Multi-posture lower limb exoskeleton rehabilitation training device and control method thereof
By designing a multi-pose lower limb exoskeleton rehabilitation training device, including a bed chair conversion mechanism, a double-scissor lifting mechanism, a hip plate support mechanism and a flexible lower limb exoskeleton mechanism, the problem that existing devices can only be rehabilitated in one posture is solved, and the efficient rehabilitation training effect in multiple postures is achieved.
Patent Information
- Application Number
- CN202411951723.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-02-25
AI Technical Summary
The existing lower limb exoskeleton rehabilitation training device can only be rehabilitated in one posture, resulting in average rehabilitation effect and cannot meet the patients' rehabilitation needs in multiple postures.
A multi-pose lower limb exoskeleton rehabilitation training device is designed, including a bed chair conversion mechanism, a double scissor lift mechanism, a hip plate support mechanism and a flexible lower limb exoskeleton mechanism. Through the combination and control of these mechanisms, the angle conversion of lying, sitting and standing is achieved.
This device enables patients to undergo rehabilitation training in various postures, improves rehabilitation effect, facilitates patients' daily activities and rehabilitation training, and significantly improves the effect of rehabilitation training.
Smart Images
Figure CN119499081A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rehabilitation training equipment, and in particular to a multi-posture lower limb exoskeleton rehabilitation training device and a control method thereof. Background Art
[0002] Patients with impaired or incomplete lower limb function cannot walk like normal people, which has a great impact on their physical and mental health, so rehabilitation training is very important. At present, there are two main ways for such patients to conduct leg rehabilitation training. One is to wear an upright lower limb exoskeleton. The lower limb exoskeleton, driven by a module or other drive structure, will drive the legs to walk or step, thereby meeting the body's demand for leg exercise. The other is to install a rehabilitation mechanism next to the bed to drive the legs to perform flexion and extension and leg lifting while the patient is lying flat.
[0003] Currently, existing rehabilitation devices can only perform rehabilitation training in one posture (lying, sitting, standing), and the rehabilitation effect is average, and the rehabilitation effect on patients is also relatively small. Therefore, it is necessary to develop a multi-posture lower limb exoskeleton rehabilitation training device and its control method to solve the above problems. Summary of the invention
[0004] The purpose of the present invention is to provide a multi-posture lower limb exoskeleton rehabilitation training device that can flexibly adjust postures.
[0005] In order to achieve the above object, the present invention provides the following technical solutions: A multi-posture lower limb exoskeleton rehabilitation training device comprises a bed-chair conversion mechanism, a double scissor lift mechanism, a hip plate support mechanism, and a flexible lower limb exoskeleton mechanism.
[0006] Specifically, the bed-chair conversion mechanism includes an upper bed board, a lower bed board, a first electric push rod, a second electric push rod, a third electric push rod, a tripod, a limit plate, and an intermediate shaft; the first electric push rod and the upper bed board are hinged, one end of the upper bed board and one end of the lower bed board are rotatably connected to the intermediate shaft, and one end of the tripod is hinged to the intermediate shaft; the intermediate shaft is fixedly arranged at one end of the limit plate, and the top surface of the tripod is in contact with the bottom surface of the lower bed board.
[0007] Specifically, the double scissors-fork lifting mechanism includes a base, a fourth electric push rod is provided between the bases, the rear end of the fourth electric push rod is fixed on the shaft between the bases, and the front end of the fourth electric push rod is connected to the scissors-fork mechanism through a first connecting shaft; both ends of the first connecting shaft are installed on a connecting plate and can slide back and forth in a slide groove of the base; casters are provided at the bottom of the double scissors-fork lifting mechanism, and a power device is installed at the bottom of the base.
[0008] Specifically, the hip plate support mechanism includes a hip plate, a support rod, a slider, a spring shaft, and a second connecting shaft; the hip plate is hinged on the back support shaft, the support rod is hinged to the front end of the hip plate, the slider slides in the slide groove of the support rod, the spring shaft is hinged to the slider, and the spring shaft moves in the slide groove of the second connecting shaft.
[0009] Specifically, the flexible lower limb exoskeleton structure includes a hip joint structure and a knee joint structure.
