Lumbar vertebra assisted rehabilitation exoskeleton robot

Abstract

The present application relates to a kind of lumbar vertebrae power-assisted rehabilitation exoskeleton robot, comprising: variable stiffness pneumatic artificial muscle actuator and structure consistent upper waist adjustable restraint and lower waist adjustable restraint;Variable stiffness pneumatic artificial muscle actuator is connected between the upper waist adjustable restraint and lower waist adjustable restraint.This application adopts the driving mode of pneumatic, and the stiffness of actuator can be changed by inputting different size high-pressure gas into pneumatic artificial muscle actuator, and variable stiffness pneumatic artificial muscle actuator can have stretching function and contraction function, the combination of the two forces is the output force of the variable stiffness pneumatic artificial muscle actuator;Variable stiffness pneumatic artificial muscle actuator fitted on the two sides of human body can drive human body waist to bend to left and right sides rehabilitation power-assisted training, and variable stiffness pneumatic artificial muscle actuator on the back of human body can drive human body waist to bend forward and backward rehabilitation power-assisted training, and can play the role of supporting human waist.

Description

TECHNICAL FIELD

[0001] The present application relates to a lumbar vertebra assisting rehabilitation exoskeleton robot, and belongs to the technical field of rehabilitation auxiliary devices. BACKGROUND

[0002] The human waist bears the main movement and large load of the body, especially in the process of carrying heavy objects and other labor, the external load is also mainly borne by the waist. The supporting function of the waist is only borne by the lumbar vertebra, and the waist muscles and the lumbar vertebra are prone to strain and even direct physical injury. Therefore, the research on the waist load reduction rehabilitation exoskeleton robot has attracted widespread attention.

[0003] The current assisting rehabilitation exoskeleton can be divided into upper limb assisting exoskeleton, waist assisting exoskeleton, lower limb assisting exoskeleton and whole body assisting exoskeleton according to different assisting parts. Most of the existing assisting exoskeletons focus on assisting a single part or the whole body. The single part assisting exoskeleton has a single function, and the whole body type assisting exoskeleton is cumbersome and heavy, and is inconvenient to wear, which affects the operation. Moreover, in some working scenarios, the user only needs upper limb and waist assistance, and the leg assistance demand is small. Using a whole body type assisting exoskeleton not only increases the body burden but also increases the manufacturing cost. However, the current some assisting robots only focus on sharing the muscle strength of the human waist, which can obviously reduce the load of the muscle, but at the same time, it also increases the internal force of the spine. Long-term use will inevitably cause damage to the spine of the user and increase the possibility of suffering from lumbar disease. SUMMARY

[0004] The purpose of the present application is to provide a lumbar vertebra assisting rehabilitation exoskeleton robot, which can perform rehabilitation assisting training on the human waist by using a variable stiffness pneumatic artificial muscle actuator, so as to reduce the load of the lumbar vertebra and play a labor protection role.

[0005] In order to achieve the above-mentioned purpose / in order to solve the above-mentioned technical problems, the present application is realized by using the following technical scheme:

[0006] On the one hand, the present application provides a lumbar vertebra assisting rehabilitation exoskeleton robot, which comprises a variable stiffness pneumatic artificial muscle actuator and a structure consistent upper waist adjustable restraint and a lower waist adjustable restraint. The upper waist adjustable restraint and the lower waist adjustable restraint are both in U-shaped structure, and the upper waist adjustable restraint and the lower waist adjustable restraint are designed by using aluminum plate.

[0007] The variable stiffness pneumatic artificial muscle actuator is connected between the upper waist adjustable restraint and the lower waist adjustable restraint,

[0008] Two variable stiffness pneumatic artificial muscle actuators are symmetrically arranged on the left and right sides of the U-shaped adjustable restraint for the upper waist, and at least one variable stiffness pneumatic artificial muscle actuator is arranged in the middle of the U-shaped adjustable restraint for the upper waist.

