A powered exoskeleton device

Abstract

The application discloses a kind of power-assisted exoskeleton devices, including: bottom plate, pedestal being arranged on the bottom plate, and seat cushion being fixed at the top of the pedestal;It further includes two groups of exoskeleton support structures arranged in the front side of the pedestal;The front end of each group of the exoskeleton support structure is further provided with pedal structure;It further includes meshing transmission assembly arranged between each group of the pedal structure and exoskeleton support structure.The application is realized by the exoskeleton support structure of two groups arranged, cooperate with the pedal structure arranged in the front end of exoskeleton support structure, to realize the support of patient lower limbs, and improve the power-assisted effect of hip, knee, ankle joint rigid support, and under the action of exoskeleton support structure, cooperate with meshing transmission assembly, further realize the range of motion training of patient lower limb joint, the device component structure is simple, and realizes the activity training of lower limb multi-joint, and the rehabilitation effect is remarkable, and practicality is high.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton device technology, specifically to an assistive exoskeleton device. Background Technology

[0002] Exoskeletons combine humans with artificial intelligence and external mechanical power devices to enhance human abilities such as walking, movement, and heavy load-bearing by providing force assistance. They can provide medical rehabilitation and movement support for users with insufficient strength. Based on function, exoskeletons can be divided into enhancement exoskeletons, medical exoskeletons, and sports rehabilitation exoskeletons. Enhancement exoskeletons can help strengthen muscles and reduce load, and can be applied in industrial and military fields. Medical rehabilitation exoskeletons can assist patients with limb movement disorders in rehabilitation training and can be applied to the medical rehabilitation of patients with lower limb paralysis, paraplegia, and cerebral palsy. Sports rehabilitation exoskeletons fall between enhancement and medical rehabilitation exoskeletons. They can enhance the user's lower limb muscle strength and help with insufficient lower limb strength and mobility. They can be applied to health exercises for the elderly, sports enthusiasts, medical rehabilitation for stroke patients, and gait correction for children and adolescents. In the rehabilitation process, mobility and muscle strength training are particularly important. However, existing exoskeletons do not provide sufficient support for lower limb joint movement and have poor mobility and muscle strength training. Therefore, an assistive exoskeleton device is proposed. Summary of the Invention

[0003] The purpose of this invention is to provide an assistive exoskeleton device. By setting two sets of exoskeleton support structures and a pedal structure set at the front end of the exoskeleton support structure, the device can support the patient's lower limbs and improve the assistive effect of rigid support for the hip, knee and ankle joints. Under the action of the exoskeleton support structure, in conjunction with the meshing transmission component, the device can further realize the range of motion training of the patient's lower limb joints. The device has a simple component structure, realizes the range of motion training of multiple joints of the lower limbs, has significant rehabilitation effect and high practicality.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an assistive exoskeleton device, comprising: a base plate, a base disposed on the base plate, and a seat cushion fixed to the top of the base, the seat cushion being used for supporting the patient's buttocks; further comprising two sets of exoskeleton support structures disposed on the front side of the base, the two sets of exoskeleton support structures being used for supporting the patient's calf and thigh and for hip and knee joint mobility rehabilitation training, respectively; each set of exoskeleton support structures is further provided with a pedal structure at its front end, the pedal structure being used for supporting the patient's foot; further comprising a meshing transmission component disposed between each set of pedal structures and exoskeleton support structures, wherein when the meshing transmission component operates, that is, while it relaxes and massages the posterior calf muscles of the patient, it also drives the pedal structure to operate, so as to realize the patient's ankle joint mobility training.

[0005] Furthermore, each set of exoskeleton support structures includes a support column fixed to the top of the base, and a first mounting frame rotatably connected to the support column, with a support pad fixed to the top of the first mounting frame for supporting the patient's hip joint; a second mounting frame is also fixed to the front wall of the first mounting frame, with a rotatable first mounting shaft provided on the opposite side of the second mounting frame, and includes first support bars rotatably connected to both ends of the first mounting shaft, with the ends of the two first support bars away from the first mounting shaft rotatably connected to the second mounting shaft; and second support bars rotatably connected to both ends of the second mounting shaft, with the front ends of the two second support bars rotatably connected to the opposite side of the third mounting shaft, and the two first support bars and the two second support bars respectively used for supporting the patient's thigh and calf; it also includes a drive assembly disposed between the base plate and the third mounting shaft, and the drive assembly is used to drive the first support bars and the second support bars to rise and fall alternately.

