Lower limb wheel-skating rehabilitation training device

Abstract

The application relates to a lower limb roller skate type rehabilitation training device which comprises a waist assembly, a thigh assembly, a shank assembly, a roller skate type foot assembly and a binding assembly; wherein the waist assembly is rotationally connected with the thigh assembly, the thigh assembly is fixedly connected with the shank assembly, the shank assembly is fixedly connected with the roller skate type foot assembly, and the binding assembly is fixedly connected with the waist assembly, the thigh assembly, the shank assembly and the roller skate type foot assembly. Compared with the prior art, the roller skate type foot assembly is introduced in the structure, the anti-skid damping roller skate type mechanism is adopted, the anti-skid damping effect is achieved, the needs of a patient to slide and move before rehabilitation training are met, the patient can not slide relative to the ground during rehabilitation exercise, the damping and buffering characteristics can reduce the harm of external force to the legs of the user. Meanwhile, the application provides a translation sliding mode and a rehabilitation training mode, and the use is safe, stable and efficient.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and in particular to a lower limb roller skating rehabilitation training device. Background Technology

[0002] Patients with traffic accidents, work-related injuries, strokes, and traumatic brain injuries often suffer from walking dysfunction, partly due to insufficient leg muscle strength and the inability to control their legs. These patients are unable to stand independently and spend most of their time in wheelchairs, which greatly reduces their physical health and quality of life.

[0003] The recovery of walking ability in these patients is closely related to the rehabilitation of motor function in the affected lower limb. Lower limb motor rehabilitation training uses devices that can maintain and restore the patient's joint range of motion, which is beneficial for restoring the limb's main motor functions. Commercially available gait rehabilitation training devices already exist, such as the Handy1 developed by Mike Topping in the UK in 1987. Another type of rehabilitation robot that has successfully entered the market includes the MANUS rehabilitation robot developed by Exact Dynamics in the Netherlands, the NUSTEP rehabilitation device in the US, the THERA.Vital intelligent rehabilitation training robot in Germany, and the MOTINMAKER developed by WORTEC in Switzerland.

[0004] However, existing gait rehabilitation training products have the following drawbacks: (1) they cannot meet the needs of movement and gliding in specific environments and situations, thus saving time and effort for patients wearing lower limb exoskeleton robots before rehabilitation training; (2) they cannot meet the needs of patients wearing lower limb exoskeleton robots to perform rehabilitation exercises without relative sliding with the ground, and to reduce the damage to the user's legs caused by external forces, thus achieving safety and stability during rehabilitation training. Therefore, it is currently necessary to develop a lower limb exoskeleton rehabilitation training device that can move and glide before rehabilitation training and is also safer and more stable during rehabilitation training. Summary of the Invention

[0005] In view of the technical defects of existing gait rehabilitation training products, the present invention aims to provide a lower limb roller skating rehabilitation training device.

[0006] The present invention provides a lower limb roller skating rehabilitation training device, which specifically has the following functions:

[0007] 1. By controlling and / or coordinating the roller-skating foot assembly, which includes a base frame assembly, foot plate assembly, foot motor brackets, foot motors, damping and shock-absorbing roller-skating mechanism, motor connecting flange, and controller, the base frame assembly is fixedly connected to the foot plate assembly. The four foot motor brackets are fixedly connected to the base frame assembly, and each foot motor bracket is fixedly connected to a foot motor. The damping and shock-absorbing roller-skating mechanism is fixedly connected to the foot motors via the foot motor connecting flange. The control terminals of the four foot motors are connected to the controller to achieve synchronous control of the four foot motors. The foot motors can drive the roller-skating foot assembly to move and realize the movement and gliding of the lower limb exoskeleton rehabilitation device, meeting the needs of movement and gliding in specific environments and situations, and saving time and effort for patients wearing the lower limb exoskeleton robot before rehabilitation training.

[0008] 2. By controlling and / or coordinating the movement relationships of the thigh component, calf component, and roller-skating foot component, as well as the damping and shock-absorbing roller-skating mechanism that works in conjunction with the roller-skating foot component, good anti-slip capability is maintained for patients wearing the lower limb exoskeleton robot during rehabilitation training, thus achieving stability during patient rehabilitation training.

[0009] The objective of this invention can be achieved through the following technical solutions:

[0010] The present invention provides a lower limb roller skating rehabilitation training device, including a waist component, a thigh component, a calf component, a roller skating foot component, and a binding component; wherein, the waist component and the thigh component are rotatably connected, the thigh component and the calf component are fixedly connected, the calf component and the roller skating foot component are fixedly connected, and the binding component is fixedly connected to the waist component, the thigh component, the calf component, and the roller skating foot component respectively.

[0011] In one embodiment of the present invention, a lumbar assembly for connecting the lower limb of a lower limb exoskeleton rehabilitation device includes a lumbar power control box, a lumbar adjustment mechanism, and a lower limb connection mechanism, wherein the lumbar power control box is connected to the lumbar adjustment mechanism, and the lower limb connection mechanism is connected to the lumbar adjustment mechanism.

[0012] In one embodiment of the present invention, the lumbar power control box is used to install the power supply and control components of the lower limb exoskeleton rehabilitation device, and includes: a lumbar power control box body and a lumbar power control box cover, wherein the threaded holes of the lumbar power control box body and the lumbar power control box cover are fixedly connected by bolts.

[0013] In one embodiment of the present invention, the waist adjustment mechanism is used to adjust the waist width of the lower limb exoskeleton rehabilitation device, and includes: a first waist connector, an adjustment connector, and a second waist connector. The first waist connector has a first fixing part, the adjustment connector has a first sliding part and a second sliding part, and the second waist connector has a second fixing part. The first sliding part and the second sliding part are respectively connected to the threaded holes of the first fixing part and the second fixing part by bolts. By tightening or loosening the bolts, the first waist connector and the second waist connector can move simultaneously toward or away from each other, thereby adjusting the width of the waist adjustment mechanism.

[0014] In one embodiment of the present invention, the lower limb connection mechanism includes a first lower limb connection device and a second lower limb connection device. The first lower limb connection device and the second lower limb connection device are left-right symmetrical structures with the same structure and installation method. The first lower limb connection device and the second lower limb connection device are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The lower limb connection device includes a first shaft support seat, a second shaft support seat, and a shaft. The bearing holes of the first shaft support seat and the second shaft support seat are rotatably connected to the shaft by an interference fit.

[0015] In one embodiment of the present invention, the waist power control box and the waist adjustment mechanism are connected by bolts through the threaded holes of the adjustment connector, and the waist adjustment mechanism and the lower limb connection mechanism are fixedly connected by bolts through the threaded holes of the first shaft support and the second shaft support.

[0016] In one embodiment of the present invention, the thigh assembly is used to connect the waist and lower leg of the lower limb exoskeleton rehabilitation device, and includes a first thigh assembly and a second thigh assembly. The first thigh assembly and the second thigh assembly are left-right symmetrical structures with the same structure and installation method. The first thigh assembly and the second thigh assembly are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The thigh assembly includes a hip joint actuator and a thigh adjustment mechanism.

[0017] In one embodiment of the present invention, the hip joint actuator includes a hip joint motor connecting plate, a hip joint motor connecting flange, a hip joint disc brushless motor, a hip joint harmonic reducer, and a hip joint support plate. The hip joint support plate, the hip joint harmonic reducer, and the hip joint disc brushless motor are sequentially arranged on the left side of the arc end of the hip joint motor connecting plate. The arc end of the hip joint motor connecting plate has a circumferentially distributed array of internally threaded holes. These threaded holes are used to mate with the outer circumferentially distributed threaded holes of the hip joint motor connecting flange. The two are then fixedly connected by bolts. The hip joint disc brushless motor and the hip joint harmonic reducer are located around the periphery of the flange. The threaded holes in the circumferential array are fixedly connected by bolts. Generally, the hip joint disc brushless motor and the hip joint harmonic reducer are integrated into a single structure. The threaded holes in the outer circumferential array of the harmonic reducer are fixedly connected to the threaded holes in the circular array of the hip joint support plate by bolts. The central part of the harmonic reducer also has a circumferential array of threaded holes. These threaded holes mate with the circumferential array of threaded holes in the central part of the hip joint motor connecting flange. Then, the hip joint motor connecting plate, hip joint motor connecting flange, hip joint disc brushless motor, hip joint harmonic reducer, and hip joint support plate can be connected into a whole by bolts.

