Lower limb rehabilitation exoskeleton robot

Abstract

The invention discloses a lower limb rehabilitation exoskeleton robot, and relates to the technical field of exoskeleton robots, the lower limb rehabilitation exoskeleton robot comprises a connecting main body, a supporting frame is fixed to the bottom of the connecting main body, a cleaning detection device is fixed to the front portion of the supporting frame, and the cleaning detection device comprises movable cleaning mechanisms fixedly installed on the two sides of the front portion of the supporting frame; the two movable cleaning mechanisms are symmetrically installed and matched with each other for transmission cleaning. The cleaning and detecting device is composed of the two movable cleaning mechanisms, when one movable cleaning mechanism moves forwards, the movable wheels on the connecting square pipe roll anticlockwise to drive the linkage structure, the linkage structure drives the rotary cleaning structure to rotate anticlockwise, and the other movable cleaning mechanism drives the rotary cleaning structure to rotate anticlockwise through the linkage structure. Broken stones on a road in front of the device are cleaned to two sides, so that the device is not prone to colliding with the broken stones in the rehabilitation moving process, and the moving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to an exoskeleton robot for lower limb rehabilitation. Background Art

[0002] With the continuous progress of medical technology and rehabilitation engineering, lower limb rehabilitation exoskeleton robots have become an important tool to assist walking and promote the recovery of lower limb function in patients. Through precise mechanical structure, advanced sensing technology and intelligent control algorithm, this type of robot provides patients with lower limb movement disorders with the possibility of standing and walking again, greatly improving their quality of life and rehabilitation efficiency, such as CT UGO / Chengtian Youxing lower limb exoskeleton rehabilitation robot.

[0003] The lower limb exoskeleton rehabilitation robot mainly includes a connecting body, a lifting mechanism, a control end, a chest fixing belt, a lower limb exoskeleton transmission structure, a fixing belt, a mobile support frame and a tripod. The lifting mechanism is controlled by the control end to lower the lower limb exoskeleton transmission structure so that the tripod contacts the ground, and then the patient is helped onto the tripod, and the lower limb exoskeleton transmission structure is put on by the fixing belt and the chest fixing belt. After putting on, the lower limb exoskeleton transmission structure is controlled by the controller to perform walking movements. The robot sets the angles of the lower limb hip and knee joints to simulate maintaining the joint angles during walking, thereby fully training the patient's hip and knee extension, hip and knee flexion functions, and the synchronization of hip and knee joint movements, achieving lower limb guidance and accelerating lower limb rehabilitation. Its principle is designed based on the principle of "neural plasticity", aiming to drive the lower limbs for rehabilitation training through external devices, stimulate the remodeling of the nervous system, and improve the lower limbs' autonomous walking ability.

[0004] However, in actual application, when the above-mentioned lower limb rehabilitation exoskeleton robot is used outdoors or in complex environments, there are often various obstacles on the ground, such as gravel, uneven roads, etc. These not only affect the stable walking of the robot, but may also pose a safety hazard to the user, causing bumps or even falls, seriously hindering the smooth progress of the rehabilitation process.

[0005] Therefore, it is necessary to design a lower limb rehabilitation exoskeleton robot that can effectively solve the above problems and improve walking safety, intelligent perception ability and cleaning efficiency to solve the problem. Summary of the invention

[0006] The present invention provides a lower limb rehabilitation exoskeleton robot, which solves the above-mentioned technical problems.

[0007] In order to solve the above technical problems, the present invention provides a lower limb rehabilitation exoskeleton robot, comprising a connecting body, a control end fixedly installed on the back of the connecting body, a lifting mechanism connected to the front of the connecting body, a chest fixing belt fixedly installed on the upper part of the lifting mechanism, and two lower limb exoskeleton transmission structures symmetrically connected to the lower part of the lifting mechanism, the bottoms of the two lower limb exoskeleton transmission structures are both installed with tripods, the two lower limb exoskeleton transmission structures are fixedly connected with fixing belts up and down, a support frame is fixed to the bottom of the connecting body, and a cleaning detection device is fixed to the front of the support frame, the cleaning detection device includes a mobile cleaning mechanism fixedly installed on both sides of the front of the support frame, and the two mobile cleaning mechanisms are symmetrically installed and cooperate with each other for transmission cleaning;

