Passive lower extremity exoskeleton rehabilitation shifting device

Abstract

The application belongs to the technical field of exoskeletons, and particularly relates to a passive lower limb exoskeleton rehabilitation shifting device. The lower part of a first supporting arm is installed on a chassis, the upper part of the first supporting arm is connected with a second supporting arm, a suspension mechanism is arranged on the second supporting arm, and the upper end of a femur skeleton part is hinged with the suspension mechanism through a first hinge shaft. The device further comprises a pedal part and a front limiting mechanism. The front end of the pedal part has a fixed track d under the limitation of the front limiting mechanism. The rear end of the pedal part is hinged with a driving arm through a sixth hinge shaft. The driving arm is installed on a driving shaft I. The lower end of a calf skeleton part is hinged with the pedal part through a fourth hinge shaft. In the movement process of the pedal part, the leg skeleton composed of the femur skeleton part and the calf skeleton part is passively moved, and the movement action of the human leg is simulated. In the technical scheme, the leg skeleton does not have an independent driving module, but is passively moved under the traction of the pedal part, and the leg exercise demand of a lower limb paralyzed patient can be met.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of exoskeletons, and particularly relates to a passive lower limb exoskeleton rehabilitation shifting device. BACKGROUND

[0002] Lower limb paralysis patients cannot walk due to lower limb dysfunction, and thus cannot independently perform daily activities on the legs. Although lower limb activities are not helpful for the recovery of lower limb functions, they are of great significance to the whole body functions, and therefore hospitals provide rehabilitation shifting device equipment specially used for lower limb paralysis patients to exercise lower limbs. At present, lower limb rehabilitation shifting devices include thigh parts, calf parts and foot parts, and also have support frames for preventing falling, wherein a joint driving module is arranged at a leg joint, and the exoskeleton drives the lower limbs to perform walking actions under the driving of the joint module after the user wears the exoskeleton.

[0003] Therefore, most of the current rehabilitation shifting devices used for the above use purposes adopt the mode of arranging driving devices on the legs, which first causes the leg joints to be swollen, the leg bones to be heavy, and the step action amplitude and frequency to be completely determined by the joint module, and the feeling of the user in self-controlling walking is not obvious. In addition, the development of the modules and algorithms of the whole exoskeleton has extremely high cost, which causes the price of this type of product to be high, so that people in need cannot keep the product at home. For lower limb paralysis patients, continuous bed rest will cause poor blood flow and blocked meridians in the whole body, which not only worsens the physical condition, but also seriously affects the self-esteem of the patients, and therefore a rehabilitation shifting device that can benefit the majority of patients is needed. SUMMARY

[0004] The purpose of the present application is to provide a passive lower limb exoskeleton rehabilitation shifting device, in which the leg bones are not driven by driving modules, but are driven to walk by a pedal structure linkage, and since the leg bones are passively moved, the design scheme of the prior art in which the leg bones are driven by driving devices is completely abandoned.

[0005] To achieve the above object, the present application provides the following technical scheme: passive lower limb exoskeleton rehabilitation displacement device, including two sets of left and right symmetrical thigh skeleton parts and calf skeleton parts, which are hinged at the knee joint through a second hinge shaft. It also includes a chassis, a first support arm and a second support arm, wherein the lower part of the first support arm is installed on the chassis, the second support arm is fixedly connected to the upper part of the first support arm, and a suspension mechanism is arranged on the second support arm, and the upper end of the thigh skeleton part is hinged with the suspension mechanism through a first hinge shaft. It also includes a pedal part and a front limiting mechanism, the front end of the pedal part is connected to the front limiting mechanism, and the front end of the pedal part has a fixed trajectory d under the limitation of the front limiting mechanism, and the trajectory d is an arc shape convex downward. The rear end of the pedal part is hinged with a driving arm through a sixth hinge shaft, the driving arm is installed on a driving shaft I, and the lower end of the calf skeleton part is hinged with the pedal part through a fourth hinge shaft. The rehabilitation displacement device also includes a driving device, which drives the driving shaft I to rotate, and makes the driving arm rotate around the driving shaft I, and when the sixth hinge shaft is at the highest position, the position of the sixth hinge shaft is higher than the position of the front end of the pedal part, and when the sixth hinge shaft is at the lowest position, the position of the sixth hinge shaft is lower than the position of the front end of the pedal part, and the sixth hinge shaft rotates around the driving shaft I every time, and the thigh skeleton part and the calf skeleton part simulate the human leg to complete a walking action.