[0018] In the solution provided by the present invention, during the rotation of the hip joint disc brushless motor, the hip joint motor connecting plate and the hip joint motor connecting flange are driven to reciprocate through the hip joint harmonic reducer and the hip joint support plate, so that the hip joint motor connecting plate and the hip joint support plate rotate relative to each other, thereby adjusting the relative rotation of the thigh component and the waist component.

[0019] In one embodiment of the present invention, the thigh adjustment mechanism is used to adjust the thigh length of the lower limb exoskeleton rehabilitation device, and includes a thigh fixing device, a first thigh connector, a second thigh connector, and a third thigh connector. The first thigh connector, the second thigh connector, and the third thigh connector are arranged sequentially below the thigh fixing device. One end of the thigh fixing device is fixedly connected to the threaded hole at one end of the first thigh connector by a bolt. The first thigh connector is provided with a third sliding part, which is slidably connected to the second thigh connector and the third thigh connector respectively. The second thigh connector and the third thigh connector are located on the right and left sides of the third sliding part, respectively. The threaded holes at one end of the second thigh connector and the third thigh connector are fixedly connected by bolts, so that the first thigh connector and the third thigh connector move towards or away from each other at the same time, thereby adjusting the length of the thigh assembly.

[0020] In one embodiment of the present invention, the hip joint actuator and the thigh adjustment mechanism are fixedly connected by bolts through a threaded hole at one end of the hip joint support plate and one end of the thigh fixing device.

[0021] In one embodiment of the invention, the waist assembly and the thigh assembly are rotatably connected via a shaft and a hole at one end of a hip joint motor connecting plate.

[0022] In one embodiment of the present invention, the lower leg assembly is used to connect the thigh and foot of the lower limb exoskeleton rehabilitation device, and includes a first lower leg assembly and a second lower leg assembly. The first lower leg assembly and the second lower leg assembly are left-right symmetrical structures with the same structure and installation method. The first lower leg assembly and the second lower leg assembly are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The lower leg assembly includes a knee joint actuator and a lower leg adjustment mechanism.

[0023] In one embodiment of the present invention, the knee joint actuator includes a knee joint motor connecting plate, a knee joint motor connecting flange, a knee joint disc brushless motor, a knee joint harmonic reducer, and a knee joint support plate. The knee joint support plate, the knee joint harmonic reducer, and the knee joint disc brushless motor are sequentially arranged on the left side of the arc end of the knee joint motor connecting plate. The arc end of the knee joint motor connecting plate has a circumferentially distributed array of internally threaded holes. These threaded holes are used to mate with the outer circumferentially distributed array of threaded holes on the knee joint motor connecting flange. The two are then fixedly connected by bolts. The knee joint disc brushless motor and the knee joint harmonic reducer are connected by a circumferentially distributed array of internally threaded holes. The threaded holes in the array are fixedly connected by bolts. Generally, the knee joint disc brushless motor and the knee joint harmonic reducer are integrated into a single structure. The threaded holes in the outer circumferential array of the knee joint harmonic reducer are fixedly connected to the threaded holes in the circular array of the knee joint support plate by screws. The central part of the knee joint harmonic reducer also has a circumferential array of threaded holes. These threaded holes mate with the circumferential array of threaded holes in the center of the knee joint motor connecting flange. Then, the knee joint motor connecting plate, knee joint motor connecting flange, knee joint disc brushless motor, knee joint harmonic reducer, and knee joint support plate can be connected into a whole by bolts.

[0024] In this invention, during the rotation of the knee joint disc brushless motor, the knee joint harmonic reducer and the ankle joint support plate drive the ankle joint motor connecting plate and the ankle joint motor connecting flange to rotate back and forth, so that the ankle joint motor connecting plate and the ankle joint support plate rotate relative to each other, thereby adjusting the relative rotation of the thigh component and the lower leg component.

[0025] In one embodiment of the present invention, the calf adjustment mechanism is used to adjust the calf length of the lower limb exoskeleton rehabilitation device. It includes a calf fixation device, a first calf connector, a second calf connector, and a third calf connector. The first calf connector, the second calf connector, and the third calf connector are sequentially arranged below the calf fixation device. One end of the calf fixation device is fixedly connected to a threaded hole at one end of the first calf connector via bolts. The first calf connector has a fourth sliding portion, which is slidably connected to both the second and third calf connectors. The second and third calf connectors are located on the right and left sides of the fourth sliding portion, respectively. The threaded holes at one end of the second and third calf connectors are fixedly connected via bolts, allowing the first and third calf connectors to move simultaneously towards or away from each other, thereby adjusting the length of the calf assembly.

[0026] In one embodiment of the present invention, the knee joint actuator and the lower leg adjustment mechanism are fixedly connected by bolts through a threaded hole at one end of the knee joint support plate and one end of the lower leg fixing device.

[0027] In one embodiment of the present invention, the thigh assembly and the calf assembly are fixedly connected by bolts through a threaded hole at one end of a third thigh connector and a knee joint motor connecting plate.

[0028] In one embodiment of the present invention, the roller-skating foot assembly is used to drive the translational sliding of the limb exoskeleton rehabilitation device. It includes a first roller-skating foot assembly and a second roller-skating foot assembly. The first and second roller-skating foot assemblies are symmetrical structures with the same structure and installation method. The first and second roller-skating foot assemblies are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The roller-skating foot assembly includes a base frame assembly, an anti-slip and shock-absorbing roller-skating assembly, a foot plate assembly, and a controller. The anti-slip and shock-absorbing roller-skating assembly and the foot plate assembly are sequentially arranged on the base frame assembly. The base frame assembly and the foot plate assembly are fixedly connected. Four identical anti-slip and shock-absorbing roller-skating assemblies are arranged between the base frame assembly and the foot plate assembly. The anti-slip and shock-absorbing roller-skating assemblies are fixedly connected to the base frame assembly. The control terminals of the four anti-slip and shock-absorbing roller-skating assemblies are signal-connected to the controller to realize the synchronous control of the four anti-slip and shock-absorbing roller-skating assemblies, thereby driving the roller-skating foot assembly to move.

[0029] In one embodiment of the present invention, the base frame assembly includes a base frame and a foot fixing device, wherein one side of the base frame is fixedly connected to the threaded hole of the foot fixing device by bolts.

[0030] In one embodiment of the present invention, the anti-slip and shock-absorbing roller assembly includes a foot motor bracket, a foot motor, a double-track anti-slip and shock-absorbing roller mechanism, and a motor connecting flange. The foot motor bracket has the foot motor, the double-track anti-slip and shock-absorbing roller mechanism, and the motor connecting flange arranged sequentially on its right side. The double-track anti-slip and shock-absorbing roller mechanism includes a first anti-slip and shock-absorbing roller mechanism, a second anti-slip and shock-absorbing roller mechanism, a first double-track connector, and a second double-track connector. The first and second anti-slip and shock-absorbing roller mechanisms have identical structures. The first anti-slip and shock-absorbing roller mechanism includes a left plate, a middle plate, a right plate, and anti-slip rollers. The left plate has a middle section and a right plate arranged sequentially on its right side. The left plate and the middle plate... The right plate is fixedly connected to the threaded hole with bolts. Nine anti-slip tires are rotatably connected to the middle plate. On the left side of the first anti-slip and shock-absorbing wheel-sliding mechanism, there are a double-track first connector, a second anti-slip and shock-absorbing wheel-sliding mechanism, and a double-track second connector in sequence. The threaded holes of the first anti-slip and shock-absorbing wheel-sliding mechanism, the double-track first connector, the second anti-slip and shock-absorbing wheel-sliding mechanism, and the double-track second connector are fixedly connected with bolts to form a double-track anti-slip and shock-absorbing wheel-sliding mechanism. The foot motor bracket is fixedly connected to the threaded hole of the foot motor with bolts. The foot motor and the double-track anti-slip and shock-absorbing wheel-sliding mechanism are fixedly connected with bolts through the threaded hole of the motor connecting flange, so that the foot motor bracket and the double-track anti-slip and shock-absorbing wheel-sliding mechanism can rotate relative to each other.

