angle 3);

[0021] Figure 4 Schematic diagram of the structure of the omnidirectional mobile chassis of the present invention (viewing angle 1);

[0022] Figure 5 Schematic diagram of the structure of the omnidirectional mobile chassis of the present invention (viewing angle 2);

[0023] Figure 6 It is a structural schematic diagram of the MY3 omnidirectional wheel mechanism of the present invention (viewing angle 1);

[0024] Figure 7 It is a structural schematic diagram of the MY3 omnidirectional wheel mechanism of the present invention (viewing angle 2);

[0025] Figure 8 It is a structural schematic diagram of the support mechanism of the present invention;

[0026] Fig. 9 It is a schematic diagram of the assembly structure of the damping buffer transfer mechanism and the supporting column (part) of the present invention;

[0027] Fig.10 It is a schematic diagram of the assembly structure of the lower limb auxiliary exercise mechanism, the supporting longitudinal rod and the supporting armrest of the present invention;

[0028] Fig.11 It is a structural schematic diagram of the lower limb auxiliary exercise mechanism of the present invention (the inter-articular belt pulley transmission box body is not shown);

[0029] Fig.12 It is a schematic diagram of the assembly structure of the hip joint gear transmission box (the box body is not shown), the thigh swing driving cam and the thigh swing rod of the present invention;

[0030] Fig.13 It is a structural schematic diagram of the inter-joint belt pulley transmission box (the box body is not shown) of the present invention;

[0031] Fig.14 It is a schematic diagram of the assembly structure of the knee joint gear transmission box (the box body is not shown), the calf swing driving cam and the calf swing rod of the present invention;

[0032] In the figure, I—omnidirectional mobile chassis, II—support mechanism, III—lower limb auxiliary motion mechanism, 1—left front MY3 omnidirectional wheel mechanism, 2—right front MY3 omnidirectional wheel mechanism, 3—left rear MY3 omnidirectional wheel mechanism, 4—right rear MY3 omnidirectional wheel mechanism, 5—front chassis frame, 6—left rear chassis frame, 7—right rear chassis frame, 8—MY3 omnidirectional wheel, 9—omnidirectional wheel drive motor, 10—omnidirectional wheel frame, 11—omnidirectional wheel transmission mechanism, 12—omnidirectional wheel transmission belt tensioner, 13—spring shock absorber, 14—rotating shaft, 15—bearing seat, 16—adapter frame, 17—support column, 18—support cross bar, 19—support longitudinal bar, 20—support handrail, 21—damping retractor, 22—guide rail, 23—guide slider, 24—adapter plate, 25—lower limb auxiliary motion drive motor, 26—hip joint gear Wheel transmission box, 27—thigh swing rod, 28—thigh swing driving cam, 29—thigh swing follower roller, 30—inter-articular belt pulley transmission box, 31—knee joint gear transmission box, 32—calf swing rod, 33—calf swing driving cam, 34—calf swing follower roller, 35—transfer rod, 36—thigh bionic swing guide slot, 37—calf bionic swing guide slot, 38—driving gear, 39—first intermediate gear, 40—second intermediate gear, 41—driven gear, 42—driving pulley, 43—first tensioning intermediate pulley, 44—second tensioning intermediate pulley, 45—driven pulley, 46—quadrilateral articulated wheel frame, 47—positive and negative threaded screws, 48—front nut slide, 49—rear nut slide, 50—knob, 51—input gear, 52—output gear, 53—third intermediate gear. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 14 As shown, a lower limb auxiliary mobile rehabilitation device includes an omnidirectional mobile chassis I, a support mechanism II and a lower limb auxiliary movement mechanism III; the omnidirectional mobile chassis I is an overall U-shaped structure, and the support mechanism II is arranged just above the middle of the U-shaped bottom edge of the omnidirectional mobile chassis I; the lower limb auxiliary movement mechanism III is hoisted on the support mechanism II.