[0006] In the above technical scheme, the rear end of the pedal part is hinged with the driving arm through the sixth hinge shaft, the front part is constrained by the front limiting mechanism and can only move along the trajectory d, when the driving device is started, the rear part of the pedal part (the sixth hinge shaft) will make circular motion around the driving shaft I under the traction of the driving arm, and the front end of the pedal part will reciprocate along the trajectory d, since the sixth hinge shaft makes circular motion in the vertical plane, first, the middle part of the pedal part (the fourth hinge shaft) will move forward or backward periodically, and also move up and down periodically, the two actions are superimposed, so that the motion trajectory of the middle part of the pedal part (the fourth hinge shaft) is a ring shape; since the lower end of the calf skeleton part in the scheme is hinged with the fourth hinge shaft, during the above motion process of the pedal part, the leg skeleton composed of the thigh skeleton part and the calf skeleton part will be moved passively, and based on the above motion characteristics of the fourth hinge shaft, the leg skeleton will simulate the human leg motion action, that is, in the technical scheme, the leg skeleton has no independent driving module, but moves passively under the traction of the pedal part, which can meet the leg exercise needs of lower limb paralyzed patients, and provide regular activity amount and activity mode for the lower limbs by driving the lower limbs to walk; the rehabilitation displacement device of the scheme has low cost, is suitable for home use, and can enable more lower limb paralyzed patients to realize home rehabilitation.

[0007] As a preferred solution, the front limiting mechanism comprises a front swing arm, the upper end of which is hingedly mounted through a fixed third hinge shaft, so that the front swing arm can swing forward and backward, and the lower end is provided with a fifth hinge shaft and is movably connected to the front end of the pedal part through the fifth hinge shaft. The front end of the pedal part is suspended by the front swing arm, so that the front part of the pedal part is in a suspended state, which not only meets the constraint on the movement track of the pedal part, but also does not cause excessive friction to the pedal part, ensuring the flexibility of the front part of the pedal part, so that the driving device can better drive the pedal part to operate.

[0008] As a preferred solution, the driving device comprises a transmission assembly arranged inside the first support arm and the second support arm, the end of the transmission assembly is connected to the driving shaft I, the front end is located at the front part of the second support arm, and a handle assembly for driving the transmission assembly to operate is arranged outside the second support arm. This solution adopts a human-powered driving device, and the rehabilitation displacement device is suitable for people with lower limb paralysis and upper limb function. The user drives the driving arm to rotate by shaking the handle assembly, so that the femoral skeleton part and the pedal part move. This driving mode can not only further reduce the cost of the whole device and expand the audience of the device, but also does not need to be constrained by power supply equipment, and can be used in multiple occasions. The upper limbs are also exercised while shaking the handle assembly, and the user can control the frequency of leg movement according to his own will, so as to obtain a better rehabilitation experience.

[0009] As a preferred solution, the transmission assembly comprises a transmission wheel I and a transmission wheel II arranged in the second support arm, and a transmission wheel III arranged in the first support arm, wherein the transmission wheel I is mounted through a transmission wheel shaft I, and the handle assembly is coaxially mounted with the transmission wheel shaft I, the transmission wheel II is mounted on a transmission wheel shaft II, and the transmission wheel III is mounted on the driving shaft I; the transmission assembly further comprises a transmission medium I and a transmission medium II, wherein the transmission wheel I drives the transmission wheel II through the transmission medium I, and the transmission wheel II drives the transmission wheel III through the transmission medium II. The transmission medium can be selected as a chain or a synchronous belt. This transmission mode structure is simple, can be deformed and optimized according to the specific structure of the first support arm and the second support arm, and has low cost, low failure rate, and is convenient for maintenance and repair.

[0010] As a preferred solution, the chassis comprises a walking frame, a pair of front walking wheels are symmetrically arranged at the front part of the walking frame, and a pair of rear walking wheels are arranged at the rear part of the walking frame, so as to facilitate the movement of the whole rehabilitation displacement device.