[0010] Specifically, the hip joint structure includes a waist connecting plate, a Bowden rope, a flange shaft, an angular contact ball bearing, an end cover, a thigh fixing plate, a spring, an upper thigh plate, and a spring connector; the upper thigh plate and the waist connecting plate are connected by a flange shaft, and an angular contact ball bearing is sleeved on the flange shaft; the end cover is arranged on the left side of the angular contact ball bearing, and a Bowden rope fixing anchor point is provided on the front side of the upper thigh plate, which is hinged to the Bowden rope by bolts, and is hinged to the spring connector at the rear side to facilitate the installation of the spring; the thigh fixing plate is fixedly connected to the upper thigh plate by bolts.
[0011] Specifically, the knee joint structure includes a fifth electric push rod, an upper thigh plate, and a lower calf plate; the upper end of the fifth electric push rod is connected to the upper thigh plate, and the lower end is connected to the lower calf plate.
[0012] Specifically, it includes a control handle for controlling the device, and the control handle includes a joystick, an OLED display module, a button, a button module, a joystick module, a voice control module, and an STM32 single-chip microcomputer.
[0013] A control method for a multi-posture lower limb exoskeleton rehabilitation training device, the method comprising the following steps: Send a "stand" signal to the STM32 microcontroller via a joystick, button or voice control module; The STM32 single chip microcomputer communicates with the gyroscope after receiving the signal; After receiving the signal, the gyroscope determines whether the angle between the bed-chair conversion mechanism and the hip plate support mechanism is less than 118°; When the angle is less than 118°, the gyroscope sends a signal to the power device, which controls the extension of the electric push rod in the bed-chair conversion mechanism through the relay and PWM to push the upper bed board to stand upright; After the upper bed board is erected, the gyroscope again determines whether the angle between the bed-chair conversion mechanism and the hip board support mechanism is less than 118°; When the angle is greater than 118°, the gyroscope sends a signal to the power device, which controls the extension of the electric push rod in the bed-chair conversion mechanism and the contraction of the electric push rod in the flexible lower limb exoskeleton mechanism through a relay and PWM, and standing is completed.
[0014] The beneficial effects of the present invention are: The present application can realize the angle conversion between lying flat, sitting and standing by setting the bed-chair conversion mechanism, double scissor lift mechanism and hip plate support mechanism. This design enables patients to easily switch between lying flat, sitting and standing according to their rehabilitation needs, greatly facilitating the daily activities and rehabilitation training of patients. It effectively improves the rehabilitation training effect of patients.
[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is an overall structural diagram of a multi-posture lower limb exoskeleton rehabilitation training device shown in one embodiment of the present invention; Figure 2 It is a structural diagram of a bed-chair conversion structure shown in one embodiment of the present invention; Figure 3 It is a structural diagram of a double scissor lift mechanism shown in one embodiment of the present invention; Figure 4 It is a structural diagram of a hip plate support mechanism shown in one embodiment of the present invention; Figure 5 is a structural diagram of a hip joint structure shown in an embodiment of the present invention; Figure 6 A structural diagram of a knee joint structure shown in an embodiment of the present invention; Figure 7 A structural diagram of a control handle shown in an embodiment of the present invention; Figure 8 The present invention is a flowchart of a control method for a multi-posture lower limb exoskeleton rehabilitation training device.
[0017] Figure numerals: 1. bed-chair conversion mechanism; 2. double scissor lift mechanism; 3. hip plate support mechanism; 4. flexible lower limb exoskeleton mechanism; 101. upper bed board; 102. lower bed board; 103. first electric push rod; 104. second electric push rod; 105. third electric push rod; 106. tripod; 107. limit plate; 108. intermediate shaft; 201. base; 202. fourth electric push rod; 203. first connecting shaft; 204. scissor mechanism; 205. connecting plate; 206. casters; 207. power device ; 301, hip plate; 302, support rod; 303, slider; 304, spring shaft; 305, second connecting shaft; 401, waist connecting plate; 402, Bowden rope; 403, flange shaft; 404, angular contact ball bearing; 405, end cover; 406, thigh fixing plate; 407, spring; 408, thigh upper plate; 409, calf lower plate; 410, fifth electric push rod; 411, spring connector; 5, control handle; 501, joystick; 502, OLED display module; 503, button. DETAILED DESCRIPTION
[0018] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0019] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0021] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0022] See also Figure 1 The present invention discloses a multi-posture lower limb exoskeleton rehabilitation training device, comprising a bed-chair conversion mechanism 1, a double scissor lift mechanism 2, a hip plate support mechanism 3, and a flexible lower limb exoskeleton mechanism 4.
