Module combined type exoskeleton rehabilitation booster

Abstract

The invention belongs to the technical field of rehabilitation equipment, and particularly relates to a module combined exoskeleton rehabilitation booster which comprises a thigh connector, a shank connector, a foot connector and a waist connector, the thigh connector is connected with the shank connector through a connecting rod, the connecting rod of the thigh connector is provided with an upper movable rod, the upper movable rod is connected with the waist connector, and the lower movable rod is connected with the waist connector. According to the rehabilitation booster, the connectors are installed on the waist, the thighs, the shanks and the feet respectively, all the parts of the lower limbs can make stable contact with the rehabilitation booster, through cooperation of the connecting rods with the joints, the rehabilitation booster can be stably connected with the lower limbs, and the rehabilitation booster can be stably connected with the lower limbs; according to the rehabilitation booster, multiple actions such as standing, walking and squatting can be achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of rehabilitation equipment, and in particular to a modular combined exoskeleton rehabilitation booster. Background Art

[0002] Rehabilitation assistive device is one of the commonly used equipment in rehabilitation training. For rehabilitation training of lower limbs, walking, standing, squatting and other movements are the main training objects.

[0003] At present, there are mainly the following problems with rehabilitation boosters:

[0004] 1. The flexibility of the rehabilitation booster is limited, especially for squatting, which makes squatting and other training movements unable to meet the requirements;

[0005] 2. The rehabilitation booster is a fixed structure, which can hardly meet the needs of the user when performing movements, especially when squatting, the waist and thighs will be in closer contact with the rehabilitation booster, and a rehabilitation auxiliary structure that can better cooperate with the human body is needed. Summary of the invention

[0006] In order to solve the above-mentioned problems, the present application provides a modular combined exoskeleton rehabilitation booster.

[0007] The purpose of this application is to provide a modular combined exoskeleton rehabilitation booster. By installing connectors on the waist, thighs, calves and feet respectively, various parts of the lower limbs can be in stable contact with the rehabilitation booster. Through the cooperation of connecting rods with joints, the rehabilitation booster of this application can perform multiple actions such as standing, walking, squatting, etc.

[0008] In order to achieve the purpose of this application, the technical solution of this application is:

[0009] A modular combined exoskeleton rehabilitation booster includes a thigh connector, a calf connector, a foot connector and a waist connector. The thigh connector is connected to the calf connector via a connecting rod. An upper movable rod is provided on the connecting rod of the thigh connector, and the upper movable rod is connected to the waist connector. A lower movable rod is provided on the connecting rod of the calf connector, and the lower movable rod is connected to the foot connector.

[0010] Furthermore, the thigh connector includes a thigh connecting plate, which is arc-shaped, and a lateral contact plate is provided on the side of the thigh connecting plate, and a detection sensor is provided on the lateral contact plate. The lateral contact plate is bent toward the inner side of the thigh connecting plate so that the detection probe of the detection sensor faces the inner side of the thigh connecting plate, and a fixed strap with a cavity is provided at one end of the side of the thigh connecting plate, and a movable strap is provided at the other end of the side of the thigh connecting plate. The movable strap is inserted into the cavity of the fixed strap, and a plurality of magnetic adsorption plates arranged at intervals are provided on the movable strap, and an electromagnet is provided on the fixed strap, and the electromagnet is magnetically connected to the magnetic adsorption plate so that the movable strap is fixed in the fixed strap.

[0011] Furthermore, the calf connector includes a calf connecting plate, which is arc-shaped, and an upper contact plate and a lower contact plate are provided on the side of the calf connecting plate, the upper contact plate is arranged above the lower contact plate, and the upper contact plate and the lower contact plate are both bent toward the inside of the calf connecting plate, and the bending degree of the lower contact plate is greater than that of the upper contact plate, so that the contact space formed by the lower contact plate is smaller than the contact space formed by the upper contact plate.

[0012] Furthermore, the foot connector includes a foot connection bracket and a foot strap, and adjustment seats are provided on both sides of the foot connection bracket, and the adjustment seats are connected to the foot strap.

[0013] Furthermore, the adjustment seat includes a seat body, which is provided with a central fixing hole located at the center position of the seat body and an eccentric fixing hole at the eccentric position of the seat body, the foot connecting bracket is provided with a central hole and multiple eccentric holes, the edge of the seat body is provided with a boss, the boss is provided with a through groove for a strap, and the foot strap is passed through the through groove for the strap and tied to the boss.