[0011] As a preferred solution, the main body of the walking frame is in a "H" shape structure, including vertical rods on both sides and a horizontal rod at the back, wherein two front walking wheels are universal wheels and are arranged at the front of the vertical rods, and two rear walking wheels are arranged at the back of the vertical rods; the pedal part is located in the internal area of the "H" shape structure, a bottom pad is arranged at the back of the pedal part, and the bottom pad is suspended when the sixth hinge shaft is at the highest position, and the bottom pad gradually approaches the ground and finally presses the ground when the sixth hinge shaft moves from the highest position to the lowest position. According to the movement track of the middle part (the fourth hinge shaft) of the pedal part, when the bottom pad contacts the ground, the bottom pad will have a tendency to move forward relative to the ground, and under the action of friction, the whole rehabilitation displacement device will move forward, therefore, the user will also move the whole rehabilitation displacement device while training the legs, and the movement is accompanied by the whole process of the bottom pad contacting the ground, which is consistent with the normal walking process of the human body, thereby giving the user the rehabilitation experience of independent walking; in addition, the front part of the walking frame uses universal wheels, and the user can control the single pedal part to realize the steering of the whole rehabilitation displacement device, therefore, the rehabilitation displacement device can also be used as a walking aid for patients with lower limb paralysis, thereby meeting the most basic action needs of the patients.

[0012] As a preferred solution, the rehabilitation displacement device further comprises a seat part, which is located between the two first support arms and can be moved out of the active range of the thigh and calf bone parts for walking by overturning or translating backward. The seat part is convenient for the user to temporarily sit and rest, and is also convenient for the transfer of the user, and when the seat part is moved out of the active range of the leg bones, the normal walking action is not affected.

[0013] As a preferred solution, the suspension mechanism comprises a leg skeleton adjusting rod, a front end of the leg skeleton adjusting rod is provided with the first hinged shaft, and a tail end is installed on a top of the first supporting arm or a rear of the second supporting arm or an intersection of both by a fixed shaft seat; the leg skeleton adjusting rod can be deflected downward under a constraint of the fixed shaft seat and make the thigh skeleton part descend to both sides of the seat part, and the rehabilitation shifting device further comprises a positioning assembly for positioning the suspension mechanism, the positioning assembly limits a highest position of upward deflection of the leg skeleton adjusting rod and fixes the leg skeleton adjusting rod at the position, and at this time, the first hinged shaft is located at a hip joint of the human body. By turning the leg skeleton adjusting rod downward, the thigh skeleton part descends to both sides of the seat part, and the lower leg skeleton part also approaches the seat part, and at this time, the user is just in a sitting posture, which is convenient for wearing and unbuckling of the leg skeleton and is also convenient for the user to sit down and rest after walking for a period of time; and when the user wears the leg skeleton and stands up, the leg skeleton adjusting rod also rises, at this time, the positioning assembly can be used to fix the leg skeleton adjusting rod, so that the first hinged shaft has a fixed position, and the whole leg skeleton is in a suspended state, which can provide support for the leg and can also execute a standard lower limb walking action under a periodic motion of the pedal part.

[0014] As a preferred solution, the positioning assembly comprises a fixed arm installed on the second supporting arm, a lower part of the fixed arm is provided with an electromagnetic plug-in shaft assembly, a limiting shaft is arranged on a side of the fixed arm which is located on a side of the leg skeleton adjusting rod, and a positioning hole is arranged on the leg skeleton adjusting rod; when the leg skeleton adjusting rod is deflected upward to a top and touches the limiting shaft, a positioning plug-in shaft of the electromagnetic plug-in shaft assembly is opposite to the positioning hole, and the positioning plug-in shaft can be inserted into the positioning hole after being extended; the positioning assembly further comprises a button switch for controlling the electromagnetic plug-in shaft assembly. First, the limiting shaft arranged can limit a maximum height of the leg skeleton adjusting rod, so as to ensure that the first hinged shaft has a determined position, so that the thigh skeleton part and the lower leg skeleton part can move according to a preset track; in addition, the button switch can be triggered to quickly complete locking and unlocking of the leg skeleton adjusting rod, and this process can be completed by the user himself, so as to facilitate the user to use the rehabilitation shifting device flexibly.