[0031] In one embodiment of the present invention, the footboard assembly includes a footboard, a foot binding plate, and a foot pedal. The footboard is provided with the foot binding plate and the foot pedal in sequence, and the threaded holes of the footboard, the foot binding plate, and the foot pedal are fixedly connected by bolts.

[0032] In one embodiment of the present invention, the anti-slip roller should be made of a hard yet lightweight material. Therefore, in this embodiment, the anti-slip tire material is preferred so that the dual-track anti-slip and shock-absorbing roller mechanism has anti-slip and buffering characteristics.

[0033] In one embodiment of the present invention, the controller is a position controller, and the position controller is a PID controller.

[0034] In one embodiment of the present invention, the base frame is sequentially fixedly connected to the threaded holes of the foot motor bracket and the foot plate by bolts and provides support. The foot motor bracket and the foot plate are disposed on the base frame, so that the anti-slip and shock-absorbing roller skate assembly is used to provide driving force for the roller skate foot plate assembly.

[0035] In one embodiment of the present invention, the lower leg assembly and the roller skate foot assembly are fixedly connected by bolts to the threaded hole of the foot fixing device through one end of the third lower leg connector.

[0036] In one embodiment of the present invention, the binding assembly is used to fix and correct the limbs of patients wearing lower limb exoskeleton rehabilitation devices, and includes a first binding assembly and a second binding assembly. The first binding assembly and the second binding assembly are left-right symmetrical structures with the same structure and installation method. The first binding assembly and the second binding assembly are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The binding assembly includes a waist binding assembly, a thigh binding assembly, and a calf binding assembly.

[0037] In one embodiment of the invention, the waist binding member and the waist assembly are fixedly connected by bolts through the threaded holes of the first waist connector and the first waist connector.

[0038] In one embodiment of the present invention, the thigh binding assembly includes a thigh binding member and a binding fixing block. The thigh binding member and the threaded hole of the binding fixing block are fixedly connected by bolts. The thigh binding assembly and the thigh assembly are fixedly connected by bolts to the threaded hole of the binding fixing block and the second thigh connector.

[0039] In one embodiment of the present invention, the calf binding assembly includes a calf binding member and a binding fixing block. The calf binding member and the threaded hole of the binding fixing block are fixedly connected by bolts. The calf binding assembly and the calf assembly are fixedly connected by bolts to the threaded hole of the binding fixing block and the second calf connector.

[0040] The lower limb roller skating rehabilitation training device provided by this invention is used in conjunction with a lower limb exoskeleton rehabilitation device. The lower limb exoskeleton rehabilitation device can also be a wearable lower limb exoskeleton robot. Lower limb exoskeleton rehabilitation devices or wearable lower limb exoskeleton robots are existing mature structures, and this application will not provide a detailed description of the specific structure of the lower limb exoskeleton rehabilitation device or wearable lower limb exoskeleton robot. It should be noted that the lower limb exoskeleton rehabilitation device is mainly a device for lower limb rehabilitation training, including components such as the thigh, waist, calf, foot, power supply, and control components.

[0041] The present invention provides a lower limb roller skating rehabilitation training device, comprising a waist component, a thigh component, a calf component, a roller skating foot component, and a binding component; the waist component, thigh component, calf component, and roller skating foot component are sequentially connected, and the binding component is connected to the waist component, thigh component, and calf component respectively; the roller skating foot component includes a base frame component, a foot plate component, a foot motor bracket, a foot motor, an anti-slip and shock-absorbing roller skating mechanism, a motor connecting flange, and a controller, wherein the base frame component is fixedly connected to the foot plate component, four foot motor brackets are fixedly connected to the base frame component, each foot motor bracket is fixedly connected to a foot motor, the anti-slip and shock-absorbing roller skating mechanism is fixedly connected to the foot motor through the foot motor connecting flange, and the control terminals of the four foot motors are signal-connected to the controller to achieve synchronous control of the four foot motors. The foot motors can drive the roller skating foot component to move and realize the movement and gliding of the lower limb exoskeleton rehabilitation device. This invention introduces a roller skate-type foot component, which adopts an anti-slip and shock-absorbing roller skate mechanism to meet the needs of patients to glide and move before rehabilitation training, and also to meet the needs of patients to avoid relative sliding with the ground during rehabilitation exercises. The shock-absorbing and cushioning characteristics can also reduce the damage to the user's legs caused by external forces.

[0042] The working principle of the lower limb roller skating rehabilitation training device provided by this invention is as follows:

[0043] When a patient is preparing for lower limb rehabilitation training, firstly, by selecting the initial posture mode (wearing mode) through the control system, the body limbs are correctly positioned and the waist, thighs, calves and feet are secured with straps. After wearing, the patient selects the standing posture mode (starting mode) through the control system. After completing the standing posture, the patient selects the desired movement mode through the control system: translation and sliding mode or rehabilitation training mode.

[0044] Firstly, when the translational sliding motion mode is selected through the control system, under the control of the drive mechanisms of the thigh component, calf component, and roller skate foot component, the thigh component and calf component remain stationary, keeping the patient's body upright. The roller skate foot component moves, and the foot motor rotates, driving the double-track anti-slip and shock-absorbing roller skate mechanism to rotate. This causes the foot motor bracket to rotate relative to the double-track anti-slip and shock-absorbing roller skate mechanism, which in turn causes the base frame component to rotate relative to the double-track anti-slip and shock-absorbing roller skate mechanism, and then the roller skate foot component to rotate relative to the double-track anti-slip and shock-absorbing roller skate mechanism. This drives the lower limb rehabilitation training device to translate and slide, allowing the patient to reach the designated rehabilitation training location more quickly and effortlessly.

[0045] Secondly, when selecting the exercise mode for rehabilitation training through the control system, the roller skate foot component remains stationary under the control of the drive mechanisms of the thigh component, calf component, and roller skate foot component. Furthermore, in the thigh component, the hip joint actuator drives the thigh adjustment mechanism, calf component, and roller skate foot component to rotate back and forth. Furthermore, in the calf component, the knee joint actuator drives the calf adjustment mechanism and roller skate foot component to rotate back and forth. The movement relationship between the thigh component, calf component, and roller skate foot component changes. At the same time, the anti-slip and shock-absorbing roller skate component in the roller skate foot component has the function of anti-slip and shock absorption, so that the patient will not slide relative to the ground while performing rehabilitation exercises. The shock absorption and cushioning characteristics can also reduce the damage to the user's legs caused by external forces.

[0046] Compared with the prior art, the beneficial effects of the technical solution of the present invention are reflected in the following aspects:

[0047] Structurally, a roller skate foot component is introduced, and the anti-slip and shock-absorbing roller skate mechanism has the function of anti-slip and shock absorption, which meets the needs of patients to glide and move before rehabilitation training, and also meets the needs of patients to avoid relative sliding with the ground while performing rehabilitation exercises. The shock absorption and cushioning characteristics can also reduce the damage to the user's legs caused by external forces.