[0035] The omnidirectional mobile chassis I comprises a left front MY3 omnidirectional wheel mechanism 1, a right front MY3 omnidirectional wheel mechanism 2, a left rear MY3 omnidirectional wheel mechanism 3, a right rear MY3 omnidirectional wheel mechanism 4, a front chassis frame 5, a left rear chassis frame 6 and a right rear chassis frame 7; the front chassis frame 5 adopts a double-layer structure, and the internal space of the front chassis frame 5 is used as the installation space of the central controller and the battery pack; the left front MY3 omnidirectional wheel mechanism 1 is arranged at the upper left corner of the front chassis frame 5; the right front MY3 omnidirectional wheel mechanism 2 is arranged at the upper right corner of the front chassis frame 5; the left The rear chassis frame 6 is a single-layer structure, the left rear chassis frame 6 is located at the lower left corner of the front chassis frame 5, and a left suspension mechanism is arranged between the left rear chassis frame 6 and the upper plate body of the front chassis frame 5; the left rear MY3 omnidirectional wheel mechanism 3 is arranged behind the left rear chassis frame 6; the right rear chassis frame 7 is a single-layer structure, the right rear chassis frame 7 is located at the lower right corner of the front chassis frame 5, and a right suspension mechanism is arranged between the right rear chassis frame 7 and the upper plate body of the front chassis frame 5; the right rear MY3 omnidirectional wheel mechanism 4 is arranged behind the right rear chassis frame 7.

[0036] The left front MY3 omnidirectional wheel mechanism 1, the right front MY3 omnidirectional wheel mechanism 2, the left rear MY3 omnidirectional wheel mechanism 3 and the right rear MY3 omnidirectional wheel mechanism 4 have the same structure, and all include a MY3 omnidirectional wheel 8, an omnidirectional wheel drive motor 9 and an omnidirectional wheel frame 10; the MY3 omnidirectional wheel 8 is mounted on the omnidirectional wheel frame 10; the omnidirectional wheel drive motor 9 is mounted on the omnidirectional wheel frame 10 and is located above the MY3 omnidirectional wheel 8; an omnidirectional wheel transmission mechanism 11 is arranged between the motor shaft of the omnidirectional wheel drive motor 9 and the wheel axle of the MY3 omnidirectional wheel 8, and the omnidirectional wheel transmission mechanism 11 adopts a belt and pulley structure; an omnidirectional wheel drive belt tensioning pulley 12 is arranged on the omnidirectional wheel frame 10, and the position of the omnidirectional wheel drive belt tensioning pulley 12 relative to the omnidirectional wheel frame 10 is adjustable.

[0037] The left suspension mechanism and the right suspension mechanism have the same structure, and both include a spring shock absorber 13, a rotating shaft 14, a bearing seat 15 and an adapter frame 16; the rotating shaft 14 is horizontally arranged above the left rear chassis frame 6 / right rear chassis frame 7 through the bearing seat 15; the lower end of the adapter frame 16 is fixedly connected to the rotating shaft 14, and the upper end of the adapter frame 16 is fixedly connected to the lower surface of the upper plate of the front chassis frame 5; the spring shock absorber 13 is located on both sides of the rotating shaft 14, the lower end of the spring shock absorber 13 is hinged to the left rear chassis frame 6 / right rear chassis frame 7, and the upper end of the spring shock absorber 13 is hinged to the upper plate of the front chassis frame 5.

[0038] The support mechanism II includes a support column 17, a support cross bar 18, a support longitudinal bar 19, a support handrail 20 and a damping and buffering transition mechanism; the support column 17 is vertically fixed in the middle of the upper plate of the front chassis frame 5; the support cross bar 18 is arranged at the upper end of the support column 17 through the damping and buffering transition mechanism, and the support cross bar 18 adopts a length-adjustable telescopic structure; the support longitudinal bar 19 is fixedly installed at both ends of the support cross bar 18; the support handrail 20 is fixedly installed at the rear end of the support longitudinal bar 19.

[0039] The damping and buffering transfer mechanism includes a damping retractor 21, a guide rail 22, a guide slider 23 and an adapter plate 24; the damping retractor 21 is vertically fixed on the support column 17; the guide rail 22 adopts a parallel double-rail structure, the guide rail 22 is vertically fixed on the support column 17 and is located on both sides of the damping retractor 21; the guide slider 23 is located on the guide rail 22; the adapter plate 24 is fixedly installed on the guide slider 23; the top end of the telescopic rod of the damping retractor 21 is fixedly connected to the adapter plate 24; the support cross bar 18 is fixedly installed on the adapter plate 24.

