An exoskeleton auxiliary hanger with seat follow-up suspension support

Abstract

The present invention relates to the technical field of medical rehabilitation equipment, and discloses an exoskeleton auxiliary hanger with a seat follower hovering support, which includes a movable chassis, a seat part and a lifting part, wherein the seat part includes a support frame fixed on the chassis frame, a seat mechanism arranged on the support frame and a connecting rod mechanism driving the seat mechanism to slide on the support frame; the seat mechanism is unfolded and retracted on the support frame by sliding on the support frame; the lifting action of the lifting part is linked with the retracting action of the seat mechanism, and the lifting displacement of the lifting part controls the retracting amplitude of the seat mechanism. The exoskeleton auxiliary hanger provided by the present invention has a seat that can be automatically retracted and extended with the lifting and lowering of the hanger column and can hover to provide support with the patient's movements, so that patients using the exoskeleton can achieve autonomous and free rest, which is more conducive to spinal cord injury patients using lower limb rehabilitation exoskeleton robots for rehabilitation training.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to an exoskeleton auxiliary hanger with a seat follower suspension support. Background Art

[0002] In recent years, the problem of aging population in the world has become increasingly serious. The number of patients with lower limb motor dysfunction caused by motor system damage, cerebrovascular disease, spinal cord injury and other diseases has increased significantly. In the rehabilitation treatment of patients with impaired lower limb motor ability, exoskeleton robots can assist patients with lower limb dysfunction in functional and gait rehabilitation training. Due to the plasticity of the brain, the brain can be trained to rebuild the motor function of the lower limbs, so that patients can gradually restore the ability of lower limb movement and achieve autonomous walking.

[0003] As a robot that assists patients with lower limb dysfunction to walk, the exoskeleton can generate personalized motor rehabilitation plans based on the patient's degree of injury and individual differences, replacing the rehabilitation physician in performing repetitive and tedious rehabilitation training. However, patients in the early stages of the disease or with more serious conditions cannot maintain body balance when using the exoskeleton and need support from other people or assistance from a fixing device. In addition, since the lower limb exoskeleton rehabilitation robot has a certain weight, the weight of the currently available related equipment generally ranges from 12 kg to 30 kg. If this part of the weight is applied to patients who already have motor dysfunction, it will greatly reduce the rehabilitation effect. To solve the above problems, the auxiliary hanger is used in conjunction with the exoskeleton robot, which can enable patients to achieve the purpose of weight loss and balance maintenance during rehabilitation training.

[0004] In the prior art, there are auxiliary hangers that help patients solve the problems of balance maintenance and equipment weight reduction in gait lower limb exoskeleton robot rehabilitation training, but there are still some problems in the structure and function of the auxiliary hanger that need to be further improved. For example, the Chinese invention patent with patent publication number CN 112315752 A discloses a multifunctional passive follow-up hanger, the hanger includes a chassis, a column arranged on the chassis, and a circular force arm arranged on the column for connecting the exoskeleton robot, and also includes a C-shaped chair that can enter the interior of the follow-up hanger for users to rest at any time, the arm end of the circular force arm is provided with a connector for connecting the exoskeleton robot, and a longitudinal sliding adjustment part is provided between the connector and the circular force arm, and the longitudinal sliding adjustment part realizes the up and down adjustment of the user's hip during walking by sliding the slider up and down in the guide rail. The setting of the C-shaped chair in the hanger can provide a rest seat for the user, avoiding the safety hazards that occur when the user is physically exhausted or other situations occur and there is no quick rest position, or when a rest seat cannot be quickly provided, and a seat needs to be selected to be stuffed into the follow-up hanger. However, the C-type chair needs the assistance of others to be moved to a suitable position before the user can sit down and rest. The user cannot control and use the C-type chair independently, and the user cannot take a quick rest at any time according to the user's wishes.