[0015] As a preferred solution, the rehabilitation shifting device further comprises a back supporting rod piece; the back supporting rod piece comprises two guide rods arranged along a length direction of the second supporting arm, further comprises a suspension rod which is perpendicular to the guide rods and is installed on the guide rods by slide sleeves at two ends; and the back supporting rod piece further comprises a locking mechanism for locking the suspension rod. The suspension rod can move forward and backward, by moving backward, it can leave space to facilitate the user to sit on the seat part, and when the user wears the leg skeleton and stands up, by moving the suspension rod forward and locking, the suspension rod can provide a supporting point for the user at the rear, so as to prevent the user from falling backward. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in

[0017] Figure 1 A left view plane structure schematic diagram of the rehabilitation displacement device provided by the embodiment of the present application;

[0018] Figure 2 A structure schematic diagram of the rehabilitation displacement device provided by the embodiment of the present application; Figure 1 A three-dimensional structure schematic diagram of the rehabilitation displacement device provided by the embodiment of the present application;

[0019] Figure 3 A structure schematic diagram of the seat part in the rehabilitation displacement device provided by the embodiment of the present application; Figure 2 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0020] Figure 4 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application; Figure 2 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0021] Figure 5 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application; Figure 4 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0022] Figure 6 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0023] Figure 7 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0024] Figure 8 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0025] Figure 9 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0026] Figure 10 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application; Figure 2 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0027] Figure 11 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0028] Figure 12 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application; Figure 11 A structure schematic diagram of the right leg part in the rehabilitation displacement device provided by the embodiment of the present application;

[0029] In the figure, walking frame 1, rear walking wheel 2, front walking wheel 3, first support arm 4, second support arm 5, femur skeleton part 6, shank skeleton part 7, pedal part 8, seat part 9, leg skeleton adjusting rod 10, positioning assembly 11, first hinged shaft 12, second hinged shaft 13, third hinged shaft 14, front support rod 15, handle assembly 16, rear connecting rod 17, back support rod 18, bottom pad 19, front swing arm 20, fourth hinged shaft 23, lower connecting rod 21, pedal 22, mounting assembly I 25, fifth hinged shaft 26, driving shaft I 27, driving arm 28, sixth hinged shaft 29, sliding groove 30, button switch 31, fixed shaft seat 32, transmission wheel I 33, transmission wheel shaft I 34, transmission wheel II 35, transmission wheel shaft II 36, transmission wheel III 37, transmission chain I 38, transmission chain II 39, mounting sleeve 40, vertical support rod 41, diagonal pull rod 42, sliding rail 43, seat plate assembly 44, track a 45, track b 46, track c 47, track d 48, positioning hole 101, fixed arm 111, limiting shaft 112, electromagnetic plug shaft assembly 113, storage battery 114, suspension rod 181, guide rod 182, rod mounting seat 183, sliding sleeve 184, positioning screw head 185. DETAILED DESCRIPTION

[0030] The embodiments of the present application will be described in detail below with the accompanying drawings and examples, so that the implementation process of how the present application applies technical means to solve technical problems and achieves technical effects can be fully understood and implemented.

[0031] Figures 1-2 For an embodiment of the present application, a passive lower limb exoskeleton rehabilitation shifting device. As can be seen from Figure 2 , the rehabilitation shifting device comprises an open " " type walking frame 1 with the opening pointing forward, front walking wheels 3 are symmetrically installed on the front part of the walking frame 1, and the front walking wheels 3 are universal wheels, and rear walking wheels 2 are symmetrically installed on the rear part of the walking frame 1, and the rear walking wheels 2 are directional wheels. The power for walking of the rehabilitation shifting device comes from the user himself, so the whole device is not equipped with a driving motor and a power assembly meeting the working of the driving motor.