[0040] The lower limb auxiliary motion mechanism III includes a lower limb auxiliary motion drive motor 25, a hip joint gear transmission box 26, a thigh swing rod 27, a thigh swing drive cam 28, a thigh swing follower roller 29, an inter-articular belt pulley transmission box 30, a knee joint gear transmission box 31, a calf swing rod 32, a calf swing drive cam 33 and a calf swing follower roller 34; the lower limb auxiliary motion drive motor 25 and the hip joint gear transmission box 26 are fixedly installed in parallel below the supporting longitudinal rod 19; the hip joint gear transmission box 26 includes a power input shaft and two power output shafts, and the two power output shafts are respectively recorded as the first power The output shaft and the second power output shaft; the motor shaft of the lower limb auxiliary movement drive motor 25 is coaxially fixedly connected with the power input shaft of the hip joint gear transmission box 26; the upper end of the thigh swing rod 27 is rotatably connected to one end of the first power output shaft of the hip joint gear transmission box 26 through a bearing, and the box body of the inter-articular belt pulley transmission box 30 is rotatably connected to the other end of the first power output shaft of the hip joint gear transmission box 26 through a bearing, and the thigh swing rod 27 and the box body of the inter-articular belt pulley transmission box 30 are fixedly connected by a transfer rod 35; the thigh swing rod 27 adopts a telescopic structure with adjustable length; the inter-articular belt The power input shaft of the pulley transmission box 30 and the first power output shaft of the hip joint gear transmission box 26 are coaxial structures; the knee joint gear transmission box 31 is located at the lower end of the thigh swing rod 27, and the box body of the knee joint gear transmission box 31 is fixedly connected to the lower end of the thigh swing rod 27; the power input shaft of the knee joint gear transmission box 31 and the power output shaft of the inter-articular belt pulley transmission box 30 are coaxial structures; the thigh swing drive cam 28 is installed on the second power output shaft of the hip joint gear transmission box 26, and a thigh bionic swing guide groove 36 is opened on the wheel surface of the thigh swing drive cam 28, and the thigh swing follower The roller 29 is located in the thigh bionic swing guide groove 36, and the thigh swing follower roller 29 is connected to the thigh swing rod 27; the calf swing driving cam 33 is installed on the power output shaft of the knee joint gear transmission box 31, and a calf bionic swing guide groove 37 is opened on the wheel surface of the calf swing driving cam 33, the calf swing follower roller 34 is located in the calf bionic swing guide groove 37, and the calf swing follower roller 34 is connected to the calf swing rod 32; the upper end of the calf swing rod 32 is rotatably connected to the power input shaft of the knee joint gear transmission box 31 through a bearing, and the lower end of the calf swing rod 32 is a free end.

[0041] The hip joint gear transmission box 26 includes a driving gear 38, a first intermediate gear 39, a second intermediate gear 40, a third intermediate gear 53 and a driven gear 41; the driving gear 38 is fixedly mounted on the power input shaft of the hip joint gear transmission box 26; the first intermediate gear 39 is fixedly mounted on the first power output shaft of the hip joint gear transmission box 26; the gear shafts of the second intermediate gear 40 and the third intermediate gear 53 are rotatably connected to the box body of the hip joint gear transmission box 26 through bearings; the driven gear 41 is fixedly mounted on the second power output shaft of the hip joint gear transmission box 26; the driving gear 38 is meshed and transmitted with the driven gear 41 through the first intermediate gear 39, the second intermediate gear 40 and the third intermediate gear 53 in turn.