[0048] The system offers two movement modes: a gliding mode and a rehabilitation training mode. In the gliding mode, the patient's gliding movement is achieved by controlling the rotation of the foot motor. In the rehabilitation training mode, a new type of anti-slip and shock-absorbing roller skate mechanism is used to achieve rehabilitation exercises without relative slippage with the ground. The shock-absorbing and cushioning characteristics can reduce the damage to the user's legs caused by external forces. This allows patients to choose different modes for different environmental conditions, thus enabling more effective, safer, and more stable lower limb rehabilitation training, helping patients return to their families and society as soon as possible. Attached Figure Description

[0049] Figure 1 This is a three-dimensional structural diagram of the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0050] Figure 2 This is a three-dimensional structural diagram of the lumbar component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0051] Figure 3 This is a three-dimensional structural diagram of the lumbar power control box in the lumbar component of the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0052] Figure 4 This is a three-dimensional structural diagram of the waist adjustment mechanism and the lower limb connection mechanism in the waist component of the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0053] Figure 5 This is a three-dimensional structural diagram of the thigh component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0054] Figure 6 This is a three-dimensional structural diagram of the lower leg component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0055] Figure 7 This is a three-dimensional structural diagram of the roller skating foot component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0056] Figure 8 This is a three-dimensional structural diagram of the double-track anti-slip and shock-absorbing roller skating mechanism in the roller skating foot component of the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0057] Figure 9 This is a three-dimensional structural diagram of the waist binding component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0058] Figure 10 This is a three-dimensional structural diagram of the thigh binding component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention;

[0059] Figure 11 This is a three-dimensional structural diagram of the calf binding component in the lower limb roller skating rehabilitation training device provided in Embodiment 1 of the present invention.

[0060] The numbers in the diagram are as follows:

[0061] 1. Waist assembly, 101. Waist power control box, 101_1. Waist power control box cover, 101_2. Waist power control box body, 102. Waist adjustment mechanism, 102_1. First waist connector, 102_1_1. First fixing part, 102_2. Adjustment connector, 102_2_1. First sliding part, 102_2_2. Second sliding part, 102_3. Second waist connector, 102_3_1. Second fixing part, 103. Lower limb connection mechanism, 103_1. First shaft support, 103_2. Shaft, 103_3. Second shaft support;

[0062] 2. Thigh assembly, 201. Hip joint actuator, 201_1. Hip joint motor connecting plate, 201_2. Hip joint motor connecting flange, 201_3. Hip joint disc brushless motor, 201_4. Hip joint harmonic reducer, 201_5. Hip joint support plate, 202. Thigh adjustment mechanism, 202_1. Thigh fixation device, 202_2. First thigh connector, 202_2_1. Third sliding part, 202_3. Second thigh connector, 202_4. Third thigh connector;

[0063] 3. Lower leg assembly, 301. Knee joint actuator, 301_1. Knee joint motor connecting plate, 301_2. Knee joint motor connecting flange, 301_3. Knee joint disc brushless motor, 301_4. Knee joint harmonic reducer, 301_5. Knee joint support plate, 302. Lower leg adjustment mechanism, 302_1. Lower leg fixing device, 302_2. First lower leg connector, 302_2_1. Fourth sliding part, 302_3. Second lower leg connector, 302_4. Third lower leg connector;

[0064] 4. Roller-type foot assembly, 401. Base frame assembly, 401_1. Base frame, 401_2. Foot fixing device, 402. Anti-slip and shock-absorbing roller assembly, 402_1. Foot motor bracket, 402_2. Foot motor, 402_3. Double-track anti-slip and shock-absorbing roller mechanism, 402_3_1. First anti-slip and shock-absorbing roller mechanism, 402_3_2. Double-track first connector, 402_3_3. Second anti-slip and shock-absorbing roller mechanism, 402_3_1_1. Left plate, 402_3_1_2. Middle plate, 402_3_1_3. Right plate, 402_3_1_4. Anti-slip roller, 402_3_4. Double-track second connector, 402_4. Motor connection flange, 403. Foot plate assembly, 403_1. Foot plate, 403_2. Foot binding plate, 403_3. Foot pedal;

[0065] 5 Binding components, 501 Waist binding component, 502 Thigh binding component, 502_1 Thigh binding component, 502_2 Binding fixing block, 503 Lower leg binding component, 503_1 Lower leg binding component, 503_2 Binding fixing block. Detailed Implementation

[0066] To make the embodiments, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Those skilled in the art should understand that these embodiments are merely used to explain the technical aspects of the present invention and are not intended to limit the scope of protection of the present invention.

[0067] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0068] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0069] In this invention, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0072] Example 1

[0073] refer to Figure 1 The lower limb roller skating rehabilitation training device provided in this embodiment includes a waist component 1, a thigh component 2, a calf component 3, a roller skating foot component 4, and a binding component 5; wherein, the waist component 1 is rotatably connected to the thigh component 2, the thigh component 2 is fixedly connected to the calf component 3, the calf component 3 is fixedly connected to the roller skating foot component 4, and the binding component 5 is fixedly connected to the waist component 1, the thigh component 2, the calf component 3, and the roller skating foot component 4 respectively.

[0074] refer to Figure 2In this embodiment, the waist component 1 is used to connect the lower limb of the lower limb exoskeleton rehabilitation device, including a waist power control box 101, a waist adjustment mechanism 102 and a lower limb connection mechanism 103, wherein the waist power control box 101 is connected to the waist adjustment mechanism 102 and the lower limb connection mechanism 103 is connected to the waist adjustment mechanism 102.

[0075] refer to Figure 3 In this embodiment, the lumbar power control box 101 is used to install the power supply and control components of the lower limb exoskeleton rehabilitation device, including: lumbar power control box cover 101_1 and lumbar power control box body 101_2. The threaded holes of the lumbar power control box cover 101_1 and the lumbar power control box body 101_2 are fixedly connected by bolts.

[0076] refer to Figure 4 In this embodiment, the waist adjustment mechanism 102 is used to adjust the waist width of the lower limb exoskeleton rehabilitation device. It includes a first waist connector 102_1, an adjustment connector 102_2, and a second waist connector 102_3. The first waist connector 102_1 has a first fixing part 102_1_1, the adjustment connector 102_2 has a first sliding part 102_2_1 and a second sliding part 102_2_2, and the second waist connector 102_3 has a second fixing part 102_3_1. The first sliding part 102_2_1 and the second sliding part 102_2_2 are respectively connected to the threaded holes of the first fixing part 102_1_1 and the second fixing part 102_3_1 by bolts. By tightening or loosening the bolts, the first waist connector 102_1 and the second waist connector 102_3 can move simultaneously toward or away from each other, thereby adjusting the width of the waist adjustment mechanism.

[0077] Further reference Figure 4 In this embodiment, the lower limb connection mechanism 103 includes a first lower limb connection device and a second lower limb connection device. The first lower limb connection device and the second lower limb connection device are left-right symmetrical structures with the same structure and installation method. The first lower limb connection device and the second lower limb connection device are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The lower limb connection device 103 includes a first shaft support seat 103_1, a second shaft support seat 103_3, and a shaft 103_2. The bearing holes of the first shaft support seat 103_1 and the second shaft support seat 103_3 are rotatably connected to the shaft 103_2 by interference fit.

[0078] Further reference Figure 2 , Figure 3 and Figure 4In this embodiment, the waist power control box 101 and the waist adjustment mechanism 102 are connected by bolts through the threaded holes of the adjustment connector 102_2, and the waist adjustment mechanism 102 and the lower limb connection mechanism 103 are fixedly connected by bolts through the threaded holes of the first shaft support 103_1 and the second shaft support 103_2.

[0079] refer to Figure 1 and Figure 5 In this embodiment, the thigh assembly 2 is used to connect the waist and lower leg of the lower limb exoskeleton rehabilitation device. It includes a first thigh assembly and a second thigh assembly. The first thigh assembly and the second thigh assembly are left-right symmetrical structures with the same structure and installation method. The first thigh assembly and the second thigh assembly are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The thigh assembly 2 includes a hip joint actuator 201 and a thigh adjustment mechanism 202.

