Single lower extremity exoskeleton rehabilitation device

Abstract

The present application belongs to the technical field of exoskeleton, and particularly relates to a single lower limb exoskeleton rehabilitation device, which comprises a chassis, a circumferential rotating assembly, a front hanger, a lower articulated connecting shaft assembly of a rocker arm, an upper telescopic rod, and a top end of the telescopic rod hinged with the front hanger. The rehabilitation device further comprises a lower limb exoskeleton, wherein a rear end of a thigh exoskeleton is hinged with a rear part of the rehabilitation device through a first joint shaft, a front end is hinged with a rear end of a lower leg exoskeleton through a second joint shaft, and a front end of the lower leg exoskeleton is hinged with a middle part of the rocker arm through a third joint shaft. When the circumferential rotating assembly rotates in situ, the lower end of the rocker arm will make a circumferential motion with the connecting shaft assembly, and the third joint shaft will simulate the motion track of the ankle joint when a normal lower limb performs a walking action, so that the actions of the lower leg exoskeleton and the thigh exoskeleton are similar to the walking action of the lower limb, i.e. the device can drive the leg in a lying state to perform a walking action, so that the leg can be comprehensively rehabilitated.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, specifically a single lower limb exoskeleton rehabilitation device. Background Technology

[0002] For patients with lower limb dysfunction, especially hemiplegic patients, walking is not possible like normal people. Currently, there are two main ways to provide leg rehabilitation training for these patients. One is by wearing an upright lower limb exoskeleton. Driven by modules or other drive structures, the exoskeleton propels the legs to perform walking or stepping movements, thus meeting the body's need for leg exercise. For example, the rehabilitation-assisted walking exoskeleton robot disclosed in patent publication number CN115517912A. The other method involves installing a rehabilitation mechanism at the bedside while the patient is lying down to assist the legs in flexion, extension, and lifting movements. For example, the bedside lower limb assistive rehabilitation device disclosed in patent publication number CN218652331U can only assist lying patients in performing leg flexion and extension movements.

[0003] Walking is the most frequent movement in humans and is the movement that best conforms to the structural characteristics of the human body. Therefore, training the legs to perform walking movements is the most common rehabilitation program. However, for patients lying flat, current rehabilitation devices can only enable them to perform the aforementioned flexion, extension, and leg raising movements above the bed. Compared with walking movements, these movements are relatively stiff and have poor limb coordination. Therefore, this kind of leg training has a relatively small impact on the body. Summary of the Invention

[0004] The purpose of this invention is to provide a single lower limb exoskeleton rehabilitation device that can assist a lying patient in simulating stepping movements with their legs, thereby training their leg muscles and meridians in a manner consistent with human movement habits.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a single lower limb exoskeleton rehabilitation device, comprising a base frame, a circumferential rotating assembly disposed at the front of the base frame via a mounting shaft, and a front suspension frame disposed at the front of the base frame and rising upwards, and further comprising a driving device for driving the circumferential rotating assembly to rotate around the mounting shaft; the mounting shaft is arranged laterally, and a connecting shaft assembly offset from and parallel to the mounting shaft is disposed on the side of the circumferential rotating assembly; the rehabilitation device further comprises a rocker arm, the lower part of which is hinged to the connecting shaft assembly, and the upper part being a telescopic rod, and the telescopic rod... The top of the rod is hinged to the front hanger, so that the rocker arm moves when the circumferential rotating assembly rotates; the rehabilitation device also includes a lower limb exoskeleton, which includes a thigh exoskeleton and a lower leg exoskeleton equipped with strap assemblies. The rear end of the thigh exoskeleton is hinged to the rear of the rehabilitation device via a first joint axis, and the front end is hinged to the rear end of the lower leg exoskeleton via a second joint axis. The front end of the lower leg exoskeleton is hinged to the middle of the rocker arm via a third joint axis. The axes of the first, second, and third joint axes are all parallel to the axis of the mounting shaft.

[0006] In the above technical solution, the lower limb exoskeleton is suspended in the air, with its hip joint hinged to a fixed position via a first joint axis. The front end of the lower leg exoskeleton is hinged to the middle of the rocker arm via a third joint axis. Since the top of the rocker arm is restricted by the front hanger, the lower end is hinged to the connecting shaft assembly. When the circumferential rotation assembly rotates in place, the upper part of the rocker arm will swing under the constraint of the front hanger, and the lower end will perform circumferential motion with the connecting shaft assembly. At this time, the motion trajectory of the third joint axis is a closed curve. During this motion, the lower leg exoskeleton and the thigh exoskeleton will move passively. Since the motion trajectory of the third joint axis is similar to the trajectory of the ankle joint when a normal person's lower limbs perform walking movements, the movements of the lower leg exoskeleton and the thigh exoskeleton are also similar to the walking movements of the lower limbs. That is, the lower limb exoskeleton can simulate the walking movements of a normal person's lower limbs under the drive of the circumferential rotation assembly. By placing the rehabilitation device on one side of the bed and binding one of the patient's legs to the lower limb exoskeleton, it can assist lying patients in performing leg walking training movements. Compared with rehabilitation devices that can only perform knee flexion movements, this device can put the patient's leg muscles and nerves in a more realistic movement posture.

