Lower extremity rehabilitation exoskeleton device

Abstract

This invention provides a lower limb rehabilitation exoskeleton device, relating to the field of medical device technology. It includes: a base plate, and a seat assembly, a first rehabilitation mechanism, and a second rehabilitation mechanism sequentially arranged on the base plate. The second rehabilitation mechanism includes two sets of second electric telescopic rods and a second mounting block fixed to the telescopic end of each second electric telescopic rod. Rotatable lifting components are also provided on the opposing surfaces of the two mounting plates. This lower limb rehabilitation exoskeleton device, through its seat assembly, first rehabilitation mechanism, and second rehabilitation mechanism, enables active or passive range of motion rehabilitation training of the lower limbs in a seated position. Furthermore, the structural characteristics of the second rehabilitation mechanism allow for adjustment of the frequency, amplitude, and height of the lifting components, thereby adapting to different requirements of ankle joint rehabilitation training during the patient's rehabilitation process. It can also meet the patient's need for de-edema reduction in both static and active ankle joint states, further improving the rehabilitation effect.

Description

Technical Field

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

[0002] Lower limb rehabilitation training methods include static exercises, joint mobilization, and lower limb muscle resistance training. Correct methods and steps in lower limb rehabilitation training are crucial for injured patients. Proper rehabilitation training can not only reduce symptoms but also enhance lower limb stability and strength, ensuring a faster recovery. Joint mobilization training is commonly used in lower limb rehabilitation. For the ankle joint, range of motion training involves dorsiflexion and plantar flexion to improve vertical movement. However, existing training devices often have limited structures, simple movements, and restricted range and frequency of motion, failing to adequately meet the needs of injured patients attempting to extend their lower limb range of motion. Summary of the Invention

[0003] Therefore, it is necessary to provide a lower limb rehabilitation exoskeleton device to address the problems of limited structure, simple movements, and restricted range of motion.

[0004] This invention provides a lower limb rehabilitation exoskeleton device, comprising: a base plate, and a seat assembly, a first rehabilitation mechanism, and a second rehabilitation mechanism sequentially disposed on the base plate. The seat assembly is used for trunk support, the first rehabilitation mechanism is used for knee joint rehabilitation training, and the second rehabilitation mechanism is used to drive ankle pump movements to promote ankle joint rehabilitation. The second rehabilitation mechanism includes two sets of second electric telescopic rods, and a second mounting block fixed to the telescopic end of each second electric telescopic rod. It also includes mounting plates fixed to the opposite surfaces of the two sets of second mounting blocks, and rotatable lifting members are provided on the opposite surfaces of the two mounting plates for placing the patient's foot. A transmission assembly is disposed on the side wall of each mounting plate, and the two sets of transmission assemblies are used to control the operating amplitude and frequency of the lifting members to adapt to the different range of motion requirements of the patient's ankle joint rehabilitation process.

[0005] In one embodiment, each set of transmission components includes a rotating shaft disposed on the side wall of the mounting plate, and a mounting plate fixed on the rotating shaft; it also includes a first lever and a second lever disposed on the rotating shaft, with lever pins fixed at the ends of the first lever and the second lever away from the rotating shaft, and the two lever pins can alternately enter two long slots opened inside the lifting member, and the two long slots are symmetrically distributed vertically. When the mounting plate rotates, the two lever pins alternately enter the corresponding long slots, so that the lifting member pitches, thereby driving the ankle joint to perform ankle pump operation; a limiting post structure disposed on the mounting plate to control the pitch frequency of the lifting member; and a transmission rod structure disposed between the mounting plate and the mounting plate to control the pitch frequency of the lifting member.

[0006] In one embodiment, the limiting post structure includes two limiting grooves formed on the mounting plate, and the two limiting grooves are symmetrically distributed vertically; it also includes limiting post bodies distributed and fixed in the middle of the first lever and the second lever, and the two limiting post bodies can slide within the corresponding limiting grooves for limiting.

