Knee locking exoskeleton robot

Abstract

The invention provides a knee locking exoskeleton robot, and relates to the technical field of medical robots, the knee locking exoskeleton robot comprises a waist binding mechanism, a knee locking execution mechanism and a support driving mechanism, the knee locking execution mechanism comprises two leg binding pieces which are symmetrically arranged, and each leg binding piece comprises a thigh rod piece, a knee locking assembly and a shank rod piece. The device has the advantages that the device is bound to the waist of a patient through the waist binding mechanism, two leg binding pieces of the knee locking executing mechanism are bound to the legs of the patient, knee locking assemblies of the two leg binding pieces make contact with the knees of the patient, and when walking training is conducted, the knees of one leg are locked through the knee locking assemblies to achieve standing; the knee locking assembly at the knee of the other leg is unlocked to achieve moving training, active walking rehabilitation training can be achieved by repeating the steps, the initiative of self-rehabilitation of the spinal cord patient is improved, the rehabilitation training effect of the patient is improved to the maximum extent, and the fatigue problem caused by the fact that a rehabilitation doctor assists the patient in manual rehabilitation training is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a knee-locking exoskeleton robot. Background Art

[0002] Spinal cord injury blocks the connection between the patient's central nervous system and spinal cord, causing paraplegia. Effective rehabilitation training for such paraplegic patients can promote the remodeling of the patient's nerve tissue function and help the patient recover the walking function of the lower limbs to a certain extent. However, traditional rehabilitation training not only consumes huge manpower and material resources, but also has low training efficiency. As a wearable robot device that has emerged in recent years, the exoskeleton rehabilitation training robot can directly act on the human body. Through the machine, it guides the lower limbs to do various designated repetitive rehabilitation training, helping the patient's limbs to recover motor function, greatly improving the work efficiency of rehabilitation physicians and the effect of rehabilitation treatment. At present, since the lower limbs of patients with spinal cord injury have no strength and require external force to assist the patient to straighten the knees to support standing, most exoskeleton rehabilitation training robots on the market adopt a passive rehabilitation training mode, that is, the robot takes the patient to exercise. Although this mode can help patients achieve normal movement of the lower limb body and contraction of the lower limb muscle groups, the patient himself does not participate in it, which is not conducive to helping patients recover the ability to walk independently. In addition, these robotic devices usually directly adopt a rigid transmission drive mode, which has a large transmission ratio, moment of inertia and mass, increasing the leg burden and safety risks of patients during training. Summary of the invention

[0003] In view of this, in order to solve the problem that the exoskeleton robot adopts a passive rehabilitation training mode, the patient's autonomous participation is low, which is not conducive to the patient's rehabilitation, an embodiment of the present invention provides a locking knee exoskeleton robot.

[0004] An embodiment of the present invention provides a knee-locking exoskeleton robot, comprising: A waist binding mechanism, comprising two waist binding members and an adjustable connecting member connecting the two waist binding members; A knee-locking actuator, comprising two symmetrically arranged leg bindings, each of which comprises a thigh rod, a knee-locking assembly and a calf rod, wherein the upper end of the thigh rod is connected to a waist binding, and the lower end is rotatably connected to the calf rod, and the front and rear sides of the thigh rod and the calf rod are both provided with rotatably connected binding plates, and the knee-locking assembly comprises an actuator wheel, a driving gear, a driving rack and a knee-locking plate, wherein the actuator wheel is rotatably arranged at the connection between the thigh rod and the calf rod, the driving gear is mounted on the outer side of the actuator wheel, the driving rack can be slidably arranged forward and backward and meshed with the driving gear, and the knee-locking plate is mounted on the driving rack and is located at the front side of the leg binding; And a supporting driving mechanism, which includes a movable frame and a motor arranged on the movable frame, wherein the motor is connected to the execution wheels of the two knee locking assemblies through a Bowden rope to drive the driving gear and the driving rack to drive the knee locking plate to move forward and backward, thereby locking and releasing the knee locking plate.

[0005] Furthermore, a moving block is provided at the front end of the driving rack, a fastener is provided on the moving block, the knee locking plate can be slidably connected to the moving block left and right, and the fastener can lock the knee locking plate.

[0006] Furthermore, the knee locking assembly also includes a movable guide rail, which is fixed on the thigh rod, and the driving rack can be slidably installed on the movable guide rail. The knee locking plate is vertically arranged to the driving rack, and the rear side of the knee locking plate is provided with an arc-shaped contact groove.

[0007] Furthermore, a rope groove is provided on the side wall of the execution wheel, the Bowden rope passes around the rope groove, and a baffle is provided on the edge of the rope groove.