[0008] The mobile cleaning mechanism comprises a connecting square tube, a rotating shaft is fixed at the top rear part of the connecting square tube, and the connecting square tube is rotatably connected to the supporting frame through the rotating shaft, a moving wheel is connected to the rear part of the connecting square tube through the rotating shaft, and the moving wheel is connected to a linkage structure through the rotating shaft transmission, and the linkage structure is arranged inside the connecting square tube, and a rotating cleaning structure is rotatably connected to the bottom of the connecting square tube, and the rotating cleaning structure is transmission-connected to the linkage structure, and a combing structure is fixed to the bottom of the connecting square tube.

[0009] Furthermore, the linkage structure includes a transmission gear 1 fixed on the rotating shaft of the moving wheel, a double gear and a bevel gear 1 rotatably installed on the inner wall of the connecting square tube, a transmission chain is connected between the transmission gear 1 and the double gears, a transmission gear 2 is fixed on the back of the bevel gear 1, the transmission gear 2 is connected to the double gears, and the bevel gear 1 is connected to the clearing mechanism.

[0010] Furthermore, the linkage structures of the two mobile cleaning mechanisms are different, wherein one linkage mechanism comprises a transmission gear 1, a transmission chain, a bevel gear 1 and a transmission gear 2, and the transmission gear 1 is connected to the transmission gear 2 through the transmission chain.

[0011] Furthermore, the rotary cleaning structure includes a connecting shaft rotatably connected to the inside of the connecting square tube, a bevel gear 2 is fixed to the upper part of the connecting shaft, the bevel gear 2 is meshed with the bevel gear 1 at 90 degrees, the bottom of the connecting shaft passes through the connecting square tube and is fixedly connected to a rotating seat, and a plurality of cleaning mechanisms are fixedly connected to the outside of the rotating seat.

[0012] Furthermore, the cleaning mechanism includes a lever fixedly connected to the rotating seat, a cleaning brush is fixed to the bottom of the lever, and a distance measuring sensor is fixed to the outer end of the lever.

[0013] Furthermore, the distance measuring sensor is electrically connected to the control end.

[0014] Furthermore, the combing structure includes a right-angle plate fixed to the bottom of the connecting square tube, and a plurality of comb teeth are fixed to the upper end of the right-angle plate.

[0015] Furthermore, the plurality of comb teeth on the right-angle plate are used in conjunction with a cleaning brush.

[0016] Compared with the related art, the lower limb rehabilitation exoskeleton robot provided by the present invention has the following beneficial effects:

[0017] The present invention provides a cleaning detection device composed of two mobile cleaning mechanisms. When moving forward, the mobile wheel connected to the square tube rolls counterclockwise to drive the linkage structure, and the linkage structure drives the rotating cleaning structure to rotate counterclockwise. The other mobile cleaning mechanism drives the rotating cleaning structure to rotate counterclockwise through the linkage structure, and cleans the gravel on the road in front of the device to both sides, so that it is not easy to collide with the gravel during the recovery movement, thereby improving the movement safety.

[0018] The present invention provides that a distance measuring sensor is installed at the front end of each lever for detecting the ground height and sending a signal to a control end. When a plurality of distance measuring sensors detect that the ground height difference is large, the control end processes and analyzes the signal to obtain the pothole situation of the ground ahead, and controls the lower limb exoskeleton transmission structure to stop working, so as to prevent falling.

[0019] The present invention provides a combing structure connected to the bottom of the square tube. During the rotation of each lever, the lever passes through the inside of the right-angle plate, and the cleaning brush contacts a plurality of comb teeth to comb out gravel and garbage fragments rolled into the cleaning brush, thereby keeping the cleaning brush neat and preventing tangling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an overall schematic diagram of a lower limb rehabilitation exoskeleton robot according to the present invention;

[0021] Figure 2 It is a schematic diagram of the cleaning detection device of the present invention installed on a tripod;

[0022] Figure 3 It is a schematic diagram of the cleaning detection device of the present invention;

[0023] Figure 4 This is a schematic diagram of the internal transmission of the cleaning detection device of the present invention;

[0024] Figure 5 This is a schematic diagram of the rotary cleaning structure of the present invention;

[0025] Figure 6 The present invention is a schematic diagram of the structure.