[0006] Furthermore, the drive assembly includes a mounting base structure and a mounting plate disposed on the mounting base structure, as well as a connecting frame and a transmission toothed roller disposed on opposite sides of the mounting plate and distributed vertically. The connecting frame is further provided with a rotatable screw and a transmission sleeve threadedly connected to the screw. It also includes a transmission bar slidably installed inside the transmission sleeve, with the top of the transmission bar rotatably connected to a third mounting shaft, and the teeth on its sidewall meshing with the transmission toothed roller.

[0007] It also includes a first motor and a second motor respectively disposed on the upper and lower sides of the mounting plate, wherein the output shaft of the first motor passes through the connecting frame and is fixedly connected to the screw to provide power for the rotation of the screw; and a through hole opened in the side wall of the mounting plate, wherein the output shaft of the second motor passes through the through hole and is fixedly connected to the transmission toothed roller to provide power for the rotation of the transmission toothed roller.

[0008] Furthermore, the mounting base structure includes a base column fixed to the base plate, an arc-shaped rail fixed to the base column, and a movable block slidably mounted inside the arc-shaped rail, with the mounting plate disposed on the movable block.

[0009] Furthermore, each set of pedal structures includes mounting strips fixed to both ends of the third mounting shaft, and a sliding groove formed on the inner wall of each mounting strip. A slider is slidably mounted inside each sliding groove, and the opposing surfaces of the two sliders are rotatably connected to a rotating shaft. It also includes a foot pedal fixed to the front side of the rotating shaft, and the foot pedal is used to support the patient's foot. The meshing transmission assembly is disposed between the rotating shaft and the third mounting shaft.

[0010] Furthermore, each set of meshing transmission components includes two sets of first transmission wheels, which are respectively fixed at both ends of a first mounting shaft and a second mounting shaft, and two first transmission belts respectively sleeved between the two sets of first transmission wheels; it also includes second transmission wheels respectively fixed in the middle of the second mounting shaft and a third mounting shaft, and second transmission belts sleeved on the two second transmission wheels, with an external toothed ring provided on the outer wall of the second transmission belt; it also includes a transmission gear fixed in the middle of the rotating shaft, which meshes with the external toothed ring; and an electric telescopic rod disposed on one side of each slide groove, with the telescopic end of the electric telescopic rod fixed to the corresponding side of the slider to provide power for the movement of the slider, so that the transmission gear meshes with and disengages from the external toothed ring; it also includes a drive motor disposed on the outer wall of the second mounting frame, with the output shaft of the drive motor passing through the second mounting frame and fixedly connected to the first mounting shaft.

[0011] Furthermore, the base plate is also provided with resistance training components, and the resistance training components are provided in two sets and distributed on both sides of the exoskeleton support structure. Each set includes a support base fixed on the base plate, and a mounting bracket fixed between the support base and the base. It also includes a threaded groove formed in the horizontal section of the mounting bracket; a connecting strip provided on the horizontal section of the mounting bracket, with mounting parts provided at both ends of the connecting strip; a connecting rod fixed to the bottom of the connecting strip and passing through the threaded groove, with a mounting sleeve fixed to the end of the connecting rod away from the connecting strip; a pull rope provided inside the mounting sleeve, with one end of the pull rope passing through the bottom of the mounting sleeve and fixed with a strap for fixing the patient's foot; the other end passing through the top of the mounting sleeve, passing around two mounting parts in sequence and fixed on a tray, with the tray for placing several weights; and a spring fixed between the mounting sleeve and the strap and sleeved on the outer wall of the pull rope for resetting the strap.

[0012] Furthermore, the sidewall of the connecting strip is also fixed with a mounting block and a mounting hole opened on the mounting block, and includes a fastener disposed inside the mounting hole, which is used for locking after the connecting strip moves when the fastener passes through the mounting hole and is threadedly connected to the threaded groove.

