Exoskeleton rehabilitation assisting device

Abstract

The application provides an exoskeleton rehabilitation assisting device. The exoskeleton rehabilitation assisting device comprises a base, two fixing seats, two arm rehabilitation assisting mechanisms, and a lifting mechanism. The two fixing seats are fixedly installed on the base. The two arm rehabilitation assisting mechanisms are respectively arranged on the corresponding fixing seats and are used for assisting the rehabilitation movement of the arms of patients. The lifting mechanism is arranged on the two fixing seats and is used for adjusting the positions of the two arm rehabilitation assisting mechanisms. The lifting mechanism comprises two first threaded rods and two sliding blocks. The two first threaded rods are respectively rotationally installed on the corresponding fixing seats. The sliding blocks are threadedly installed on the corresponding first threaded rods. The exoskeleton rehabilitation assisting device has the advantages of convenient adjustment of the movement range, satisfaction of different user groups, convenient fixation of the hands, and avoidance of secondary injury.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation assistance devices, and particularly relates to an exoskeleton rehabilitation assistance device. BACKGROUND

[0002] Some external injuries, diseases or age growth in life will cause hand movement disorders, which are manifested as different degrees of hand paralysis. At this time, the hand needs to be trained through a rehabilitation assistance device. A user exercises the exoskeleton on the rehabilitation assistance device to stimulate the motor nerve and muscle of the patient, and finally achieves the purpose of rehabilitation.

[0003] A prior art Chinese patent application No. 202110927361.0 discloses an upper limb exoskeleton assistance device. The technical scheme of the present application comprises a rack, an arm device, an assistance mechanism and a lying pad. The arm device is installed in front of the rack through a large arm fixing frame. The assistance mechanism is arranged on the rack. The lying pad is arranged on the top surface of the rack. The purpose of the device is to provide an upper limb exoskeleton assistance device for people with weak pectoralis major and deltoid muscles and people who have exhausted the training of pectoralis major and deltoid muscles for a long time, so that the trainees can well complete the training action. At the same time, the small arm and foot pedal assistance device can support heavy objects such as dumbbells and barbells, avoiding the risk of being injured by the trainees due to insufficient large arm strength.

[0004] Traditional exoskeleton rehabilitation assistance devices move the arm within a certain range to assist in arm rehabilitation training. However, the movement range cannot be adjusted, which cannot meet the needs of different user groups. In addition, it is inconvenient to fix the hand. When the exoskeleton rehabilitation assistance device moves the arm, the position of the arm may change, which easily causes secondary injury of the arm.

[0005] Therefore, it is necessary to provide an exoskeleton rehabilitation assistance device to solve the above technical problems SUMMARY

[0006] The technical problem solved by the present application is to provide an exoskeleton rehabilitation assistance device which can conveniently adjust the movement range, meet the needs of different user groups, conveniently fix the hand and avoid secondary injury.

[0007] To solve the above technical problems, the exoskeleton rehabilitation assisting device provided by the present application comprises a base, two fixed seats, two arm rehabilitation assisting mechanisms, a lifting mechanism and a seat.

[0008] Preferably, the arm rehabilitation assisting mechanism comprises a mounting plate, a rotating shaft, a first rotating seat, a first arc-shaped plate, an annular seat, a second rotating seat and a second arc-shaped plate.

[0009] Preferably, the arm rehabilitation assisting mechanism further comprises a movable block and two arm fixators, the movable block is slidably installed on the second rotating seat, one arm fixator is fixedly installed on the movable block, and the other arm fixator is fixedly installed on the mounting plate.

[0010] Preferably, the arm rehabilitation assisting mechanism further comprises a second threaded rod, the second threaded rod is rotatably installed on the second rotating seat, the movable block is threadedly connected with the second threaded rod, one side of the annular seat is fixedly installed with a first motor, and an output shaft of the first motor is fixedly connected with the second rotating seat.