[0026] Numbers in the figure: 1, connecting body; 2, lifting mechanism; 3, control end; 4, chest fixing belt; 5, lower limb exoskeleton transmission structure; 6, fixing belt; 7, support frame; 8, tripod; 9, cleaning detection device; 91, connecting square tube; 911, rotating shaft; 92, moving wheel; 921, transmission gear 1; 922, transmission chain; 923, bevel gear 1; 9231, transmission gear 2; 924, double gear; 93, rotating cleaning structure; 931, connecting shaft; 932, bevel gear 2; 933, cleaning mechanism; 9331, lever; 9332, distance sensor; 9333, cleaning brush; 94, combing structure; 941, right angle plate; 942, comb teeth. DETAILED DESCRIPTION

[0027] Embodiment 1, by Figure 1-2 A lower limb rehabilitation exoskeleton robot is provided, comprising a connecting body 1, a control terminal 3 is fixedly installed on the back of the connecting body 1, a lifting mechanism 2 is transmission-connected to the front of the connecting body 1, a chest fixing belt 4 is fixedly installed on the upper part of the lifting mechanism 2, two lower limb exoskeleton transmission structures 5 are symmetrically transmission-connected to the lower part of the lifting mechanism 2, a tripod 8 is transmission-installed on the bottom of the two lower limb exoskeleton transmission structures 5, the two lower limb exoskeleton transmission structures 5 are fixedly connected with fixing belts 6 above and below, a supporting frame 7 is fixed to the bottom of the connecting body 1, and a cleaning detection device 9 is fixed to the front of the supporting frame 7, the cleaning detection device 9 comprises mobile cleaning mechanisms fixedly installed on both sides of the front of the supporting frame 7, the two mobile cleaning mechanisms are symmetrically installed, and cooperate with each other for transmission cleaning.

[0028] Specifically, the control end 3 controls the lifting mechanism 2 to lower the lower limb exoskeleton transmission structure 5 so that the tripod 8 contacts the ground, and then the patient is helped onto the tripod 8, and the lower limb exoskeleton transmission structure 5 is put on through the fixing belt 6 and the chest fixing belt 4. After putting on, the lower limb exoskeleton transmission structure 5 is controlled by the controller to perform walking movements, driving the patient's lower limbs to follow the movement, thereby achieving guidance and accelerating lower limb rehabilitation; the lower limb exoskeleton transmission structure 5 performs walking movements, driving the patient's lower limbs to follow the movement, and driving the entire device to move, and the support frame 7 moves through the cleaning detection device 9 and the rear moving wheel 92. The cleaning detection device 9 is composed of two mobile cleaning mechanisms. During the movement, the road surface in front of the device is cleaned by the two mobile cleaning mechanisms, so that it is not easy to collide with gravel during the rehabilitation movement, thereby improving the movement safety.

[0029] Depend on Figure 3It is given that the mobile cleaning mechanism includes a connecting square tube 91, a rotating shaft 911 is fixed to the top rear portion of the connecting square tube 91, and the connecting square tube 91 is rotatably connected to the support frame 7 through the rotating shaft 911, a moving wheel 92 is connected to the rear portion of the connecting square tube 91 through the rotating shaft, and the moving wheel 92 is connected to a linkage structure through the rotating shaft transmission, and the linkage structure is arranged inside the connecting square tube 91, a rotating cleaning structure 93 is rotatably connected to the bottom of the connecting square tube 91, and the rotating cleaning structure 93 is transmission-connected to the linkage structure, and a combing structure 94 is fixed to the bottom of the connecting square tube 91.