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

[0014] 1. This invention uses two sets of exoskeleton support structures, along with a pedal structure at the front end of the exoskeleton support structure, to support the patient's lower limbs and improve the rigid support effect of the hip, knee, and ankle joints. Under the action of the exoskeleton support structure, in conjunction with the meshing transmission components, the range of motion training of the patient's lower limb joints is further realized. The device has a simple component structure and realizes the range of motion training of multiple joints of the lower limbs, with significant rehabilitation effect and high practicality.

[0015] 2. As another embodiment of the present invention, when the drive transmission sleeve moves left and right, it can drive the second support bar to move closer to or further away from the first support bar, thereby realizing the flexion and extension movement of the knee joint. At the same time, when the drive transmission toothed roller rotates, the hip joint flexion and extension movement is realized simultaneously, as shown in the figure. Therefore, this design, by driving the horizontal and vertical movement of the drive transmission bar, can drive the flexion and extension of the knee joint and the flexion and extension movement of the hip joint. In addition, through the function of the mounting seat, the adduction and abduction movement of the hip joint is further realized.

[0016] 3. In another embodiment of the present invention, when the first mounting shaft is rotated by the power provided by the drive motor, the second mounting shaft can be rotated by the first transmission belt. The second transmission wheel is fixed on the second mounting shaft, so the second transmission belt is rotated, which in turn causes the transmission gear to rotate. This causes the rotating shaft fixed to the transmission gear to tilt and rotate, thereby allowing the foot placed on the foot pedal to perform ankle pumping movements. Each slide groove is provided with an electric telescopic rod on one side, and the telescopic end of the electric telescopic rod is fixed to the corresponding slider. Therefore, by controlling the extension and retraction of the electric telescopic rod, the transmission gear can be engaged and disengaged from the external gear ring. When the two are engaged, the patient's ankle joint is passively flexed and extended. When the two are disengaged, the foot pedal automatically flips and droops downward, thereby suspending the patient's foot and enabling the patient's ankle joint to actively flex and extend.

[0017] 4. As another embodiment of the present invention, the device uses a resistance training component to achieve muscle training of the posterior calf muscles of the patient, and the resistance is adjustable, further meeting the strength training needs of the patient in the later stage of ankle joint rehabilitation. It has a wide range of applicability and strong practicality. Attached Figure Description

[0018] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0019] Figure 2 for Figure 1 A second-view 3D structural diagram;

[0020] Figure 3 for Figure 1 A top-view structural diagram;

[0021] Figure 4 This is an enlarged structural diagram of the exoskeleton support structure.

[0022] Figure 5 for Figure 4 Another perspective of the three-dimensional structure diagram;

[0023] Figure 6 for Figure 5 A front view structural diagram;

[0024] Figure 7 for Figure 2 A partially enlarged structural diagram;

[0025] Figure 8 This is a magnified schematic diagram of the resistance training component.

[0026] In the diagram: 1. Base plate; 2. Base; 3. Seat cushion; 4. Support pad; 5. First mounting frame; 6. Second mounting frame; 7. First drive wheel; 8. First support bar; 9. Second support bar; 10. Second drive belt; 11. Velcro strap; 12. First mounting shaft; 13. Second mounting shaft; 14. Third mounting shaft; 15. Foot pedal; 16. Drive gear; 17. Mounting bar; 18. Curved rail; 19. Support base; 20. Base column; 21. Support column; 22. First drive belt; 23. Second drive wheel; 24. Mounting plate; 25. Movable block; 26. Transmission toothed roller; 27. Second motor; 28. Connecting frame; 29. ​​Transmission bar; 30. Transmission sleeve; 31. Mounting bracket; 32. First motor; 33. Connecting bar; 34. Mounting component; 35. Pull rope; 38. Spring; 39. Binding strap; 40. Tray; 41. Weight; 42. Connecting rod; 43. Drive motor; 44. Slide groove; 45. Slider; 46. Screw; 47. Mounting block; 48. Threaded groove; 49. Rotating shaft; 50. External toothed ring; 51. Mounting sleeve. Detailed Implementation

[0027] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings.