[0011] Preferably, the arm rehabilitation assisting mechanism further comprises a first gear, a straight rack, a second motor, a crankshaft, a through hole, a third threaded rod, a connecting piece, a hollow plate and an assembly block, the first gear is fixedly sleeved on the rotating shaft, the bottom of the mounting plate is slidably installed with the straight rack, the straight rack is meshed with the first gear, the bottom of the mounting plate is fixedly installed with the second motor, the output shaft of the second motor is fixedly installed with the crankshaft, the through hole is formed in the crankshaft, the third threaded rod is rotatably installed in the through hole, the connecting piece is threadedly installed on the third threaded rod, the hollow plate is fixedly installed on the straight rack, and the assembly block is slidably installed in the hollow plate.

[0012] Preferably, the two arm fixators each comprise a support seat, one of the support seats is fixedly installed on the movable block, and the other support seat is fixedly installed on the mounting plate, a cylinder is fixedly installed in the support seat, two threaded sleeves are symmetrically and rotatably installed on the cylinder, a fourth threaded rod is threadedly installed on the threaded sleeve, and two arc-shaped clamping plates are symmetrically and slidably installed in the cylinder, one end of the fourth threaded rod is fixedly connected with the arc-shaped clamping plates, and rubber pads are arranged on the sides, which are close to each other, of the two arc-shaped clamping plates.

[0013] Preferably, a second gear is fixedly sleeved on the threaded sleeve, an annular gear rack is rotatably installed in the support seat, the annular gear rack is engaged with the two second gears, the ends, which are away from each other, of the two threaded sleeves penetrate through the support seat, and a handle is fixedly installed on one of the threaded sleeves.

[0014] Preferably, the lifting mechanism further comprises two belt pulleys, the top ends of the two first threaded rods penetrate through the fixing seats, the belt pulleys are fixedly connected with the corresponding first threaded rods, the same belt is rotatably sleeved on the two belt pulleys, a third motor is fixedly installed on one of the fixing seats, and the third motor is fixedly connected with one of the belt pulleys.

[0015] Preferably, the seat is provided with a leg rehabilitation assisting mechanism, the leg rehabilitation assisting mechanism comprises a rotating plate, the rotating plate is rotatably installed on the seat, a foot plate is fixedly installed on the rotating plate, a binding belt is fixedly installed on the foot plate, two hinged rods are rotatably installed on one side of the rotating plate, two moving blocks are slidably installed at the bottom of the seat, two hinged blocks are slidably installed on the moving blocks, the hinged rods are rotatably connected with the corresponding hinged blocks, the same first connecting arm is fixedly installed on the two hinged blocks, the same second connecting arm is fixedly installed on the two moving blocks, two air cylinders are fixedly installed at the bottom of the seat, and the output shafts of the air cylinders are fixedly connected with the second connecting arm.

[0016] Preferably, the leg rehabilitation assisting mechanism further comprises a rotating disc, the rotating disc is rotatably installed on the second connecting arm, a rotating rod is rotatably installed on the rotating disc, the rotating rod is rotatably connected with the first connecting arm, a fourth motor is fixedly installed on the second connecting arm, the output shaft of the fourth motor is fixedly connected with the rotating disc, a limiting slot is formed in the moving block, a limiting rod is fixedly installed in the limiting slot, and the limiting rod is slidably connected with the hinged block.

[0017] Compared with the related art, the exoskeleton rehabilitation assisting device has the following beneficial effects:

[0018] This invention provides an exoskeleton rehabilitation assistive device. A lifting mechanism facilitates height adjustment of the arm fixation device for user convenience. The arm fixation device utilizes a threaded sleeve, a fourth threaded rod, an arc-shaped clamping plate, a second gear, and a ring rack to synchronously move the two arc-shaped clamping plates, thus fixing the user's arm and preventing displacement during rehabilitation training to avoid secondary injury. A rotating shaft, a first rotating seat, a first arc-shaped plate, a first gear, a spur rack, a crankshaft, a hollow plate, an assembly block, and connecting parts facilitate reciprocating horizontal movement of the user's arm for rehabilitation training. Rotating the third threaded rod moves the connecting parts and assembly block, changing the radius of motion and adjusting the range of motion to gradually increase training intensity. A second rotating seat, a second arc-shaped plate, and a first motor facilitate vertical movement of the user's arm. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the exoskeleton rehabilitation assistive device provided by the present invention;

[0020] Figure 2 for Figure 1 The diagram shown is a structural schematic of an arm rehabilitation assistive device.