[0007] In one embodiment, the transmission rod structure includes a transmission bar fixed to the side wall of the mounting plate, and a transmission groove formed at the end of the transmission bar away from the mounting plate. A slidable transmission shaft is disposed inside the transmission groove, and bolts are disposed at both ends of the transmission shaft for locking the transmission shaft and the transmission bar. It also includes a mounting shaft rotatably connected to the lower part of the mounting plate. A first transmission rod is fixed on the mounting shaft, and a second transmission rod is rotatably connected to the first transmission rod via a first pin at the end of the first transmission rod. The end of the second transmission rod away from the first transmission rod is rotatably connected to one of the bolts. When the second transmission rod rotates, it drives the transmission bar to deflect. Furthermore, it includes a first drive motor disposed on the side wall of the mounting plate, and the output end of the first drive motor can pass through a through hole in the mounting plate and be fixedly connected to the mounting shaft.

[0008] In one embodiment, the upper surface of the base plate is further fixed with two third electric telescopic rods, and the two third electric telescopic rods are placed on both sides of the second rehabilitation mechanism; it also includes a handrail fixed to the output end of the two third electric telescopic rods to facilitate the patient to perform ankle pump exercises in an upright position.

[0009] In one embodiment, the first rehabilitation mechanism includes two sets of first electric telescopic rods, which are distributed left and right, and a first mounting block fixed to the telescopic end of each first electric telescopic rod. It also includes a support rod assembly disposed on each set of first mounting blocks. The opposing surfaces of the two sets of support rod assemblies are rotatably connected to a plurality of support rollers, and the two sets of support engagement assemblies are used to drive the plurality of support rollers to deflect back and forth. The plurality of support rollers are used to support the patient's legs and can also drive rehabilitation training of the patient's knee range of motion.

[0010] In one embodiment, each set of the support engagement components includes a second connecting shaft and a first connecting shaft respectively rotatably connected to each set of first mounting blocks, and a first connecting rod and a transmission plate respectively fixed to the first connecting shaft and the second connecting shaft. It also includes mounting rods rotatably connected to the outer ends of the first connecting rods, and the opposite surfaces of the mounting rods where the two sets of support engagement components are located, with a plurality of support rollers arranged. Furthermore, it includes teeth fixed on the arcuate contour of the transmission plate, and the teeth mesh with a rack fixed to the lower part of the mounting rod. It also includes a second connecting rod rotatably connected to the transmission plate via a second pin fixed to the transmission plate, and a limiting block fixed to the top of the second connecting rod can slide on the upper part of the mounting rod and limit the mounting rod. Finally, it includes a second drive motor disposed near the side wall of the first mounting block at one end of the second connecting shaft, and the output end of the second drive motor is fixedly connected to the second connecting shaft.

[0011] In one embodiment, the two limiting blocks are further provided with massage roller assemblies for further massage of the back of the patient's legs; the massage roller assembly includes a mounting member fixed to the top of the two limiting blocks, and a mounting groove formed in the middle of the mounting member, wherein a plurality of rotatable massage roller bodies are installed inside the mounting groove; it also includes a plurality of micro motors disposed inside one end of the mounting member, and the output shaft of each micro motor extends through the mounting member to the mounting groove and is fixedly connected to the corresponding massage roller body, providing power for the rotation of the massage roller body.

[0012] In one embodiment, the seat assembly includes a support base fixed to the upper surface of a base plate, and a backrest tilted away from the support base from the first rehabilitation mechanism; it also includes a cushion fixed to the upper surface of the support base for supporting the patient's buttocks.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. The present invention, through the setting of the seat assembly, the first rehabilitation mechanism and the second rehabilitation mechanism, can realize active or passive range of motion rehabilitation training of the lower limbs in a seated position. Furthermore, through the structural characteristics of the second rehabilitation mechanism, the frequency, amplitude and height of the lifting component can be adjusted to adapt to the different requirements of ankle joint rehabilitation training in the patient's rehabilitation process, and can meet the patient's need for edema reduction in both static and active states of the ankle joint, thereby further improving the rehabilitation effect.

[0015] 2. As another embodiment of the present invention, the first rehabilitation mechanism is provided, and the two sets of support rod structures thereon can drive several support rollers to deflect back and forth. Therefore, when the several support rollers deflect back and forth, while supporting the patient's legs, it can also drive the rehabilitation training of the patient's knee range of motion, thereby promoting the rehabilitation process of the patient's lower limbs.