[0028] Example 1

[0029] Please see Figures 1 to 8The present invention preferably provides the following technical solution: an assistive exoskeleton device, comprising: a base plate 1, a base 2 disposed on the base plate 1, and a seat cushion 3 fixed to the top of the base 2, the seat cushion 3 being used for supporting the patient's buttocks; further comprising two sets of exoskeleton support structures disposed on the front side of the base 2, the two sets of exoskeleton support structures being used for supporting the patient's calf and thigh and for hip and knee joint mobility rehabilitation training, respectively; each set of exoskeleton support structures is also provided with a pedal structure at its front end, the pedal structure being used for supporting the patient's foot; further comprising a meshing transmission component disposed between each set of pedal structure and the exoskeleton support structure, when the meshing transmission component operates, that is, while it relaxes and massages the posterior calf muscles of the patient, it also drives the pedal structure to operate, so as to realize the mobility training of the patient's ankle joint.

[0030] This embodiment, as Figure 1-3 As shown, the two sets of exoskeleton support structures on the front side of the base 2 can fix and support the patient's legs. Through the characteristics of the exoskeleton support structure, the patient's hip joint flexion-extension, adduction-abduction, and knee joint flexion-extension range of motion training can be achieved. Furthermore, the pedal structure at the front end of the exoskeleton support structure provides support for the patient's feet. The meshing transmission component between the pedal structure and the exoskeleton support structure, while simultaneously driving the pedal structure to deflect during the operation of the exoskeleton support structure to achieve hip and knee joint rehabilitation training, also enables ankle joint range of motion training. The structural characteristics of the meshing transmission component itself further relax the tense muscles on the back of the patient's calf, improving the effectiveness of lower limb rehabilitation training. This process, through the two sets of exoskeleton support structures and the pedal structure at the front end of the exoskeleton support structure, provides support for the patient's lower limbs and enhances the rigid support effect of the hip, knee, and ankle joints. Under the action of the exoskeleton support structure, in conjunction with the meshing transmission component, the range of motion training of the patient's lower limb joints is further achieved. This device has a simple component structure, realizes multi-joint movement training of the lower limbs, has significant rehabilitation effects, and is highly practical.

[0031] Example 2

[0032] In another embodiment of the present invention, each exoskeleton support structure includes a support column 21 fixed to the top of the base 2, and a first mounting frame 5 rotatably connected to the support column 21. A support pad 4 is fixed to the top of the first mounting frame 5 for supporting the patient's hip joint. A second mounting frame 6 is also fixed to the front wall of the first mounting frame 5. A rotatable first mounting shaft 12 is provided on the opposite side of the second mounting frame 6. The structure also includes first support bars 8 rotatably connected to both ends of the first mounting shaft 12, and the ends of the two first support bars 8 away from the first mounting shaft 12 are rotatably connected to a second mounting shaft 13. The structure also includes second support bars 9 rotatably connected to both ends of the second mounting shaft 13, and the front ends of the two second support bars 9 are rotatably connected to a third mounting shaft 14. The two first support bars 8 and the second support bars 9 are respectively used to support the patient's thigh and calf. The structure also includes a drive assembly disposed between the base plate 1 and the third mounting shaft 14, and the drive assembly is used to drive the first support bars 8 and the second support bars 9 to rise and fall alternately.

[0033] like Figure 4-6 As shown, the first mounting shaft 12 is rotatably connected to the opposite side of the second mounting frame 6, and two first support bars 8 are rotatably connected to the first mounting shaft 12. A rotatable second mounting shaft 13 is provided at the other end of each first support bar 8, and a second support bar 9 is rotatably connected to the second mounting shaft 13. A third mounting shaft 14 is rotatably connected to the end of the second support bar 9 near the pedal structure. Figure 5 As shown, in conjunction with the drive assembly set on the base plate 1, the first support bar 8 and the second support bar 9 can be driven to deflect, that is, the first support bar 8 and the second support bar 9 can be driven to rise and fall alternately, thereby driving the flexion and extension movements of the hip and knee joints.

[0034] Furthermore, the drive assembly includes a mounting base structure and a mounting plate 24 disposed on the mounting base structure. It also includes a connecting frame 28 and a transmission gear roller 26 disposed on opposite sides of the mounting plate 24 and arranged vertically. The connecting frame 28 contains a rotatable screw 46 and a transmission sleeve 30 threadedly connected to the screw 46. It also includes a transmission bar 29 slidably mounted inside the transmission sleeve 30, with its top rotatably connected to a third mounting shaft 14. The teeth on its sidewall mesh with the transmission gear roller 26. Additionally, it includes a first motor 32 and a second motor 27 respectively disposed on the upper and lower sides of the mounting plate 24. The output shaft of the first motor 32 passes through the connecting frame 28 and is fixedly connected to the screw 46, providing power for the rotation of the screw 46. Finally, it includes a through hole in the sidewall of the mounting plate 24, through which the output shaft of the second motor 27 passes and is fixedly connected to the transmission gear roller 26, providing power for the rotation of the transmission gear roller 26.