[0023] For details, see Figure 1~Figure 2 The bed-chair conversion mechanism 1 includes an upper bed board 101, a lower bed board 102, a first electric push rod 103, a second electric push rod 104, a third electric push rod 105, a tripod 106, a limit plate 107, and an intermediate shaft 108; the first electric push rod 103 is hinged to the upper bed board 101, one end of the upper bed board 101 and one end of the lower bed board 102 are both rotatably connected to the intermediate shaft 108, and one end of the tripod 106 is hinged to the intermediate shaft 108. The intermediate shaft 108 is fixedly arranged at one end of the limit plate 107, and the top surface of the tripod 106 abuts against the bottom surface of the lower bed board 102. The upper bed board 101 can be pushed by the first electric push rod 103, and the pushing speed and angle of the upper bed board 101 can be controlled, so that the upper bed board 101 can form a variety of angles suitable for the rehabilitation person; the tripod 106 is pushed by the second electric push rod 104 and the third electric push rod 105, and then the lower bed board 102 is driven to rotate, so that the rehabilitation person can change from a sitting position to a standing position; the limit plate 107 controls the travel of the lower bed board 102 to prevent the rehabilitation person from being injured due to excessive rotation of the lower board. When the lying position is changed to a standing position, the first electric push rod 103 pushes the upper bed board 101 to stand up, and then the second electric push rod 104 and the third electric push rod 105 shrink backwards, so that the lower bed board 102 rotates downward and finally becomes vertical. A gyroscope is set in the bed-chair conversion mechanism, which performs angle detection and communicates through a single-chip microcomputer to achieve precise control of the electric push rod. Thereby, the conversion of the three postures of bed-chair-standing is realized.
[0024] For details, see Figure 3The double scissor lift mechanism 2 includes a base 201. A fourth electric push rod 202 is provided between the bases 201, the rear end of the fourth electric push rod 202 is fixed on the shaft between the bases 201, and the front end of the fourth electric push rod 202 is connected to the scissor mechanism 204 through a first connecting shaft 203. Both ends of the first connecting shaft 203 are installed on a connecting plate 205, and can slide back and forth in the slide groove of the base 201. A power device 207 is installed at the bottom of the base 201. The angle between the connecting plates of the scissor mechanism 204 is changed by the extension and contraction of the fourth electric push rod 202, so that the entire platform rises or falls. Casters 206 are provided at the bottom of the double scissor lift mechanism 2 to facilitate the rehabilitation of the person moving the device. The double scissor mechanism 204 can enlarge the stroke, and the fourth electric push rod 202 can achieve a higher lifting height of the exoskeleton through a shorter stroke, and the volume of the scissor mechanism 204 is relatively small in the retracted state, and the structure is compact. The same scissor-type mechanism 204 is used on both sides, and the pushing speed of the fourth electric push rod 202 is controlled to be the same, so that the scissor-type mechanism 204 on both sides can rise and fall synchronously, thereby obtaining a greater lifting power and enhancing stability.
[0025] Specifically, the power device 206 is driven by an L298N motor, and is internally provided with a relay and PWM for controlling the lifting speed of the electric push rod.
[0026] For details, see Figure 4 The buttocks plate support mechanism 3 includes a buttocks plate 301, a support rod 302, a slider 303, a spring shaft 304, and a second connecting shaft 305. The buttocks plate 301 is hinged on the back support shaft, the support rod 302 is hinged to the front end of the buttocks plate 301, the slider 303 slides in the slide groove of the support rod 302, the spring shaft 304 is hinged to the slider 303, and the spring shaft 304 moves in the slide groove of the second connecting shaft 305. In the lying posture, the buttocks plate 301 is kept horizontal under the action of the buttocks plate push rod motor, the buttocks plate 301 pushes the second connecting shaft 305 forward, and after the second connecting shaft 305 compresses the spring of the spring shaft 304 to the limit position, the spring shaft 304 extends from the front end of the support rod 302 to play a fixed support role; when the sitting posture changes, the buttocks plate 301 rotates counterclockwise to drive the support rod 302 to retract. The support rod 302 is installed on both sides of the hip push rod motor, which plays a supporting and stabilizing role in the lying posture. The support rod 302 is retracted in the standing posture to avoid interference with the hip plate push rod motor and the back plate push rod motor, making the structure compact, beautiful and practical.