[0007] As a preferred embodiment, the connecting shaft assembly includes a connecting shaft directly connected to the rocker arm, and an adjusting component. The connecting shaft is connected to the adjusting component, and the adjusting component can adjust the distance between the axis of the connecting shaft and the axis of the mounting shaft. The lower end of the rocker arm moves in a circular motion with the connecting shaft assembly. The range of motion is determined by the distance between the connecting shaft and the mounting shaft. Therefore, by adjusting the position of the connecting shaft, the range of motion of the lower end of the rocker arm can be changed. This change is mainly reflected in the highest and lowest points of its motion, thereby changing the range of motion trajectory of the third joint axis. Specifically, the greater the distance between the connecting shaft and the mounting shaft, the greater the longitudinal height difference of the third joint axis during movement. Similarly, the smaller the distance between the connecting shaft and the mounting shaft, the smaller the longitudinal height difference of the third joint axis during movement. Therefore, this solution indirectly changes the longitudinal displacement difference of the third joint axis through the adjusting component, thereby adjusting the up-and-down swing amplitude of the lower leg exoskeleton during walking.

[0008] As a preferred embodiment, the front end of the lower leg exoskeleton is equipped with a length adjustment mechanism. The front end of this mechanism is hinged to a rocker arm via the third joint axis, and the distance between the second and third joint axes can be adjusted via this mechanism. With the third joint axis having a predetermined movement trajectory, the distance between the second and third joint axes determines the change in the angle between the thigh and lower leg exoskeletons. Specifically, within a certain range, the farther the second joint axis is from the third joint axis, the smaller the angle between the thigh and lower leg exoskeletons. Therefore, this design allows patients to train their legs to perform walking movements at different knee flexion angles, which can meet various training needs and also allows patients whose legs cannot be straightened to use this rehabilitation device for leg training.

[0009] As a preferred embodiment, the thigh exoskeleton and the calf exoskeleton are located in the middle of the entire rehabilitation device; the strap assembly includes straps for fixing the legs, and also includes a set assembly for mounting each strap on the thigh exoskeleton and the calf exoskeleton, and the set assembly can be rotated 180° from one side to the other side under the constraint of the exoskeleton, so the rehabilitation device can be adapted to rehabilitation training of the left leg and the right leg respectively by adjusting the position of the strap assembly.

[0010] As a preferred embodiment, the strap components on the thigh and lower leg exoskeletons each have positioning components. Each positioning component includes a connecting plate connecting to the assembly, with a movable plate on the side of the connecting plate that conforms to the human body. The connecting plate has insertion holes pointing towards the exoskeleton, and the movable plate has positioning heads that can be inserted into the insertion holes. Positioning holes that mate with the positioning heads are symmetrically arranged on both sides of the thigh and lower leg exoskeletons. The strap components are locked by inserting the positioning heads into the positioning holes. Regardless of whether the rehabilitation device is used on the left or right leg, the positioning components in this design ensure that the strap components have a stable installation position during movement of the lower limb exoskeleton, thus providing good fixation for the leg and maintaining the same movement state between the leg and the lower limb exoskeleton.

[0011] As a preferred embodiment, the driving device includes a first transmission component arranged longitudinally and a second transmission component arranged laterally, as well as a manual drive component disposed on the upper end of the first transmission component. Both the first and second transmission components include external fixed tubes. The first transmission component further includes a first directional gear shaft mounted in its fixed tube via bearings. The upper end of the first directional gear shaft is provided with a bevel gear I, and the lower end is provided with a bevel gear II. The bevel gear I is driven by the manual drive component. The second transmission component further includes a second directional gear shaft mounted in its fixed tube via bearings. One end of the second directional gear shaft is provided with a bevel gear III that meshes with the bevel gear II, and the other end is provided with a bevel gear IV. The circumferential rotation component has a meshing component that meshes with the bevel gear IV. The first transmission component is arranged longitudinally, allowing the user to easily grasp the manual drive component at its top when lying down. The second transmission component is arranged laterally and is connected to the first transmission component via a bevel gear, while also directly driving the circumferential rotation component. This design, using a drive device with this structure, can meet the user's need to manually drive leg movements while lying down, enabling coordinated movement of the upper and lower limbs and allowing for autonomous control of the lower limb movement frequency.