[0035] like Figure 7As shown, since one end of the transmission bar 29 is rotatably connected to the third mounting shaft 14, and it passes through the transmission sleeve 30 threadedly connected to the screw 46, while the teeth fixed on its side wall mesh with the transmission gear roller 26, and the screw 46 and the transmission gear roller 26 are vertically distributed, when the screw 46 rotates to realize the horizontal movement of the transmission sleeve 30, the teeth on the side wall of the transmission bar 29 mesh with the transmission gear roller 26, so when the transmission gear roller 26 rotates, it can drive the transmission bar 29 to move vertically. Specifically, as shown... Figure 6 As shown, when the transmission sleeve 30 moves left and right, it can drive the second support bar 9 to move closer to or further away from the first support bar 8, realizing the flexion and extension movement of the knee joint. At the same time, when the transmission toothed roller 26 is driven to rotate, the hip joint flexion and extension movements are realized simultaneously. Figure 2 As shown, this design drives the horizontal and vertical movement of the drive bar 29, thereby driving the flexion and extension of the knee joint and the hip joint. In addition, through the action of the mounting seat, the adduction and abduction movements of the hip joint are further realized.

[0036] Furthermore, the mounting base structure includes a base column 20 fixed on the base plate 1, an arc-shaped rail 18 fixed on the base column 20, and a movable block 25 slidably installed inside the arc-shaped rail 18, with a mounting plate 24 disposed on the movable block 25.

[0037] The aforementioned support column 21 is fixed on the base 2, and the first mounting frame 5 is rotatably connected to the support column 21. The second mounting frame 6 is fixed to the front wall of the first mounting frame 5, and the top of the first mounting frame 5 is fixed with a support pad 4. Therefore, when the patient's hip joint is placed on the support pad 4 and the lower limb is fixed to the exoskeleton support structure, the abduction and adduction of the hip joint can be realized because the movable block 25 can slide inside the arc-shaped rail 18.

[0038] Example 3

[0039] In another embodiment of the present invention, each set of pedal structures includes mounting strips 17 fixed to both ends of the third mounting shaft 14, and a groove 44 formed on the inner wall of each mounting strip 17. A slider 45 is slidably mounted inside each groove 44, and the opposing surfaces of the two sliders 45 are rotatably connected to a rotating shaft 49. It also includes a foot pedal 15 fixed to the front side of the rotating shaft 49, and the foot pedal 15 is used to support the patient's foot. The meshing transmission assembly is disposed between the rotating shaft 49 and the third mounting shaft 14.

[0040] In this embodiment, the foot pedal 15 is fixed to the side wall of the rotating shaft 49, and both ends of the rotating shaft 49 are rotatably connected to the slider 45 inside the slide groove 44, respectively. The meshing transmission assembly is disposed between the rotating shaft 49 and the third mounting shaft 14, such as... Figure 7 As shown, this device, under the action of the meshing transmission component, can meet different training needs of the ankle joint;

[0041] When the meshing transmission assembly is running, it can drive the rotating shaft 49 to rotate, thereby realizing the passive pitching motion of the foot pedal 15, and thus realizing the passive ankle pumping motion of the patient's ankle joint.

[0042] When the meshing transmission component stops running, the rotating shaft 49 can rotate freely, and the foot pedal 15 flips downward to suspend the patient's foot. At this time, the patient can use their own body weight as resistance to perform active ankle pumping movements of the ankle joint.

[0043] As described in Example 5, Figure 1 , 2 As shown, when weight 41 is added, resistance training is performed within the range of the patient's ankle joint's tolerance to improve the strength of the patient's legs.