[0027] Specifically, the flexible lower limb exoskeleton mechanism 4 includes a hip joint structure and a knee joint structure.
[0028] For details, see Figure 5The hip joint structure includes a waist connecting plate 401, a Bowden rope 402, a flange shaft 403, an angular contact ball bearing 404, an end cover 405, a thigh fixing plate 406, a spring 407, a thigh upper plate 408, and a spring connector 411. The thigh upper plate 408 and the waist connecting plate 401 are connected through the flange shaft 403, and the flange shaft 403 is sleeved with an angular contact ball bearing 404 to reduce friction; the end cover 405 is arranged on the left side of the angular contact ball bearing 404 to prevent the angular contact ball bearing 404 from falling off, and the front side of the thigh upper plate 408 is provided with a Bowden rope 402 fixing anchor point, which is hinged to the Bowden rope 402 by bolts, and the rear side is hinged to the spring connector 411, which is convenient for installing the spring 407. The thigh fixing plate 406 is fixedly connected to the thigh upper plate 408 by bolts. In this application, the Bowden rope 402 and the spring 407 are installed in parallel on the outside of the thigh to simulate the work of the adductor magnus and semitendinosus of the thigh. In terms of structure, the spring 407 can make up for the shortcoming of the Bowden rope 402 that it "only pulls but does not compress", and can also store and release energy during the gait cycle to help the rehabilitated person walk.
[0029] For details, see Figure 6 The knee joint structure includes a fifth electric push rod 410, an upper thigh plate 408, and a lower calf plate 409; the upper end of the fifth electric push rod 410 is connected to the upper thigh plate 408, and the lower end is connected to the lower calf plate 409, and the flexion / extension freedom of the knee joint in the sagittal plane is achieved through the extension and contraction of the fifth electric push rod 410.
[0030] For details, see Figure 7 The multi-posture lower limb exoskeleton rehabilitation training device shown in the present application also includes a control handle 5 for control, and the control handle includes a rocker 501, an OLED display module 502, a button 503, a button module, a rocker module, a voice control module, and an STM32 single-chip computer. By operating the control handle to send a signal to the power device, the direction and speed of the bed chair can be controlled to meet the needs of the elderly to change from lying to standing or from standing to lying; the direction and speed of the leg mechanical structure can also be controlled to meet the needs of patients' daily movements; The OLED display module can display the current operating status of the device and the angle of leg movement, and can present the data to the patient intuitively so that the patient can use the device more conveniently.
[0031] This application further simplifies the control of the chair bed through the voice control module, providing a new control method for the elderly with inconvenient hands and feet and low eyesight.
[0032] Reference Figure 8 The present application embodiment provides a control method for a multi-posture lower limb exoskeleton rehabilitation training device, comprising the following steps: Send a "stand" signal to the STM32 microcontroller via a joystick, button or voice control module; After receiving the signal, the STM32 microcontroller communicates with the gyroscope; After receiving the signal, the gyroscope determines whether the angle between the bed-chair conversion mechanism and the hip plate support mechanism is less than 118°; When the angle is less than 118°, the gyroscope sends a signal to the power device, which controls the extension of the electric push rod in the bed-chair conversion mechanism through the relay and PWM to push the upper bed board upright; After the upper bed board is erected, the gyroscope again determines whether the angle between the bed-chair conversion mechanism and the hip board support mechanism is less than 118°; when it is greater than 118°, the gyroscope sends a signal to the power device, and the power device controls the extension of the electric push rod in the bed-chair conversion mechanism and the contraction of the electric push rod in the flexible lower limb exoskeleton mechanism through relays and PWM, and standing is completed at this time.
[0033] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0034] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A multi-posture lower limb exoskeleton rehabilitation training device, characterized in that: It includes a bed-chair conversion mechanism, a double scissor lift mechanism, a hip plate support mechanism, a flexible lower limb exoskeleton mechanism, and a power device.