[0005] A Chinese invention patent with the patent publication number CN 115804705 A discloses a detachable mobile lower limb exoskeleton device, which specifically discloses an exoskeleton auxiliary support for assisting the lower limb exoskeleton, wherein the exoskeleton auxiliary support includes a main frame structure, a seat structure, a waist structure, and a lifting structure for driving the waist structure to move up and down, wherein when the waist structure descends, the seat structure extends; when the waist structure rises, the seat structure folds. The seat structure realizes the follow-up retraction and extension of the seat through mechanical linkage with the lifting structure, so that the user can control and use the seat by himself, and realize the user's quick rest at any time. In this invention, the seat structure includes a base plate, a bench board assembly, a support bar, and a bottom fixing member; one side of the base plate is fixedly connected to the waist structure, and the bottom of the base plate is hinged to the bench board assembly; one end of the support bar is hinged to the bench board assembly, and the other end of the support bar is hinged to the bottom fixing member; the bottom fixing member is fixedly connected to the exoskeleton auxiliary support. It can be seen that the seat of the invention adopts a cantilever beam structure with one end fixed and the other end bearing the load, and the cantilever beam seat will put forward higher requirements on related parts and materials to meet the load-bearing structural strength of the seat. At the same time, since the user group of the lower limb rehabilitation exoskeleton is people with lower limb motor dysfunction, when using the exoskeleton rehabilitation training, the process from sitting to standing is a slow lifting process, which will continue to be affected by the gravity of the human body and the exoskeleton equipment. The lifting electric push rod motor of the lifting structure needs to provide thrust to offset this part of the force, resulting in a large load on the lifting electric push rod, which is prone to failure. In addition, the influence of gravity will make the user subconsciously use the upper limb strength to reduce the feeling of falling caused by the lack of support for the buttocks, so that the user cannot relax during the standing process, and the experience is not good, and even the upper limbs are injured due to excessive force. Summary of the invention

[0006] In view of this, and in view of the above-mentioned deficiencies in the prior art, the present invention provides an exoskeleton auxiliary hanger with a seat capable of follow-up suspension support.

[0007] In order to partially solve or alleviate the above technical problems, the technical solution of the present invention provides an exoskeleton auxiliary hanger with a seat follower suspension support, which comprises:

[0008] A movable chassis, comprising a chassis frame for supporting a seat portion and a lifting portion and a sliding wheel set fixed under the chassis frame for assisting the movement of a hanger;

[0009] The seat part includes a support frame fixed on the chassis frame, a seat mechanism arranged on the support frame, and a connecting rod mechanism driving the seat mechanism to slide on the support frame; the seat mechanism is extended downward and retracted upward on the support frame by sliding the seat mechanism on the support frame;

[0010] The lifting part includes a lower column fixed on the chassis frame and an upper column sleeved outside the lower column and movable up and down along the lower column, an exoskeleton connection mechanism is fixed to the outside of the upper column, and the exoskeleton connection mechanism is detachably connected to the exoskeleton robot; the exoskeleton connection mechanism includes: an exoskeleton connection device, the exoskeleton connection device includes a latch connection base docking with the exoskeleton robot, a guide rod is fixed in the latch connection base, the guide rod is sequentially sleeved with a first stiffness spring, a linear bearing and a second stiffness spring from top to bottom, a latch block is fixed on the linear bearing, and the exoskeleton robot is fixed on the latch block in a latch connection manner; wherein the first stiffness is less than the second stiffness;

[0011] A sensor module is disposed between the upper column and the lower column, and is used to obtain an upward displacement of the upper column along the lower column, or a downward displacement of the upper column;

[0012] A control device is used to control the retracting and extending action of the seat mechanism in linkage with the up and down movement of the upper column, including controlling the upward retracting amplitude of the seat mechanism on the support frame according to the upward movement displacement of the upper column along the lower column, and controlling the downward extension amplitude of the seat mechanism on the support frame according to the downward movement displacement of the upper column along the lower column; let θ represent the retracting amplitude or extension amplitude of the seat mechanism, let L represent the movement displacement of the upper column, then Wherein, d is the travel distance of the seat electric push rod in the linkage mechanism.

[0013] The exoskeleton auxiliary support provided by the above technical solution can make the seat unfold with the descent of the exoskeleton connection mechanism and fold when it rises through the linkage design of the seat part and the lifting part, so that patients using the exoskeleton robot can control and use the seat autonomously, so that patients can perform exoskeleton rehabilitation training autonomously without the assistance of others, reducing the workload of rehabilitation therapists. The present invention accurately controls the retraction and extension range of the seat through the lifting displacement of the lifting part, so that the seat can provide support to the user's buttocks at any time during the user's standing or sitting process, which can reduce the load of the column electric push rod on the one hand, and relax the upper limb strength on the other hand. The seat part provides support for the seat through the structural design of the support frame, which can strengthen the bearing structure strength of the seat and ensure the safety of the user. In addition, the present invention realizes the variable damping movement of the exoskeleton in the vertical axis direction through linear bearings and springs with different stiffness arranged above and below the linear bearings at the connection with the exoskeleton robot, so as to achieve the purpose of the human body's center of gravity following up and down during the movement.