[0080] Further reference Figure 1 and Figure 5 In this embodiment, the hip joint actuator 201 includes a hip joint motor connecting plate 201_1, a hip joint motor connecting flange 201_2, a hip joint disc brushless motor 201_3, a hip joint harmonic reducer 201_4, and a hip joint support plate 201_5. The left side of the arc end of the hip joint motor connecting plate 201_1 is sequentially provided with the hip joint support plate 201_5, the hip joint harmonic reducer 201_4, and the hip joint disc brushless motor 201_3. The arc end of the hip joint motor connecting plate 201_1 has a circumferentially distributed array of internal threaded holes. These threaded holes are used to mate with the outer circumferentially distributed array of threaded holes of the hip joint motor connecting flange 201_2. The two are then fixedly connected by bolts. The hip joint disc brushless motor 201_3 and the hip joint harmonic reducer 201_4... The threaded holes in the outer circumferential array are fixedly connected by bolts (generally, the hip joint disc brushless motor 201_3 and the hip joint harmonic reducer 201_4 are integrated into a single structure). The threaded holes in the outer circumferential array of the harmonic reducer 201_4 are fixedly connected to the threaded holes in the circular array of the hip joint support plate 201_5 by bolts. The central part of the harmonic reducer 201_4 also has a circumferential array of threaded holes, which mate with the circumferential array of threaded holes in the central part of the hip joint motor connecting flange 201_2. Then, the hip joint motor connecting plate 201_1, hip joint motor connecting flange 201_2, hip joint disc brushless motor 201_3, hip joint harmonic reducer 201_4, and hip joint support plate 201_5 can be connected into a whole by bolts.

[0081] In this embodiment, during the rotation of the hip joint disc brushless motor 201_3, the hip joint motor connecting plate 201_1 and hip joint motor connecting flange 201_2 are driven to reciprocate through the hip joint harmonic reducer 201_4 and hip joint support plate 201_5, so that the hip joint motor connecting plate 201_1 and hip joint support plate 201_5 rotate relative to each other, thereby adjusting the relative rotation between the thigh component 2 and the waist component 1.

[0082] Further reference Figure 1 and Figure 5 In this embodiment, the thigh adjustment mechanism 202 is used to adjust the thigh length of the lower limb exoskeleton rehabilitation device. It includes a thigh fixation device 202_1, a first thigh connector 202_2, a second thigh connector 202_3, and a third thigh connector 202_4. The first thigh connector 202_2, the second thigh connector 202_3, and the third thigh connector 202_4 are sequentially arranged below the thigh fixation device 202_1. One end of the thigh fixation device 202_1 is fixedly connected to one end of the threaded hole of the first thigh connector 202_2 by a bolt. The first thigh connector 202_2... 2_2 is provided with a third sliding part 202_2_1, which is slidably connected to the second thigh connector 202_3 and the third thigh connector 202_4 respectively. The second thigh connector 202_3 and the third thigh connector 202_4 are located on the right and left sides of the third sliding part 202_2_1 respectively. The threaded holes at one end of the second thigh connector 202_3 and the third thigh connector 202_4 are fixedly connected by bolts, so that the first thigh connector 202_2 and the third thigh connector 202_4 move towards each other or away from each other at the same time, thereby adjusting the length of the thigh assembly 2.

[0083] The hip joint disc brushless motor 201_3 and the hip joint harmonic reducer 201_4 are structures well known to those skilled in the art, so the internal structure of the hip joint disc brushless motor 201_3 and the hip joint harmonic reducer 201_4 will not be described in detail here.

[0084] Further reference Figure 5 In this embodiment, the hip joint actuator 201 and the thigh adjustment mechanism 202 are fixedly connected by bolts through the threaded holes at one end of the hip joint support plate 201_5 and one end of the thigh fixing device 202_1.

[0085] Further reference Figure 1 and Figure 5 In this embodiment, the waist component 1 and the thigh component 2 are rotatably connected to one end of the hip joint motor connecting plate 201_1 via a shaft 103_2.

[0086] refer to Figure 1 and Figure 6In this embodiment, the lower leg assembly 3 is used to connect the thigh and foot of the lower limb exoskeleton rehabilitation device. It includes a first lower leg assembly and a second lower leg assembly. The first lower leg assembly and the second lower leg assembly are left-right symmetrical structures with the same structure and installation method. The first lower leg assembly and the second lower leg assembly are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The lower leg assembly 3 includes a knee joint actuator 301 and a lower leg adjustment mechanism 302.

[0087] Further reference Figure 1 and Figure 6 In this embodiment, the knee joint actuator 301 includes a knee joint motor connecting plate 301_1, a knee joint motor connecting flange 301_2, a knee joint disc brushless motor 301_3, a knee joint harmonic reducer 301_4, and a knee joint support plate 301_5. The knee joint support plate 301_5, the knee joint harmonic reducer 301_4, and the knee joint disc brushless motor 301_3 are sequentially arranged on the left side of the arc end of the knee joint motor connecting plate 301_1. The arc end of the knee joint motor connecting plate 301_1 has a circumferentially distributed array of internal threaded holes. These threaded holes are used to mate with the outer circumferentially distributed threaded holes of the knee joint motor connecting flange 301_2. The two are then fixedly connected by bolts. The knee joint disc brushless motor 301_3 and the knee joint harmonic reducer 301_4 are located around... The threaded holes in the circumferential array are fixedly connected by bolts (generally, the knee joint disc brushless motor 301_3 and the knee joint harmonic reducer 301_4 are integrated into a single structure). The threaded holes in the outer circumferential array of the knee joint harmonic reducer 301_4 are fixedly connected to the threaded holes in the circular array of the knee joint support plate 301_5 by screws. The central part of the knee joint harmonic reducer 301_4 also has a circumferential array of threaded holes. These threaded holes mate with the circumferential array of threaded holes in the central part of the knee joint motor connecting flange 301_2. Then, the knee joint motor connecting plate 301_1, the knee joint motor connecting flange 301_2, the knee joint disc brushless motor 301_3, the knee joint harmonic reducer 301_4, and the knee joint support plate 301_5 can be connected into a whole by bolts.

[0088] In this embodiment, during the rotation of the knee joint disc brushless motor 301_3, the knee joint harmonic reducer 301_4 and the ankle joint support plate 301_5 drive the ankle joint motor connecting plate 301_1 and the ankle joint motor connecting flange 301_2 to reciprocate, causing the ankle joint motor connecting plate 301_1 and the ankle joint support plate 301_5 to rotate relative to each other, thereby adjusting the relative rotation of the thigh assembly 2 and the lower leg assembly 3.

[0089] Further reference Figure 1 and Figure 6In this embodiment, the calf adjustment mechanism 302 is used to adjust the calf length of the lower limb exoskeleton rehabilitation device. It includes a calf fixation device 302_1, a first calf connector 302_2, a second calf connector 302_3, and a third calf connector 302_4. The first calf connector 302_2, the second calf connector 302_3, and the third calf connector 302_4 are sequentially arranged below the calf fixation device 302_1. One end of the calf fixation device 302_1 is fixedly connected to the threaded hole at one end of the first calf connector 302_2 by a bolt. The first calf connector 302_2... 02_2 is provided with a fourth sliding part 302_2_1, which is slidably connected to the second lower leg connector 302_3 and the third lower leg connector 302_4 respectively. The second lower leg connector 302_3 and the third lower leg connector 302_4 are located on the right and left sides of the fourth sliding part 302_2_1 respectively. The threaded holes at one end of the second lower leg connector 302_3 and the third lower leg connector 302_4 are fixedly connected by bolts, so that the first lower leg connector 302_2 and the third lower leg connector 302_4 move towards each other or away from each other at the same time, thereby adjusting the length of the lower leg assembly.