[0042] The inter-articular belt pulley transmission box 30 includes a driving pulley 42, a first tensioning intermediate pulley 43, a second tensioning intermediate pulley 44, a driven pulley 45, a quadrilateral articulated wheel frame 46 and a wheelbase adjustment mechanism; the driving pulley 42 is fixedly mounted on the power input shaft of the inter-articular belt pulley transmission box 30, and the power input shaft of the inter-articular belt pulley transmission box 30 serves as the first hinge point of the quadrilateral articulated wheel frame 46; the driven pulley 45 is fixedly mounted on the power output shaft of the inter-articular belt pulley transmission box 30, and the power output shaft of the inter-articular belt pulley transmission box 30 serves as the second hinge point of the quadrilateral articulated wheel frame 46; the first tensioning intermediate pulley 43 and the second tensioning intermediate pulley 44 are respectively arranged Installed at the third hinge point and the fourth hinge point in the middle of the quadrilateral articulated wheel frame 46; the driving pulley 42, the first tensioning intermediate pulley 43, the second tensioning intermediate pulley 44 and the driven pulley 45 are connected by a belt transmission; the wheel spacing adjustment mechanism is arranged between the two connecting rods at the lower end of the quadrilateral articulated wheel frame 46, and the wheel spacing adjustment mechanism includes a positive and negative threaded screw 47, a front nut slide 48, a rear nut slide 49 and a knob 50; the front nut slide 48 is sleeved on the positive thread section of the positive and negative threaded screw 47 and is hinged to the front connecting rod; the rear nut slide 49 is sleeved on the negative thread section of the positive and negative threaded screw 47 and is hinged to the rear connecting rod; the knob 50 is fixedly mounted on the end of the positive and negative threaded screw 47.

[0043] The knee joint gear transmission box 31 includes an input gear 51 and an output gear 52; the input gear 51 is fixedly mounted on the power input shaft of the knee joint gear transmission box 31; the output gear 52 is fixedly mounted on the power output shaft of the knee joint gear transmission box 31; the input gear 51 and the output gear 52 are meshed for transmission.

[0044] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0045] Before use, the patient needs to stand in the middle of the omnidirectional mobile chassis I, and then ask others to help adjust the downward extension length of the thigh swing rod 27. First, loosen the locking screw on the thigh swing rod 27 so that the thigh swing rod 27 can be freely extended and retracted, and then turn the knob 50 to drive the positive and negative threaded screw 47 to rotate, thereby driving the front nut slide 48 and the rear nut slide 49 to move closer to or away from each other, thereby further driving the quadrilateral articulated wheel frame 46 to deform, so that the wheelbase between the active pulley 42 and the driven pulley 45 changes, thereby realizing the adjustment of the height of the driven pulley 45. As the height of the driven pulley 45 changes, the knee joint gear transmission box 31 will be driven to change its height position synchronously until the height of the knee joint gear transmission box 31 is adapted to the patient's knee joint position. At this time, the length of the thigh swing rod 27 will also be adaptively adjusted as the height of the knee joint gear transmission box 31 changes. After the height adjustment of the knee joint gear transmission box 31 is completed, re-tighten the locking screw on the thigh swing rod 27 to fix the length of the thigh swing rod 27.

[0046] When the length adjustment of the thigh swing rod 27 is completed, the thigh swing rod 27 is bound to the thigh of the patient's hemiplegic leg by a strap, and the calf swing rod 32 is bound to the calf of the patient's hemiplegic leg by a strap. After the hemiplegic leg of the patient is fixed, the lower limb auxiliary movement drive motor 25 is started according to the preset program.

[0047] When the lower limb auxiliary movement drive motor 25 is started, it first drives the driving gear 38 to rotate, and then drives the first intermediate gear 39 meshing with it. The transmission force of the first intermediate gear 39 is output in two ways. The first way is transmitted to the thigh swing drive cam 28 through the second intermediate gear 40, the third intermediate gear 53 and the driven gear 41 in sequence, and the second way is transmitted to the calf swing drive cam 33 through the driving pulley 42, the belt, the first tensioning intermediate pulley 43 / the second tensioning intermediate pulley 44, the driven pulley 45, the input gear 51 and the output gear 52 in sequence.

[0048] When the thigh swing driving cam 28 rotates, the thigh swing follower roller 29 is driven to move through the thigh bionic swing guide slot 36 thereon, thereby driving the thigh swing rod 27 to make a reciprocating swing motion around the first power output shaft of the hip joint gear transmission box 26. At the same time, when the calf swing driving cam 33 rotates, the calf swing follower roller 34 is driven to move through the calf bionic swing guide slot 37 thereon, thereby driving the calf swing rod 32 to make a reciprocating swing motion around the power input shaft of the knee joint gear transmission box 31. Finally, through the linkage swing of the thigh swing rod 27 and the calf swing rod 32, the patient's hemiplegic leg movement is guided in a scientific gait.