[0014] Since the walking process of a person is a symmetrical movement, when the exoskeleton robot is walking, the pelvic position of the exoskeleton on the supporting side is lowered, and the center of gravity is shifted to the supporting side, while the pelvic position on the swinging side becomes relatively higher, and there is an upward force applied to the pelvis on the swinging side. This upward force will be transmitted to the hanger on the swinging side, thereby causing an imbalance in the force applied to both sides of the auxiliary hanger, destroying the stability of the hanger. Based on the symmetry of gait, this application sets springs with different stiffness up and down, buffering the force on the hanger caused by the center of gravity shift to the high-stiffness spring below the linear bearing on the supporting side, and the low-stiffness spring above the linear bearing on the swinging side, which can further improve the stability of the equipment during use and improve comfort.

[0015] Furthermore, in the standing state, the connection between the exoskeleton and the auxiliary hanger, that is, the plane where the central axis of the pin hole of the pin block is located, should be consistent with the plane where the center of gravity of the human body is located. At this time, the springs above and below the linear bearing are not subjected to force, and the force that causes the spring compression comes from the weight of the human body above the plane where the center of gravity is located. This part of the weight is equally divided into the upper and lower springs of the linear bearing. When walking, since the lower limb on the swinging side is suspended in the air, the force borne by the spring above the linear bearing is the force after sharing minus the gravity of the unilateral lower limb. Therefore, a small stiffness spring is set above the linear bearing and a large stiffness spring is set below it.

[0016] Furthermore, the seat mechanism includes a front seat rod and a rear seat rod connected together, the connecting rod mechanism includes a seat electric push rod, a seat rocker, and a connecting rod hingedly connected to the seat electric push rod and the seat rocker, the two ends of the rear seat rod are hinged to the seat rocker, and the two ends of the front seat rod are arranged on the support frame. The seat electric push rod pushes the connecting rod to move, the connecting rod pushes the seat rocker to move, and the seat rocker pushes the front seat rod to slide on the support frame to realize the unfolding and retracting action of the seat mechanism on the support frame.

[0017] Preferably, the support frame is provided with a guide rail, and guide sliders are provided at both ends of the front seat rod, and the guide sliders are arranged in the guide rail. The guide rail can guide the sliding of the front seat rod to prevent the front seat rod from deviating from the movement direction.

[0018] Furthermore, the upper column is connected to a column electric push rod, and the column electric push rod drives the upper column to move up and down along the lower column.

[0019] Furthermore, the column electric push rod is driven by a stepper motor, and the displacement of the upper column can be calculated by combining the stepper motor pulse with the lead screw pitch, so that the retraction and extension range of the seat mechanism can be controlled by the displacement of the upper column.

[0020] Furthermore, the sensing module is a magnetostrictive displacement sensor disposed between the upper column and the lower column, and the displacement of the upper column along the lower column can be quickly measured by the magnetostrictive displacement sensor.

[0021] Furthermore, the exoskeleton connection mechanism also includes an exoskeleton width adjustment device and a support armrest portion connected to the exoskeleton width adjustment device, and the exoskeleton connection device is fixed below the support armrest portion.

[0022] Furthermore, the exoskeleton width adjustment device includes an armrest slider and a hand-cranked screw structure for driving the armrest slider to move left and right. The supporting armrest portion is connected to the armrest slider, and the width of both sides of the hanger can be adjusted by the hand-cranked screw structure.

[0023] Furthermore, the supporting armrest portion includes a connecting tube and an L-shaped handle, one end of the connecting tube is fixed to the armrest slider, and the other end is connected to the L-shaped handle through a wedge-type clamping mechanism. The length of the armrest can be adjusted through the wedge-type clamping mechanism.

[0024] Furthermore, a forearm support pad is provided on the support armrest portion, and the exoskeleton connection device is provided below the forearm support pad.

[0025] Compared with the prior art, the present invention provides an exoskeleton-assisted hanger with a seat that is supported by a dynamic suspension. The hanger seat for the patient can be automatically retracted and extended as the hanger column is raised and lowered, so that when the patient using the exoskeleton needs to rest, he or she can control the use of the seat by himself or herself without the assistance of others, and can rest autonomously. After the exoskeleton is set up with a rehabilitation training program, the patient can completely separate from the rehabilitation physician for autonomous rehabilitation training, which can reduce the workload of the rehabilitation therapist. In addition, the exoskeleton-assisted hanger provided by the present invention also has the following advantages:

[0026] 1) In the prior art, the seat is mechanically linked to the outer column in the lifting mechanism. When the outer column moves upward, the seat is folded downward, and when the outer column moves downward, the seat is unfolded. This means that the buttocks have no support in the process of going from sitting to standing or from standing to sitting. Although the influence of gravity can be partially offset by the lifting electric push rod, the influence of gravity will still force the user to use the strength of the upper limbs to reduce the feeling of falling caused by the lack of support for the buttocks, so that the user cannot relax in the process of standing up or sitting down, and the user experience is not good, and even fatigue and injury to the upper limbs due to excessive force. The present invention controls the retraction and extension range of the seat according to the movement displacement of the upper column of the lifting part: that is, when the upper column moves upward, the seat is controlled to be retracted upward, and when the upper column moves downward, the seat is controlled to be extended downward, and the upward retraction or downward extension range of the seat is accurately controlled according to the up and down movement of the upper column, so that the seat can provide support for the user's buttocks at any time during the user's standing or sitting process, thereby allowing the user to relax the upper limb strength to a certain extent, improving the equipment usage feeling (i.e. user experience); at the same time, it can also reduce the load of the column electric push rod.