[0014] Furthermore, the waist connector includes two waist connecting plates arranged in parallel, an elastic plate is arranged between the two waist connecting plates, an extension rod is inserted into the cavity of the waist connecting plate, the extension rod is in contact with the spring arranged in the cavity of the waist connecting plate, and a joint connecting plate is provided at the other end of the extension rod, and the joint connecting plate is connected to the upper movable rod.

[0015] Furthermore, a locking plate is provided on the waist connecting plate, a support frame is inserted in the locking plate, the support frame includes a frame body and a contact seat at the upper end of the frame body, the frame body is inserted in the locking plate, a through groove is opened on the locking plate, a locking hole is provided on the frame body, a locking switch for the frame body is provided in the locking hole, and the locking switch for the frame body is in contact with the locking plate.

[0016] Furthermore, the thigh connector, calf connector and foot connector are all provided with fixing plates, and a cavity is formed between the fixing plate and the thigh connector, calf connector and foot connector, and a rod body of a connecting rod is provided in the cavity, and both ends of the rod body are joint seats.

[0017] Furthermore, a plurality of threaded holes arranged at intervals are provided on the rod body, a locking switch for the rod body is threadedly provided in the threaded hole, and the locking switch for the rod body is in contact with the fixing plate.

[0018] Furthermore, the connecting rod located on the thigh connector, the calf connector and the foot connector is divided into two parts arranged at an interval, and the overall length of the connecting rod is adjusted according to the interval between the two parts of the connecting rod.

[0019] Compared with the prior art, the beneficial effects of this application are:

[0020] 1. The present application installs connectors at the waist, thighs, calves and feet respectively, so that each part of the lower limbs can be in stable contact with the rehabilitation booster. Through the cooperation of the connecting rod with joints, the rehabilitation booster of the present application can perform multiple actions such as standing, walking, squatting, etc.

[0021] 2. The present application arranges a detection probe facing inward on the thigh connector. When walking, squatting, etc., the detection probe will contact the thigh and generate a pressure signal. The pressure signal is used to determine whether the rehabilitation aid in use matches the human body. If not, the degree of bending of the lateral contact plate inward is adjusted.

[0022] 3. The upper contact plate and the lower contact plate of the calf connector of the present application have different bending degrees, and can completely contact with the calf of the human body, thereby preventing the calf of the human body and the calf connector from being separated.

[0023] 4. The waist connector of the present application is composed of two waist connecting plates arranged in parallel and connected in the middle by an elastic plate. The waist connecting plates of the present application are in contact with the joint connecting plates through extension rods. When the human body performs rehabilitation training movements, the present application can adapt to the human movement during use to prevent the human body from being separated from the connector of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0025] Figure 1 This is a schematic diagram of the overall structure of the front side of this application;

[0026] Figure 2 This is a schematic diagram of the overall structure on the reverse side of this application;

[0027] Figure 3 The overall structural diagram of the support frame is added to this application;

[0028] Figure 4 This is a schematic diagram of the overall structure of the thigh connector of the present application;

[0029] Figure 5 This is a schematic diagram of the overall structure of the adjustment seat of the present application;

[0030] Figure 6 This is a schematic diagram of the overall structure of the support frame of this application;

[0031] Figure 7 This is a schematic diagram of the overall structure of the connecting rod of the present application.

[0032] In the figure:

[0033] 1. Thigh connector,

[0034] 11. Thigh connecting plate, 12. Lateral contact plate, 13. Detection sensor, 14. Fixed strap, 15. Movable strap, 16. Electromagnet,

[0035] 2. Waist connector,

[0036] 21. Waist connecting plate, 22. Convex plate, 23. Joint connecting plate, 24. Extension rod, 25. Elastic plate, 26. Locking plate, 27. Locking slot, 28. Locking switch for frame,

[0037] 3. Calf connector,

[0038] 31. Calf connecting plate, 32. Upper contact plate, 33. Lower contact plate,

[0039] 4. Foot connector,

[0040] 41. Foot connecting bracket, 42. Adjustment seat, 43. Foot strap,

[0041] 421, seat body, 422, central fixing hole, 423, eccentric fixing hole, 424, boss, 425, through slot for strap,

[0042] 5. Connecting rod,

[0043] 51. Rod body, 52. Fixing plate, 53. Joint seat, 54. Threaded hole, 55. Locking switch for rod body,

[0044] 6. Move the upper movable rod.

[0045] 7. Lower the movable rod.