[0049] When the patient is performing step training under scientific guidance, in order to adapt to the ups and downs of the body, the force caused by the ups and downs of the body will first be transmitted to the supporting longitudinal rod 19, and then transmitted to the guide slider 23 through the supporting cross bar 18 and the adapter plate 24 in sequence, causing the guide slider 23 to move up and down along the guide rail 22, and in the process of the guide slider 23 moving up and down, smooth buffering is achieved through the damping retractor 21.

[0050] At the same time, when the patient is performing walking training under scientific guidance, his or her direction of movement can be automatically identified. The principle is similar to that of existing balance bikes. When the patient's body moves, a specific force direction will be generated on the rehabilitation device. The force direction can be identified by the central controller in the omnidirectional mobile chassis I, and the central controller automatically sends control instructions to the omnidirectional wheel drive motors 9 in the four groups of MY3 omnidirectional wheel mechanisms, thereby driving the MY3 omnidirectional wheels 8 in the four groups of MY3 omnidirectional wheel mechanisms to work in conjunction, thereby ultimately achieving adaptive movement of the rehabilitation device.

[0051] During the movement of the rehabilitation device, if the ground is uneven, theoretically one or two of the four MY3 omnidirectional wheel mechanisms will be suspended, which will not only affect the movement stability of the rehabilitation device, but also the suspended MY3 omnidirectional wheel mechanisms will lose their fulcrum and be unable to output driving force. In order to avoid the above situation, the above problem can be solved by the suspension mechanism in the omnidirectional mobile chassis I. The suspension mechanism can make the four MY3 omnidirectional wheel mechanisms not have to be in the same plane all the time, thereby ensuring that the four MY3 omnidirectional wheel mechanisms will not be suspended on uneven ground, can all fit the ground and have stable fulcrums, thereby ensuring the movement stability of the rehabilitation device.

[0052] In the early stage of rehabilitation training, since it is necessary to start the lower limb auxiliary motion drive motor 25, it belongs to the passive training mode. As the rehabilitation training proceeds, when the strength of the patient's hemiplegic leg gradually recovers, it can gradually transition to the active training mode. In this mode, the lower limb auxiliary motion drive motor 25 does not need to be started, and the movement of the thigh swing bar 27 and the calf swing bar 32 is completely driven by the patient's lower limbs. At this time, the patient's lower limb movement gait will be guided by the thigh bionic swing guide groove 36 on the thigh swing drive cam 28 and the calf bionic swing guide groove 37 on the calf swing drive cam 33, thereby improving the rehabilitation training effect in the active training mode.

[0053] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. A lower limb auxiliary mobility rehabilitation device, characterized in that: The invention comprises an omnidirectional mobile chassis, a supporting mechanism and a lower limb auxiliary motion mechanism; the omnidirectional mobile chassis is in a U-shaped structure as a whole, and the supporting mechanism is arranged just above the middle of the U-shaped bottom edge of the omnidirectional mobile chassis; the lower limb auxiliary motion mechanism is suspended on the supporting mechanism; the lower limb auxiliary motion mechanism comprises a lower limb auxiliary motion drive motor, a hip joint gear transmission box, a thigh swing rod, a thigh swing drive cam, a thigh swing follower roller, an inter-articular belt pulley transmission box, a knee joint gear transmission box, a calf swing rod, a calf swing drive cam and a calf swing follower roller; the lower limb auxiliary motion drive motor and the hip joint gear transmission box The hip joint gear transmission box is fixed in parallel below the supporting longitudinal rod; the hip joint gear transmission box includes a power input shaft and two power output shafts, and the two power output shafts are respectively recorded as the first power output shaft and the second power output shaft; the motor shaft of the lower limb auxiliary motion drive motor is coaxially fixed with the power input shaft of the hip joint gear transmission box; the upper end of the thigh swing arm is rotatably connected to one end of the first power output shaft of the hip joint gear transmission box through a bearing, and the box body of the inter-articular belt pulley transmission box is rotatably connected to the other end of the first power output shaft of the hip joint gear transmission box through a bearing, and the thigh swing arm and the inter-articular belt The housings of the pulley transmission box are fixedly connected by a transfer rod; the thigh swing arm adopts a telescopic structure with adjustable length; the power input shaft of the inter-articular belt pulley transmission box and the first power output shaft of the hip joint gear transmission box are coaxial structures; the knee joint gear transmission box is located at the lower end of the thigh swing arm, and the housing of the knee joint gear transmission box is fixedly connected to the lower end of the thigh swing arm; the power input shaft of the knee joint gear transmission box and the power output shaft of the inter-articular belt pulley transmission box are coaxial structures; the thigh swing drive cam is installed on the second power output shaft of the hip joint gear transmission box, A thigh bionic swing guide groove is provided on the wheel surface, the thigh swing follower roller is located in the thigh bionic swing guide groove, and the thigh swing follower roller is connected to the thigh swing rod; the calf swing driving cam is installed on the power output shaft of the knee joint gear transmission box, and a calf bionic swing guide groove is provided on the wheel surface of the calf swing driving cam, the calf swing follower roller is located in the calf bionic swing guide groove, and the calf swing follower roller is connected to the calf swing rod; the upper end of the calf swing rod is rotatably connected to the power input shaft of the knee joint gear transmission box through a bearing, and the lower end of the calf swing rod is a free end.