[0030] Specifically, when moving forward, the moving wheel 92 connected to the square tube 91 rolls counterclockwise, driving the linkage structure, and the linkage structure drives the rotating cleaning structure 93 to rotate counterclockwise. Another mobile cleaning mechanism drives the rotating cleaning structure 93 to rotate counterclockwise through the linkage structure, and cleans the gravel on the road in front of the device to both sides, so that it is not easy to collide with the gravel during recovery and movement, thereby improving the safety of movement.

[0031] In this embodiment, Figure 4 It is given that the linkage structure includes a transmission gear 1 921 fixed on the rotating shaft of the moving wheel 92, a double gear 924 and a bevel gear 1 923 which are rotatably installed on the inner wall of the connecting square tube 91, a transmission chain 922 is transmission-connected between the transmission gear 1 921 and the double gear 924, a transmission gear 2 9231 is fixed on the back of the bevel gear 1 923, the transmission gear 2 9231 is transmission-connected with the double gear 924, the bevel gear 1 923 is transmission-connected with the cleaning mechanism 933, and the linkage structures of the two mobile cleaning mechanisms are different, one of the linkage mechanisms includes a transmission gear 1 921, a transmission chain 922, a bevel gear 1 923 and a transmission gear 2 9231, and the transmission gear 1 921 is transmission-connected with the transmission gear 2 9231 through the transmission chain 922.

[0032] Specifically, when one of the mobile cleaning mechanisms moves, the moving wheel 92 rolls counterclockwise, and the transmission gear 1 921 fixed on the rotating shaft follows the rotation, and the transmission chain 922 drives the double gear 924 to rotate counterclockwise, and the double gear 924 drives the transmission gear 2 9231 to rotate clockwise, and the bevel gear 1 923 follows the rotation and drives the bevel gear 2 932 to rotate counterclockwise, so that the rotating cleaning structure 93 rotates counterclockwise for cleaning. When the other mobile cleaning mechanism moves, the moving wheel 92 rolls counterclockwise, and the transmission gear 1 921 fixed on the rotating shaft follows the rotation, and the transmission gear 2 9231 is driven to rotate counterclockwise through the transmission chain 922, and the bevel gear 1 923 follows the rotation and drives the bevel gear 2 932 to rotate clockwise, so that the rotating cleaning structure 93 rotates clockwise for cleaning. The left rotating cleaning structure 93 rotates clockwise, and the right rotating cleaning structure 93 rotates counterclockwise respectively to clean the gravel in front of the device.

[0033] Embodiment 2, based on embodiment 1, Figure 5It is given that the rotating cleaning structure 93 includes a connecting shaft 931 rotatably connected to the inside of the connecting square tube 91, a bevel gear 2 932 is fixed to the upper part of the connecting shaft 931, the bevel gear 2 932 is meshed with the bevel gear 1 923 at 90 degrees, the bottom of the connecting shaft 931 passes through the connecting square tube 91 and is fixedly connected to a rotating seat, a plurality of cleaning mechanisms 933 are fixedly connected to the outside of the rotating seat, the cleaning mechanism 933 includes a lever 9331 fixedly connected to the rotating seat, a cleaning brush 9333 is fixed to the bottom of the lever 9331, a distance sensor 9332 is fixed to the outer end of the lever 9331, and the distance sensor 9332 is electrically connected to the control terminal 3.

[0034] Specifically, the rotation of bevel gear 1 923 drives bevel gear 2 932 to rotate, and drives multiple levers 9331 on the rotating seat to rotate through the connecting shaft 931. The cleaning brush 9333 on the lever 9331 contacts the ground to clean the gravel on the ground. A distance sensor 9332 is installed at the front end of each lever 9331 to detect the ground height and send a signal to the control end 3. When multiple distance sensors 9332 detect a large difference in ground height, the control end 3 processes and analyzes the signal to obtain the pothole situation in the front, and controls the lower limb exoskeleton transmission structure 5 to stop working to prevent falling.