[0016] 3. As another embodiment of the present invention, the plurality of massage stick bodies provided on the mounting component work in conjunction with the function of the second rehabilitation mechanism. The mounting component and the mounting rod operate in opposite directions, that is, while training the range of motion of the patient's knee joint, the posterior calf muscle group of the patient is also loosened, thereby further improving the rehabilitation effect of the patient's knee. Attached Figure Description

[0017] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a second-view three-dimensional structural diagram of the present invention;

[0019] Figure 3 This is a side view of the structure of the present invention;

[0020] Figure 4 This is a top view of the structure of the present invention;

[0021] Figure 5 This is a schematic diagram of the cross-sectional structure of AA;

[0022] Figure 6 This is a partial enlarged structural diagram of the second rehabilitation facility;

[0023] Figure 7 for Figure 6 A schematic diagram of the side view structure;

[0024] Figure 8 This is a partial enlarged structural diagram of the first rehabilitation facility;

[0025] Figure 9 for Figure 8 A side view of a partial structural diagram.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1. Base plate; 2. Support base; 3. Seat cushion; 4. First mounting block; 5. First connecting rod; 6. Mounting rod; 7. Support roller; 8. Mounting component; 9. Second electric telescopic rod; 10. Transmission plate; 11. Second connecting rod; 12. Massage stick body; 13. Limiting block; 14. Second electric telescopic rod; 15. Mounting plate; 17. Lifting component; 18. Third electric telescopic rod; 19. Handrail; 20. Second connecting shaft; 21. First connecting shaft; 22. Long slot; 23. First transmission rod; 24. Second transmission rod; 25. Bolt; 26. Transmission groove; 27. Transmission bar; 28. Mounting plate; 29. ​​First lever; 30. Limiting post body; 31. Lever; 32. Limiting groove; 33. Backrest; 34. First drive motor; 35. Rack; 36. Micro motor; 38. Second mounting block; 39. Second lever; 40. Transmission shaft; 41. Mounting shaft; 43. Second drive motor. Detailed Implementation

[0028] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the specific details described below are only a part of the embodiments of the present invention, and the present invention can be implemented in many other embodiments different from those described herein. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0029] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0031] Please refer to Figures 1-9This invention provides a lower limb rehabilitation exoskeleton device, comprising: a base plate 1, and a seat assembly, a first rehabilitation mechanism, and a second rehabilitation mechanism sequentially arranged on the base plate 1. The seat assembly is used for trunk support, the first rehabilitation mechanism is used for knee joint rehabilitation training, and the second rehabilitation mechanism is used to drive ankle pump movements to promote ankle joint rehabilitation. The second rehabilitation mechanism includes two sets of second electric telescopic rods 14, and second mounting blocks 38 fixed to the telescopic ends of each second electric telescopic rod 14. It also includes mounting plates 15 fixed to the opposite faces of the two sets of second mounting blocks 38, and rotatable lifting members 17 are provided on the opposite faces of the two mounting plates 15 for placing the patient's foot. A transmission assembly is provided on the side wall of each mounting plate 15, and the two sets of transmission assemblies are used to control the operating amplitude and frequency of the lifting members 17 to adapt to the different range of motion requirements of the patient's ankle joint rehabilitation process.

[0032] In this embodiment, lower limb rehabilitation training in a seated position can be achieved through the seat assembly, the first rehabilitation mechanism, and the second rehabilitation mechanism sequentially arranged on the base plate 1. Specifically, as shown below... Figure 1-4 As shown, the seat assembly is used for trunk support, the first rehabilitation mechanism is used for knee joint rehabilitation training, and the second rehabilitation mechanism is used for ankle joint rehabilitation training. In rehabilitation training for lower limb injuries, such as after knee joint injury surgery or ankle edema, when ankle pump exercises are required, the second rehabilitation mechanism can drive the patient's foot to perform passive or active ankle pump exercises to promote the patient's rehabilitation process. Due to the structural characteristics of the second rehabilitation mechanism, the frequency and amplitude of the lifting component 17 can be adjusted to adapt to different requirements of ankle dorsiflexion and plantarflexion range of motion training, improving the practicality of the device. In addition, due to the function of the second electric telescopic rod 14, the height of the lifting component 17 can be further adjusted. When the patient has undergone ankle joint surgery but cannot perform ankle pump exercises and needs to reduce edema, the structure can adjust the patient's lower limb to be higher than the heart according to the patient's suitability to achieve the effect of reducing lower limb edema. When the patient can perform ankle pump exercises, the patient's lower limb is raised higher than the heart to cooperate with the operation of the ankle pump and further improve the effect of reducing lower limb edema.