2. The lower limb auxiliary mobility rehabilitation device according to claim 1, characterized in that: The omnidirectional mobile chassis includes a left front MY3 omnidirectional wheel mechanism, a right front MY3 omnidirectional wheel mechanism, a left rear MY3 omnidirectional wheel mechanism, a right rear MY3 omnidirectional wheel mechanism, a front chassis frame, a left rear chassis frame and a right rear chassis frame; the front chassis frame adopts a double-layer structure, and the internal space of the front chassis frame is used as the installation space for the central controller and the battery pack; the left front MY3 omnidirectional wheel mechanism is arranged at the upper left corner of the front chassis frame; the right front MY3 omnidirectional wheel mechanism is arranged at the upper right corner of the front chassis frame; the left The rear chassis frame is a single-layer structure, the left rear chassis frame is located at the lower left corner of the front chassis frame, and a left suspension mechanism is arranged between the left rear chassis frame and the upper plate body of the front chassis frame; the left rear MY3 omnidirectional wheel mechanism is arranged behind the left rear chassis frame; the right rear chassis frame is a single-layer structure, the right rear chassis frame is located at the lower right corner of the front chassis frame, and a right suspension mechanism is arranged between the right rear chassis frame and the upper plate body of the front chassis frame; the right rear MY3 omnidirectional wheel mechanism is arranged behind the right rear chassis frame.

3. The lower limb auxiliary mobility rehabilitation device according to claim 2, characterized in that: The left front MY3 omnidirectional wheel mechanism, the right front MY3 omnidirectional wheel mechanism, the left rear MY3 omnidirectional wheel mechanism and the right rear MY3 omnidirectional wheel mechanism have the same structure, and all include a MY3 omnidirectional wheel, an omnidirectional wheel drive motor and an omnidirectional wheel frame; the MY3 omnidirectional wheel is mounted on the omnidirectional wheel frame; the omnidirectional wheel drive motor is mounted on the omnidirectional wheel frame and is located above the MY3 omnidirectional wheel; an omnidirectional wheel transmission mechanism is arranged between the motor shaft of the omnidirectional wheel drive motor and the wheel axle of the MY3 omnidirectional wheel, and the omnidirectional wheel transmission mechanism adopts a belt and pulley structure; an omnidirectional wheel transmission belt tensioner is arranged on the omnidirectional wheel frame, and the position of the omnidirectional wheel transmission belt tensioner relative to the omnidirectional wheel frame is adjustable.

4. The lower limb auxiliary mobility rehabilitation device according to claim 2, characterized in that: The left suspension mechanism and the right suspension mechanism have the same structure, and both include a spring shock absorber, a rotating shaft, a bearing seat and an adapter frame; the rotating shaft is horizontally arranged above the left rear chassis frame / right rear chassis frame through the bearing seat; the lower end of the adapter frame is fixedly connected to the rotating shaft, and the upper end of the adapter frame is fixedly connected to the lower surface of the upper plate of the front chassis frame; the spring shock absorber is located on both sides of the rotating shaft, the lower end of the spring shock absorber is hinged to the left rear chassis frame / right rear chassis frame, and the upper end of the spring shock absorber is hinged to the upper plate of the front chassis frame.