[0032] In combination with Figures 1-2 , it can be seen that the rehabilitation shifting device has two left-right symmetrical support frame structures (the support frame structures are hollow), specifically, the support frame structure is composed of an obliquely arranged first support arm 4 and a second support arm 5 transversely fixedly arranged at the top end of the first support arm 4, wherein the lower part of the first support arm 4 is installed on the walking frame 1 through a mounting assembly I 25; the rear parts of the two first support arms 4 are connected through two rear connecting rods 17 to improve the structural strength of the whole support frame structure; in addition, as shown in Figure 2 , a seat part 9 is arranged between the two first support arms 4, as shown in Figure 3As shown, the seat part 9 comprises a pair of sliding grooves 30 fixedly arranged on the two first support arms 4, a seat plate assembly 44, and sliding rails 43 arranged on both sides of the seat plate assembly 44, wherein the sliding rails 43 are installed in cooperation with the sliding grooves 30, and the seat plate assembly 44 can be translated forward or backward, and when it is moved to the front, the user can sit on the seat plate assembly 44, and when it is moved to the back, the user can avoid the human body.

[0033] Figure 1 And Figure 2 The leg skeleton of the rehabilitation shifting device is also shown, which is composed of a thigh skeleton part 6 and a calf skeleton part 7. As shown, Figure 1 a suspension mechanism is arranged on the support frame structure, the upper end of the thigh skeleton part 6 is hinged to the suspension mechanism through a first hinge shaft 12, the upper end of the calf skeleton part 7 is hinged to the lower end of the thigh skeleton part 6 through a second hinge shaft 13, and a belt assembly is arranged on the side of the thigh skeleton part 6 and the calf skeleton part 7 close to the human body. Specifically, as shown, Figure 4 and Figure 5 the suspension mechanism comprises a leg skeleton adjusting rod 10, a fixed shaft seat 32 is arranged at the joint of the first support arm 4 and the second support arm 5, the rear end of the leg skeleton adjusting rod 10 is installed on the fixed shaft seat 32, and can be deflected downward under the limitation of the fixed shaft seat 32; the suspension mechanism further comprises a positioning assembly for positioning the leg skeleton adjusting rod 10, as shown, Figure 7 the positioning assembly comprises a fixed arm 111 vertically installed on the lower part of the second support arm 5, an electromagnetic plug shaft assembly 113 is arranged on the lower part of the fixed arm 111, a storage battery 114 is arranged for supplying power to the electromagnetic plug shaft assembly 113, a limiting shaft 112 is arranged on the side of the fixed arm 111 close to the leg skeleton adjusting rod 10, and a positioning hole 101 is arranged on the leg skeleton adjusting rod 10; when the leg skeleton adjusting rod 10 is deflected upward to the top of the limiting shaft 112, the plug shaft of the electromagnetic plug shaft assembly 113 is opposite to the positioning hole 101, at this time, the plug shaft of the electromagnetic plug shaft assembly 113 can be inserted into the positioning hole 101 by triggering the button switch 31 arranged on the side of the second support arm 5 close to the upper edge, so as to realize the locking of the leg skeleton adjusting rod 10. When the locking of the leg skeleton adjusting rod 10 is released, the leg skeleton adjusting rod 10 will be deflected downward to the two sides of the seat part 9, at this time, the whole leg skeleton will move towards the seat part 9, and exactly match the position of the legs of the user in the sitting posture, so that the rehabilitation shifting device can meet the needs of the user to directly sit on the seat part 9 while wearing the leg skeleton, and can also meet the needs of the user to wear the leg skeleton while in the sitting posture.