[0033] This design, through the set seat components, first rehabilitation mechanism, and second rehabilitation mechanism, can realize active or passive range of motion rehabilitation training of the lower limbs in a seated position. Furthermore, through the structural characteristics of the second rehabilitation mechanism, the frequency, amplitude, and height of the lifting component 17 can be adjusted to adapt to the different requirements of ankle joint rehabilitation training in the patient's rehabilitation process. It can also meet the patient's need for edema reduction in both static and active states of the ankle joint, thereby further improving the rehabilitation effect.

[0034] Furthermore, each transmission assembly includes a rotating shaft disposed on the side wall of the mounting plate 15, and a mounting disc 28 fixed on the rotating shaft; it also includes a first lever 29 and a second lever 39 disposed on the rotating shaft, and the ends of the first lever 29 and the second lever 39 away from the rotating shaft are fixed with levers 31, and the two levers 31 can alternately enter two long slots 22 opened inside the lifting member 17, and the two long slots 22 are symmetrically distributed vertically. When the mounting disc 28 rotates, the two levers 31 alternately enter the corresponding long slots 22, so that the lifting member 17 pitches, thereby driving the ankle joint to perform ankle pump operation; and a limiting post structure disposed on the mounting disc 28 to control the pitch frequency of the lifting member 17; and a transmission rod structure disposed between the mounting plate 15 and the mounting disc 28 to control the pitch frequency of the lifting member 17.

[0035] like Figure 5 , 6 7. Because the mounting plate 28, the first lever 29, and the second lever 39 are sequentially arranged on the rotating shaft, and the mounting plate 28 is fixed to the rotating shaft, while the lever posts 31 fixed at the ends of the first lever 29 and the second lever 39 can stagger into the two long slots 22 opened inside the lifting member 17, and the two long slots 22 are symmetrically distributed vertically, combined with... Figure 6 As shown, when the shaft rotates, it drives the mounting plate 28 to rotate. The first lever 29 and the second lever 39 can rotate with the mounting plate 28 through the limiting post structure set on the mounting plate 28, so that the two levers 31 enter the two long slots 22 in an alternating manner, thereby driving the lifting member 17 to pitch and roll, thereby realizing the dorsiflexion and plantarflexion of the patient's ankle joint, i.e., ankle pump movement. In addition, while the limiting post structure limits the first lever 29 and the second lever 39, it can also adjust their positions to further realize the frequency at which the two levers 31 enter the two long slots 22 in an alternating manner, thereby adjusting the pitch and roll frequency of the lifting member 17.

[0036] The transmission rod structure between the mounting plate 15 and the mounting disc 28 adjusts the pitch of the lifting member 17 by adjusting the rotation amplitude of the mounting disc 28.

[0037] Furthermore, the limiting post structure includes two limiting grooves 32 formed on the mounting plate 28, and the two limiting grooves 32 are symmetrically distributed vertically; it also includes limiting post bodies 30 distributed and fixed in the middle of the first lever 29 and the second lever 39, and the two limiting post bodies 30 can be limited and slid within the corresponding limiting grooves 32.

[0038] Here, since the two elongated slots 22 and the two limiting slots 32 are symmetrically distributed vertically, and the limiting post bodies 30 partially provided in the first lever 29 and the second lever 39 can slide within the limiting slots 32, and the lever posts 31 fixed at their ends can slide within the corresponding elongated slots 22, when the mounting plate 28 rotates, the frequency at which the two limiting slots 32 enter the elongated slots 22 can be adjusted by adjusting the position of the limiting post bodies 30 within the limiting slots 32. Specifically, as shown... Figure 7 As shown, from left to right, the closer the limiting post body 30 is to the right side of the limiting groove 32, the longer it takes for the push post 31 to enter the long groove 22, and the lower the frequency of the lifting member 17 swinging per unit time. Similarly, the higher the frequency of the lifting member 17 swinging.