[0044] Example 4

[0045] In other embodiments of the present invention, each meshing transmission assembly includes two sets of first transmission wheels 7, which are respectively fixed at both ends of the first mounting shaft 12 and the second mounting shaft 13, and two first transmission belts 22 respectively sleeved between the two sets of first transmission wheels 7; it also includes second transmission wheels 23 respectively fixed at the middle of the second mounting shaft 13 and the third mounting shaft 14, and second transmission belts 10 sleeved on the two second transmission wheels 23, and the outer wall of the second transmission belts 10 is also provided with an external toothed ring 50; it also includes a transmission gear 16 fixed at the middle of the rotating shaft 49, and the transmission gear 16 meshes with the external toothed ring 50; and an electric telescopic rod provided on one side of each slide groove 44, and the telescopic end of the electric telescopic rod is fixed to the corresponding side of the slider 45 to provide power for the movement of the slider 45 so that the transmission gear 16 meshes with and disengages from the external toothed ring 50; it also includes a drive motor 43 provided on the outer wall of the second mounting frame 6, and the output shaft of the drive motor 43 passes through the second mounting frame 6 and is fixedly connected to the first mounting shaft 12.

[0046] In this embodiment, it is noteworthy that the drive motor 43 can drive the external gear ring 50 to rotate slowly back and forth, thereby reducing the irritation of the external gear ring 50 to the patient's skin. Figure 4 , 5 As shown in Figure 6, two sets of first transmission wheels 7 are fixed at both ends of the first mounting shaft 12 and the second mounting shaft 13, respectively, while two second transmission wheels 23 are fixed at the middle of the second mounting shaft 13 and the third mounting shaft 14, respectively. The first transmission belt 22 sleeved on the first transmission wheel 7 can support the patient's thigh, while the second transmission belt 10 sleeved on the second transmission wheel 23 can support the patient's calf. With the help of the hook and loop fasteners 11 respectively set on the first support bar 8 and the second support bar 9, the patient's thigh and calf can be tied and fixed on the first support bar 8 and the second support bar 9, respectively.

[0047] The external toothed ring 50 on the outer wall of the second transmission belt 10 meshes with the transmission gear 16 fixed in the middle of the rotating shaft 49, such as Figure 7 As shown, when the first mounting shaft 12 is rotated by the power provided by the drive motor 43, the second mounting shaft 13 can be rotated by the first transmission belt 22. The second transmission wheel 23 is fixed on the second mounting shaft 13, thus rotating the second transmission belt 10, which in turn causes the transmission gear 16 to rotate. This causes the rotating shaft 49, which is fixed to the transmission gear 16, to tilt and rotate, thereby allowing the foot placed on the foot pedal 15 to perform ankle pumping movements. Each slide groove 44 is provided with an electric telescopic rod on one side, and the telescopic end of the electric telescopic rod is fixed to the corresponding slider 45. Therefore, by controlling the extension and retraction of the electric telescopic rod, the transmission gear 16 can be engaged and disengaged from the external gear ring 50. When the two are engaged, the patient's ankle joint can be passively flexed and extended. When the two are disengaged, the foot pedal 15 automatically flips and droops downward, thereby suspending the patient's foot in the air and enabling the patient's ankle joint to actively flex and extend.

[0048] Example 5

[0049] In another embodiment of the present invention, the base plate 1 is further provided with a resistance training component, and the resistance training component is provided in two sets and distributed on both sides of the exoskeleton support structure. Each set includes a support base 19 fixed on the base plate 1, and a mounting bracket 31 fixed between the support base 19 and the base 2. It also includes a threaded groove 48 formed in the horizontal section of the mounting bracket 31; and a connecting strip 33 provided on the horizontal section of the mounting bracket 31, with mounting parts 34 respectively provided at both ends of the connecting strip 33; and a connector fixed to the bottom of the connecting strip 33 and passing through the threaded groove 48. The rod 42, with a mounting sleeve 51 fixed to the end of the connecting rod 42 away from the connecting bar 33, and a pull rope 35 disposed inside the mounting sleeve 51, with one end of the pull rope 35 passing through the bottom of the mounting sleeve 51 and fixed with a strap 39, the strap 39 being used to fix the patient's foot; the other end passing through the top of the mounting sleeve 51, passing around two mounting pieces 34 in sequence and fixed on a tray 40, the tray 40 being used to place several weights 41; it also includes a spring 38 fixed between the mounting sleeve 51 and the strap 39 and sleeved on the outer wall of the pull rope 35, for the reset of the strap 39.