[0012] As a preferred embodiment, the circumferential rotating assembly is a drive disk assembly, including a first turntable with a circular end face profile; the connecting shaft assembly is disposed on one side of the first turntable, and the meshing assembly is an annular meshing disk, the coaxial axis of which is disposed on the other side of the first turntable.

[0013] As a preferred embodiment, the drive disk assembly further includes a second turntable with a circular end face profile, coaxially arranged with the first turntable. A mounting arm connecting the second and first turntables is provided between them, and a mounting sleeve is provided at the end of the mounting arm. The mounting shaft is installed in the mounting sleeve, and the first and second turntables are mounted at opposite ends of the mounting shaft. The meshing disk is located on the side of the first turntable facing the second turntable, and the connecting shaft assembly is provided at the same position on both the second and first turntables. The lower part of the rocker arm is Π-shaped, with two connecting arms, each connecting to a corresponding connecting shaft assembly. The first and second turntables together constitute the drive disk assembly, and the mounting arm is positioned between them. The rocker arm, connected to the Π-shaped structure at its lower part, exhibits a more stable motion. Furthermore, under the driving action of the drive device and the opposing action of the rocker arm, the aforementioned dual-turntable structure is more likely to maintain balance.

[0014] As a preferred embodiment, meshing teeth are arranged around the circumference of the first or second turntable, and the rehabilitation device also includes an assist motor assembly that meshes with the meshing teeth and drives the drive disk assembly to rotate. When the user manually cranks the manual drive assembly, the assist motor assembly activates and assists in driving the drive disk assembly to rotate, thereby reducing the difficulty of operation for the user.

[0015] As a preferred embodiment, the manual drive assembly includes an annular retainer fixedly mounted on the top of the first transmission assembly. A gear shaft is radially mounted inside the annular retainer, with both ends of the gear shaft exposed and provided with sockets. A drive gear is coaxially mounted on the gear shaft inside the annular retainer, and the drive gear meshes with a bevel gear I. The manual drive assembly also includes a rotating sleeve fitted around the outer periphery of the annular retainer and a handle assembly, wherein the annular retainer is rotatable around the first transmission assembly. A fixed sleeve is provided on the side of the rotating sleeve in the radial direction, and the inner hole of the fixed sleeve penetrates the rotating sleeve. The handle assembly includes a crank handle and a movable sleeve provided at the end of the crank handle and movably fitted on the fixed sleeve. An end cap is fixedly provided at the end of the movable sleeve away from the rotating sleeve, and a plug shaft is provided in the middle of the end cap for movably inserting into the fixed sleeve. The end of the plug shaft is a plug that mates with the socket, and by moving the handle assembly away from the rotating sleeve, the plug can be disengaged from the socket and retracted into the fixed sleeve. The handle assembly described above drives the gear shaft to rotate by plugging into the socket at the end of the gear shaft. Since sockets are provided at both ends of the gear shaft, the gear shaft can be driven from the left or right side by rotating the handle assembly. Moreover, this change does not cause a change in the direction of rotation of the drive gear. Therefore, whether the user uses the manual drive assembly with the left hand or the right hand, the user can drive the lower limb exoskeleton to perform walking movements by shaking it in the same way. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of the single lower limb exoskeleton rehabilitation device provided by the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram of the installation structure of the drive device and drive plate assembly in the single lower limb exoskeleton rehabilitation device shown;

[0019] Figure 3 for Figure 2 A schematic diagram of the planar structure of the drive unit;

[0020] Figure 4 for Figure 3 A cross-sectional view of the first and second transmission components in the drive device shown.

[0021] Figure 5 for Figure 2 A schematic diagram of the overall structure of the manual drive component in the drive device shown.

[0022] Figure 6 A schematic diagram of the connection structure between the handle assembly and the rotating sleeve;

[0023] Figure 7 This is a schematic diagram of the internal structure of the annular cage;

[0024] Figure 8 for Figure 7 Schematic diagram of the end structure of the intermediate gear shaft;

[0025] Figure 9 for Figure 2 A schematic diagram of the structure of the transfer disk assembly;

[0026] Figure 10 for Figure 9 A schematic diagram of the engagement state between the central assist motor assembly and the first turntable;

[0027] Figure 11 for Figure 2 Schematic diagram of the structure of the inner and outer protective covers;

[0028] Figure 12 for Figure 10 A schematic diagram of the disassembled structure of the central connecting shaft assembly;

[0029] Figure 13 This is a schematic diagram of the connection structure between the rocker arm and the connecting shaft assembly;