[0008] Furthermore, the upper end of the thigh rod is connected to the waist binding piece through a telescopic locking piece, and the telescopic locking piece includes an outer shell, an extrusion block and an elastic piece, the extrusion block can be slidably inserted into one side of the outer shell and connected to the other side of the outer shell through the elastic piece, the outer shell is provided with a vertically penetrating fixed groove, the extrusion block is provided with a vertically penetrating movable groove, one side of the movable groove is provided with a plurality of movable clips arranged at intervals along the vertical direction, the waist binding piece is provided with a plurality of fixed clips arranged at intervals along the vertical direction, the outer shell is fixed to the side of the thigh rod, the lower end of the waist binding piece is inserted into the fixed groove and the movable groove, and the elastic piece squeezes the extrusion block to clamp the movable clip and the fixed clip.

[0009] Furthermore, the waist binding device includes an L-shaped waist binding plate, a fixing rod and an adjusting rod, wherein the upper end of the fixing rod is fixedly connected to the side of the waist binding plate, and the lower end is rotatably connected to the upper end of the adjusting rod, the fixing clip is arranged on the side of the lower end of the adjusting rod, and the lower end of the adjusting rod passes through the fixing slot and the movable slot.

[0010] Furthermore, the two waist bindings are respectively a left waist binding and a right waist binding, and the adjustable connecting piece includes a gear rack mechanism, one end of the right waist binding is inserted into one end of the left waist binding, and is connected to the left waist binding through the gear rack mechanism.

[0011] Furthermore, the gear rack mechanism includes a driving gear, a driven gear, an upper rack and a lower rack. A slot is provided at one end of the left waist binding, and the driving gear and the driven gear are rotatably installed in the slot. The driving gear and the driven gear are meshed with each other. One end of the right waist binding is inserted into the slot, and the upper rack and the lower rack are installed on the right waist binding, and the driving gear and the driven gear are respectively meshed with the upper rack and the lower rack.

[0012] Furthermore, the calf rod comprises an upper connecting rod and a lower connecting rod, the upper end of the upper connecting rod is rotatably connected to the lower end of the thigh rod, and the lower end is rotatably connected to the upper end of the lower connecting rod.

[0013] Furthermore, two driving wire wheels are provided on the movable frame, the number of the motors and the Bowden ropes are both set to two, each of the motors is connected to a driving wire wheel, each of the Bowden ropes is connected to a driving wire wheel and an execution wheel, and each of the motors is also provided with a control handle.

[0014] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention are: 1. A knee-locking exoskeleton robot of the present invention is bound to the patient's waist through a waist binding mechanism, and the two leg binding parts of the knee-locking actuator are bound to the patient's legs, so that the knee-locking components of the two leg binding parts contact the patient's knees. When training walking, the knee of one leg is locked by the knee-locking component to achieve standing, and the knee-locking component at the knee of the other leg is unlocked to achieve walking training. In this way, active walking rehabilitation training can be achieved, which improves the initiative of spinal cord patients in self-rehabilitation and maximizes the rehabilitation training effect of patients, and effectively solves the problem of doctors' easy fatigue caused by the need for rehabilitation doctors to assist patients in artificial rehabilitation training during knee-locking rehabilitation training.

[0015] 2. A knee-locking exoskeleton robot of the present invention adopts a lasso drive form of a motor combined with a Bowden cable. The patient can operate the motor by himself to control the operation of the robot, and the patient can actively carry out rehabilitation training; and the driving mechanism is integrated on the movable frame, thereby reducing the mass and moment of inertia of the exoskeleton leg rods, meeting the requirements of lightweight design, and at the same time, the Bowden cable drive can also improve the flexibility of the transmission process, further improving the comfort of the patient's wearing, and also ensuring the safety of the training process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a locked knee exoskeleton robot of the present invention; Figure 2 It is a schematic diagram of the waist binding mechanism and the knee locking actuator; Figure 3 It is a schematic diagram of the waist binding mechanism; Figure 4 It is an exploded view of the waist binding mechanism; Figure 5 is a schematic diagram of the locking knee actuator; Figure 6 This is an exploded view of the knee lock assembly; Figure 7 It is an exploded view of the telescopic locking member; Figure 8 is a schematic diagram of the support drive mechanism.