[0021] Figure 3 for Figure 2 The exploded view shown;

[0022] Figure 4 for Figure 3 An enlarged schematic diagram of part A shown;

[0023] Figure 5 for Figure 4 The diagram shows a bottom-view sectional view of the structure.

[0024] Figure 6 for Figure 1 The diagram shows a side view of the structure.

[0025] Figure 7 for Figure 2 The exploded view of the arm fixation device shown;

[0026] Figure 8 for Figure 2 The diagram shows a cross-sectional view of the arm fixation device.

[0027] Figure 9 for Figure 1 The diagram shows a top view of the structure.

[0028] Figure 10 for Figure 1 The diagram shown is a top-down view of the structure.

[0029] Figure 11 As Figure 1 The side view structure schematic diagram is shown in the figure;

[0030] Figure 12 As Figure 11 The enlarged schematic view of the B part is shown.

[0031] Reference numerals in the figure: 1, base; 2, fixing seat; 3, arm rehabilitation assisting mechanism; 301, mounting plate; 302, rotating shaft; 303, first rotating seat; 304, first arc-shaped plate; 305, annular seat; 306, second rotating seat; 307, second arc-shaped plate; 308, movable block; 309, second threaded rod; 310, first motor; 311, first gear; 312, straight rack; 313, second motor; 314, crankshaft; 315, hollow plate; 316, assembling block; 317, through hole; 318, third threaded rod; 319, connecting piece; 4, lifting mechanism; 401, first threaded rod; 402, sliding block; 403, pulley; 404, belt; 405, third motor; 5, arm fixer; 501, cylinder; 502, threaded sleeve; 503, fourth threaded rod; 504, arc-shaped clamping plate; 505, rubber pad; 506, second gear; 507, supporting seat; 508, annular rack; 6, seat; 7, leg rehabilitation assisting mechanism; 701, rotating plate; 702, footboard; 703, hinged rod; 704, moving block; 705, hinged block; 706, first connecting arm; 707, second connecting arm; 708, air cylinder; 709, rotating disc; 710, rotating rod; 711, fourth motor. DETAILED DESCRIPTION

[0032] The application will be further described below in combination with the drawings and embodiments.

[0033] Please refer to Figures 1-9In the first embodiment of the present application, the exoskeleton rehabilitation assisting device comprises a base 1, two fixing seats 2, both of which are fixedly installed on the base 1, two arm rehabilitation assisting mechanisms 3, both of which are arranged on the corresponding fixing seats 2, and are used for assisting the rehabilitation movement of the patient's arms, and a lifting mechanism 4 arranged on the two fixing seats 2 and used for adjusting the position of the two arm rehabilitation assisting mechanisms 3, which comprises two first threaded rods 401 and two sliding blocks 402, both of which are threadedly installed on the corresponding fixing seats 2, and a seat 6 fixedly installed on the two fixing seats 2.

[0034] The arm rehabilitation assisting mechanism 3 comprises an installation plate 301 fixedly installed on the sliding block 402, a rotating shaft 302 rotatably installed on the installation plate 301, a first rotating seat 303 fixedly installed at the top of the rotating shaft 302, a first arc-shaped plate 304 fixedly installed at the top of the installation plate 301, a first arc-shaped groove formed in the first arc-shaped plate 304, a first cylinder fixedly installed at the bottom of the first rotating seat 303 and movably connected with the inner wall of the first arc-shaped groove, a ring-shaped seat 305 fixedly installed on the first rotating seat 303, a second rotating seat 306 rotatably installed on the ring-shaped seat 305, a second arc-shaped plate 307 fixedly installed on the ring-shaped seat 305, two supporting rods fixedly installed on the ring-shaped seat 305 and fixedly connected with the second arc-shaped plate 307, the second rotating seat 306 slidably connected with the second arc-shaped plate 307, a second arc-shaped groove formed in the second arc-shaped plate 307, and a second cylinder fixedly installed on the second rotating seat 306 and movably connected with the inner wall of the second arc-shaped groove.