[0030] Figure 14 Figure 13 A schematic diagram of the split state of the structure shown;

[0031] Figure 15 for Figure 1 A schematic diagram of the planar structure of the lower limb exoskeleton in the rehabilitation device shown;

[0032] Figure 16 for Figure 15 A three-dimensional structural diagram of the lower limb exoskeleton shown;

[0033] Figure 17 A schematic diagram showing the disassembled structure of the strap assembly on the thigh exoskeleton;

[0034] Figure 18 for Figure 17 A schematic diagram of the split structure of the middle connecting plate;

[0035] Figure 19 For dedicated to Figure 1 A schematic diagram of the bed structure of the single lower limb exoskeleton rehabilitation device shown;

[0036] Figure 20 for Figure 1 The diagram shows the state of the single lower limb exoskeleton rehabilitation device during use.

[0037] In the diagram, the components are: 1. Base frame; 2. Walking wheels; 3. Front hanger; 4. Drive plate assembly; 5. Rocker arm; 6. Telescopic rod; 7. Lower limb exoskeleton; 8. Side mounting bracket; 9. First transmission assembly; 10. Second transmission assembly; 11. Manual drive assembly; 12. Thigh exoskeleton; 13. Lower leg exoskeleton; 14. First joint shaft; 15. Second joint shaft; 16. Third joint shaft; 17. Strap assembly; 18. Connecting plate; 19. Fixed hinge; 20. Outer cover; 21. Turntable assembly; 22. Connecting shaft assembly; 23. First directional gear shaft; 24. Bearing; 25. Second directional gear shaft; 26. Bevel gear I; 27. Bevel gear II; 28. Bevel gear III; 29. ​​Bevel gear IV; 30. Flange; 31. Annular retainer; 32. Rotating sleeve; 33. Handle assembly; 34. Gear shaft; 35. Drive gear; 36. Socket; 37. Limiting ring. 38. Handle 39. Movable sleeve 40. End cap 41. Insert shaft 42. Plug 43. Fixing sleeve 44. Magnet ring 45. First turntable 46. Second turntable 47. Engaging disc 48. Mounting arm 49. Mounting bushing 50. Mounting shaft 52. Power assist motor assembly 53. Slide rail 54. Connecting shaft 55. Pre-tightening bushing 56. Pre-tightening nut 57. Adjusting bracket 58. Wrench 59. Mounting sleeve 60. Positioning ring 61. Positioning hole 62. Limiting head 63. Bed 100. Movable side plate 101. Activity space 102. Patient 110. Legs 111. Electric telescopic rod 131. Strap 171. Set assembly 172. Movable plate 181. Positioning head 182. Insertion hole 183. Magnet 184. Arc plate 201. Avoidance notch 202. Mounting ear I 203. Mounting ear II 204. Detailed Implementation

[0038] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0039] Figure 1 As one embodiment of the present invention, a single lower limb exoskeleton rehabilitation device is provided. As shown in the figure, this single lower limb exoskeleton rehabilitation device includes a base frame 1 with four self-locking walking wheels 2, a drive disc assembly 4 mounted at the front of the base frame 1 via a mounting shaft 50, a front suspension frame 3 mounted at the front of the base frame 1 and extending upwards, a drive device for driving the drive disc assembly 4 to rotate around the mounting shaft 50, and a rocker arm 5 whose lower end is connected to the drive disc assembly 4 and whose upper end is hinged to the front suspension frame 3 via a telescopic rod 6. It also includes a suspended lower limb exoskeleton 7. In this embodiment, the drive disc assembly 4 rotates in a circular motion to drive the rocker arm 5 to swing, thereby controlling the lower limb exoskeleton 7 to simulate walking movements of a single leg.

[0040] Regarding the drive mechanism, this embodiment adopts a manual drive structure, such as... Figure 2 and 3As shown, the driving device includes a longitudinally arranged first transmission assembly 9 and a laterally arranged second transmission assembly 10, as well as a manual drive assembly 11 disposed on the upper end of the first transmission assembly 9. The first transmission assembly 9 is fixed by a side mounting bracket 8 vertically arranged at the rear of the base frame 1. Both the first transmission assembly 9 and the second transmission assembly 10 include external fixing pipes, and a flange 30 is disposed on the top of the fixing pipe of the first transmission assembly 9. Figure 4 As shown, the first transmission assembly 9 further includes a first directional gear shaft 23 mounted in its fixed tube via a bearing 24. The upper end of the first directional gear shaft 23 is provided with a bevel gear I26, and the lower end is provided with a bevel gear II27. The bevel gear I26 is driven by the manual drive assembly 11. The second transmission assembly 10 further includes a second directional gear shaft 25 mounted in its fixed tube via a bearing 24. One end of the second directional gear shaft 25 is provided with a bevel gear III28 that meshes with the bevel gear II27, and the other end is provided with a bevel gear IV29.