[0050] Because the end of the connecting rod 42, which is fixed at the lower part of the connecting strip 33, is fixed with a mounting sleeve 51, such as Figure 2 , 8As shown, the internal pull rope 35 passes through the bottom of the mounting sleeve 51 and is fixed to the strap 39, which can be tied to the patient's foot. The other end is fixed to a tray 40, on which several weights 41 can be placed. Therefore, when the transmission gear 16 is disengaged from the external gear ring 50, the patient can perform active ankle pump exercises. By increasing the number of weights 41, the resistance encountered by the patient's ankle joint during plantar flexion can be adjusted, further strengthening the muscle strength of the patient's foot and calf. The device, through the resistance training components, enables muscle training of the posterior calf muscles, and the resistance is adjustable, further meeting the strength training needs of patients in the later stages of ankle joint rehabilitation. It has a wide range of applications and is highly practical.

[0051] Furthermore, the side wall of the connecting strip 33 is also fixed with a mounting block 47 and a mounting hole opened on the mounting block 47, and also includes a fastener set inside the mounting hole. When the fastener passes through the mounting hole and is threadedly connected to the threaded groove 48, it is used to lock the connecting strip 33 after it moves. This design realizes the locking after the position of the connecting strip 33 moves, thereby adjusting the position of the strap 39. When the strap 39 is tied and fixed to the front of the patient's foot, resistance training can be performed on the patient's toes. When placed on the instep of the patient, resistance training can be performed on the muscle groups of the patient's foot and calf.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Detachable installation can take many forms, such as through a combination of plug-in and snap-fit ​​connections, or through bolted connections, etc.

[0053] The foregoing, in conjunction with embodiments and accompanying drawings, has clearly and completely described the concept, specific structure, and resulting technical effects of the present invention, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the possibility of forming a better connection structure by adding or reducing connecting accessories, depending on the specific implementation.

[0054] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A power-assisted exoskeleton device, characterized in that, include: A base plate (1), a base (2) disposed on the base plate (1), and a seat cushion (3) fixed to the top of the base (2), the seat cushion (3) being used to support the patient's buttocks; It also includes two sets of exoskeleton support structures set on the front side of the base (2), and the two sets of exoskeleton support structures are used for the patient's leg support and hip and knee joint mobility rehabilitation training, respectively. Each exoskeleton support structure is also provided with a pedal structure at its front end, which is used to support the patient's feet; It also includes a meshing transmission assembly disposed between each set of pedal structures and exoskeleton support structures. When the meshing transmission assembly is in operation, that is, while it relaxes and massages the posterior calf muscles of the patient, it also drives the pedal structure to run, so as to achieve range of motion training of the patient's ankle joint. Each set of the exoskeleton support structure includes a support column (21) fixed to the top of the base (2), and a first mounting frame (5) rotatably connected to the support column (21), and a support pad (4) fixed to the top of the first mounting frame (5) for supporting the patient's hip joint; The front wall of the first mounting frame (5) is also fixed with a second mounting frame (6). The opposite side of the second mounting frame (6) is provided with a rotatable first mounting shaft (12). It also includes first support bars (8) that are rotatably connected to both ends of the first mounting shaft (12). The ends of the two first support bars (8) away from the first mounting shaft (12) are rotatably connected to the second mounting shaft (13). And the second support bars (9) are rotatably connected to both ends of the second mounting shaft (13), and the front ends of the two second support bars (9) are rotatably connected to the third mounting shaft (14), and the two first support bars (8) and the second support bars (9) are respectively used for the support of the patient's thigh and calf; It also includes a drive assembly disposed between the base plate (1) and the third mounting shaft (14), and the drive assembly is used to drive the first support bar (8) and the second support bar (9) to rise and fall alternately; The drive assembly includes a mounting base structure and a mounting plate (24) disposed on the mounting base structure. It also includes a connecting frame (28) disposed on the opposite side of the mounting plate (24) and distributed vertically, and a transmission toothed roller (26). The connecting frame (28) is also provided with a rotatable screw (46) and a transmission sleeve (30) threadedly connected to the screw (46). It also includes a transmission bar (29) slidably installed inside the transmission sleeve (30). The top of the transmission bar (29) is rotatably connected to the third mounting shaft (14), and the teeth on its sidewall mesh with the transmission toothed roller (26). It also includes a first motor (32) and a second motor (27) respectively installed on the upper and lower sides of the mounting plate (24), and the output shaft of the first motor (32) passes through the connecting frame (28) and is fixedly connected to the screw (46) to provide power for the rotation of the screw (46); And through holes opened on the side wall of the mounting plate (24), through which the output shaft of the second motor (27) passes and is fixedly connected to the transmission toothed roller (26) to provide power for the rotation of the transmission toothed roller (26).