[0035] The arm rehabilitation assisting mechanism 3 further comprises a movable block 308 and two arm fixers 5, the movable block 308 is slidingly installed on the second rotating seat 306, the second rotating seat 306 is provided with a movable slot, the movable block 308 is slidingly connected with the inner wall of the movable slot, one of the arm fixers 5 is fixedly installed on the movable block 308, and the other arm fixer 5 is fixedly installed on the mounting plate 301, the distance between the two arm fixers 5 is adjusted by moving the movable block 308, so that the arm rehabilitation assisting mechanism 3 is suitable for arms with different lengths.

[0036] The arm rehabilitation assisting mechanism 3 further comprises a second threaded rod 309, the second threaded rod 309 is rotatably installed on the second rotating seat 306, the second threaded rod 309 is rotatably connected with the inner wall of the movable slot, the movable block 308 is threadedly connected with the second threaded rod 309, the position of the movable block 308 is adjusted by rotating the second threaded rod 309, one side of the annular seat 305 is fixedly provided with a first motor 310, the output shaft of the first motor 310 is fixedly connected with the second rotating seat 306, and the output shaft of the first motor 310 is used to drive the second rotating seat 306 to rotate.

[0037] The arm rehabilitation assisting mechanism 3 further comprises a first gear 311 fixedly sleeved on the rotating shaft 302, a straight rack 312 slidingly installed on the bottom of the mounting plate 301, the straight rack 312 being engaged with the first gear 311, the straight rack 312 being moved to drive the first gear 311 to rotate, thereby driving the rotating shaft 302 to rotate, realizing the rotation of the first rotating seat 303 and the arm fixer 5, and realizing the movement of the arm in the horizontal direction, a second motor 313 fixedly installed on the bottom of the mounting plate 301, a crankshaft 314 fixedly installed on the output shaft of the second motor 313, a through hole 317 formed in the crankshaft 314, a third threaded rod 318 rotatably installed in the through hole 317, a connecting piece 319 threadedly installed on the third threaded rod 318, a hollow plate 315 fixedly installed on the straight rack 312, an assembly block 316 slidingly installed in the hollow plate 315, the assembly block 316 being fixedly connected with the connecting piece 319, the crankshaft 314, the connecting piece 319, the hollow plate 315, the assembly block 316, the first gear 311 and the straight rack 312 being cooperated with each other, the crankshaft 314 being rotated to drive the assembly block 316 to rotate through the connecting piece 319, the assembly block 316 driving the hollow plate 315 and the straight rack 312 to reciprocate, the straight rack 312 driving the engaged first gear 311 to reciprocate, thereby driving the rotating shaft 302 to reciprocate, realizing the reciprocating movement of the first rotating seat 303 within a certain range, driving the arm rehabilitation training, the third threaded rod 318 driving the connecting piece 319 to move, thereby driving the assembly block 316 to move, changing the movement radius, thereby adjusting the movement range, and gradually increasing the training intensity.