[0009] Further, the upper and lower adjustable restraints for the waist are connected with the variable stiffness pneumatic artificial muscle actuators through adapters, the upper and lower adjustable restraints for the waist and the adapters are connected through connecting holes, and the variable stiffness pneumatic artificial muscle actuators are sleeved with the adapters.

[0010] Further, the upper and lower adjustable restraints for the waist each include a waist sliding rail and a waist adapter plate,

[0011] The waist sliding rail includes a bottom plate, vertical sliding platforms are designed on both sides of the bottom plate along the length direction, and a plurality of connecting holes are uniformly distributed on the bottom plate.

[0012] The middle part of the waist adapter plate is designed in an arc shape, the two ends of the waist adapter plate are perpendicular to each other, and a plurality of connecting holes are arranged at the two ends.

[0013] The middle part of the waist sliding rail is connected with an adapter through a connecting hole, the two sides of the waist sliding rail are respectively connected with one end of a waist adapter plate through connecting holes, and the other end of the two waist adapter plates is respectively connected with an adapter.

[0014] Further, the adapter includes a first connecting piece and a second connecting piece.

[0015] The first connecting piece includes two half-circular flanges that are butted, one end of the half-circular flange is formed into a half-circular boss outward, a plurality of connecting holes are uniformly arranged on the half-circular boss and used for connecting the second connecting piece, a strip-shaped boss is formed outward at the butted position of the half-circular flanges, a plurality of connecting holes are uniformly arranged on the strip-shaped boss and used for butting the two half-circular flanges, and the first connecting piece after butting can be sleeved with the end part of the variable stiffness pneumatic artificial muscle actuator.

[0016] The second connecting piece includes a flange-shaped boss and a side plate, the flange-shaped boss is designed in a circular arc shape, a plurality of connecting holes are uniformly arranged on the flange-shaped boss and used for coaxial connection with the half-circular boss that is butted in the first connecting piece, the side edge of the flange-shaped boss is connected with the side plate perpendicularly, and a plurality of connecting holes are uniformly arranged on the side plate and used for connecting the upper and lower adjustable restraints for the waist.

[0017] Further, the two ends of the waist adapter plate are provided with strip-shaped grooves, and the strip-shaped grooves on the connection side of the adapter are connected through an adjustable waistband.

[0018] Further, the variable stiffness pneumatic artificial muscle actuator comprises: a first rubber tube, a second rubber tube, a first end cap, a second end cap, a contraction gas pipe joint, a self-locking strap, an expansion gas pipe joint, a first nylon woven net, and a second nylon woven net;

[0019] The second rubber tube is sleeved outside the first rubber tube along the length direction of the second rubber tube, and the first rubber tube is compressed inside the second rubber tube;

[0020] One end of the first rubber tube is connected with the positive pressure contraction gas pipe joint through the first end cap, and the other end is connected with the second end cap;

[0021] One end of the second rubber tube is connected with the positive pressure expansion gas pipe joint through the first end cap, and the other end is connected with the second end cap;

[0022] The first nylon woven net is sleeved outside the first rubber tube, the second nylon woven net is sleeved outside the second rubber tube, and the two ends of the self-locking strap are respectively fastened on the first end cap and the second end cap, so as to ensure the air tightness and prevent air leakage.

[0023] High-pressure gas is introduced into the first rubber tube and the second rubber tube through the positive pressure contraction gas pipe joint and the positive pressure expansion gas pipe joint respectively, so that the first rubber tube and the second rubber tube are inflated, compressed and expanded, and then contraction force and expansion force are generated, and the combination of the two forces is the output force of the variable stiffness pneumatic artificial muscle actuator; and different high-pressure gas is introduced into the first rubber tube and the second rubber tube, so that the stiffness of the variable stiffness pneumatic artificial muscle actuator changes.