[0027] 2) The seat part provides support for the seat through the structural design of the support frame, which can enhance the load-bearing structural strength of the seat and ensure the safety of the user.

[0028] 3) In the exoskeleton connection device, springs with different stiffness are set above and below the linear bearing to achieve variable damping movement of the exoskeleton in the vertical axis direction, so as to achieve the purpose of the human body's center of gravity following up and down during movement, thereby improving the stability and comfort of the equipment during use.

[0029] 4) The exoskeleton width adjustment device can synchronously adjust the width of both sides of the hanger through a hand-cranked screw structure, and the length of the supporting armrest can be freely adjusted within a certain range through a wedge-type clamping mechanism. The hand-cranked screw method for adjusting the width and the wedge-type clamping mechanism method for adjusting the length are simple and fast, making the device suitable for patients of different body shapes.

[0030] 5) The auxiliary hanger of the present invention is structurally designed based on ergonomics, which is more conducive to the use of lower limb rehabilitation exoskeleton robots by patients with spinal cord injuries for rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0032] Figure 1 A schematic diagram of the structure of an exoskeleton auxiliary hanger provided by an embodiment of the present invention, in which a user is in a standing position;

[0033] Figure 2 A schematic diagram of the structure of an exoskeleton auxiliary hanger provided by an embodiment of the present invention, in which a user is in a sitting position;

[0034] Figure 3 The left diagram of the exoskeleton auxiliary hanger provided by the embodiment of the present invention, in which the user is in a standing position;

[0035] Figure 4 The left diagram of the exoskeleton auxiliary hanger provided by the embodiment of the present invention, in which the user is in a sitting position;

[0036] Figure 5 A schematic diagram of the structure of a seat portion provided by an embodiment of the present invention;

[0037] Figure 6 A schematic diagram of the structure of an exoskeleton connection mechanism provided by an embodiment of the present invention;

[0038] Figure 7 An exploded view of a wedge-type clamping mechanism provided in an embodiment of the present invention;

[0039] Figure 8 A schematic diagram of the structure of an exoskeleton connection device provided by an embodiment of the present invention;

[0040] Fig. 9 for Figure 8 A front view of

[0041] Fig.10 for Figure 3 Enlarged schematic diagram of the middle linkage mechanism.

[0042] : Figure numerals: chassis 1, load-bearing arm 13, connecting arm 14, chassis connecting rod 15, chassis upper rod 16, rocker fixed base 17, seat electric push rod fixed base 18, directional wheel 21, universal wheel 22, lifting electric push rod motor 3, lifting electric push rod fixed base 4, cushion 5, seat electric push rod 51, seat roller 52, seat rod 53, seat connecting rod 54, seat rocker 55, lower column 6, upper column 7, upper column handrail 71, rectangular tube 72, handwheel 81, slider 82, slider linear bearing guide rod 83, trapezoidal screw 84, connecting tube 85, forearm support cushion 86, wedge clamping mechanism 87, wedge block 871, L-shaped handle 88, rubber handle cover 89, pin connecting base 9, small stiffness spring 91, pin block 92, large stiffness spring 93, guide rod 94, pin baffle 95, linear bearing 96. DETAILED DESCRIPTION

[0043] In order to make those skilled in the art better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific embodiments. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0044] Herein, the suffixes such as "module", "component" or "unit" used to represent elements are used only to facilitate the description of the present invention and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used in a mixed manner. Herein, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. "And / or" in this document includes any and all combinations of one or more listed related items. "Multiple" in this document means two or more, that is, it includes two, three, four, five, etc.

[0046] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0047] In this context, "upward retraction" means that during the seat folding process, the center of the seat moves upward in the vertical direction (i.e., in the same direction as the movement on the outer pillars) and moves horizontally toward the upper pillars, thereby providing support to the user's buttocks when the user moves from sitting to standing. For example, see Figure 3 and Figure 4 When the user moves from sitting to standing, the seat changes from Figure 4 The expanded state shown changes to Figure 3 Shown in folded state.