[0038] Both the arm fixers 5 comprise a support seat 507, one of the support seats 507 being fixedly installed on the movable block 308, and the other of the support seats 507 being fixedly installed on the mounting plate 301, a cylinder 501 fixedly installed in the support seat 507, two threaded sleeves 502 symmetrically rotatably installed on the cylinder 501, a fourth threaded rod 503 threadedly installed on the threaded sleeves 502, and two arc-shaped clamping plates 504 symmetrically slidingly installed in the cylinder 501, the two arc-shaped clamping plates 504 being used for fixing the arms of the user, avoiding displacement during rehabilitation training, and preventing secondary injury, the arc-shaped clamping plates 504 being fixedly connected with one end of the fourth threaded rod 503, the threaded sleeves 502 being rotated to drive the fourth threaded rod 503 to move, thereby driving the arc-shaped clamping plates 504 to move, and rubber pads 505 being arranged on the sides of the two arc-shaped clamping plates 504 close to each other, the rubber pads 505 being used for protecting the arms of the user and avoiding injury to the arms.

[0039] The second gear 506 is fixedly sleeved on the threaded sleeve 502, the annular rack 508 is rotatably installed in the support base 507, the annular rack 508 is engaged with the two second gears 506, the annular rack 508 facilitates synchronous rotation of the two second gears 506, and the ends, away from each other, of the two threaded sleeves 502 penetrate the support base 507.

[0040] The lifting mechanism 4 further comprises two belt pulleys 403, the top ends of the two first threaded rods 401 penetrate the fixed base 2, the belt pulley 403 is fixedly connected with the corresponding first threaded rod 401, the same belt 404 is rotatably sleeved on the two belt pulleys 403, the third motor 405 is fixedly installed on one fixed base 2, the third motor 405 is fixedly connected with one belt pulley 403, and the two first threaded rods 401 are facilitated to be synchronously rotated through the belt pulley 403 and the belt 404.

[0041] The working principle of the exoskeleton rehabilitation assisting device is as follows:

[0042] In use, the user sits on the seat 6, the third motor 405 is started, the two first threaded rods 401 are synchronously rotated through the two belt pulleys 403 and the belt 404, the first threaded rod 401 drives the sliding block 402 to move upwards or downwards, the sliding block 402 drives the arm rehabilitation assisting mechanism 3 to move upwards or downwards, the arm rehabilitation assisting mechanism 3 drives the arm fixer 5 to move upwards or downwards, so that the position of the arm fixer 5 is adjusted, and different people can use it.

[0043] After the position of the arm fixer 5 is adjusted, the third motor 405 is turned off, at this time, the user passes the arms through the two arm fixers 5, and the arms are located between the two arc-shaped clamping plates 504, then the handle is rotated, the handle drives the threaded sleeve 502, the threaded sleeve 502 drives the second gear 506 to rotate, the second gear 506 drives the annular rack 508 to rotate on the support base 507, the annular rack 508 drives the other second gear 506 to rotate, so that the two second gears 506 are synchronously rotated, the second gear 506 drives the threaded sleeve 502 to rotate, the threaded sleeve 502 drives the fourth threaded rod 503 to move when rotating, the fourth threaded rod 503 drives the arc-shaped clamping plate 504 to move, until the two arc-shaped clamping plates 504 fix the arms of the user, at this time, the handle is stopped rotating.

[0044] When the rehabilitation training is carried out, the second motor 313 is started, the output shaft of the second motor 313 drives the crankshaft 314 to rotate, the crankshaft 314 drives the assembly block 316 to do the circular motion through the connecting piece 319, the assembly block 316 drives the hollow plate 315 to reciprocate, the hollow plate 315 drives the straight rack 312 to reciprocate, the straight rack 312 drives the first gear 311 to reciprocate, the first gear 311 drives the rotating shaft 302 to reciprocate, the rotating shaft 302 drives the first rotating seat 303 to move back and forth on the first arc plate 304, so as to drive the user's arm to reciprocate in the horizontal direction, and the rehabilitation training is achieved;

[0045] The first motor 310 is started, the output shaft of the first motor 310 drives the second rotating seat 306 to rotate on the second arc plate 307, the second rotating seat 306 drives one arm fixer 5 to rotate, the movement of the user's arm in the vertical direction is achieved, and the rehabilitation training is achieved;