[0090] The knee joint disc brushless motor 301_3 and the knee joint harmonic reducer 301_4 are structures well known to those skilled in the art, so the internal structure of the knee joint disc brushless motor 301_3 and the knee joint harmonic reducer 301_4 will not be described in detail here.

[0091] Further reference Figure 6 In this embodiment, the knee joint actuator 301 and the lower leg adjustment mechanism 302 are fixedly connected by bolts through the threaded holes at one end of the knee joint support plate 301_5 and one end of the lower leg fixing device 302_1.

[0092] Further reference Figure 1 and Figure 6 In this embodiment, the thigh assembly 2 and the lower leg assembly 3 are fixedly connected by bolts through a threaded hole at one end of the third thigh connector 202_4 and one end of the knee joint motor connecting plate 301_1.

[0093] refer to Figure 1 and Figure 7In this embodiment, the roller-skating foot assembly 4 is used to drive the translational sliding of the limb exoskeleton rehabilitation device. It includes a first roller-skating foot assembly and a second roller-skating foot assembly. The first and second roller-skating foot assemblies are symmetrical structures with identical structures and installation methods. The first and second roller-skating foot assemblies are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The roller-skating foot assembly 4 includes a base frame assembly 401, an anti-slip and shock-absorbing roller-skating assembly 402, a footplate assembly 403, and a controller. The component 401 is provided with an anti-slip and shock-absorbing roller slide assembly 402 and a foot plate assembly 403 in sequence. The base frame assembly 401 is fixedly connected to the foot plate assembly 403. Four identical anti-slip and shock-absorbing roller slide assemblies 402 are provided between the base frame assembly 401 and the foot plate assembly 403. The anti-slip and shock-absorbing roller slide assemblies 402 are fixedly connected to the base frame assembly 401. The control terminals of the four anti-slip and shock-absorbing roller slide assemblies 402 are connected to the controller signal to realize the synchronous control of the four anti-slip and shock-absorbing roller slide assemblies 402, thereby driving the roller slide foot assembly 4 to move.

[0094] Further reference Figure 7 In this embodiment, the base frame assembly 401 includes a base frame 401_1 and a foot fixing device 401_2. One side of the base frame 401_1 is fixedly connected to the threaded hole of the foot fixing device 401_2 by bolts.

[0095] refer to Figure 8In this embodiment, the anti-slip and shock-absorbing roller assembly 402 includes a foot motor bracket 402_1, a foot motor 402_2, a double-track anti-slip and shock-absorbing roller mechanism 402_3, and a motor connecting flange 402_4. The foot motor bracket 402_1 has the foot motor 402_2, the double-track anti-slip and shock-absorbing roller mechanism 402_3, and the motor connecting flange 402_4 arranged sequentially on its right side. The double-track anti-slip and shock-absorbing roller mechanism 402_3 includes a first anti-slip and shock-absorbing roller mechanism 402_3_1 and a second anti-slip and shock-absorbing roller mechanism 402_3_3. The first connecting piece 402_3_2 and the second connecting piece 402_3_4 of the double track, the first anti-slip and shock-absorbing roller sliding mechanism 402_3_1 and the second anti-slip and shock-absorbing roller sliding mechanism 402_3_3 are structurally identical. The first anti-slip and shock-absorbing roller sliding mechanism 402_3_1 includes a left plate 402_3_1_1, a middle plate 402_3_1_2, a right plate 402_3_1_3, and an anti-slip roller 402_3_1_4. The middle plate 402_3_1_2 and the right plate 402_3_1_3 are sequentially arranged on the right side of the left plate 402_3_1_1. The threaded holes of the left plate 402_3_1_1, the middle plate 402_3_1_2, and the right plate 402_3_1_3 are fixedly connected by bolts. Nine anti-slip tires 402_3_1_4 are rotatably connected to the middle plate 402_3_12. On the left side of the first anti-slip and shock-absorbing wheel sliding mechanism 402_3_1, there are sequentially arranged a first double track connector 402_3_2, a second anti-slip and shock-absorbing wheel sliding mechanism 402_3_3, and a second double track connector 402_3_4. The first anti-slip and shock-absorbing wheel sliding mechanism 402_3_1 and the first double track connector 402_3_2 are connected. The second anti-slip and shock-absorbing roller mechanism 402_3_3 and the threaded hole of the double track second connector 402_3_4 are fixedly connected by bolts to form the double track anti-slip and shock-absorbing roller mechanism 402_3. The threaded hole of the foot motor bracket 402_1 and the foot motor 402_2 are fixedly connected by bolts. The foot motor 402_2 and the double track anti-slip and shock-absorbing roller mechanism 402_3 are fixedly connected by bolts through the threaded hole of the motor connecting flange 402_4, so that the foot motor bracket 402_1 and the double track anti-slip and shock-absorbing roller mechanism 402_3 can rotate relative to each other.

[0096] Further reference Figure 7 In this embodiment, the foot plate assembly 403 includes a foot plate 403_1, a foot binding plate 403_2, and a foot pedal 403_3. The foot plate 403_1 is provided with the foot binding plate 403_2 and the foot pedal 403_3 in sequence. The threaded holes of the foot plate 403_1, the foot binding plate 403_2, and the foot pedal 403_3 are fixedly connected by bolts.

[0097] The anti-slip rollers 402_3_1_4 should be made of hard yet lightweight materials. Therefore, in this embodiment, anti-slip tire material is preferred so that the dual-track anti-slip and shock-absorbing roller mechanism 402_3 has anti-slip and buffering characteristics.

[0098] The controller is a position controller, which is a PID controller. The controller is a structure well known to those skilled in the art, so its internal structure will not be described in detail here.

[0099] The foot motor 402_2 is a structure well known to those skilled in the art, so its internal structure will not be described in detail here.

[0100] Further reference Figure 7 In this embodiment, the base frame 401_1 is fixedly connected to the threaded holes of the foot motor bracket 402_1 and the foot plate 403_1 in sequence by bolts and provides support. The foot motor bracket 402_1 and the foot plate 403_1 are set on the base frame 401_1 so that the anti-slip and shock-absorbing roller assembly 402 is used to provide driving force for the roller foot assembly 4.

[0101] Further reference Figure 1 and Figure 7 In this embodiment, the lower leg assembly 3 and the roller skate foot assembly 4 are fixedly connected by bolts through the threaded hole of the foot fixing device 401_2 at one end of the third lower leg connector 302_4.

[0102] refer to Figure 1 , Figure 9 , Figure 10 , Figure 11 In this embodiment, the binding component 5 is used to fix and correct the limbs of patients wearing lower limb exoskeleton rehabilitation devices. It includes a first binding component and a second binding component. The first binding component and the second binding component are left-right symmetrical structures with the same structure and installation method. The first binding component and the second binding component are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The binding component 5 includes a waist binding component 501, a thigh binding component 502, and a calf binding component 503.

[0103] Further reference Figure 1 , Figure 2 , Figure 4 and Figure 9 In this embodiment, the waist binding member 501 and the waist assembly 1 are fixedly connected by bolts through the threaded holes of the first waist connector 102_1 and the first waist connector 102_2.

[0104] Further reference Figure 1 , Figure 5 and Figure 10In this embodiment, the thigh binding assembly 502 includes a thigh binding member 502_1 and a binding fixing block 502_2. The threaded holes of the thigh binding member 502_1 and the binding fixing block 502_2 are fixedly connected by bolts. The thigh binding assembly 502 and the thigh assembly 2 are fixedly connected by bolts through the threaded holes of the binding fixing block 502_2 and the second thigh connector 202_3.