5. The lower limb auxiliary mobility rehabilitation device according to claim 2, characterized in that: The support mechanism includes a support column, a support crossbar, a support longitudinal bar, a support handrail and a damping buffer transfer mechanism; The support column is vertically fixed in the middle of the upper plate of the front chassis frame; the support cross bar is arranged at the upper end of the support column through a damping and buffering transfer mechanism, and the support cross bar adopts a length-adjustable telescopic structure; the support longitudinal bar is fixedly installed at both ends of the support cross bar; the support handrail is fixedly installed at the rear end of the support longitudinal bar.

6. The lower limb auxiliary mobility rehabilitation device according to claim 5, characterized in that: The damping and buffering transfer mechanism includes a damping telescope, a guide rail, a guide slider and an adapter plate; the damping telescope is vertically fixed on the supporting column; the guide rail adopts a parallel double-rail structure, the guide rail is vertically fixed on the supporting column and is located on both sides of the damping telescope; the guide slider is located on the guide rail; the adapter plate is fixedly installed on the guide slider; the top end of the telescopic rod of the damping telescope is fixedly connected to the adapter plate; the supporting cross bar is fixedly installed on the adapter plate.

7. The lower limb auxiliary mobility rehabilitation device according to claim 1, characterized in that: The hip joint gear transmission box includes a driving gear, a first intermediate gear, a second intermediate gear, a third intermediate gear and a driven gear; the driving gear is fixedly mounted on the power input shaft of the hip joint gear transmission box; the first intermediate gear is fixedly mounted on the first power output shaft of the hip joint gear transmission box; the gear shafts of the second intermediate gear and the third intermediate gear are rotatably connected to the box body of the hip joint gear transmission box through bearings; the driven gear is fixedly mounted on the second power output shaft of the hip joint gear transmission box; the driving gear is meshed and transmitted with the driven gear through the first intermediate gear, the second intermediate gear and the third intermediate gear in turn.

8. The lower limb auxiliary mobility rehabilitation device according to claim 1, characterized in that: The inter-articular belt pulley transmission box includes a driving pulley, a first tensioning intermediate pulley, a second tensioning intermediate pulley, a driven pulley, a quadrilateral articulated wheel frame and a wheelbase adjustment mechanism; the driving pulley is fixedly mounted on the power input shaft of the inter-articular belt pulley transmission box, and the power input shaft of the inter-articular belt pulley transmission box serves as the first hinge point of the quadrilateral articulated wheel frame; the driven pulley is fixedly mounted on the power output shaft of the inter-articular belt pulley transmission box, and the power output shaft of the inter-articular belt pulley transmission box serves as the second hinge point of the quadrilateral articulated wheel frame; the first tensioning intermediate pulley and the second tensioning intermediate pulley are respectively arranged Installed at the third hinge point and the fourth hinge point in the middle of the quadrilateral articulated wheel frame; the driving pulley, the first tensioning intermediate pulley, the second tensioning intermediate pulley and the driven pulley are connected by a belt transmission; the wheelbase adjustment mechanism is arranged between the two connecting rods at the lower end of the quadrilateral articulated wheel frame, and the wheelbase adjustment mechanism includes a positive and negative threaded screw, a front nut slide, a rear nut slide and a knob; the front nut slide is sleeved on the positive thread section of the positive and negative threaded screw and is hinged to the front connecting rod; the rear nut slide is sleeved on the negative thread section of the positive and negative threaded screw and is hinged to the rear connecting rod; the knob is fixedly mounted on the end of the positive and negative threaded screw.

9. The lower limb auxiliary mobility rehabilitation device according to claim 1, characterized in that: The knee joint gear transmission box includes an input gear and an output gear; the input gear is fixedly mounted on the power input shaft of the knee joint gear transmission box; the output gear is fixedly mounted on the power output shaft of the knee joint gear transmission box; the input gear is meshed with the output gear for transmission.

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