[0046] The second threaded rod 309 is rotated, the output shaft of the second threaded rod 309 drives the movable block 308 to move, the movable block 308 drives one arm fixer 5 to move, the distance between the two arm fixers 5 can be adjusted, and the device is suitable for users with different lengths of arms;

[0047] The third threaded rod 318 is rotated, the connecting piece 319 is driven to move in the through hole 317, the connecting piece 319 drives the assembly block 316 to move, the rotating radius is changed, the movement range is adjusted, the training intensity can be gradually increased, and different user groups can be met;

[0048] Compared with the related art, the exoskeleton rehabilitation assisting device has the following beneficial effects:

[0049] The application provides an exoskeleton rehabilitation assisting device, which is convenient for adjusting the height of an arm fixer 5 through a lifting mechanism 4, and is convenient for users to use; the arm fixer 5 is convenient for driving two arc-shaped clamping plates 504 to move synchronously through cooperation of a threaded sleeve 502, a fourth threaded rod 503, the arc-shaped clamping plates 504, a second gear 506 and an annular rack 508, so that the user's arm is fixed, displacement during rehabilitation training is avoided, and secondary injury of the arm is avoided; the user's arm is convenient for reciprocating in the horizontal direction through cooperation of a rotating shaft 302, a first rotating seat 303, a first arc-shaped plate 304, a first gear 311, a straight rack 312, a crankshaft 314, a hollow plate 315, an assembling block 316 and a connecting piece 319, rehabilitation training is achieved, and the connecting piece 319 and the assembling block 316 are driven to move through rotation of a third threaded rod 318, the movement radius is changed, the movement range is adjusted, and the training intensity can be gradually increased; the user's arm is convenient for moving in the vertical direction through cooperation of a second rotating seat 306, a second arc-shaped plate 307 and a first motor 310.

[0050] Second embodiment

[0051] Based on the exoskeleton rehabilitation assisting device provided in the first embodiment of the application, the second embodiment of the application provides another exoskeleton rehabilitation assisting device. The second embodiment is only a preferred mode of the first embodiment, and implementation of the second embodiment does not affect the separate implementation of the first embodiment.

[0052] The second embodiment of the application will be further described below in combination with the drawings and embodiments.

[0053] Please refer to Figure 1 , Figure 6 , Figure 9 , Figure 10 , Figure 11 and Figure 12, the exoskeleton rehabilitation assisting device further comprises a leg rehabilitation assisting mechanism 7 arranged on the seat 6, the leg rehabilitation assisting mechanism 7 comprises a rotating plate 701 rotatably arranged on the seat 6, a foot plate 702 is fixedly arranged on the rotating plate 701, the foot plate 702 is used for supporting legs, a binding belt is fixedly arranged on the foot plate 702, the binding belt is used for fixing feet of a user, two hinged rods 703 are rotatably arranged on one side of the rotating plate 701, two moving blocks 704 are slidably arranged at the bottom of the seat 6, two hinged blocks 705 are slidably arranged on the moving blocks 704, the hinged rod 703 is rotatably connected with the corresponding hinged block 705, when the hinged block 705 moves, the rotating plate 701 is conveniently driven to move through the hinged rod 703, the same first connecting arm 706 is fixedly arranged on the two hinged blocks 705, the same second connecting arm 707 is fixedly arranged on the two moving blocks 704, two air cylinders 708 are fixedly arranged at the bottom of the seat 6, the output shaft of the air cylinder 708 is fixedly connected with the second connecting arm 707, the air cylinder 708 is used for driving the second connecting arm 707 to move, and the second connecting arm 707 is used for driving the two moving blocks 704 to synchronously move.