[0024] Further, the first end cap and the second end cap are cylindrical with equal radii, and a first mounting hole and a second mounting hole are arranged on the side end face of the first end cap away from the first rubber tube;

[0025] The first mounting hole is used for gap cooperation with the positive pressure contraction gas pipe joint, so as to connect the positive pressure contraction gas pipe joint and the first end cap;

[0026] The second mounting hole is used for gap cooperation with the positive pressure expansion gas pipe joint, so as to connect the positive pressure expansion gas pipe joint and the first end cap;

[0027] A cylindrical first protruding end head is arranged on one side of the first mounting hole close to the first rubber tube, and one or more grooves are arranged on the first protruding end head in the circumferential direction; the first rubber tube is sleeved on the first protruding end head, and the first rubber tube and the first nylon woven net are fixedly connected to the first protruding end head through the self-locking strap along the grooves;

[0028] The second end cover is provided with a second protruding end head on one side end face close to the first rubber tube, the second protruding end head is a solid cylinder, and one or more grooves are arranged in the circumferential direction; the first rubber tube is sleeved on the second protruding end head, and the first rubber tube and the first nylon woven net are fixedly connected to the second protruding end head along the grooves through the self-locking cable ties.

[0029] Further, the first end cover and the second end cover are both provided with one or more grooves in the circumferential direction, and the two ends of the second rubber tube are respectively sleeved on the first end cover and the second end cover, and the second rubber tube and the second nylon woven net are respectively fixedly connected to the first end cover and the second end cover along the grooves through the self-locking cable ties.

[0030] Further, the number of the first rubber tube and the first nylon woven net is three.

[0031] Further, the upper waist part adjustable binding member and the lower waist part adjustable binding member are designed according to ergonomics to be arc-shaped waist protection nets that fit the waist curve.

[0032] Compared with the prior art, the present application has the following beneficial effects:

[0033] 1、The lumbar vertebrae power-assisted rehabilitation exoskeleton robot of the present application utilizes a plurality of variable stiffness pneumatic artificial muscle actuators to perform rehabilitation power-assisted training on the human waist, which are respectively attached to the two sides of the human body and the back of the human body. The variable stiffness pneumatic artificial muscle actuators attached to the two sides of the human body can drive the human waist to bend to the left and right sides for rehabilitation power-assisted training, and the variable stiffness pneumatic artificial muscle actuators attached to the back of the human body can drive the human waist to bend forward and backward for rehabilitation power-assisted training, and can also play a supporting role for the human waist. The present application has the advantages of flexible movement, high comfort, simple and close-fitting wearing for the user, convenient wearing, no requirement for the use site, no need for personnel assistance, good convenience, low production cost, flexible and compliant control, and wide market prospects.

[0034] 2、The lumbar vertebrae power-assisted rehabilitation exoskeleton robot of the present application is designed according to the human waist injury mechanism, the human lumbar vertebrae structure and the human waist muscle group distribution, the force analysis of the waist and back during human bending, and can not only assist and support the human waist, but also reduce the load on the lumbar vertebrae to play a labor protection role, which can greatly reduce the risk of occupational diseases of industrial and agricultural producers and nursing personnel due to continuous high-intensity bending work. The upper and lower separated waist binding members designed by aluminum plates are designed according to ergonomics to be shaped to fit the waist curve, better fit the human waist, and the upper and lower waist adjustable binding members have uniformly distributed connecting holes, which can be fixed on the upper waist slide rail and the lower waist slide rail according to the size of the waist of different people to meet the wearable requirements.

[0035] 3. The waist binding part of the application is adjustable, the whole device is assembled through the position adjustment between the waist sliding rail and the waist adapter plate and the disassembly and connection of the connecting hole, the structure is exquisite, and the applicability is wide.