[0039] Furthermore, the transmission rod structure includes a transmission bar 27 fixed to the side wall of the mounting plate 28, and a transmission groove 26 opened at the end of the transmission bar 27 away from the mounting plate 28. A slidable transmission shaft 40 is provided inside the transmission groove 26, and bolts 25 are provided at both ends of the transmission shaft 40 for locking the transmission shaft 40 and the transmission bar 27. It also includes a mounting shaft 41 rotatably connected to the lower part of the mounting plate 15. A first transmission rod 23 is fixed on the mounting shaft 41, and a second transmission rod 24 is rotatably connected to the first transmission rod 23 through a first pin at the end of the first transmission rod 23. The end of the second transmission rod 24 away from the first transmission rod 23 is rotatably connected to one of the bolts 25. When the second transmission rod 24 rotates, it is used to drive the transmission bar 27 to deflect. It also includes a first drive motor 34 provided on the side wall of the mounting plate 15, and the output end of the first drive motor 34 can pass through a through hole opened on the mounting plate 15 and be fixedly connected to the mounting shaft 41.

[0040] Since the drive shaft 40 can move inside the drive groove 26, and the bolts 25 at both ends of the drive shaft 40 can fix the drive shaft 40 to a certain position in the drive groove 26, and the first drive rod 23 is connected to one of the bolts 25 through the second drive rod 24, that is, the two ends of the second drive rod 24 are rotatably connected to the first drive rod 23 and one of the bolts 25 respectively, when the mounting shaft 41 drives the first drive rod 23 to rotate, since the mounting shaft 41 is located to the side and below the rotating shaft, the second drive rod 24 can be driven to deflect through the positioning effect of the mounting shaft 41 and the rotating shaft, thereby driving the mounting plate 28 to deflect back and forth, so as to realize the pitch adjustment of the lifting member 17. In addition, by adjusting the position of the drive shaft 40 inside the drive groove 26, the pitch amplitude of the lifting member 17 can be further adjusted, such as... Figure 7 As shown, from left to right, the closer the bolt 25 is to the right side of the transmission groove 26, the greater the pitch of the lifting component 17. Similarly, the smaller the pitch, the greater the pitch. During this process, the first drive motor 34 works, which is the passive training mode.

[0041] When the first drive motor 34 is not working, the lifting component 17 rotates freely, which is the active training mode.

[0042] Example 2

[0043] In another embodiment of the present invention, two third electric telescopic rods 18 are fixed on the upper surface of the base plate 1, and the two third electric telescopic rods 18 are placed on both sides of the second rehabilitation mechanism; it also includes a handrail 19 fixed to the output end of the two third electric telescopic rods 18, which facilitates the patient to perform ankle pump exercises in an upright position.

[0044] like Figure 1 , 2 As shown, through the third electric telescopic rods 18 on both sides of the second rehabilitation mechanism, and the handrails 19 fixed to the telescopic ends of the third electric telescopic rods 18, when the patient can stand upright in the later stage of rehabilitation, the patient can hold the handrails 19 and stand on the lifting component 17. At this time, the pitching frequency and amplitude of the lifting component 17 can be controlled to achieve ankle joint range of motion training in the upright position.

[0045] Example 3

[0046] In another embodiment of the present invention, the first rehabilitation mechanism includes two sets of first electric telescopic rods 9, which are distributed left and right, and a first mounting block 4 fixed to the telescopic end of each first electric telescopic rod 9. It also includes a support rod assembly disposed on each set of first mounting blocks 4. The opposing surfaces of the two sets of support rod assemblies are rotatably connected to a plurality of support rollers 7, and the two sets of support engagement assemblies are used to drive the plurality of support rollers 7 to deflect back and forth. The plurality of support rollers 7 are used to support the patient's legs and can also drive the rehabilitation training of the patient's knee range of motion.

[0047] In this embodiment, the first rehabilitation mechanism comprises two sets of first electric telescopic rods 9, and a support rod assembly fixedly connected to each set of first electric telescopic rods 9 via a first mounting block 4 fixed to the telescopic end of the first electric telescopic rod 9. It also includes several support rollers 7 disposed on opposite sides of the two support rod assemblies, such as... Figure 1 As shown, the two sets of support rod structures can drive several support rollers 7 to deflect back and forth. Therefore, when the support rollers 7 deflect back and forth, while supporting the patient's legs, they can also drive the rehabilitation training of the patient's knee range of motion, thereby promoting the rehabilitation process of the patient's lower limbs. When the first rehabilitation mechanism is fixed in position, that is, when the first rehabilitation mechanism stops running, the second rehabilitation mechanism can simultaneously drive the movement of the knee joint, that is, knee flexion and knee extension, to achieve the range of motion training of the lower limb knee joint.