[0054] The leg rehabilitation assisting mechanism 7 further comprises a rotating disc 709 rotatably arranged on the second connecting arm 707, a rotating rod 710 is rotatably arranged on the rotating disc 709, the rotating rod 710 is rotatably connected with the first connecting arm 706, when the rotating disc 709 rotates, the first connecting arm 706 is conveniently driven to reciprocatingly move through the rotating rod 710, the first connecting arm 706 is used for driving the two hinged blocks 705 to reciprocatingly move, a fourth motor 711 is fixedly arranged on the second connecting arm 707, the output shaft of the fourth motor 711 is fixedly connected with the rotating disc 709, the fourth motor 711 is used for driving the rotating disc 709 to rotate, a limiting slot is formed in the moving block 704, a limiting rod is fixedly arranged in the limiting slot, the limiting rod is slidably connected with the hinged block 705, and the limiting rod and the limiting slot limit the hinged block 705.

[0055] The user sits on the seat 6, places feet on the foot plate 702, fixes the feet through the binding belt, then starts the air cylinder 708, the output shaft of the air cylinder 708 drives the two moving blocks 704 to move through the second connecting arm 707, the moving block 704 drives the hinged block 705 and the hinged rod 703 to move, and the hinged rod 703 drives the rotating plate 701 to rotate, so that the position of the rotating plate 701 can be adjusted;

[0056] After the rotating plate 701 is adjusted to the appropriate position, the air cylinder 708 is closed, and then the fourth motor 711 is started, the output shaft of the fourth motor 711 drives the rotating disc 709 to rotate, the rotating disc 709 drives the first connecting arm 706 to reciprocate through the rotating rod 710, the first connecting arm 706 drives the two hinged blocks 705 to reciprocate on the moving block 704, the hinged blocks 705 drive the hinged rod 703 to reciprocate, the hinged rod 703 drives the rotating plate 701 to reciprocate, and the double feet can be driven to reciprocate, so that the legs can be rehabilitated, and when the arms are rehabilitated, the feet can also be rehabilitated, so that the rehabilitation is multi-faceted, the application range is wide, and the training position is convenient to adjust and meets the different needs of users.

[0057] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. Among them, the detachable mounting mode has many kinds, for example, it can be through the cooperation of plug-in and buckle, and for example, through the bolt connection mode and the like.

[0058] The concept, specific structure and generated technical effects of the present application are clearly and completely described above in combination with the embodiments and drawings, so as to fully understand the purposes, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments, and based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. In addition, all the coupling / connection relationships mentioned in the text do not mean that the components are directly connected, but that a better coupling structure can be composed by adding or reducing coupling accessories according to the specific implementation situation.

[0059] The above embodiments are only used to further illustrate the present application, and cannot be understood as limiting the protection scope of the present application. The skilled engineer in the art can make some non-essential improvements and adjustments to the present application according to the above content of the present application, which falls within the protection scope of the present application.

Claims

1. An exoskeleton rehabilitation assistive device, characterized in that, include: Base; Two mounting bases, both of which are fixedly mounted on the base; Two arm rehabilitation assistive mechanisms are respectively installed on corresponding fixed seats, and the arm rehabilitation assistive mechanisms are used to assist the patient's arm rehabilitation movements. A lifting mechanism is provided, which is mounted on two fixed seats. The lifting mechanism is used to adjust the position of the two arm rehabilitation assistive mechanisms. The lifting mechanism includes two first threaded rods and two sliders. The two first threaded rods are rotatably mounted on the corresponding fixed seats, and the sliders are threadedly mounted on the corresponding first threaded rods. A seat, which is fixedly mounted on two fixed seats; The arm rehabilitation assistive mechanism includes a mounting plate, which is fixedly mounted on the slider. A rotating shaft is rotatably mounted on the mounting plate. A first rotating seat is fixedly mounted on the top of the rotating shaft. A first arc-shaped plate is fixedly mounted on the top of the mounting plate. The first rotating seat is slidably connected to the first arc-shaped plate. An annular seat is fixedly mounted on the first rotating seat. A second rotating seat is rotatably mounted on the annular seat. A second arc-shaped plate is fixedly mounted on the annular seat. The second rotating seat is slidably connected to the second arc-shaped plate. The arm rehabilitation assist mechanism also includes a first gear, which is fixedly sleeved on the rotating shaft. A rack is slidably mounted on the bottom of the mounting plate, and the rack meshes with the first gear. A second motor is fixedly mounted on the bottom of the mounting plate. A crankshaft is fixedly mounted on the output shaft of the second motor. A through hole is opened on the crankshaft, and a third threaded rod is rotatably mounted in the through hole. A connector is threaded onto the third threaded rod. A hollow plate is fixedly mounted on the rack, and an assembly block is slidably mounted in the hollow plate. The assembly block is fixedly connected to the connector.