[0105] Further reference Figure 1 , Figure 6 and Figure 11 In this embodiment, the lower leg binding assembly 503 includes a lower leg binding member 503_1 and a binding fixing block 503_2. The lower leg binding member 503_1 and the binding fixing block 503_2 are fixedly connected by bolts through the threaded holes. The lower leg binding assembly 503 and the lower leg assembly 3 are fixedly connected by bolts through the binding fixing block 503_2 and the threaded holes of the second lower leg connector 302_3.

[0106] The working principle of the lower limb roller skating rehabilitation training device provided by this invention is as follows:

[0107] When a patient is preparing for lower limb rehabilitation training, firstly, by selecting the initial posture mode (wearing mode) through the control system, the body limbs are correctly positioned and the waist, thighs, calves and feet are secured with straps. After wearing, the patient selects the standing posture mode (starting mode) through the control system. After completing the standing posture, the patient selects the desired movement mode through the control system: translation and sliding mode or rehabilitation training mode.

[0108] First, when the translational sliding motion mode is selected through the control system, under the control of the drive mechanisms of the thigh component 2, calf component 3, and roller-skating foot component 4, the thigh component 2 and calf component 3 remain stationary, keeping the patient's body upright. The roller-skating foot component 4 moves, and the foot motor 402_2 rotates, driving the double-track anti-slip and shock-absorbing roller-skating mechanism 402_3 to rotate. This causes the foot motor bracket 402_1 to rotate relative to the double-track anti-slip and shock-absorbing roller-skating mechanism 402_3, which in turn causes the base frame component 401 to rotate relative to the double-track anti-slip and shock-absorbing roller-skating mechanism 402_3, and then the roller-skating foot component 4 to rotate relative to the double-track anti-slip and shock-absorbing roller-skating mechanism 402_3. This drives the lower limb rehabilitation training device to translate and slide, allowing the patient to reach the designated rehabilitation training location more quickly and effortlessly.

[0109] Secondly, when selecting the exercise mode for rehabilitation training through the control system, under the control of the drive mechanisms of the thigh component 2, calf component 3, and roller skate foot component 4, the roller skate foot component 4 remains stationary. Furthermore, in the thigh component 2, the hip joint actuator 201 drives the thigh adjustment mechanism 202, calf component 3, and roller skate foot component 4 to rotate back and forth. Furthermore, in the calf component 3, the knee joint actuator 301 drives the calf adjustment mechanism 302 and roller skate foot component 4 to rotate back and forth. The movement relationship between the thigh component 2, calf component 3, and roller skate foot component 4 changes. At the same time, the anti-slip and shock-absorbing roller skate component 402 in the roller skate foot component 4 has the function of anti-slip and shock absorption, so that the patient will not slide relative to the ground while performing rehabilitation exercises. The shock absorption and cushioning characteristics can also reduce the damage to the user's legs caused by external forces.

[0110] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A lower limb roller-skating rehabilitation training device, characterized in that, The device comprises a waist component (1), a thigh component (2), a lower leg component (3), a rollerblade foot component (4) and a binding component (5); wherein the waist component (1) is rotationally connected with the thigh component (2), the thigh component (2) is fixedly connected with the lower leg component (3), the lower leg component (3) is fixedly connected with the rollerblade foot component (4), and the binding component (5) is fixedly connected with the waist component (1), the thigh component (2), the lower leg component (3) and the rollerblade foot component (4) respectively; The rollerblade foot component (4) is used for driving the translation sliding of the exoskeleton rehabilitation device, and comprises a first rollerblade foot component and a second rollerblade foot component. The first rollerblade foot component and the second rollerblade foot component are left-right symmetrical structures which are the same in structure and mounting mode. The first rollerblade foot component and the second rollerblade foot component are respectively installed on both sides of the lower limb exoskeleton rehabilitation device. The rollerblade foot component (4) comprises a chassis component (401), an anti-skid damping rollerblade component (402), a foot plate component (403) and a controller. The anti-skid damping rollerblade component (402) and the foot plate component (403) are sequentially arranged on the upper surface of the chassis component (401). The chassis component (401) is fixedly connected with the foot plate component (403). Four same anti-skid damping rollerblade components (402) are arranged between the chassis component (401) and the foot plate component (403). The anti-skid damping rollerblade component (402) is fixedly connected with the chassis component (401). The control ends of the four anti-skid damping rollerblade components (402) are signal-connected with the controller, so as to realize the synchronous control of the four anti-skid damping rollerblade components (402), thereby driving the rollerblade foot component (4) to move. The anti-skid damping wheel sliding type assembly (402) comprises a foot motor support (402_1), a foot motor (402_2), a double-track anti-skid damping wheel sliding type mechanism (402_3) and a motor connecting flange (402_4), the foot motor support (402_1) is sequentially provided with the foot motor (402_2), the double-track anti-skid damping wheel sliding type mechanism (402_3) and the motor connecting flange (402_4) from right to left, wherein the double-track anti-skid damping wheel sliding type mechanism (402_3) comprises a first anti-skid damping wheel sliding type mechanism (402_3_1), a second anti-skid damping wheel sliding type mechanism (402_3_3), a double-track first connecting piece (402_3_2) and a double-track second connecting piece (402_3_4), the first anti-skid damping wheel sliding type mechanism (402_3_1) and the second anti-skid damping wheel sliding type mechanism (402_3_3) are of the same structure; the first anti-skid damping wheel sliding type mechanism (402_3_1) comprises a left plate (402_3_1_1), a middle plate (402_3_1_2), a right plate (402_3_1_3) and an anti-skid damping wheel (402_3_1_4), the left plate (402_3_1_1) is sequentially provided with the middle plate (402_3_1_2) and the right plate (402_3_1_3) from right to left, the threaded holes of the left plate (402_3_1_1), the middle plate (402_3_1_2) and the right plate (402_3_1_3) are fixedly connected through bolts, the anti-skid damping wheel (402_3_1_4) is rotationally connected with the middle plate (402_3_1_2), the first anti-skid damping wheel sliding type mechanism (402_3_1) is sequentially provided with the double-track first connecting piece (402_3_2), the second anti-skid damping wheel sliding type mechanism (402_3_3) and the double-track second connecting piece (402_3_4) from left to right, the threaded holes of the first anti-skid damping wheel sliding type mechanism (402_3_1), the double-track first connecting piece (402_3_2), the second anti-skid damping wheel sliding type mechanism (402_3_3) and the double-track second connecting piece (402_3_4) are fixedly connected through bolts, so that the double-track anti-skid damping wheel sliding type mechanism (402_3) is formed, the threaded holes of the foot motor support (402_1) and the foot motor (402_2) are fixedly connected through bolts, and the foot motor (402_2) and the double-track anti-skid damping wheel sliding type mechanism (402_3) are fixedly connected through the threaded holes of the motor connecting flange (402_4) through bolts, so that the foot motor support (402_1) and the double-track anti-skid damping wheel sliding type mechanism (402_3) are relatively rotatable.

2. The lower limb roller-skating type rehabilitation training device according to claim 1, characterized in that, The waist assembly (1) is used for connecting a lower limb of a lower limb exoskeleton rehabilitation device, and comprises a waist power supply control box (101), a waist adjusting mechanism (102) and a lower limb connecting mechanism (103), wherein the waist power supply control box (101) is connected with the waist adjusting mechanism (102), and the lower limb connecting mechanism (103) is connected with the waist adjusting mechanism (102); The waist power supply control box (101) is used for mounting a power supply and control components of the lower limb exoskeleton rehabilitation device; The waist adjusting mechanism (102) is used for adjusting the waist width of the lower extremity exoskeleton rehabilitation device, and comprises a first waist connecting piece (102_1), an adjusting connecting piece (102_2) and a second waist connecting piece (102_3). The first waist connecting piece (102_1) is provided with a first fixing part (102_1_1), the adjusting connecting piece (102_2) is provided with a first sliding part (102_2_1) and a second sliding part (102_2_2), and the second waist connecting piece (102_3) is provided with a second fixing part (102_3_1). The first sliding part (102_2_1) and the second sliding part (102_2_2) are connected with the first fixing part (102_1_1) and the second fixing part (102_3_1) by bolts, respectively. The first waist connecting piece (102_1) and the second waist connecting piece (102_3) are simultaneously moved towards or away from each other by the tightness of the bolts, so as to adjust the width of the waist adjusting mechanism.