[0035] Embodiment 3, based on embodiment 1, Figure 6 It is shown that the combing structure 94 includes a right-angle plate 941 fixed to the bottom of the connecting square tube 91, and a plurality of comb teeth 942 are fixed to the upper end of the right-angle plate 941. The plurality of comb teeth 942 on the right-angle plate 941 are used in conjunction with a cleaning brush 9333.

[0036] Specifically, a combing structure 94 is installed at the bottom of the connecting square tube 91. During the rotation of each lever 9331, it passes through the inside of the right-angle plate 941, and the cleaning brush 9333 contacts multiple comb teeth 942, combing out gravel and garbage fragments caught in the cleaning brush 9333, keeping the cleaning brush 9333 neat and preventing tangling.

[0037] Working principle:

[0038] When in use, the control end 3 controls the lifting mechanism 2 to lower the lower limb exoskeleton transmission structure 5, so that the foot frame 8 contacts the ground, and then the patient is helped onto the foot frame 8, and the lower limb exoskeleton transmission structure 5 is put on through the fixing belt 6 and the chest fixing belt 4. After the putting on is completed, the controller controls the lower limb exoskeleton transmission structure 5 to perform walking movements, driving the patient's lower limbs to follow the movement, achieving guidance and accelerating the rehabilitation of the lower limbs;

[0039] The lower limb exoskeleton transmission structure 5 performs walking movements, driving the patient's lower limbs to follow the movement, driving the entire device to move, and the support frame 7 moves through the cleaning detection device 9 and the rear moving wheel 92;

[0040] The cleaning detection device 9 is composed of two mobile cleaning mechanisms. When moving forward, the mobile wheel 92 connected to the square tube 91 rolls counterclockwise to drive the linkage structure, and the linkage structure drives the rotating cleaning structure 93 to rotate counterclockwise. The other mobile cleaning mechanism drives the rotating cleaning structure 93 to rotate counterclockwise through the linkage structure, and the gravel on the road in front of the device is cleaned to both sides, so that it is not easy to collide with the gravel during the recovery movement, thereby improving the moving safety;

[0041] When one of the mobile cleaning mechanisms moves, the mobile wheel 92 rolls counterclockwise, and the transmission gear 1 921 fixed on the rotating shaft rotates accordingly, and the transmission chain 922 drives the double gear 924 to rotate counterclockwise, and the double gear 924 drives the transmission gear 2 9231 to rotate clockwise, and the bevel gear 1 923 rotates accordingly and drives the bevel gear 2 932 to rotate counterclockwise, so that the rotating cleaning structure 93 rotates counterclockwise for cleaning; when the other mobile cleaning mechanism moves, the mobile wheel 92 rolls counterclockwise, and the transmission gear 1 921 fixed on the rotating shaft rotates accordingly, and the transmission chain 922 drives the transmission gear 2 9231 to rotate counterclockwise, and the bevel gear 1 923 rotates accordingly and drives the bevel gear 2 932 to rotate clockwise, so that the rotating cleaning structure 93 rotates clockwise for cleaning, the left rotating cleaning structure 93 rotates clockwise, and the right rotating cleaning structure 93 rotates counterclockwise respectively, to clean up the gravel in front of the device;

[0042] The rotation of bevel gear 1 923 drives bevel gear 2 932 to rotate, and drives multiple levers 9331 on the rotating seat to rotate through the connecting shaft 931. The cleaning brush 9333 on the lever 9331 contacts the ground to clean the gravel on the ground. A distance sensor 9332 is installed at the front end of each lever 9331 to detect the ground height and send a signal to the control end 3. When multiple distance sensors 9332 detect that the ground height difference is large, the control end 3 processes and analyzes the signal to obtain the pothole situation of the ground ahead, and controls the lower limb exoskeleton transmission structure 5 to stop working to prevent falling.

[0043] A combing structure 94 is installed at the bottom of the connecting square tube 91. When each lever 9331 rotates, it passes through the inside of the right-angle plate 941, and the cleaning brush 9333 contacts multiple comb teeth 942, combing out gravel and garbage fragments caught in the cleaning brush 9333, keeping the cleaning brush 9333 neat and preventing tangling.