[0036] 4. The variable stiffness pneumatic artificial muscle actuator can realize the radial expansion of the first rubber tube and the contraction force in the length direction through the contraction of the air pipe joint, the input of high pressure gas into the first rubber tube and the limitation of the first nylon woven net; the second rubber tube can be elongated in the length direction and generate an extension force through the extension of the air pipe joint, the input of high pressure gas into the second rubber tube and the limitation of the second nylon woven net, so that the variable stiffness pneumatic artificial muscle actuator can have the functions of extension and contraction, and the combination of the two forces is the output force of the variable stiffness pneumatic artificial muscle actuator; and the input of different high pressure gases into the first rubber tube and the second rubber tube can change the stiffness of the variable stiffness pneumatic artificial muscle actuator, that is, the pneumatic artificial muscle actuator has the ability of variable stiffness. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A structure schematic view of a lumbar vertebra assisting rehabilitation exoskeleton robot is provided for the embodiment of the application;

[0038] Figure 2 A structure schematic view of a waist sliding rail of a lumbar vertebra assisting rehabilitation exoskeleton robot is provided for the embodiment of the application;

[0039] Figure 3 A structure schematic view of a waist adapter plate of a lumbar vertebra assisting rehabilitation exoskeleton robot is provided for the embodiment of the application;

[0040] Figure 4 A structure schematic view of a first connecting piece of a lumbar vertebra assisting rehabilitation exoskeleton robot is provided for the embodiment of the application;

[0041] Figure 5 A structure schematic view of a second connecting piece of a lumbar vertebra assisting rehabilitation exoskeleton robot is provided for the embodiment of the application;

[0042] Figure 6 A structure schematic view of a variable stiffness pneumatic artificial muscle actuator is provided for the embodiment of the application;

[0043] Figure 7 A structure schematic view of a first end cover is provided for the embodiment of the application;

[0044] Figure 8 A top view of the first end cover is provided for the embodiment of the application;

[0045] Figure 9 A structure schematic view of a first end cover is provided for the embodiment of the application; Figure 8 A sectional view in the direction of view A-A;

[0046] Figure 10 The structure diagram of the second end cover provided by the embodiment of the present application is shown in the figure;

[0047] The figure is marked as: 1, upper waist adjustable restraint, 2, lower waist adjustable restraint, 3, variable stiffness pneumatic artificial muscle actuator, 301, contraction air pipe joint, 302, extension air pipe joint, 303, first end cover, 304, self-locking strap, 305, second nylon woven mesh, 306, second rubber tube, 307, second end cover, 308, first rubber tube, 309, first nylon woven mesh, 310, first protruding end, 311, first mounting hole, 312, second mounting hole, 320, second protruding end, 4, waist slide rail, 41, bottom plate, 42, slide table, 5, waist adapter plate, 51, strip-shaped groove, 6, adapter, 61, first connecting piece, 611, semicircular boss, 612, strip-shaped boss, 613, connecting hole, 614, weight-reducing groove, 615, positioning groove, 62, second connecting piece, 621, flange-shaped boss, 622, edge plate, 7, waist adjusting belt. DETAILED DESCRIPTION

[0048] The technical scheme of the present application will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations of the technical scheme of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0049] The term "and / or", only describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " generally represents that the front and rear associated objects are in an "or" relationship. EMBODIMENT

[0050] As Figure 1 shown in an embodiment, the present embodiment provides a lumbar assistive rehabilitation exoskeleton robot, comprising: a plurality of variable stiffness pneumatic artificial muscle actuators 3 and structure-consistent upper waist adjustable restraints 1 and lower waist adjustable restraints 2. The upper waist adjustable restraint 1 and the lower waist adjustable restraint 2 are both in U-shaped structure, and the upper waist adjustable restraint 1 and the lower waist adjustable restraint 2 are designed with aluminum plate.

[0051] The variable stiffness pneumatic artificial muscle actuator 3 is connected between the upper waist adjustable restraint 1 and the lower waist adjustable restraint 2,

[0052] Two variable stiffness pneumatic artificial muscle actuators 3 are symmetrically arranged on the left and right sides of the U-shaped upper waist adjustable restraint 1, and one variable stiffness pneumatic artificial muscle actuator 3 is arranged in the middle of the U-shaped upper waist adjustable restraint 1.