[0034] In addition, the rehabilitation shifting device further comprises two pedal parts 8 and a front swing arm 20, wherein, as shown, Figure 2 the front swing arm 20 is located at the front of the whole rehabilitation shifting device, specifically, as shownFigure 2 and Figure 8 As shown, a mounting sleeve 40 is installed at the front of the walking frame 1 on the side facing the human body. The lower end of an L-shaped vertical support rod 41 is mounted on the mounting sleeve 40, and a diagonal tie rod 42 connecting the walking frame 1 is provided on the outside of the vertical support rod 41. The aforementioned front swing arm 20 is located on the side of the vertical support rod 41 near the inside of the "U"-shaped walking frame 1, and its upper end is hinged to the upper end of the vertical support rod 41 through a third hinge shaft 14, so that the front swing arm 20 can swing back and forth under the constraint of the third hinge shaft 14. Figure 4 and Figure 5 As shown, the aforementioned pedal section 8 includes a lower connecting rod 21 and a pedal 22 fixedly disposed on one side of the lower connecting rod 21, and the pedals 22 of the two pedal sections 8 are adjacent to each other. Furthermore, the front end of the lower connecting rod 21 is hinged to the lower end of the front swing arm 20 via a fifth hinge axis 26, and the rear end of the lower connecting rod 21 is hinged to the drive arm 28 via a sixth hinge axis 29. This drive arm 28 is mounted on the drive shaft I27, and the lower end of the calf bone section 7 is hinged to the middle of the lower connecting rod 21 via a fourth hinge axis 23; and from... Figure 6 As can be seen, there is a top-open receiving groove 24 on one side of the leg bone strap on the pedal 22. When the leg bone is put on, the foot is located in the receiving groove 24, and the ankle joint is directly opposite the fourth hinge axis 23.

[0035] As previously shown, this rehabilitation and repositioning device is driven by the user, therefore the drive mechanism is a human-powered structure, which includes a transmission assembly disposed within the first support arm 4 and the second support arm 5, and a handle assembly 16 disposed at the front of the second support arm 5. Specifically, as Figure 9 As shown, the transmission assembly includes a transmission wheel I33 and a transmission wheel II35 (the length of transmission wheel II35 is greater than that of transmission wheel I33, and it can mesh with two parallel chains) disposed in the second support arm 5, and a transmission wheel III37 disposed in the first support arm 4. Transmission wheel I33 is mounted via transmission wheel shaft I34, and the handle assembly 16 is coaxially mounted with the transmission wheel shaft I34. Transmission wheel II35 is mounted via transmission wheel shaft II36, and transmission wheel III37 is mounted on drive shaft I27. In this embodiment, a chain is used as the transmission medium between the rotating wheels. Transmission wheel I33 drives transmission wheel II35 via transmission chain I38, and transmission wheel II35 drives transmission wheel III37 via transmission chain II39. Of course, a synchronous belt, rope drive, or a combination thereof can also be used as the driving medium.

[0036] like Figure 10As shown, the rehabilitation and displacement device also includes a back support rod 18, which includes two guide rods 182 arranged along the length of the second support arm 5, and a suspension rod 181 perpendicular to the guide rods 182. The suspension rod 181 is mounted on the guide rods 182 through sliding sleeves 184 at both ends, and a positioning bolt head 185 is provided on the sliding sleeve 184. By tightening the positioning bolt head 185, the sliding sleeve 184 can be fixed, thereby preventing the suspension rod 181 from moving. When the user is seated in the seat 9, the suspension bar 181 moves to the rear and does not touch the user. When the user puts on the leg bones and stands up, by moving the suspension bar 181 forward and locking it, the suspension bar 181 can provide a point of force for the user at the rear. At this time, the user can directly lean against the suspension bar 181, or a waist strap can be set on the suspension bar 181 to provide support for the user. The waist strap can also be pre-tied to the waist and hung on the suspension bar 181 using a hook-like structure after standing up.

[0037] For the rehabilitation and displacement device with the above structure, the user drives the aforementioned drive shaft I27 to rotate by hand cranking the handle assembly 16, and causes the drive arm 28 to rotate circumferentially around the drive shaft I27; when the sixth hinge shaft 29 is in the highest position, the position of the sixth hinge shaft 29 is higher than the position of the front end of the lower link 21 (i.e., the fifth hinge shaft 26), and when the sixth hinge shaft 29 is in the lowest position, the position of the sixth hinge shaft 29 is lower than the position of the front end of the lower link 21 (i.e., the fifth hinge shaft 26).

[0038] like Figure 11 As shown, during the rotation of the sixth hinge axis 29 around the drive axis I27, the sixth hinge axis 29 will move along a circular trajectory c47. The fifth hinge axis 26, under the constraint of the lower link 21 and the front swing arm 20, will move along a downward convex arc trajectory d48. The second hinge axis 13 (knee joint), under the constraint of the leg bone part 6 and the lower leg bone part 7, will move along an arc trajectory a45. The fourth hinge axis 23 (ankle joint) will move along a trajectory b46. Since the sixth hinge axis 29 is in a circular motion, the middle part of the lower link 21 (the fourth hinge axis 23) will periodically move forward and backward, and also periodically move upward and downward. These two actions are superimposed, making the motion trajectory of the middle part of the lower link 21 (the fourth hinge axis 23) a loop. The trajectories a45 and b46 are similar to the trajectories of the knee and ankle joints when a person walks. Therefore, the thigh bone part 6 and the lower leg bone part 7 will passively simulate the walking motion of the lower limbs.