[0046] 8. Support frame,

[0047] 81. contact seat, 82. frame. DETAILED DESCRIPTION

[0048] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] In the present application, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present application, and do not specifically refer to any part or element in the present application and should not be understood as limitations on the present application.

[0051] Example 1

[0052] The present embodiment is a modular combined exoskeleton rehabilitation booster, which is mainly worn on the lower limbs of the human body and is used to assist the human body in standing, walking, squatting and other movements. From the perspective of components, the present embodiment includes a thigh connector 1, a calf connector 3, a foot connector 4 and a waist connector 2. The thigh connector 1 is connected to the calf connector 3 through a connecting rod 5. An upper movable rod 6 is installed on the connecting rod 5 of the thigh connector 1, and the upper movable rod 6 is connected to the waist connector 2. A lower movable rod 7 is installed on the connecting rod 5 of the calf connector 3, and the lower movable rod 7 is connected to the foot connector 4, which makes the rehabilitation booster of the present embodiment more flexible.

[0053] As a specific implementation scheme, the thigh connector 1 contacts the thigh part of the human body. In addition, the thigh connector 1 also plays a role in detecting the tightness between the rehabilitation booster and the human body. Specifically, the thigh connector 1 of this embodiment includes a thigh connecting plate 11, and the thigh connecting plate 11 is arc-shaped. A lateral contact plate 12 is installed on the side of the thigh connecting plate 11, and a detection sensor 13 is installed on the lateral contact plate 12. The detection sensor 13 adopts a disc-shaped pressure sensor. The lateral contact plate 12 is bent toward the inner side of the thigh connecting plate 11 so that the detection probe of the detection sensor 13 faces the inner side of the thigh connecting plate 11. As a mechanism for adjusting the tightness of the thigh connector 1, this embodiment is equipped with a device at one end of the side of the thigh connecting plate 11. A fixed strap 14 with a cavity is provided, and a movable strap 15 is installed at the other end of the side of the thigh connecting plate 11, and the movable strap 15 is inserted in the cavity of the fixed strap 14. A plurality of magnetic adsorption plates arranged at intervals are installed on the movable strap 15, and an electromagnet 16 is installed on the fixed strap 14. The electromagnet 16 is magnetically connected to the magnetic adsorption plate so that the movable strap 15 is fixed in the fixed strap 14. In addition, in terms of material, the thigh connecting plate 11, the fixed strap 14, and the movable strap 15 of this embodiment are made of PVC. As another implementation scheme, the lateral contact plate 12 and the thigh connecting plate 11 are detachably connected, for example, bolted, so that the distance of the lateral contact plate 12 can be adjusted or the lateral contact plate 12 can be replaced according to the size of the thigh.

[0054] As a specific implementation scheme, the waist connector 2 of this embodiment includes two waist connecting plates 21 arranged in parallel. The waist connecting plates 21 are made of PVC material and are arc-shaped plates. There is an elastic plate 25 between the two waist connecting plates 21. The elastic plate 25 is made of PVC material. The thickness of the elastic plate 25 is smaller than that of the waist connecting plates 21. An extension rod 24 is inserted into the cavity of the waist connecting plate 21. From the number of extension rods 24, two extension rods 24 are used to ensure stability. The extension rod 24 is in contact with the spring arranged in the cavity of the waist connecting plate 21. The other end of the extension rod 24 is provided with a joint connecting plate 23, and the joint connecting plate 23 is connected to the upper movable rod 6. When the human body performs rehabilitation training movements, the waist connecting plate 21 can always be in contact with the human waist to prevent the human body from being separated from the waist connector 2. In addition, a convex plate 22 is arranged on the waist connecting plate 21. The contact area between the waist connecting plate 21 and the human body is increased. In addition, as a supporting structure for the upper limbs of the human body, a locking plate 26 is installed on the waist connecting plate 21, and the locking plate 26 is fixed to the waist connecting plate 21 by bolts. The locking plate 26 is a metal structure, and a support frame 8 is inserted in the locking plate 26. The support frame 8 is used to support the upper limbs, such as the upper arm. The support frame 8 includes a frame body 82 and a contact seat 81 at the upper end of the frame body 82. The contact plate is made of soft material, such as sponge, silicone, latex and other materials. The frame body 82 is made of metal, and the frame body 82 is inserted in the locking plate 26. A locking through groove 27 is opened on the locking plate 26, and a locking hole is opened on the frame body 82. The locking hole is a screw hole. A locking switch 28 for the frame body 82 is installed in the locking hole. The locking switch 28 for the frame body 82 contacts the locking plate 26, so that the support frame 8 is fixed on the locking plate 26.