[0048] "Downward deployment" in this context means that during the deployment of the seat, the center of the seat moves downward in the vertical direction (i.e., in the same direction as the downward movement of the outer pillars) and moves away from the upper pillars in the horizontal direction, thereby providing support to the buttocks of the user during the process of moving from standing to sitting. For example, see Figure 3 and Figure 4 When the user moves from standing to sitting, the seat changes from Figure 3 The folded state shown becomes Figure 4 Shown in expanded state.

[0049] See also Figures 1 to 4 This embodiment provides an exoskeleton auxiliary hanger with a seat follower suspension support, including a movable chassis 1, a seat part and a lifting part. The movable chassis 1 includes a chassis frame and a sliding wheel group fixed under the chassis frame. The chassis frame is formed by welding a load-bearing arm 13 and connecting arms 14 on both sides. Considering the structural strength and weight, the load-bearing arm 13 and the connecting arm 14 are hollow carbon steel rectangular tubes. A fixed wheel 21 and a universal wheel 22 are respectively installed at both ends of the connecting arm 14 to form a sliding wheel group. The universal wheel 22 is installed on the side close to the load-bearing arm 13.

[0050] See also Figures 1 to 5The seat part includes a support frame fixed on the chassis frame, a seat mechanism arranged on the support frame, and a connecting rod mechanism driving the seat mechanism to slide on the support frame. The support frame is composed of a chassis upper layer rod 16, and the chassis upper layer rod 16 is welded and fixed to the chassis frame through a chassis connecting rod 15. Considering the structural strength and weight, the chassis upper layer rod 16 and the chassis connecting rod 15 are hollow carbon steel rectangular tubes. The seat mechanism includes four seat rods 53 welded together by square tubes. The four seat rods 53 include a front seat rod and a rear seat rod parallel to each other. Between the front seat rod and the rear seat rod, a seat cushion 5 is fixed by a wooden board. The seat cushion 5 is made of foam material, and a layer of artificial leather is wrapped on its surface. At the ends of the four seat rods 53, seat rollers 52 are equipped, and the seat rollers on the front seat rods are always attached to the chassis upper layer rod 16. The connecting rod mechanism includes a seat electric push rod 51, a seat rocker 55 and a seat connecting rod 54 which is hingedly connected to the seat electric push rod 51 and the seat rocker 55. The two ends of the rear seat rod are hinged to the seat rocker 55. Specifically, a rocker fixed base 17 and a seat electric push rod fixed base 18 are fixed on the side of the upper chassis rod 16 close to the load-bearing arm 13. The seat rocker 55 is rotatably fixed on the rocker fixed base 17, and the seat electric push rod 51 is fixed on the seat electric push rod fixed base 18. The distance between the rocker fixed base 17 and the seat electric push rod fixed base 18 is determined by the length of the seat rocker 55 and the stroke of the seat electric push rod 51. One end of the seat rocker 55 is connected to the seat electric push rod 51 through the connecting rod 54, and the other end is hinged to the two ends of the rear seat rod.

[0051] The seat electric push rod 51 drives the seat mechanism to unfold downward and retract upward on the upper rod 16 of the chassis. Figure 2 and Figure 4 , the seat electric push rod 51 extends, driving the seat connecting rod 54 to push the seat rocker 55 to rotate clockwise, pushing the front seat rod to roll forward on the upper rod 16 of the chassis to complete the downward expansion of the seat mechanism on the support frame; on the contrary, see Figure 1 and Figure 3 The retraction action of the seat electric push rod 51 completes the upward retraction action of the seat mechanism on the support frame.

[0052] See also Fig.10, the center point of the seat electric push rod fixed base 18 is set as point A, the connection center point of the seat electric push rod 51 and the seat connecting rod 54 is set as point B, the connection center point of the seat connecting rod 54 and the seat rocker 55 is set as point C, and the center point of the rocker fixed base 17 is set as point D. It can be seen from the figure that the four points A, B, C, and D form a closed quadrilateral, and the lengths of AD, DC, and CB are fixed, the angle of angle DAB is fixed, the length of AB is the length of the seat electric push rod 51 plus the travel distance d of the seat electric push rod 51, and the angle between the seat rocker 55 and the upper layer rod 16 of the chassis is set as θ. Connect BD to divide the quadrilateral ABCD into two triangles △DCB and △ABD, and then calculate according to the sine theorem to obtain the relationship between the angle θ between the seat rocker 55 and the upper layer rod 16 of the chassis and the travel distance d of the seat electric push rod 51, so that the retraction and extension range of the seat can be controlled by controlling the travel distance of the seat electric push rod 51. In this embodiment, the relationship between the calculated angle θ between the seat rocker 55 and the upper chassis rod 16 and the travel distance d of the seat electric push rod 51 is θ=-0.95d+79.39 (0≤d≤69.08).