[0041] like Figure 5 As shown, the manual drive assembly 11 includes an annular retainer 31, which is coaxially fitted onto the top end of the fixing pipe of the first transmission assembly 9 and fixedly connected to the flange 30 by bolts. Two limiting rings 37, one above the other, are provided on the outer periphery of the annular retainer 31, and a rotating sleeve 32 is movably fitted between the two limiting rings 37; as shown... Figure 6 As shown, a fixed sleeve 43 is provided on the side of the rotating sleeve 32 along the radial direction, and the inner hole of the fixed sleeve 43 penetrates the rotating sleeve 32; the handle assembly 33 includes an L-shaped rocker 38 and a movable sleeve 39 provided at the end of the rocker 38 and movably fitted on the fixed sleeve 43. An end cap 40 is fixedly provided at the end of the movable sleeve 39 away from the rotating sleeve 32, and a plug shaft 41 is provided in the middle of the end cap 40, which is movably inserted into the inner hole of the fixed sleeve 43, and the end of the plug shaft 41 is a hexagonal plug 42; the movable sleeve 39 can move along the axial direction, and by moving towards the side away from the rotating sleeve 32, the plug 42 can be retracted into the fixed sleeve 43, while when moving towards the side of the rotating sleeve 32, the plug 42 extends out of the fixed sleeve 43, and at this time, the movable sleeve 39, made of magnetic metal, is attracted by a magnetic ring 44 provided on the outer periphery of the fixed sleeve 43, thereby preventing the movable sleeve 39 from easily moving axially. Figure 7 As shown, a gear shaft 34 capable of rotating about its own axis is radially mounted inside the annular retainer 31, as... Figure 8 As shown, both ends of the gear shaft 34 are exposed and each is provided with a socket 36 that mates with the plug 42; a drive gear 35 is coaxially mounted on the gear shaft 34 within the annular retainer 31, and the drive gear 35 is... Figure 3 The bevel gear I26 shown is engaged.

[0042] Based on the aforementioned drive device employing bevel gears, the drive disk assembly 4 provided in this embodiment includes a turntable assembly 21. For example... Figure 9 As shown, the drive disk assembly 4 includes a first turntable 45 with a circular end face profile and a second turntable 46 with a circular end face profile. A mounting arm 48 connecting the base frame 1 is located between the second turntable 46 and the first turntable 45. A mounting sleeve 49 is provided at the end of the mounting arm 48, and the mounting shaft 50 is installed in the mounting sleeve 49. The first turntable 45 and the second turntable 46 are mounted at both ends of the mounting shaft 50. The structure of the turntable assembly 21 meshing with the bevel gear IV29 is an annular conical meshing disk 47, whose coaxial axis is arranged on the side of the first turntable 45 facing the second turntable 46. To reduce the difficulty for the user to manually crank the manual drive assembly 11, as... Figure 10 As shown, meshing teeth are provided around the circumference of the first turntable 45, and an assist motor assembly 52 is installed on the base frame 1. The drive gear of the assist motor assembly 52 meshes with the first turntable 45. When the user shakes the manual drive assembly 11, the assist motor assembly 52 starts. When the user stops shaking the manual drive assembly 11, the assist motor assembly 52 stops working. Therefore, the user can still control the rehabilitation device independently.

[0043] To ensure a stable working environment for the turntable assembly 21, this embodiment provides an outer protective cover 20 around the turntable assembly 21, such as... Figure 11 As shown, the outer cover 20 includes two symmetrical arc-shaped plates 201. An avoidance notch 202 is provided on the side of the arc-shaped plate 201 pointing towards the second transmission component 10, so that the second transmission component 10 can pass through the avoidance notch 202 and engage with the drive disk assembly 4. One side of the arc-shaped plate 201 is fixedly connected to the second transmission component 10 through mounting ear I 203, and the other side is fixedly connected to the base frame 1 through mounting ear II 204.