3. The lower limb roller-skating type rehabilitation training device according to claim 2, characterized in that, The lower extremity connecting mechanism (103) comprises a first lower extremity connecting device and a second lower extremity connecting device. The first lower extremity connecting device and the second lower extremity connecting device are left-right symmetrical structures with the same structure and installation mode. The first lower extremity connecting device and the second lower extremity connecting device are installed on the two sides of the lower extremity exoskeleton rehabilitation device, respectively. The lower extremity connecting device (103) comprises a first shaft support seat (103_1), a second shaft support seat (103_3) and a shaft (103_2). The bearing holes of the first shaft support seat (103_1) and the second shaft support seat (103_3) are rotationally connected with the shaft (103_2) through interference fit; The waist adjusting mechanism (102) is fixedly connected with the lower extremity connecting mechanism (103).

4. The lower limb roller-skating type rehabilitation training device according to claim 1, characterized in that, The thigh assembly (2) is used for connecting the waist and the lower leg of the lower extremity exoskeleton rehabilitation device, and comprises a first thigh assembly and a second thigh assembly. The first thigh assembly and the second thigh assembly are left-right symmetrical structures with the same structure and installation mode. The first thigh assembly and the second thigh assembly are installed on the two sides of the lower extremity exoskeleton rehabilitation device, respectively. The thigh assembly (2) comprises a hip joint actuating mechanism (201) and a thigh adjusting mechanism (202); The hip joint actuating mechanism (201) comprises a hip joint motor connecting plate (201_1), a hip joint motor connecting flange (201_2), a hip joint disc type brushless motor (201_3), a hip joint harmonic reducer (201_4) and a hip joint support plate (201_5). The hip joint motor connecting plate (201_1), the hip joint motor connecting flange (201_2), the hip joint disc type brushless motor (201_3), the hip joint harmonic reducer (201_4) and the hip joint support plate (201_5) are connected into an integral whole by bolts. In the process of rotating the hip joint disc type brushless motor (201_3), the hip joint harmonic reducer (201_4) and the hip joint support plate (201_5) drive the hip joint motor connecting plate (201_1) and the hip joint motor connecting flange (201_2) to rotate reciprocatingly, so that the hip joint motor connecting plate (201_1) and the hip joint support plate (201_5) rotate relatively, thereby adjusting the relative rotation of the thigh assembly (2) and the waist assembly (1). The thigh adjusting mechanism (202) is used for adjusting the length of the thigh of the lower extremity exoskeleton rehabilitation device, and comprises a thigh fixing device (202_1), a first thigh connecting piece (202_2), a second thigh connecting piece (202_3) and a third thigh connecting piece (202_4). The first thigh connecting piece (202_2), the second thigh connecting piece (202_3) and the third thigh connecting piece (202_4) are sequentially arranged below the thigh fixing device (202_1). One end of the thigh fixing device (202_1) is fixedly connected with one end of the first thigh connecting piece (202_2) through a threaded hole and a bolt. The first thigh connecting piece (202_2) is provided with a third sliding part (202_2_1). The third sliding part (202_2_1) is slidably connected with the second thigh connecting piece (202_3) and the third thigh connecting piece (202_4) respectively. The second thigh connecting piece (202_3) and the third thigh connecting piece (202_4) are located on the right and left sides of the third sliding part (202_2_1) respectively. The threaded holes at one end of the second thigh connecting piece (202_3) and the third thigh connecting piece (202_4) are fixedly connected through bolts, so that the first thigh connecting piece (202_2) and the third thigh connecting piece (202_4) move towards or away from each other simultaneously, thereby adjusting the length of the thigh assembly (2).

5. The lower limb roller-skating rehabilitation training device according to claim 1, characterized in that, The calf assembly (3) is used for connecting the thigh and the foot of the lower extremity exoskeleton rehabilitation device, and comprises a first calf assembly and a second calf assembly. The first calf assembly and the second calf assembly are left-right symmetrical structures which are the same in structure and mounting mode. The first calf assembly and the second calf assembly are respectively mounted on the two sides of the lower extremity exoskeleton rehabilitation device. The calf assembly (3) comprises a knee joint actuating mechanism (301) and a calf adjusting mechanism (302).

6. The lower limb roller-skating type rehabilitation training device according to claim 5, characterized in that, The knee joint actuating mechanism (301) comprises a knee joint motor connecting plate (301_1), a knee joint motor connecting flange (301_2), a knee joint disc type brushless motor (301_3), a knee joint harmonic reducer (301_4) and a knee joint support plate (301_5). The knee joint motor connecting plate (301_1), the knee joint motor connecting flange (301_2), the knee joint disc type brushless motor (301_3), the knee joint harmonic reducer (301_4) and the knee joint support plate (301_5) are connected into an integral whole through bolts. In the process of rotating the knee disc type brushless motor (301_3), the knee harmonic reducer (301_4), the ankle support plate (301_5), the ankle motor connecting plate (301_1), and the ankle motor connecting flange (301_2) are driven to rotate reciprocally, so that the ankle motor connecting plate (301_1) and the ankle support plate (301_5) rotate relatively, thereby adjusting the relative rotation of the thigh assembly (2) and the lower leg assembly (3). The lower leg adjusting mechanism (302) is used for adjusting the length of the lower leg of the lower extremity exoskeleton rehabilitation device, and includes a lower leg fixing device (302_1), a first lower leg connecting piece (302_2), a second lower leg connecting piece (302_3), and a third lower leg connecting piece (302_4). The lower leg fixing device (302_1) is sequentially provided with the first lower leg connecting piece (302_2), the second lower leg connecting piece (302_3), and the third lower leg connecting piece (302_4) from bottom to top. One end of the lower leg fixing device (302_1) is fixedly connected with a threaded hole at one end of the first lower leg connecting piece (302_2) through a bolt. The first lower leg connecting piece (302_2) is provided with a fourth sliding part (302_2_1). The fourth sliding part (302_2_1) is slidably connected with the second lower leg connecting piece (302_3) and the third lower leg connecting piece (302_4), respectively. The second lower leg connecting piece (302_3) and the third lower leg connecting piece (302_4) are located on the right and left sides of the fourth sliding part (302_2_1), respectively. The second lower leg connecting piece (302_3) and the third lower leg connecting piece (302_4) are fixedly connected with threaded holes at one end thereof through bolts, so that the first lower leg connecting piece (302_2) and the third lower leg connecting piece (302_4) move towards or away from each other simultaneously, thereby adjusting the length of the lower leg assembly.

7. The lower limb roller-skating rehabilitation training device according to claim 1, characterized in that, The foot plate assembly (403) includes a foot plate (403_1), a foot binding plate (403_2), and a foot pedal (403_3). The foot plate (403_1) is sequentially provided with the foot binding plate (403_2) and the foot pedal (403_3) from top to bottom. The foot plate (403_1) is fixedly connected with threaded holes of the foot binding plate (403_2) and the foot pedal (403_3) through bolts.

8. The lower limb roller-skating rehabilitation training device according to claim 1, characterized in that, The binding assembly (5) is used for fixing and correcting the limbs of a patient wearing the lower extremity exoskeleton rehabilitation device. The binding assembly (5) is provided with two groups, i.e., a first binding assembly and a second binding assembly. The first binding assembly and the second binding assembly are left-right symmetrical structures with the same structure and installation mode. The first binding assembly and the second binding assembly are installed on the two sides of the lower extremity exoskeleton rehabilitation device, respectively. The binding assembly (5) is composed of a waist binding piece (501), a thigh binding assembly (502), and a lower leg binding assembly (503).

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