[0055] As a specific implementation scheme, the calf connector 3 of this embodiment includes a calf connecting plate 31, which is arc-shaped. To adapt to the size of the calf, the side of the calf connecting plate 31 of this embodiment has an upper contact plate 32 and a lower contact plate 33. The upper contact plate 32 is arranged above the lower contact plate 33. Both the upper contact plate 32 and the lower contact plate 33 are bent toward the inner side of the calf connecting plate 31. The bending degree of the lower contact plate 33 is greater than that of the upper contact plate 32, so that the contact space formed by the lower contact plate 33 is smaller than the contact space formed by the upper contact plate 32. In terms of material, the calf connector 3 is made of PVC as a whole, but the thickness of the upper contact plate 32 and the lower contact plate 33 of the calf connector 3 is smaller than that of the calf connecting plate 31.

[0056] As a specific implementation scheme, the foot connector 4 of this embodiment includes a foot connection bracket 41 and a foot strap 43. Adjustment seats 42 are installed on both sides of the foot connection bracket 41. The adjustment seats 42 are connected to the foot strap 43. Specifically, the foot connection bracket 41 includes two schemes. The first scheme is that the foot connection bracket 41 is in a square frame shape and is made of PVC material. When in use, the bottom is stuck in the groove of the bottom of the shoe. The second scheme is that the foot connection bracket 41 is a flexible belt. The shoe is directly put on the foot connection bracket 41. In order to prevent the shoe from detaching from the foot connection bracket 41, this embodiment The adjustment seat 42 of the embodiment includes a seat body 421, the seat body 421 has a central fixing hole 422 located at the center position of the seat body 421 and an eccentric fixing hole 423 at an eccentric position of the seat body 421, a foot connecting bracket 41 is provided with a central hole and multiple eccentric holes, the edge of the seat body 421 has a boss 424, the boss 424 has a through groove 425 for a strap, the foot strap 43 passes through the through groove 425 for the strap and is tied to the boss 424, the eccentric fixing hole 423 corresponds to the eccentric hole so that the position of the foot strap 43 is different, thereby having different degrees of locking force on the shoe.

[0057] As one of the structures of the connecting rod 5, the thigh connector 1, the calf connector 3, and the foot connector 4 are all equipped with a fixing plate 52, which is fixed to the connector by bolts. A cavity is formed between the fixing plate 52 and the thigh connector 1, the calf connector 3, and the foot connector 4. A rod body 51 of the connecting rod 5 is installed in the cavity. Both ends of the rod body 51 are joint seats 53. The rod body 51 has a plurality of threaded holes 54 arranged at intervals. A locking switch 51 for the rod body is threadedly installed in the threaded hole 54. The locking switch 51 for the rod body is connected to the fixing plate 52. In order to facilitate the adjustment of the length of each connecting rod 5, the connecting rod 5 located on the thigh connector 1, the calf connector 3, and the foot connector 4 is divided into two parts arranged at an interval. The overall length of the connecting rod 5 is adjusted according to the interval between the two parts of the connecting rod 5. Adjacent connecting rods 5 are connected by an adjustment seat 42. The adjustment seat 42 has two structures. Among them, the first adjustment seat 42 is a plate-shaped structure, and the second adjustment seat 42 is a structure with a groove. The first adjustment seat 42 is inserted into the second adjustment seat 42 and a pin shaft is installed to achieve a rotation effect.

[0058] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0059] Although the above describes the specific implementation methods of the present application in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present application. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present application, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present application.

Claims

1. Modular combined exoskeleton rehabilitation booster, characterized by: The invention comprises a thigh connector (1), a calf connector (3), a foot connector (4) and a waist connector (2); the thigh connector (1) and the calf connector (3) are connected via a connecting rod (5); an upper movable rod (6) is arranged on the connecting rod (5) of the thigh connector (1), and the upper movable rod (6) is connected to the waist connector (2); a lower movable rod (7) is arranged on the connecting rod (5) of the calf connector (3), and the lower movable rod (7) is connected to the foot connector (4).