2. The assistive exoskeleton device according to claim 1, characterized in that: The mounting base structure includes a base column (20) fixed on the base plate (1) and an arc-shaped rail (18) fixed on the base column (20), and also includes a movable block (25) slidably installed inside the arc-shaped rail (18), with the mounting plate (24) disposed on the movable block (25).

3. The assistive exoskeleton device according to claim 2, characterized in that: Each set of pedal structures includes mounting strips (17) fixed at both ends of the third mounting shaft (14), and a groove (44) formed on the inner wall of each mounting strip (17). A slider (45) is slidably mounted inside each groove (44), and the opposing surfaces of the two sliders (45) are rotatably connected to a rotating shaft (49). It also includes a foot pedal (15) fixed to the front side of the rotating shaft (49), and the foot pedal (15) is used for supporting the patient's foot. The meshing transmission assembly is disposed between the rotating shaft (49) and the third mounting shaft (14).

4. The assistive exoskeleton device according to claim 3, characterized in that: Each set of meshing transmission components includes two sets of first transmission wheels (7), and the two sets of first transmission wheels (7) are respectively fixed at both ends of the first mounting shaft (12) and the second mounting shaft (13), and two first transmission belts (22) respectively sleeved between the two sets of first transmission wheels (7). It also includes a second transmission wheel (23) fixed in the middle of the second mounting shaft (13) and the third mounting shaft (14), and a second transmission belt (10) sleeved on the two second transmission wheels (23), and the outer wall of the second transmission belt (10) is also provided with an external toothed ring (50). It also includes a transmission gear (16) fixed in the middle of the shaft (49), and the transmission gear (16) meshes with the external gear ring (50); And an electric telescopic rod is provided on one side of each of the slides (44), and the telescopic end of the electric telescopic rod is fixed to the slider (45) on the corresponding side, providing power for the movement of the slider (45) so that the transmission gear (16) meshes with and disengages from the external gear ring (50); It also includes a drive motor (43) disposed on the outer wall of the second mounting frame (6), and the output shaft of the drive motor (43) passes through the second mounting frame (6) and is fixedly connected to the first mounting shaft (12).

5. The assistive exoskeleton device according to claim 1, characterized in that: The base plate (1) is also provided with a resistance training component, and the resistance training component is provided in two sets and distributed on both sides of the exoskeleton support structure. Each set includes a support seat (19) fixed on the base plate (1) and a mounting bracket (31) fixed between the support seat (19) and the base (2). It also includes a threaded groove (48) opened in the horizontal section of the mounting bracket (31). And a connecting strip (33) provided on the horizontal section of the mounting bracket (31), wherein mounting parts (34) are respectively provided at both ends of the connecting strip (33); It also includes a connecting rod (42) fixed to the bottom of the connecting bar (33) and passing through the threaded groove (48), and an installation sleeve (51) fixed to the end of the connecting rod (42) away from the connecting bar (33), and a pull rope (35) disposed inside the installation sleeve (51), and one end of the pull rope (35) passing through the bottom of the installation sleeve (51) and fixed with a strap (39), the strap (39) being used to fix the patient's foot; Its other end passes through the top of the mounting sleeve (51), passes around two mounting pieces (34) in sequence, and is fixed on the tray (40), and the tray (40) is used to place several weights (41). It also includes a spring (38) fixed between the mounting sleeve (51) and the strap (39) and sleeved on the outer wall of the pull rope (35) for resetting the strap (39).

6. The assistive exoskeleton device according to claim 5, characterized in that: The sidewall of the connecting strip (33) is also fixed with a mounting block (47) and a mounting hole opened on the mounting block (47), and also includes a fastener set inside the mounting hole, which is used to lock the connecting strip (33) after it moves when the fastener passes through the mounting hole and is threadedly connected to the threaded groove (48).

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