[0044] In this embodiment, the connecting shaft assembly 22 is symmetrically arranged on the opposite sides of the first turntable 45 and the second turntable 46. For example... Figure 12 As shown, the connecting shaft assembly 22 includes a connecting shaft 55 and an adjusting assembly. The adjusting assembly includes a groove 53 pointing towards the mounting shaft 50. The groove 53 has an elongated opening along the axial direction of the mounting shaft 50, and a slider 54 is installed within the groove 53. The end of the connecting shaft 55 is fixedly connected to the slider 54, so the entire connecting shaft 55 can move along the groove 53, thereby adjusting the distance between it and the mounting shaft 50. A pre-tightening bushing 56 is fitted onto the connecting shaft 55, and a pre-tightening nut 57 is provided at the end of the connecting shaft 55. By tightening the pre-tightening nut 57, the pre-tightening bushing 56 applies pressure to the groove 53, thereby positioning the connecting shaft 55 and ensuring that the distance between the connecting shaft 55 and the mounting shaft 50 does not change. Based on the above-described connecting shaft assembly 22, the lower part of the rocker arm 5 used in this embodiment is Π-shaped, as shown... Figure 13and Figure 14 As shown, the rocker arm 5 has two connecting arms, which are respectively fitted onto the corresponding preload sleeves 56 via mounting sleeves 60 at their lower ends. Additionally, to facilitate simultaneous rotation of the preload nuts 57 on both sides, this embodiment also includes a П-shaped adjusting bracket 58 similar to the lower part of the rocker arm 5. The lower end of this adjusting bracket 58 is fitted onto the preload nuts 57 on both sides via a wrench 59. Figure 13 In the middle, by moving the adjusting bracket 58 away from the rocker arm 5, the pre-tightening nuts 57 on both sides can be loosened at the same time, thereby adjusting the connecting shaft assemblies 22 on both sides. Conversely, by moving the adjusting bracket 58 to fit against the rocker arm 5, the pre-tightening nuts 57 on both sides can be tightened, thereby locking the connecting shaft assemblies 22 on both sides at the same time.

[0045] The lower limb exoskeleton 7 used in this embodiment includes a thigh exoskeleton 12 and a lower leg exoskeleton 13 equipped with a strap assembly 17, such as... Figure 15 As shown, the two are hinged by a second joint axis 15, and a foot pedal is provided on the lower leg exoskeleton 13 (the foot pedal is an unnecessary component and can be omitted); an electric telescopic rod 131 is provided at the front end of the lower leg exoskeleton 13, and a third joint axis 16 is provided at the end of the electric telescopic rod 131, which is combined with... Figure 1 and Figure 2 The entire lower limb exoskeleton 7 is hinged to the middle of the rocker arm 5 via the third joint shaft 16 at the front end, and hinged to the fixed hinge 19 on the first transmission assembly 9 via the first joint shaft 14 at the rear end. The axes of the first joint shaft 14, the second joint shaft 15 and the third joint shaft 16 are all parallel to the axis of the mounting shaft 50. Therefore, the entire lower limb exoskeleton 7 is roughly in a horizontally suspended state.

[0046] In the rehabilitation device described above, the rocker arm 5 is hinged to the front hanger 3 via the telescopic rod 6 at the upper end, and to the connecting shaft assembly 22 via the П-shaped connecting arm at the lower end. When the turntable assembly 21 rotates, the lower end of the entire rocker arm 5 undergoes circular motion, and the middle part (third joint axis 16) undergoes motion with a closed curve trajectory. This trajectory is similar to the trajectory of the ankle joint when a normal person's lower limbs perform walking movements. Therefore, the movements of the lower leg exoskeleton 13 and the thigh exoskeleton 12 are also similar to the walking movements of the lower limbs. That is, the lower limb exoskeleton 7 can simulate the walking movements of a normal person's lower limbs under the drive of the circular rotation assembly.

[0047] This device enables the lower limb exoskeleton 7 to begin movement in different initial states, satisfying various movement needs. First, the aforementioned adjustable setting of the connecting shaft assembly 22 can change the position of the connecting shaft 55, thereby changing the range of motion of the lower end of the rocker arm 5. This change is mainly reflected in the highest and lowest points of its movement. Specifically, the greater the distance between the connecting shaft 55 and the mounting shaft 50, the greater the longitudinal height difference of the third joint axis 16 during movement. Similarly, the smaller the distance between the connecting shaft 55 and the mounting shaft 50, the smaller the longitudinal height difference of the third joint axis 16 during movement. Therefore, this solution indirectly changes the longitudinal displacement difference of the third joint axis 16 by adjusting the assembly, thereby adjusting the up-and-down swing amplitude of the lower leg exoskeleton 13 during walking.

[0048] Furthermore, the distance between the second joint axis 15 and the third joint axis 16 can be adjusted via the electric telescopic rod 131. With the third joint axis 16 having a predetermined movement trajectory, the distance between the second joint axis 15 and the third joint axis 16 determines the change in the angle between the thigh exoskeleton 12 and the lower leg exoskeleton 13. Specifically, within a certain range, the farther the second joint axis 15 is from the third joint axis 16, the smaller the angle between the thigh exoskeleton 12 and the lower leg exoskeleton 13. Therefore, this design allows patients to simulate walking movements with their legs at different knee flexion angles. This satisfies various training needs and also allows patients whose legs cannot be straightened to use the rehabilitation device for leg training.