2. A multi-posture lower limb exoskeleton rehabilitation training device as claimed in claim 1, characterized in that: The bed-chair conversion mechanism includes an upper bed board, a lower bed board, a first electric push rod, a second electric push rod, a third electric push rod, a tripod, a limit plate, and an intermediate shaft; the first electric push rod is hinged to the upper bed board, one end of the upper bed board and one end of the lower bed board are both rotatably connected to the intermediate shaft, and one end of the tripod is hinged to the intermediate shaft; the intermediate shaft is fixedly arranged at one end of the limit plate, the top surface of the tripod is in contact with the bottom surface of the lower bed board, and a gyroscope is arranged in the bed-chair conversion mechanism.
3. A multi-posture lower limb exoskeleton rehabilitation training device as claimed in claim 1, characterized in that: The double scissors-fork lifting mechanism includes a base, a fourth electric push rod is provided between the bases, the rear end of the fourth electric push rod is fixed on the shaft between the bases, and the front end of the fourth electric push rod is connected to the scissors-fork mechanism through a first connecting shaft; both ends of the first connecting shaft are installed on the connecting plate and can slide back and forth in the base slide groove; casters are provided at the bottom of the double scissors-fork lifting mechanism, and a power device is installed at the bottom of the base.
4. A multi-posture lower limb exoskeleton rehabilitation training device as claimed in claim 1, characterized in that: The hip plate support mechanism includes a hip plate, a support rod, a slider, a spring shaft, and a second connecting shaft; the hip plate is hinged on the back support shaft, the support rod is hinged to the front end of the hip plate, the slider slides in the slide groove of the support rod, the spring shaft is hinged to the slider, and the spring shaft moves in the slide groove of the second connecting shaft.
5. The multi-posture lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The flexible lower limb exoskeleton structure comprises a hip joint structure and a knee joint structure.
6. A multi-posture lower limb exoskeleton rehabilitation training device as claimed in claim 5, characterized in that: The hip joint structure includes a waist connecting plate, a Bowden rope, a flange shaft, an angular contact ball bearing, an end cover, a thigh fixing plate, a spring, an upper thigh plate, and a spring connector; the upper thigh plate and the waist connecting plate are connected by a flange shaft, and an angular contact ball bearing is sleeved on the flange shaft; the end cover is arranged on the left side of the angular contact ball bearing, and a Bowden rope fixing anchor point is provided on the front side of the upper thigh plate, which is hinged to the Bowden rope by bolts, and is hinged to the spring connector at the rear side for easy installation of the spring; the thigh fixing plate is fixedly connected to the upper thigh plate by bolts.
7. A multi-posture lower limb exoskeleton rehabilitation training device as claimed in claim 5, characterized in that: The knee joint structure comprises a fifth electric push rod, an upper thigh plate, and a lower calf plate; the upper end of the fifth electric push rod is connected to the upper thigh plate, and the lower end is connected to the lower calf plate.
8. The multi-posture lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: It comprises a control handle for controlling the device, wherein the control handle comprises a joystick, an OLED display module, a button, a button module, a joystick module, a voice control module, and an STM32 single-chip microcomputer.
9. A control method for a multi-posture lower limb exoskeleton rehabilitation training device, characterized in that: The method comprises the following steps: Send a "stand" signal to the STM32 microcontroller via a joystick, button or voice control module; The STM32 single chip microcomputer communicates with the gyroscope after receiving the signal; After receiving the signal, the gyroscope determines whether the angle between the bed-chair conversion mechanism and the hip plate support mechanism is less than 118°; When the angle is less than 118°, the gyroscope sends a signal to the power device, which controls the extension of the electric push rod in the bed-chair conversion mechanism through the relay and PWM to push the upper bed board to stand upright; After the upper bed board is erected, the gyroscope again determines whether the angle between the bed-chair conversion mechanism and the hip board support mechanism is less than 118°; When the angle is greater than 118°, the gyroscope sends a signal to the power device, which controls the extension of the electric push rod in the bed-chair conversion mechanism and the contraction of the electric push rod in the flexible lower limb exoskeleton mechanism through a relay and PWM, and standing is completed.