[0048] Furthermore, each set of support meshing components includes a second connecting shaft 20 and a first connecting shaft 21 rotatably connected to each set of first mounting blocks 4, and a first connecting rod 5 and a transmission plate 10 fixed to the first connecting shaft 21 and the second connecting shaft 20, respectively. It also includes a mounting rod 6 rotatably connected to the outer end of the first connecting rod 5, and the opposite surfaces of the mounting rod 6 where the two sets of support meshing components are located are provided by the plurality of support rollers 7; teeth fixed on the arc-shaped contour of the transmission plate 10, and the teeth meshing with the rack 35 fixed at the lower part of the mounting rod 6; a second connecting rod 11 rotatably connected to the transmission plate 10 through a second pin fixed on the transmission plate 10, and a limiting block 13 fixed at the top of the second connecting rod 11 can slide on the upper part of the mounting rod 6 and limit the mounting rod 6; and a second drive motor 43 provided on the side wall of the first mounting block 4 near the second connecting shaft 20, and the output end of the second drive motor 43 is fixedly connected to the second connecting shaft 20.

[0049] At this location, the opposite surfaces of the mounting rod 6 where the two sets of support meshing assemblies of the several support rollers 7 are located are, for example... Figure 1 As shown, one end of the mounting rod 6 is rotatably connected to the first connecting rod 5 and the first connecting shaft 21, while the rack 35 fixed at the lower part of its other end meshes with the teeth on the arc-shaped contour of the transmission plate 10, as shown. Figure 8 As shown, the transmission plate 10 is fixed on the second connecting shaft 20 and the second connecting rod 11 is rotatably connected through the side wall of the transmission plate 10. The limiting block 13 at the top of the second connecting rod 11 limits the mounting rod 6. When the first connecting shaft 21 rotates with the power provided by the second drive motor 43, the mounting rod 6 can be deflected. Due to the limitation of the limiting block 13, the mounting rod 6 drives the transmission plate 10 to deflect back and forth. At the same time, the second connecting rod 11 moves with the transmission plate 10, and drives the limiting block 13 to move on the upper surface of the mounting rod 6.

[0050] Specific examples Figure 8 , 9 As shown, in this embodiment, the running trajectory of the first connecting rod 5 is divided into two semicircles, upper and lower. When the second drive motor 43 runs counterclockwise, and the running trajectory is an inverted U, it drives the mounting rod 6 to move downwards and to the left. Figure 9 For reference, the rack 35 at the lower part of the mounting rod 6 meshes with the teeth on the transmission plate 10, thereby driving the transmission plate 10 to rotate counterclockwise, so that the lower end of the second connecting rod 11 faces to the right. Since the limiting block 13 can move on the mounting rod 6 and the length of the limiting block 13 is limited, the limiting block 13 slides to the right relative to the mounting rod 6.

[0051] Similarly, when the second drive motor 43 continues to rotate counterclockwise and the operation is estimated to be U-shaped, the mounting rod 6 will deflect upwards and to the right. As the second drive motor 43 runs, the mounting rod 6 can deflect back and forth, thereby achieving the deflection of the patient's knee. It is worth noting that at this time, the range of motion of the mounting rod 6 is within the lower leg, that is, between the knee joint and the ankle joint. Therefore, when the mounting rod 6 moves downwards and to the left, that is, when the support roller 7 moves to the knee joint, the lower leg's gravity can be used to achieve knee flexion training. When the mounting rod 6 deflects upwards and to the right, the support roller 7 can push the lower leg to straighten, thereby achieving knee extension rehabilitation training. This design utilizes the patient's own leg weight to perform knee flexion and extension training. The operation is gentle, and the weight-bearing training is performed using the patient's own weight, which makes it highly acceptable to users.