[0049] Furthermore, this rehabilitation device can meet the needs of both legs; that is, it does not distinguish between left and right legs. The thigh exoskeleton 12 and the calf exoskeleton 13 are located in the middle of the entire rehabilitation device. The usage requirements can be met by changing the orientation of the strap assembly 17 (this embodiment also includes a footrest, so the orientation of the footrest also needs to be changed). Figure 16 and Figure 17 As shown, the strap assembly 17 includes straps 171 for securing the legs, and a fitting assembly 172 for mounting the straps 171 onto the thigh exoskeleton 12 and the lower leg exoskeleton 13. A positioning ring 61 is provided on the exoskeleton to limit the fitting assembly 172, allowing the fitting assembly 172 to rotate 180° from one side to the other under the constraint of the exoskeleton. In this embodiment, two strap assemblies 17 are respectively provided on the thigh exoskeleton 12 and the lower leg exoskeleton 13, as shown... Figure 17 As shown, two suit components 172 on the same exoskeleton are connected together by a connecting plate 18, which can achieve the purpose of flipping the two strap components 17 at the same time.

[0050] The connecting plate 18 used has a movable plate 181 on the side that fits against the human body, such as... Figure 18As shown, a socket 183 pointing to the exoskeleton is provided on the connecting plate 18, and a magnet 184 is provided around the socket 183. A positioning head 182 that can be inserted into the socket 183 is provided on the movable plate 181. Positioning holes 62 that cooperate with the positioning head 182 are symmetrically provided on both sides of the thigh exoskeleton 12 and the lower leg exoskeleton 13. The strap assembly 17 is locked by inserting the positioning head 182 into the positioning hole. Under the attraction of the magnet 184, the movable plate 181 will remain in contact with the connecting plate 18. The locking of the strap assembly 17 can be released by pulling the movable plate 181 outward.

[0051] The above describes the overall structure and principle of the single lower limb exoskeleton rehabilitation device provided in this embodiment. Since it trains leg walking movements for supine patients, it requires a specialized bed, such as... Figure 19 As shown, the lower half of this bed frame 100 differs from that of a typical bed frame, having removable movable side panels 101 on both sides. Removing these panels creates a movable space 102. Figure 20 As shown, after the above-mentioned single lower limb exoskeleton rehabilitation device is fixed to one side of the bed 100 (the rehabilitation device is fixed by locking the walking wheels 2, or the stability of the rehabilitation device can be further ensured by connecting the structure of the bed), the lower limb exoskeleton 7 is located in the activity space 102. After the patient's leg 111 is correspondingly bound to the lower limb exoskeleton 7, the patient can control the operation of the entire device by hand-cranking the handle assembly 33.

[0052] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0053] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0054] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A single lower limb exoskeleton rehabilitation device, characterized in that: The rehabilitation device includes a base frame, a circumferential rotating assembly mounted at the front of the base frame via a mounting shaft, and a front hanger mounted at the front of the base frame and rising upwards. It also includes a drive device for driving the circumferential rotating assembly to rotate around the mounting shaft. The mounting shaft is laterally positioned, and a connecting shaft assembly, offset from and parallel to the mounting shaft, is located on the side of the circumferential rotating assembly. The rehabilitation device further includes a rocker arm, the lower part of which is hinged to the connecting shaft assembly, and the upper part is a telescopic rod. The top end of the telescopic rod is hinged to the front hanger, so that the rocker arm moves when the circumferential rotating assembly rotates. The rehabilitation device also includes a lower limb exoskeleton, comprising a thigh exoskeleton and a lower limb exoskeleton equipped with strap assemblies. The rear end of the thigh exoskeleton is hinged to the rear of the rehabilitation device via a first joint axis, and the front end is hinged to the rear end of the lower limb exoskeleton via a second joint axis. The front end of the lower leg exoskeleton is hinged to the middle of the rocker arm via a third joint axis, wherein the axes of the first, second, and third joint axes are all parallel to the axis of the mounting axis; the thigh and lower leg exoskeletons are located in the middle of the entire rehabilitation device; the strap assembly includes straps for fixing the leg, and also includes a suit assembly for mounting each strap on the thigh and lower leg exoskeletons, and the suit assembly can be rotated 180° from one side to the other side under the constraint of the exoskeleton; this single lower limb exoskeleton rehabilitation device is used for leg walking training for supine patients and is used in conjunction with a special bed; the lower half of the bed has removable movable side panels on both sides, which, when removed, form an activity space, and the single lower limb exoskeleton rehabilitation device is fixed to one side of the bed, with the lower limb exoskeleton located in the activity space.