2. The modular combined exoskeleton rehabilitation booster according to claim 1, characterized in that: The thigh connector (1) comprises a thigh connecting plate (11), the thigh connecting plate (11) is arc-shaped, a lateral contact plate (12) is arranged on the side of the thigh connecting plate (11), a detection sensor (13) is arranged on the lateral contact plate (12), and the lateral contact plate (12) is bent toward the inner side of the thigh connecting plate (11) so that the detection probe of the detection sensor (13) faces the inner side of the thigh connecting plate (11); A fixed strap (14) having a cavity is provided at one end of the side of the thigh connecting plate (11), and a movable strap (15) is provided at the other end of the side of the thigh connecting plate (11). The movable strap (15) is inserted into the cavity of the fixed strap (14), and a plurality of magnetic adsorption plates arranged at intervals are provided on the movable strap (15). The fixed strap (14) is provided with an electromagnet (16), and the electromagnet (16) is magnetically connected to the magnetic adsorption plate so that the movable strap (15) is fixed in the fixed strap (14).

3. The modular combined exoskeleton rehabilitation booster according to claim 1, characterized in that: The calf connector (3) comprises a calf connecting plate (31), the calf connecting plate (31) is arc-shaped, an upper contact plate (32) and a lower contact plate (33) are arranged on the side of the calf connecting plate (31), the upper contact plate (32) is arranged above the lower contact plate (33), and the upper contact plate (32) and the lower contact plate (33) are both bent toward the inner side of the calf connecting plate (31); The bending degree of the lower contact plate (33) is greater than that of the upper contact plate (32), so that the contact space formed by the lower contact plate (33) is smaller than the contact space formed by the upper contact plate (32).

4. The modular combined exoskeleton rehabilitation booster according to claim 1, characterized in that: The foot connector (4) comprises a foot connection bracket (41) and a foot strap (43). Adjustment seats (42) are arranged on both sides of the foot connection bracket (41), and the adjustment seats (42) are connected to the foot strap (43).

5. The modular combined exoskeleton rehabilitation booster according to claim 4, characterized in that: The adjustment seat (42) comprises a seat body (421), the seat body (421) is provided with a central fixing hole (422) located at the center position of the seat body (421) and an eccentric fixing hole (423) located at the eccentric position of the seat body (421), the foot connecting bracket (41) is provided with a central hole and a plurality of eccentric holes, the edge of the seat body (421) is provided with a boss (424), the boss (424) is provided with a belt through groove (425), and the foot belt (43) passes through the belt through groove (425) and is tied to the boss (424).

6. The modular combined exoskeleton rehabilitation booster according to claim 1, characterized in that: The waist connector (2) comprises two waist connection plates (21) arranged in parallel, an elastic plate (25) is arranged between the two waist connection plates (21), an extension rod (24) is inserted into the cavity of the waist connection plate (21), the extension rod (24) is in contact with a spring arranged in the cavity of the waist connection plate (21), and a joint connection plate (23) is arranged at the other end of the extension rod (24), and the joint connection plate (23) is connected to the upper movable rod (6).

7. The modular combined exoskeleton rehabilitation booster according to claim 6, characterized in that: The waist connecting plate (21) is provided with a locking plate (26), a support frame (8) is inserted into the locking plate (26), the support frame (8) comprises a frame body (82) and a contact seat (81) at the upper end of the frame body (82), the frame body (82) is inserted into the locking plate (26), a locking through groove (27) is provided on the locking plate (26), a locking hole is provided on the frame body (82), a locking switch (28) for the frame body (82) is provided in the locking hole, and the locking switch (28) for the frame body (82) contacts the locking plate (26).

8. The modular exoskeleton rehabilitation booster according to claim 1, characterized in that: The thigh connector (1), the calf connector (3) and the foot connector (4) are all provided with a fixing plate (52), a cavity is formed between the fixing plate (52) and the thigh connector (1), the calf connector (3) and the foot connector (4), a rod body (51) of a connecting rod (5) is provided in the cavity, and both ends of the rod body (51) are joint seats (53).

9. The modular combined exoskeleton rehabilitation booster according to claim 8, characterized in that: The rod body (51) is provided with a plurality of threaded holes (54) arranged at intervals, a rod body locking switch (55) is threadedly provided in the threaded hole (54), and the rod body locking switch (55) is in contact with the fixing plate (52).

10. The modular combined exoskeleton rehabilitation booster according to claim 9, characterized in that: The connecting rod (5) located on the thigh connector (1), the calf connector (3) and the foot connector (4) is divided into two parts arranged at an interval, and the overall length of the connecting rod (5) is adjusted according to the interval between the two parts of the connecting rod (5).

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