[0053] The upper and lower waist adjustable restraints are connected to the variable stiffness pneumatic artificial muscle actuator 3 via adapters 6.

[0054] The adjustable waist restraints 2 and the adapter 6 are connected via connecting holes.

[0055] The variable stiffness pneumatic artificial muscle actuator 3 is connected to the adapter 6.

[0056] like Figures 2-3 As shown, the adjustable waist restraint 1 and the adjustable waist restraint 2 both include: waist slide rail 4 and waist adapter plate 5. The waist slide rail 4 and waist adapter plate 5 can be made of white resin 3D printing.

[0057] The waist slide rail 4 includes: a base plate 41, on both sides of the base plate 41 vertical slides 42 along the length direction, and a plurality of connecting holes are evenly distributed on the base plate 41.

[0058] The waist adapter plate 5 has an arc-shaped design in the middle, and the two ends of the waist adapter plate 5 are perpendicular to each other, and both ends are provided with several connection holes; the two ends of the waist adapter plate 5 are provided with strip grooves 51, and are connected to the strip grooves 51 on the connecting side of the adapter 6 through an adjustable waist belt 7. The adjustable waist belt can be adjusted according to the waist size of different people.

[0059] The middle part of the waist slide rail 4 is connected to an adapter 6 through a connecting hole, and one end of a waist adapter plate 5 is connected to each side of the waist adapter plate 5 through connecting holes. The other ends of the two waist adapter plates 5 are respectively connected to an adapter 6.

[0060] like Figures 4-5 As shown, the adapter 6 includes: a first connector 61 and a second connector 62;

[0061] The first connecting piece 61 includes two butt jointed semicircular flanges, one end of the semicircular flange outwardly forms a semicircular boss 611, the semicircular boss 611 is uniformly provided with connecting holes 613 for connecting with the second connecting piece 62, the butt jointed semicircular flanges outwardly form a strip-shaped boss 612, the strip-shaped boss 612 is uniformly provided with connecting holes 613 for butt jointing the two semicircular flanges, and the first connecting piece 61 after butt jointing can be sleeved with the end of the variable stiffness pneumatic artificial muscle actuator 3; the first connecting piece 61 can be made of white resin 3D printing; the first connecting piece 61 is provided with a positioning groove 615 and a weight reduction groove 614, the weight reduction groove 614 is used for reducing the mass of the first connecting piece 61, the positioning groove 615 is used for clamping the first end cover 303 and the second end cover 307 of the variable stiffness pneumatic artificial muscle actuator 3, and after the two first connecting pieces 61 are butt jointed, the width size of the positioning groove 615 cooperates with the length of the first end cover 303 and the second end cover 307, which plays a role in limiting the axial displacement of the variable stiffness pneumatic artificial muscle actuator 3.

[0062] The second connecting piece 62 includes a flange type boss 621 and an edge plate 622, the flange type boss 621 is designed in a circular arc type, the flange type boss 621 is uniformly provided with connecting holes, which are used for coaxial connection with the butt jointed semicircular boss 611 in the first connecting piece 61, the side edge of the flange type boss 621 is perpendicularly connected with the edge plate 622, the edge plate 622 is uniformly provided with a plurality of connecting holes, which are used for connecting with the upper and lower waist adjustable binding pieces 2, and the second connecting piece 62 can be made of white resin 3D printing.