2. The single lower limb exoskeleton rehabilitation device as described in claim 1, characterized in that: The connecting shaft assembly includes a connecting shaft that is directly connected to the rocker arm, and also includes an adjustment component. The connecting shaft is connected to the adjustment component, and the adjustment component is capable of adjusting the distance between the axis of the connecting shaft and the axis of the mounting shaft.

3. The single lower limb exoskeleton rehabilitation device as described in claim 1, characterized in that: The front end of the lower leg exoskeleton is provided with a length adjustment mechanism. The front end of the length adjustment mechanism is hinged to a rocker arm through the third joint axis, and the distance between the second joint axis and the third joint axis can be adjusted through the length adjustment mechanism.

4. The single lower limb exoskeleton rehabilitation device as described in claim 1, characterized in that: Each of the strap components on the thigh exoskeleton and the lower leg exoskeleton is equipped with a positioning component. The positioning component includes a connecting plate that connects to the suit assembly, and a movable plate is provided on the side of the connecting plate that fits against the human body. The connecting plate is provided with a hole pointing to the exoskeleton, and the movable plate is provided with a positioning head that can be inserted into the hole. Positioning holes that mate with the positioning heads are symmetrically provided on both sides of the thigh exoskeleton and the lower leg exoskeleton. The strap assembly is locked by inserting the positioning head into the positioning hole.

5. The single lower limb exoskeleton rehabilitation device as described in any one of claims 1 to 4, characterized in that: The driving device includes a first transmission component arranged longitudinally and a second transmission component arranged laterally, as well as a manual drive component disposed on the upper end of the first transmission component. Both the first and second transmission components include external fixed tubes. The first transmission component also includes a first directional gear shaft mounted in its fixed tube via bearings. The upper end of the first directional gear shaft is provided with a bevel gear I, and the lower end is provided with a bevel gear II. The bevel gear I is driven by the manual drive component. The second transmission component also includes a second directional gear shaft mounted in its fixed tube via bearings. One end of the second directional gear shaft is provided with a bevel gear III that meshes with the bevel gear II, and the other end is provided with a bevel gear IV. The circumferential rotation component has a meshing component that meshes with the bevel gear IV.

6. The single lower limb exoskeleton rehabilitation device as described in claim 5, characterized in that: The circumferential rotating assembly is a drive disk assembly, including a first turntable with a circular end face profile; the connecting shaft assembly is disposed on one side of the first turntable, and the meshing assembly is an annular meshing disk, whose coaxial axis is disposed on the other side of the first turntable.

7. The single lower limb exoskeleton rehabilitation device as described in claim 6, characterized in that: The drive disk assembly also includes a second turntable with a circular end face profile, coaxially arranged with the first turntable. A mounting arm for connecting the base frame is provided between the second turntable and the first turntable. A mounting bushing is provided at the end of the mounting arm, and the mounting shaft is installed in the mounting bushing. The first turntable and the second turntable are installed at both ends of the mounting shaft. The meshing disk is located on the side of the first turntable facing the second turntable, and the connecting shaft assembly is provided at the same position on both the second turntable and the first turntable. The lower part of the rocker arm is Π-shaped and has two connecting arms, and the two connecting arms are respectively connected to the corresponding connecting shaft assembly.

8. The single lower limb exoskeleton rehabilitation device as described in claim 7, characterized in that: The rehabilitation device includes a first or second turntable with meshing teeth on its circumference, and the rehabilitation device also includes an assist motor assembly that meshes with the meshing teeth and drives the drive disk assembly to rotate.

9. The single lower limb exoskeleton rehabilitation device as described in claim 5, characterized in that: The manual drive assembly includes an annular retainer fixedly mounted on the top of the first transmission assembly. A gear shaft is radially mounted inside the annular retainer, with both ends of the gear shaft exposed and provided with sockets. A drive gear is coaxially mounted on the gear shaft inside the annular retainer, and the drive gear meshes with a bevel gear I. The manual drive assembly also includes a rotating sleeve fitted around the outer periphery of the annular retainer and a handle assembly, wherein the annular retainer is rotatable around the first transmission assembly. A fixed sleeve is provided on the side of the rotating sleeve in the radial direction, and the inner hole of the fixed sleeve penetrates the rotating sleeve. The handle assembly includes a crank handle and a movable sleeve provided at the end of the crank handle and movably fitted on the fixed sleeve. An end cap is fixedly provided at the end of the movable sleeve away from the rotating sleeve, and a plug shaft is provided in the middle of the end cap for movably inserting into the fixed sleeve. The end of the plug shaft is a plug that mates with the socket, and by moving the handle assembly away from the rotating sleeve, the plug can be disengaged from the socket and retracted into the fixed sleeve.

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