[0052] Example 4

[0053] In another embodiment of the present invention, massage roller assemblies are also provided on the two limiting blocks 13 for further massage of the back of the patient's legs; the massage roller assembly includes a mounting member 8 fixed to the top of the two limiting blocks 13, and a mounting groove opened in the middle of the mounting member 8, wherein a plurality of rotatable massage roller bodies 12 are installed inside the mounting groove; it also includes a plurality of micro motors 36 disposed inside one end of the mounting member 8, and the output shaft of each micro motor 36 extends through the mounting member 8 to the mounting groove and is fixedly connected to the corresponding massage roller body 12, providing power for the rotation of the massage roller body 12.

[0054] Since the mounting component 8 is fixed to the top of the two limiting blocks 13, and the limiting blocks 13 can move in the opposite direction when the mounting rod 6 deflects, when the mounting rod 6 drives the support roller 7 to perform range of motion training on the patient's knee joint, the massage sticks 12 set on the mounting component 8 can reverse the movement of the patient's calf muscles, that is, loosen the easily tense triceps surae muscles. The massage intensity can be adjusted by controlling the operation of the micro motor 36. This design, through the massage sticks 12 set on the mounting component 8, in conjunction with the function of the second rehabilitation mechanism, and with the mounting component 8 moving in the opposite direction to the mounting rod 6, that is, while performing range of motion training on the patient's knee joint, it also loosens the calf muscles, further improving the rehabilitation effect of the patient's knee.

[0055] Furthermore, the seat assembly includes a support seat 2 fixed to the upper surface of the base plate 1, and a backrest 33 inclinedly disposed on the support seat 2 away from the first rehabilitation mechanism; it also includes a seat cushion 3 fixed to the upper surface of the support seat 2 for supporting the patient's buttocks.

[0056] In that place, such as Figure 1 , 2 As shown, the seat cushion 3 is preferably an elastic cushion, which can support the patient's buttocks and improve the patient's comfort in the sitting position.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications, substitutions, and improvements without departing from the concept of the present invention, and these should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of this invention should be determined by the claims.

Claims

1. A lower limb rehabilitation exoskeleton device, characterized in that, include: The base plate (1) and the seat assembly, the first rehabilitation mechanism and the second rehabilitation mechanism are sequentially arranged on the base plate (1), wherein the seat assembly is used for the support of the torso, the first rehabilitation mechanism is used for the rehabilitation training of the knee joint, and the second rehabilitation mechanism is used to drive the ankle pump movement of the ankle joint to promote the rehabilitation of the ankle joint. The second rehabilitation mechanism includes two sets of second electric telescopic rods (14), and a second mounting block (38) fixed to the telescopic end of each second electric telescopic rod (14). It also includes mounting plates (15) fixed to the opposite sides of the two sets of second mounting blocks (38). The opposite sides of the two mounting plates (15) are also provided with rotatable lifting members (17) for placing the patient's feet. And a transmission assembly is provided on the side wall of each of the mounting plates (15), and the two sets of transmission assemblies are used to control the running amplitude and frequency of the lifting component (17) to adapt to the different range of motion requirements of the patient's ankle joint rehabilitation process. The first rehabilitation mechanism includes two sets of first electric telescopic rods (9), which are distributed on the left and right sides, and a first mounting block (4) fixed to the telescopic end of each first electric telescopic rod (9), and also includes a support rod assembly set on each set of first mounting blocks (4); The opposing surfaces of the two sets of support rod assemblies are also rotatably connected with several support rollers (7), and the two sets of support meshing assemblies are used to drive several support rollers (7) to deflect back and forth. The several support rollers (7) are used to support the patient's legs and can also drive the rehabilitation training of the patient's knee range of motion. Each set of the support engagement components includes a second connecting shaft (20) and a first connecting shaft (21) respectively rotatably connected to each set of first mounting blocks (4), and a first connecting rod (5) and a transmission plate (10) respectively fixed to the first connecting shaft (21) and the second connecting shaft (20), and also includes a mounting rod (6) rotatably connected to the outer end of the first connecting rod (5), and the opposite surfaces of the mounting rod (6) where the two sets of support engagement components are located on the plurality of support rollers (7); And teeth fixed on the arc-shaped contour of the transmission plate (10), and the teeth mesh with the rack (35) fixed at the lower part of the mounting rod (6); It also includes a second connecting rod (11) that is rotatably connected to the transmission plate (10) via a second pin fixed on the transmission plate (10), and a limiting block (13) fixed at the top of the second connecting rod (11) can slide on the upper part of the mounting rod (6) and limit the mounting rod (6); It also includes a second drive motor (43) disposed on the side wall of the first mounting block (4) near the second connecting shaft (20), and the output end of the second drive motor (43) is fixedly connected to the second connecting shaft (20).