[0063] As shown in the accompanying drawings, Figure 6 The variable stiffness pneumatic artificial muscle actuator 3 includes a first rubber tube 308, a second rubber tube 306, a first end cover 303, a second end cover 307, a contraction gas pipe joint 301, a self-locking type ribbon 304, an expansion gas pipe joint 302, a first nylon woven net 309 and a second nylon woven net 305;

[0064] The second rubber tube 306 is sleeved outside the first rubber tube 308 along the length direction of the second rubber tube 306, and the first rubber tube 308 is compressed inside the second rubber tube 306;

[0065] One end of the first rubber tube 308 is connected with the positive pressure contraction gas pipe joint 301 through the first end cover 303, and the other end is connected with the second end cover 307;

[0066] One end of the second rubber tube 306 is connected with the positive pressure expansion gas pipe joint 302 through the first end cover 303, and the other end is connected with the second end cover 307;

[0067] The first nylon braided net 309 is sleeved on the periphery of the first rubber tube 308, the second nylon braided net 305 is sleeved on the periphery of the second rubber tube 306, and the two ends thereof are respectively tightly tied on the first end cover 303 and the second end cover 307 through the self-locking cable tie 304; the air tightness is guaranteed, and air leakage is prevented.

[0068] The number of the first rubber tube 308 and the first nylon braided net 309 is three.

[0069] The positive pressure contraction tracheal joint 3 is communicated with the first rubber tube 308, the positive pressure expansion tracheal joint 302 is communicated with the second rubber tube 306, high-pressure gas is input into the first rubber tube 308 and the second rubber tube 306 through the positive pressure contraction tracheal joint 301 and the positive pressure expansion tracheal joint 302 respectively, so that the first rubber tube 308 and the second rubber tube 306 are inflated, compressed and expanded, and then contraction force and expansion force are generated, the combination of the two kinds of forces is added to be the output force of the variable stiffness pneumatic artificial muscle actuator 3; and different high-pressure gas is input into the first rubber tube 308 and the second rubber tube 306, so that the stiffness of the variable stiffness pneumatic artificial muscle actuator 3 can be changed.

[0070] As shown in Figures 7-10 The first end cover 303 and the second end cover 307 are cylindrical with equal radii, a first mounting hole 311 and a second mounting hole 312 are arranged on the side end face of the first end cover 303 away from the first rubber tube 308;

[0071] The first mounting hole 311 is used for gap cooperation with the positive pressure contraction tracheal joint 301, so as to connect the positive pressure contraction tracheal joint 301 and the first end cover 303;

[0072] The second mounting hole 312 is used for gap cooperation with the positive pressure expansion tracheal joint 302, so as to connect the positive pressure expansion tracheal joint 302 and the first end cover 303;

[0073] The first mounting hole 311 is provided with a cylindrical first protruding end head 310 on one side close to the first rubber tube 308, and one or more grooves are arranged on the first protruding end head 310 in the circumferential direction; the first rubber tube 308 is sleeved on the first protruding end head 310, and the first rubber tube 308 and the first nylon braided net 309 are fixedly connected to the first protruding end head 310 through the self-locking cable tie 304 along the grooves;

[0074] The second end cover 307 is provided with a second protruding end 320 on one side end face close to the first rubber tube 308, the second protruding end 320 is a solid cylinder, and one or more grooves are arranged in the circumferential direction; the first rubber tube 308 is sleeved on the second protruding end 320, and the first rubber tube 308 and the first nylon woven net 309 are fixedly connected to the second protruding end 320 through the self-locking cable tie 304 along the groove;

[0075] The first end cover 303 and the second end cover 307 are both provided with one or more grooves in the circumferential direction, and the second rubber tube 306 is sleeved on the first end cover 303 and the second end cover 307 at both ends, respectively, and the second rubber tube 306 and the second nylon woven net 305 are fixedly connected to the first end cover 303 and the second end cover 307, respectively, through the self-locking cable tie 304 along the groove.

[0076] In the embodiment, the effect of the one variable stiffness pneumatic artificial muscle actuator arranged on the back side is optimal, the actuator is attached to the spine, is arranged along the spine direction, and generates contraction force and extension force in the spine direction, thereby generating sufficient assistance effect and reducing the burden of the user.