[0039] The rehabilitation and displacement device provided in this embodiment supports the user's independent walking, mainly through the friction between the flexible base pad 19 on the back of the pedal 22 and the ground. This base pad 19 is specifically located on the back of the receiving groove 24. (The text abruptly ends here, so the translation stops as well.) Figure 11It can be seen that when the sixth hinge shaft 29 is located at the upper part of the track c47, the bottom pad 19 leaves the ground, at this time the lower limbs of the human body show the action of lifting the leg to step forward; while when the sixth hinge shaft 29 is located at the lower part of the track c47, as shown in Figure 12 the bottom pad 19 begins to contact the ground, and there is a tendency to move forward relative to the ground, and since the bottom pad 19 will contact the ground when the sixth hinge shaft 29 moves at the lower half of the track c47, the whole rehabilitation displacement device will move forward under the action of friction, so that the user can move the whole rehabilitation displacement device while training the legs, and the movement occurs with the whole grounding process of the bottom pad 19, which is consistent with the normal walking process of the human body, thereby giving the user the rehabilitation experience of independent walking; in addition, the front part of the walking frame 1 adopts universal wheels, and the user can control the movement of one side of the pedal part 8 while the other side of the pedal part 8 is stationary, so as to realize the steering of the whole rehabilitation displacement device, so that the rehabilitation displacement device can also be used as a walking aid for patients with lower limb paralysis, thereby meeting their most basic needs for action.

[0040] As some terms are used in the description and claims, those skilled in the art can understand that the same components can be referred to by different names by hardware manufacturers. The description and claims of the present application do not distinguish components by name, but by the functional difference between the components. As mentioned throughout the description and claims, "comprising" is an open term, which should be interpreted as "including but not limited to" or "comprising but not limited to". "Substantially" means within an acceptable error range, and those skilled in the art can solve the technical problems within a certain error range and substantially achieve the technical effects.

[0041] It should be noted that the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the goods or systems comprising a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such goods or systems. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the goods or system comprising the element.

[0042] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the forms disclosed herein, should not be considered as excluding other embodiments, and can be used in various other combinations, modifications and environments, and can be modified by the above-mentioned teaching or related art or knowledge within the scope of the inventive concept described herein. The modifications and changes made by those skilled in the art without departing from the spirit and scope of the present application shall be within the scope of protection of the appended claims of the present application.

Claims

1. A passive lower extremity exoskeleton rehabilitation shifting device, comprising two sets of thigh bone parts and calf bone parts arranged symmetrically left and right, which are hinged at the knee joint through a second hinge shaft, characterized in that: The device further comprises a base frame, a first supporting arm and a second supporting arm, wherein the lower part of the first supporting arm is mounted on the base frame, the upper part of the first supporting arm is fixedly connected with the second supporting arm, a suspension mechanism is arranged on the second supporting arm, and the upper end of the femur part is hingedly connected with the suspension mechanism through a first hinge shaft; the device further comprises a pedal part and a front limiting mechanism, the front end of the pedal part is connected with the front limiting mechanism, the front end of the pedal part has a fixed trajectory d under the limitation of the front limiting mechanism, and the trajectory d is in the shape of an arc convex downward; the rear end of the pedal part is hingedly connected with a driving arm through a sixth hinge shaft, the driving arm is mounted on a driving shaft I, and the lower end of the shank part is hingedly connected with the pedal part through a fourth hinge shaft; the device further comprises a driving device, which drives the driving shaft I to rotate and makes the driving arm rotate around the driving shaft I, and when the sixth hinge shaft is at the highest position, the position of the sixth hinge shaft is higher than the position of the front end of the pedal part, when the sixth hinge shaft is at the lowest position, the position of the sixth hinge shaft is lower than the position of the front end of the pedal part, and when the sixth hinge shaft rotates around the driving shaft I for one circle, the femur part and the shank part simulate the walking action of a human leg; the driving device comprises a transmission assembly arranged inside the first supporting arm and the second supporting arm, the end of the transmission assembly is connected with the driving shaft I, and the front end of the transmission assembly is arranged at the front part of the second supporting arm; a handle assembly is arranged outside the second supporting arm to drive the transmission assembly to operate.

2. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 1, characterized in that: The front limiting mechanism comprises a front swing arm, the upper end of the front swing arm is hingedly mounted through a third hinge shaft with a fixed position, so that the front swing arm can swing forward and backward, and the lower end of the front swing arm is provided with a fifth hinge shaft and is movably connected with the front end of the pedal part through the fifth hinge shaft.

3. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 1, characterized in that: The transmission assembly comprises a transmission wheel I and a transmission wheel II arranged inside the second supporting arm, and a transmission wheel III arranged inside the first supporting arm, wherein the transmission wheel I is mounted through a transmission wheel shaft I, the handle assembly is coaxially mounted with the transmission wheel shaft I, the transmission wheel II is mounted on a transmission wheel shaft II, and the transmission wheel III is mounted on the driving shaft I; the transmission assembly further comprises a transmission medium I and a transmission medium II, wherein the transmission wheel I drives the transmission wheel II through the transmission medium I, and the transmission wheel II drives the transmission wheel III through the transmission medium II.

4. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 1, wherein: The base frame comprises a walking frame, a pair of front walking wheels are symmetrically mounted on the front part of the walking frame, and a pair of rear walking wheels are mounted on the rear part of the walking frame.

5. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 4, characterized in that: The main body of the walking frame is in the shape of a "H", which comprises vertical rod members on both sides and a horizontal rod member at the rear side, wherein the two front walking wheels are universal wheels and are arranged at the front part of the vertical rod members, and the two rear walking wheels are arranged at the rear part of the vertical rod members; the pedal part is arranged in the internal area of the "H" structure, a bottom pad is arranged on the back surface of the pedal part, and when the sixth hinge shaft is at the highest position, the bottom pad is suspended, and when the sixth hinge shaft moves from the highest position to the lowest position, the bottom pad gradually approaches the ground and finally presses the ground.

6. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 1, wherein: The rehabilitation shifting device further comprises a seat part located between the two first support arms and capable of moving out of the range of motion of the thigh and calf bones for walking by tilting or translating backward.

7. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 6, characterized in that: The suspension mechanism comprises a leg bone adjusting rod, the front end of which is provided with the first hinge shaft, and the tail end is installed on the top of the first support arm or the rear of the second support arm or the intersection of the two by a fixed shaft seat; the leg bone adjusting rod can be deflected downward under the constraint of the fixed shaft seat and make the thigh bone part descend to the two sides of the seat part; the rehabilitation shifting device further comprises a positioning assembly for positioning the suspension mechanism, which limits the highest position of upward deflection of the leg bone adjusting rod and fixes it at this position, and at this time the first hinge shaft is located at the hip joint of the human body.

8. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 7, characterized in that: The positioning assembly comprises a fixed arm installed on the second support arm, the lower part of which is provided with an electromagnetic plug shaft assembly, a limiting shaft is arranged on the side of the leg bone adjusting rod of the fixed arm, and a positioning hole is arranged on the leg bone adjusting rod; when the leg bone adjusting rod is deflected upward to the top and touches the limiting shaft, the positioning plug shaft of the electromagnetic plug shaft assembly is opposite to the positioning hole, and the positioning plug shaft can be inserted into the positioning hole after being extended; the positioning assembly further comprises a button switch for controlling the electromagnetic plug shaft assembly.

9. The passive lower extremity exoskeleton rehabilitation shifting device according to claim 1, characterized in that: The rehabilitation shifting device further comprises a back support rod, which comprises two guide rods arranged along the length direction of the second support arm, and a suspension rod perpendicular to the guide rods, and the suspension rod is installed on the guide rods by the sliding sleeves at both ends; the back support rod further comprises a locking mechanism for locking the suspension rod.

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