2. The lower limb rehabilitation exoskeleton device according to claim 1, characterized in that, Each of the transmission components includes a shaft disposed on the side wall of the mounting plate (15) and a mounting disc (28) fixed on the shaft. It also includes a first lever (29) and a second lever (39) set on the rotating shaft, and the ends of the first lever (29) and the second lever (39) away from the rotating shaft are also fixed with levers (31), and the two levers (31) can be staggered into the two long slots (22) opened inside the lifting member (17), and the two long slots (22) are symmetrically distributed up and down. When the mounting plate (28) rotates, the two levers (31) staggered into the corresponding long slots (22) so that the lifting member (17) pitches and moves, thereby driving the ankle joint to perform ankle pump operation; And a limiting post structure provided on the mounting plate (28) to control the pitch frequency of the lifting member (17); It also includes a transmission rod structure disposed between the mounting plate (15) and the mounting disc (28) to control the pitch frequency of the lifting member (17).

3. The lower limb rehabilitation exoskeleton device according to claim 2, characterized in that, The limiting post structure includes two limiting grooves (32) formed on the mounting plate (28), and the two limiting grooves (32) are symmetrically distributed vertically. It also includes a limiting post body (30) distributed and fixed in the middle of the first lever (29) and the second lever (39), and the two limiting post bodies (30) can be limited and slid in the corresponding limiting groove (32).

4. The lower limb rehabilitation exoskeleton device according to claim 2, characterized in that, The transmission rod structure includes a transmission bar (27) fixed to the side wall of the mounting plate (28), and a transmission groove (26) opened at the end of the transmission bar (27) away from the mounting plate (28). A slidable transmission shaft (40) is provided inside the transmission groove (26), and bolts (25) are provided at both ends of the transmission shaft (40) for locking the transmission shaft (40) and the transmission bar (27). It also includes a mounting shaft (41) rotatably connected to the lower part of the mounting plate (15), a first transmission rod (23) fixed on the mounting shaft (41), and a second transmission rod (24) rotatably connected to the first transmission rod (23) via a first pin at the end of the first transmission rod (23), and the end of the second transmission rod (24) away from the first transmission rod (23) is rotatably connected to one of the bolts (25), and when the second transmission rod (24) rotates, it is used to drive the transmission bar (27) to deflect. It also includes a first drive motor (34) disposed on the side wall of the mounting plate (15), and the output end of the first drive motor (34) can pass through the through hole opened on the mounting plate (15) and be fixedly connected to the mounting shaft (41).

5. The lower limb rehabilitation exoskeleton device according to claim 1, characterized in that, Two third electric telescopic rods (18) are also fixed on the upper surface of the base plate (1), and the two third electric telescopic rods (18) are placed on both sides of the second rehabilitation mechanism; It also includes a handrail (19) fixed to the output end of the two third electric telescopic rods (18) to facilitate the patient to perform ankle pump exercises in an upright position.

6. The lower limb rehabilitation exoskeleton device according to claim 5, characterized in that, The two limiting blocks (13) are also provided with massage roller assemblies for further massage of the back of the patient's legs; The massage roller assembly includes a mounting member (8) fixed to the top of the two limiting blocks (13), and a mounting groove opened in the middle of the mounting member (8), wherein a plurality of rotatable massage roller bodies (12) are installed inside the mounting groove. It also includes a plurality of micro motors (36) disposed inside one end of the mounting member (8), and the output shaft of each micro motor (36) extends through the mounting member (8) to the mounting groove and is fixedly connected to the corresponding massage roller body (12) to provide power for the rotation of the massage roller body (12).

7. The lower limb rehabilitation exoskeleton device according to claim 1, characterized in that, The seat assembly includes a support seat (2) fixed to the upper surface of the base plate (1) and a backrest (33) inclinedly disposed on the support seat (2) away from the first rehabilitation mechanism. It also includes a cushion (3) fixed to the upper surface of the support seat (2) for supporting the patient's buttocks.

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