[0077] In the implementation process of the application, after the lumbar vertebrae assistance rehabilitation exoskeleton robot is worn, the two variable stiffness pneumatic artificial muscle actuators 3 are respectively arranged on the two sides of the human body and are attached to the human body, and one variable stiffness pneumatic artificial muscle actuator 3 is attached to the human spine; the two waist sliding rails 4 are respectively located on the upper and lower back of the human body, and the upper waist adjustable binding member 1 and the lower waist adjustable binding member 2 bind the back of the human body, so as to cooperate with the adjustment of the waist belt 7 to limit the human body, avoid the free movement of the human body in the correction process, and cause the reduction of the correction effect.

[0078] In use, the left and right variable stiffness pneumatic artificial muscle actuators 3 are adjusted to gradually bend and form the required shape, so that the lumbar vertebrae assistance rehabilitation exoskeleton robot is also gradually adjusted to the required configuration, at this time, since the lumbar vertebrae assistance rehabilitation exoskeleton robot is worn on the patient, the lumbar vertebrae assistance rehabilitation exoskeleton robot will adjust the posture of the spine of the patient synchronously, and the control of the correction of the spine is realized.

[0079] When the left variable stiffness pneumatic artificial muscle actuator 3 outputs contraction force and the right variable stiffness pneumatic artificial muscle actuator 3 outputs extension force, the human waist will be bent towards the variable stiffness pneumatic artificial muscle actuator 3 outputting contraction force for rehabilitation training; conversely, when the left variable stiffness pneumatic artificial muscle actuator 3 outputs extension force and the right variable stiffness pneumatic artificial muscle actuator 3 outputs contraction force, the human waist will be bent towards the variable stiffness pneumatic artificial muscle actuator 3 outputting contraction force for rehabilitation training.

[0080] When both the left and right variable stiffness pneumatic artificial muscle actuators 3 output extension force, the human waist will be supported, and after the lumbar vertebra assisted rehabilitation exoskeleton robot reaches the required configuration, the posture of the patient's spine is fixed.

[0081] The lumbar vertebra assisted rehabilitation exoskeleton robot of the present application has the advantages of light weight, flexible movement, high comfort, simple and close-fitting user wearing, convenient wearing, no requirement for the use site, no need for personnel assistance, good convenience, low production cost, flexible and compliant control, and wide market prospect.