[0053] See also Figures 1 to 4 The lifting part includes a lower column 6 fixed on the chassis frame and an upper column 7 sleeved outside the lower column and movable up and down along the lower column. The upper column is connected to the lifting electric push rod. The lifting electric push rod motor 3 drives the lifting electric push rod connected to the lifting electric push rod fixed base 4 to drive the upper column 7 to move up and down along the lower column 6. The travel distance of the seat electric push rod 51 is determined according to the displacement of the upper column 7. The seat electric push rod 51 drives the seat rocker 55 to move, thereby accurately controlling the amplitude of the seat retraction and extension. The lifting electric push rod motor 3 is a stepping motor, and the rotation angle can be calculated by pulses. The displacement of the upper column can be calculated in combination with the lead screw pitch, but this method requires calibration of the origin and has relatively low accuracy. Therefore, in this embodiment, a magnetostrictive displacement sensor is installed between the upper column 7 and the lower column 6 to measure the displacement of the upper column.

[0054] The relationship between the displacement of the upper column 7 and the travel distance of the seat electric push rod 51 is derived as follows: when a person is sitting, the standard posture is that the angle between the thigh and the torso is 90°, and the angle between the calf and the thigh is 90°. At this time, the travel of the seat electric push rod 51 is 0. According to the relationship between the travel of the seat electric push rod 51 and the angle of the seat rocker 55, the angle of the seat rocker 55 is 13.48°. When standing, the travel of the seat electric push rod is 69.08, and the seat rocker 55 is 79.39°. The lifting process of the upper column of the auxiliary hanger It is a slow and uniform process. The pitch of the electric push rod of the lifting column is 1.5mm and the stroke is 500mm. According to the "Chinese Adult Body Size GB10000-88", in the sitting state, the sitting depth of men aged 18-60 is 407mm to 510mm. The stroke of the electric push rod of the lifting column can meet the lifting range requirements. During the rising process of the column, the seat must always be kept in contact with the buttocks to play a good auxiliary support role. Therefore, the hovering angle of the seat is positively correlated with the angle between the thigh and the torso.

[0055] During use, the user's sitting depth will be measured first, set as L, and the sitting depth is the stroke that the auxiliary hanger needs to lift, and the angle of the seat rocker changes from 13.48° to 79.39°. Therefore, for every 1mm of lifting, the angle of the seat rocker changes by (79.39°-13.48°) / L. Combining the relationship between the stroke of the seat electric push rod 51 and the angle of the seat rocker 55, it can be obtained that for every 1mm of lifting of the lifting column electric push rod, the length of the seat electric push rod 51 changes by:

[0056] Specifically, during use, the movement displacement of the upper column, i.e., the seat depth data L, obtained by real-time measurement by the magnetostrictive displacement sensor is transmitted to the control board inside the exoskeleton robot in real time. The control board has pre-set the calculation relationship between L and d. The control board calculates and controls the seat electric push rod 51 to retract or extend a distance d based on the relationship, thereby accurately controlling the retraction and extension range of the seat.

[0057] See also Figures 1 to 4 as well as Figures 6 to 9Handrails 71 for people to push are arranged on the left and right sides of the upper column 7. The exoskeleton connecting mechanism is fixed to the upper column 7 through a rectangular tube 72. The exoskeleton robot is detachably connected to the auxiliary bracket through the exoskeleton connecting mechanism. The exoskeleton connection mechanism includes an exoskeleton width adjustment device, a support armrest portion connected to the exoskeleton width adjustment device, and an exoskeleton connection device fixed under the support armrest portion. The exoskeleton width adjustment device is specifically composed of a handwheel 81, a slider 82, a slider linear bearing guide rod 83, and a trapezoidal screw 84. The support armrest portion is specifically composed of a connecting tube 85, a forearm support cushion 86, a wedge-type clamping mechanism 87, an L-shaped handle 88, and a rubber handle cover 89. On both sides of the trapezoidal screw 84, there is a slider linear bearing guide rod 83, and the direction of the guide rod is parallel to the trapezoidal screw 84. The sliders 82 on both sides are fixed to the linear bearings, pass through the slider linear bearing guide rod 83, and are connected to the trapezoidal screw 84. The connecting tube 85 is fixed to the slider 82. The handwheels 81 on both sides can drive the trapezoidal screw 84 to move, and then drive the connecting tubes 85 on both sides to move relative or back to back, so as to realize the synchronous adjustment of the width of the hanger. The forearm support cushion 86 is fixed to the connecting tube 85 in the form of a clamp, and the position of the cushion is adjustable. The rubber handle 89 is put on the end of the L-shaped handle 88 for easy grasping. The L-shaped handle 88 is inserted into the connecting tube 85. The end of the connecting tube 85 has threads on the periphery, and the wedge-type clamping mechanism 87 cooperates with the threads. After adjusting to a suitable length, it can be clamped and fixed by the wedge-type clamping mechanism 87. More specifically, as Figure 7 As shown, there is a wedge block 871 inside the shell of the wedge-type clamping mechanism 87. When the shell is rotated clockwise, the inner diameter of the wedge block 871 becomes smaller until it contacts the L-shaped handle 88. When the shell is rotated counterclockwise, the inner diameter of the wedge block 871 becomes larger, and the L-shaped handle 88 can move freely in the connecting tube 85.