2. The exoskeleton rehabilitation assistive device according to claim 1, characterized in that, The arm rehabilitation assistive mechanism also includes a movable block and two arm fixators. The movable block is slidably mounted on the second rotating seat, one arm fixator is fixedly mounted on the movable block, and the other arm fixator is fixedly mounted on the mounting plate.

3. The exoskeleton rehabilitation assistive device according to claim 2, characterized in that, The arm rehabilitation assist mechanism also includes a second threaded rod, which is rotatably mounted on the second rotating seat. The movable block is threadedly connected to the second threaded rod. A first motor is fixedly mounted on one side of the annular seat, and the output shaft of the first motor is fixedly connected to the second rotating seat.

4. The exoskeleton rehabilitation assistive device according to claim 3, characterized in that, Both of the arm fixators include a support base. One support base is fixedly installed on the movable block, and the other support base is fixedly installed on the mounting plate. A cylinder is fixedly installed inside the support base. Two threaded sleeves are symmetrically rotatably installed on the cylinder. A fourth threaded rod is threaded onto the threaded sleeve. Two arc-shaped clamping plates are symmetrically slidably installed inside the cylinder. The arc-shaped clamping plates are fixedly connected to one end of the fourth threaded rod. Rubber pads are provided on the side of the two arc-shaped clamping plates that are close to each other.

5. The exoskeleton rehabilitation assistive device according to claim 4, characterized in that, A second gear is fixedly fitted on the threaded sleeve, and an annular rack is rotatably installed inside the support base. The annular rack meshes with two second gears. The ends of the two threaded sleeves that are far apart from each other both pass through the support base. A handle is fixedly installed on one of the threaded sleeves.

6. The exoskeleton rehabilitation assistive device according to claim 5, characterized in that, The lifting mechanism also includes two pulleys, the top ends of the two first threaded rods pass through the fixed base, the pulleys are fixedly connected to the corresponding first threaded rods, the same belt is rotatably sleeved on the two pulleys, and a third motor is fixedly installed on one of the fixed bases, the third motor is fixedly connected to one of the pulleys.

7. The exoskeleton rehabilitation assistive device according to any one of claims 1-6, characterized in that, The seat is equipped with a leg rehabilitation assist mechanism, which includes a rotating plate rotatably mounted on the seat. A foot pedal is fixedly mounted on the rotating plate, and a restraint strap is fixedly mounted on the foot pedal. Two hinge rods are rotatably mounted on one side of the rotating plate. Two moving blocks are slidably mounted on the bottom of the seat, and two hinge blocks are slidably mounted on the moving blocks. The hinge rods are rotatably connected to the corresponding hinge blocks. The same first connecting arm is fixedly mounted on the two hinge blocks, and the same second connecting arm is fixedly mounted on the two moving blocks. Two cylinders are fixedly mounted on the bottom of the seat, and the output shaft of the cylinder is fixedly connected to the second connecting arm.

8. The exoskeleton rehabilitation assistive device according to claim 7, characterized in that, The leg rehabilitation assist mechanism also includes a turntable, which is rotatably mounted on the second connecting arm. A rotating rod is rotatably mounted on the turntable and rotatably connected to the first connecting arm. A fourth motor is fixedly mounted on the second connecting arm, and the output shaft of the fourth motor is fixedly connected to the turntable. A limit groove is formed on the moving block, and a limit rod is fixedly mounted in the limit groove. The limit rod is slidably connected to the hinge block.

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