[0082] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. A lumbar assist rehabilitation exoskeleton robot, characterized by, The application relates to a variable-stiffness pneumatic artificial muscle actuator, a structure-uniform upper waist adjustable binding member and a lower waist adjustable binding member, wherein the upper waist adjustable binding member and the lower waist adjustable binding member are both in U-shaped structures; the variable-stiffness pneumatic artificial muscle actuator is connected between the upper waist adjustable binding member and the lower waist adjustable binding member; two variable-stiffness pneumatic artificial muscle actuators are symmetrically arranged on the left and right sides of the upper waist adjustable binding member, and at least one variable-stiffness pneumatic artificial muscle actuator is arranged in the middle of the upper waist adjustable binding member; the upper waist adjustable binding member and the lower waist adjustable binding member are respectively connected with the variable-stiffness pneumatic artificial muscle actuator through adapter pieces; the upper waist adjustable binding member and the lower waist adjustable binding member both comprise waist sliding rails and waist adapter plates; the waist sliding rail comprises a bottom plate, vertical sliding tables are designed on the two sides of the bottom plate along the length direction, and a plurality of connecting holes are uniformly distributed on the bottom plate; the middle part of the waist adapter plate is designed in an arc shape, the two ends of the waist adapter plate are perpendicular to each other, and a plurality of connecting holes are arranged on the two ends; the middle part of the waist sliding rail is connected with one adapter piece through the connecting holes, the two sides of the waist sliding rail are respectively connected with one end of one waist adapter plate through the connecting holes, the other end of the two waist adapter plates is respectively connected with one adapter piece, the adapter piece comprises a first connecting piece and a second connecting piece; the first connecting piece comprises two butt-jointed semicircular flanges, one end of the semicircular flange is outwardly turned to form a semicircular boss, connecting holes are uniformly arranged on the semicircular boss and used for connecting the second connecting piece, the butt-jointed semicircular flanges are outwardly turned to form a strip-shaped boss, connecting holes are uniformly arranged on the strip-shaped boss and used for butt joint of the two semicircular flanges, and the first connecting piece after butt joint can be sleeved with the end part of the variable-stiffness pneumatic artificial muscle actuator; the second connecting piece comprises a flange-shaped boss and a side plate, the flange-shaped boss is in a circular arc structure, connecting holes are uniformly arranged on the flange-shaped boss and used for coaxial connection with the butt-jointed semicircular boss in the first connecting piece, the side edge of the flange-shaped boss is perpendicularly connected with the side plate, a plurality of connecting holes are uniformly arranged on the side plate and used for connecting the upper waist adjustable binding member and the lower waist adjustable binding member, and strip-shaped grooves are arranged on the two ends of the waist adapter plate and connected with the strip-shaped grooves on the connecting side of the adapter piece through an adjustable waist belt. The variable-stiffness pneumatic artificial muscle actuator comprises a first rubber tube, a second rubber tube, a first end cover, a second end cover, a contraction air pipe joint, a self-locking type strap, an expansion air pipe joint, a first nylon woven net and a second nylon woven net; the second rubber tube is sleeved outside the first rubber tube along the length direction of the second rubber tube, and the first rubber tube is compressed inside the second rubber tube; one end of the first rubber tube is connected with the contraction air pipe joint through the first end cover, and the other end is connected with the second end cover; one end of the second rubber tube is connected with the expansion air pipe joint through the first end cover, and the other end is connected with the second end cover; the first nylon woven net is sleeved outside the periphery of the first rubber tube, the second nylon woven net is sleeved outside the periphery of the second rubber tube, and the two ends of the first nylon woven net and the second nylon woven net are respectively tightly buckled on the first end cover and the second end cover through the self-locking type strap. ​ ​ ​ ​ ​ ​ ​ 2. The lumbar assist rehabilitation exoskeleton robot according to claim 1, characterized in that, ​ ​ ​ ​ ​ 3. The lumbar assist rehabilitation exoskeleton robot according to claim 2, characterized in that, The first end cover and the second end cover are cylindrical with equal radius, and the first end cover is provided with a first mounting hole and a second mounting hole on the side end face away from the first rubber tube; The first mounting hole is used for gap cooperation with the contraction air pipe joint to connect the contraction air pipe joint and the first end cover; The second mounting hole is used for gap cooperation with the expansion air pipe joint to connect the expansion air pipe joint and the first end cover; The first mounting hole is provided with a cylindrical first protruding end head near the side of the first rubber tube, and the first protruding end head is provided with one or more grooves in the circumferential direction; the first rubber tube is sleeved on the first protruding end head, and the first rubber tube and the first nylon woven net are fixedly connected to the first protruding end head through the self-locking cable ties along the grooves; The second end cover is provided with a second protruding end head on the side end face near the first rubber tube, the second protruding end head is a solid cylindrical, and is provided with one or more grooves in the circumferential direction; the first rubber tube is sleeved on the second protruding end head, and the first rubber tube and the first nylon woven net are fixedly connected to the second protruding end head through the self-locking cable ties along the grooves.

4. The lumbar assist rehabilitation exoskeleton robot according to claim 2, wherein, The first end cover and the second end cover are both provided with one or more grooves in the circumferential direction, the second rubber tube is sleeved on the first end cover and the second end cover at both ends respectively, and the second rubber tube and the second nylon woven net are fixedly connected to the first end cover and the second end cover respectively through the self-locking cable ties along the grooves.

5. The lumbar assist rehabilitation exoskeleton robot according to claim 2, wherein, The number of the first rubber tube and the first nylon woven net is three.

6. The lumbar assist rehabilitation exoskeleton robot according to claim 1, wherein, The upper waist adjustable restraint and the lower waist adjustable restraint are designed according to ergonomics to be arc-shaped waist protection nets conforming to the waist curve.

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