[0058] The exoskeleton robot can be connected to the auxiliary hanger through an exoskeleton connection device, more specifically, Figure 8 and Fig. 9As shown, the exoskeleton connection device includes a pin connection base 9 fixed under the supporting armrest part. Specifically, the pin connection base 9 is fixed to the connecting pipe 85 by welding under the forearm support cushion. A guide rod 94 is fixed in the pin connection base 9. The guide rod 94 is sequentially sleeved with a small stiffness spring 91 (i.e., a first stiffness spring), a linear bearing 96 and a large stiffness spring 93 (i.e., a second stiffness spring) from top to bottom. A pin block 92 is fixed on the linear bearing 96. When the exoskeleton robot is inserted into the pin hole on the pin block 92 through a pin, the pin blocking piece 95 is stuck in the slot of the pin to realize the connection between the exoskeleton robot and the auxiliary hanger. In addition, the guide rod 94 is connected to the base 9 and the linear bearing 96 through a pin. A small stiffness spring 91 is arranged above the linear bearing 96. The small stiffness spring can realize the upward damping adjustment of the center of gravity when a person wears the exoskeleton and walks. A large stiffness spring 93 is arranged below the linear bearing 96. The large stiffness spring can realize the downward damping adjustment of the center of gravity when a person wears the exoskeleton and walks.

[0059] In some embodiments, the maximum pressure that a high-rigidity spring can withstand is [the mass of the head and neck segment + the mass of the upper trunk segment + the mass of the lower trunk segment + (the mass of the upper arm segment + the mass of the forearm segment + the mass of the hand segment)*2] × gravity coefficient / 2; the maximum pressure that a low-rigidity spring can withstand is [the mass of the head and neck segment + the mass of the upper trunk segment + the mass of the lower trunk segment + (the mass of the upper arm segment + the mass of the forearm segment + the mass of the hand segment)*2] × gravity coefficient / 2-(the mass of the thigh segment + the mass of the calf segment + the mass of the foot segment), and the maximum compression of the spring is 100mm. The spring stiffness can be obtained according to Hooke's law. Among them, the mass of each segment refers to "GB / T17245-2004 Adult Human Inertia Parameters".

[0060] In the present application, the control panel is used to control the retraction or extension distance of the seat electric push rod according to the movement displacement of the upper column, so as to accurately control the retraction and extension range of the seat. Compared with the mechanical linkage method of folding the seat downward in the prior art, by controlling the seat to fold upward, a supporting force can be continuously applied to the human buttocks before the user stands up completely. On the one hand, it can reduce the load of the lifting electric push rod, and on the other hand, it can also allow the user to relax the upper limb strength.

[0061] However, precisely because of the active type, in the process from sitting to standing or from standing to sitting, as well as in the process of walking, there are higher requirements for the consistency of the seat following the rise and fall of the human body's buttocks, and the exoskeleton robot following the rise and fall of the human body's center of gravity, so that better support can be provided; and in the standing state, the connection between the exoskeleton and the auxiliary hanger, that is, the plane where the central axis of the pin hole of the pin block 92 is located, should be consistent with the plane where the center of gravity of the human body is located. At this time, the springs above and below the linear bearing 96 are not subjected to force, and the force that causes the spring compression comes from the weight of the human body above the plane where the center of gravity is located, and this part of the weight is equally divided into the springs above and below the linear bearing 96. Moreover, since the lower limb on the swinging side is suspended in the air, the force borne by the spring above the linear bearing 96 is the force after sharing minus the gravity of the unilateral lower limb. Therefore, springs with different stiffness are set above and below the linear bearing 96.

[0062] In addition, since the walking process is actually a symmetrical movement, if the influence of the symmetrical movement is ignored on the basis of the active linkage seat and only a large-rigidity spring is set at the bottom, the force applied to the hanger on both sides of the auxiliary hanger will be unbalanced due to the center of gravity offset. Therefore, based on the active linkage seat, this embodiment is based on the consideration of gait symmetry. By buffering the force on the hanger caused by the center of gravity offset to the spring below the support side linear bearing 96 and the spring above the swing side linear bearing 96, the stability and comfort of the equipment during use can be further improved, while also ensuring the consistency of the exoskeleton following the rise and fall of the center of gravity of the human body.