Claims

1. A lower limb rehabilitation exoskeleton robot, comprising a connecting body (1), a control terminal (3) fixedly mounted on the back of the connecting body (1), a lifting mechanism (2) drivingly connected to the front of the connecting body (1), a chest fixing belt (4) fixedly mounted on the upper part of the lifting mechanism (2), two lower limb exoskeleton transmission structures (5) symmetrically drivingly connected to the lower part of the lifting mechanism (2), a tripod (8) drivingly mounted on the bottom of the two lower limb exoskeleton transmission structures (5), and a fixing belt (6) fixedly connected to the upper and lower parts of the two lower limb exoskeleton transmission structures (5), characterized in that: A support frame (7) is fixed at the bottom of the connecting body (1), and a cleaning detection device (9) is fixed at the front of the support frame (7). The cleaning detection device (9) comprises a mobile cleaning mechanism fixedly mounted on both sides of the front of the support frame (7). The two mobile cleaning mechanisms are symmetrically mounted and cooperate with each other to perform cleaning. The mobile cleaning mechanism comprises a connecting square tube (91), a rotating shaft (911) is fixed at the top rear part of the connecting square tube (91), and the connecting square tube (91) is rotatably connected to the support frame (7) via the rotating shaft (911); a moving wheel (92) is connected to the rear part of the connecting square tube (91) via the rotating shaft; the moving wheel (92) is connected to a linkage structure via the rotating shaft transmission; the linkage structure is arranged inside the connecting square tube (91); a rotating cleaning structure (93) is rotatably connected to the bottom of the connecting square tube (91); the rotating cleaning structure (93) is transmission-connected to the linkage structure; and a combing structure (94) is fixed to the bottom of the connecting square tube (91).

2. A lower limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The linkage structure comprises a transmission gear 1 (921) fixed on the rotating shaft of the moving wheel (92), a double gear (924) and a bevel gear 1 (923) which are rotatably mounted on the inner wall of the connecting square tube (91), a transmission chain (922) being transmission-connected between the transmission gear 1 (921) and the double gear (924), a transmission gear 2 (9231) being fixed on the back of the bevel gear 1 (923), the transmission gear 2 (9231) being transmission-connected with the double gear (924), and the bevel gear 1 (923) being transmission-connected with the clearing mechanism (933).

3. A lower limb rehabilitation exoskeleton robot according to claim 2, characterized in that: The linkage structures of the two mobile cleaning mechanisms are different, wherein one linkage mechanism comprises a transmission gear 1 (921), a transmission chain (922), a bevel gear 1 (923) and a transmission gear 2 (9231), and the transmission gear 1 (921) is connected to the transmission gear 2 (9231) via the transmission chain (922).

4. A lower limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The rotary cleaning structure (93) comprises a connecting shaft (931) rotatably connected to the interior of the connecting square tube (91); a second bevel gear (932) is fixed to the upper portion of the connecting shaft (931); the second bevel gear (932) is in driving engagement with the first bevel gear (923) at a 90-degree angle; the bottom of the connecting shaft (931) passes through the connecting square tube (91) and is fixedly connected to a rotating seat; and a plurality of cleaning mechanisms (933) are fixedly connected to the exterior of the rotating seat.

5. A lower limb rehabilitation exoskeleton robot according to claim 4, characterized in that: The clearing mechanism (933) comprises a lever (9331) fixedly connected to the rotating seat, a cleaning brush (9333) is fixed at the bottom of the lever (9331), and a distance measuring sensor (9332) is fixed at the outer end of the lever (9331).

6. A lower limb rehabilitation exoskeleton robot according to claim 5, characterized in that: The distance measuring sensor (9332) is electrically connected to the control terminal (3).

7. The lower limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The combing structure (94) comprises a right-angle plate (941) fixed to the bottom of the connecting square tube (91), and a plurality of comb teeth (942) are fixed to the upper end of the right-angle plate (941).

8. The lower limb rehabilitation exoskeleton robot according to claim 6, characterized in that: The multiple comb teeth (942) on the right-angle plate (941) are used in conjunction with a cleaning brush (9333).

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