[0063] It is understandable that the auxiliary bracket provided by the present invention usually needs to be used in conjunction with a lower limb exoskeleton rehabilitation robot. In special circumstances, it can also be used as a walker. The user supports the upper limbs by grasping the handrails 71 on the left and right sides of the upper column 7, and the lower limbs can move in the auxiliary hanger and drive the auxiliary hanger to move forward. However, it is not recommended to use the auxiliary bracket provided by the present invention as a walker for patients with a higher level of motor function impairment.

[0064] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention, and the protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An exoskeleton auxiliary hanger with a seat follower suspension support, characterized in that: include: A movable chassis, comprising a chassis frame and a sliding wheel set fixed under the chassis frame; A seat part, comprising a support frame fixed to the chassis frame, a seat mechanism arranged on the support frame, and a connecting rod mechanism driving the seat mechanism to slide on the support frame; The seat mechanism is driven to slide on the support frame to realize the downward unfolding and upward retracting movement of the seat mechanism on the support frame; the seat mechanism comprises a front seat rod and a rear seat rod connected together, a seat cushion is fixed between the front seat rod and the rear seat rod, seat rollers are arranged at the ends of the front seat rod and the rear seat rod, and the seat rollers on the front seat rod are always attached to the upper rod of the chassis; the connecting rod mechanism comprises a seat electric push rod, a seat rocker, and a connecting rod hingedly connected to the seat electric push rod and the seat rocker, the two ends of the rear seat rod are hinged to the seat rocker, and the two ends of the front seat rod are arranged on the support frame; The lifting part comprises a lower column fixed on the chassis frame and an upper column sleeved outside the lower column and movable up and down along the lower column, an exoskeleton connection mechanism is fixed to the outside of the upper column, and the exoskeleton connection mechanism is detachably connected to the exoskeleton robot; the exoskeleton connection mechanism comprises: an exoskeleton connection device, the exoskeleton connection device comprises a latch connection base docking with the exoskeleton robot, a guide rod is fixed in the latch connection base, the guide rod is sleeved with a first stiffness spring, a linear bearing and a second stiffness spring in sequence from top to bottom, a latch block is fixed on the linear bearing, and the exoskeleton robot is fixed on the latch block in a latch connection manner; wherein the first stiffness is less than the second stiffness; A sensing module is arranged between the upper column and the lower column, and is used to obtain the upward displacement of the upper column along the lower column, or the downward displacement of the upper column; the sensing module is a magnetostrictive displacement sensor arranged between the upper column and the lower column; A control device is used to control the retracting and extending action of the seat mechanism in linkage with the up and down movement of the upper column, including controlling the retracting distance of the seat electric push rod according to the upward movement displacement of the upper column along the lower column, thereby controlling the upward retraction amplitude of the seat mechanism on the support frame, and controlling the extending distance of the seat electric push rod according to the downward movement displacement of the upper column along the lower column, thereby controlling the downward deployment amplitude of the seat mechanism on the support frame; Characterize the retraction range or deployment range of the seat mechanism, let Characterizes the displacement of the upper column, then , where d is the travel distance of the seat electric push rod in the linkage mechanism to extend or retract; and the hovering angle of the seat is positively correlated with the angle between the thigh and the torso.

2. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 1, characterized in that: The support frame is provided with a guide rail, and both ends of the front seat rod are provided with guide sliders, and the guide sliders are arranged in the guide rail.

3. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 1, characterized in that: The upper column is connected with the column electric push rod.

4. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 3, characterized in that: The column electric push rod is driven by a stepping motor.

5. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 1, characterized in that: The exoskeleton connection mechanism also includes an exoskeleton width adjustment device and a support armrest portion connected to the exoskeleton width adjustment device, and the exoskeleton connection device is fixed below the support armrest portion.

6. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 5, characterized in that: The exoskeleton width adjustment device comprises an armrest slider and a hand-cranked lead screw structure for driving the armrest slider to move left and right, and the supporting armrest portion is connected to the armrest slider.

7. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 6, characterized in that: The supporting armrest portion comprises a connecting tube and an L-shaped handle, one end of the connecting tube is fixed on the armrest slider, and the other end is connected to the L-shaped handle via a wedge-type clamping mechanism.

8. The exoskeleton auxiliary hanger for seat follower suspension support according to claim 5, characterized in that: A forearm support cushion is arranged on the support armrest portion, and the exoskeleton connection device is arranged below the forearm support cushion.

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