[0017] In the figure: 1, waist binding mechanism; 2, knee locking actuator; 3, support drive mechanism; 4, leg binding piece; 5, left waist binding piece; 6, right waist binding piece; 7, fixing rod; 8, adjustment rod; 9, cover plate; 10, hand wheel; 11, binding hole; 12, fixing clip; 13, driving gear; 14, driven gear; 15, slot; 16, upper rack; 17, lower rack; 18, notch; 19, thigh rod; 20, calf rod; 21, binding plate; 22, moving guide rail; 23, drive Moving rack; 24, driving gear; 25, moving block; 26, knee lock plate; 27, loose-leaf; 28, through slot; 29, plug rod; 30, contact slot; 31, shell; 32, extrusion block; 33, elastic member; 34, fixed slot; 35, movable slot; 36, movable card strip; 37, button; 38, moving frame; 39, roller; 40, support frame; 41, handrail; 42, main control board; 43, motor; 44, driving wire wheel; 45, Bowden rope; 46, control handle; 47, execution wheel. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in conjunction with the accompanying drawings. The following is a preferred embodiment of the present invention, which is intended to provide a basic understanding of the present invention, but is not intended to confirm the key or decisive elements of the present invention or to limit the scope of protection.

[0019] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0020] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0021] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0022] In the description of the present invention, it should be noted that the circuits, electronic components and modules involved in the present invention are all prior art and can be fully implemented by those skilled in the art without further elaboration.

[0023] It should be further explained that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 an indirect connection 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.

[0024] Please refer to Figure 1 and 2 An embodiment of the present invention provides a knee-locking exoskeleton robot, comprising a waist binding mechanism 1, a knee-locking actuator 2 and a supporting drive mechanism 3.

[0025] The waist binding mechanism 1 mainly includes two waist binding parts and an adjustable connector connecting the two waist binding parts. The two waist binding parts are used to bind the two sides of the patient's waist respectively, and the adjustable connector is used to adjust the distance between the two waist binding parts so that the two waist binding parts can better fit and tighten with the patient's waist.

[0026] like Figure 3 and 4 As shown, in this embodiment, the two waist binding parts are respectively a left waist binding part 5 and a right waist binding part 6, and the adjustable connecting part includes a gear rack mechanism, one end of the right waist binding part 6 is inserted into one end of the left waist binding part 5, and the left waist binding part 5 is connected through the gear rack mechanism. By adjusting the gear rack mechanism, the distance between the left waist binding part 5 and the right waist binding part 6 can be adjusted.

[0027] More specifically, the gear rack mechanism includes a driving gear 13, a driven gear 14, an upper rack 16 and a lower rack 17. A slot 15 is provided at one end of the left waist binding 5. The slot 15 is a rectangular slot. The notch of the slot 15 is arranged forward. A cover plate 9 is provided on the front side of the slot 15. The cover plate 9 is fixedly arranged on the front side of the left waist binding 5. The driving gear 13 and the driven gear 14 are rotatably installed in the slot 15. The driving gear 13 is located above the driven gear 14. The driving gear 13 and the driven gear 14 are meshed. One end of the right waist binding 6 is inserted into the slot 15. The upper rack 16 and the lower rack 17 are both arranged horizontally and installed on the right waist binding 6. The driving gear 13 and the driven gear 14 are meshed with the upper rack 16 and the lower rack 17 respectively. Here, a rectangular notch 18 is provided at one end of the right waist binding part 6 close to the left waist binding part 5 , and the upper rack 16 and the lower rack 17 are respectively arranged on the upper surface and the lower surface of the notch 18 .

[0028] The driving gear 13 rotates to drive the driven gear 14 to rotate, and the driving gear 13 and the driven gear 14 also drive the upper rack 16 and the lower rack 17 respectively to drive the left waist binding 5 and the right waist binding 6 to move closer or farther away from each other, thereby adjusting the distance between the two waist bindings to a desired distance. In order to facilitate control and adjustment, the axle of the driving gear 13 passes through the cover plate 9 and is provided with a hand wheel 10.

[0029] In order to make the distance between the two waist binding parts remain stable after being adjusted to the required distance, a spring connected to the left waist binding part 5 is provided on the axle of the driving gear 13, and the spring is sleeved on the axle of the driving gear 13. The front end of the axle of the driving gear 13 can slide through the cover plate 9, and a positioning gear is also sleeved and fixed on the axle of the driving gear 13. The back of the cover plate 9 is provided with a gear groove, and the positioning gear is embedded in the gear groove and cannot rotate, so that the driving gear 13 cannot rotate. When the hand wheel 10 is pressed inward, the spring is compressed, and the positioning gear leaves the gear groove. Then, the hand wheel 10 is turned to drive the driving gear 13 to rotate to adjust the distance between the two waist binding parts. After the distance between the two waist binding parts is adjusted to the required distance, the hand wheel 10 is finally released, and the spring pushes the positioning gear to move outward into the gear groove for locking, so that the two waist binding parts are in a stable and fixed state.

[0030] Please refer to Figure 5 and 6The knee-locking actuator 2 mainly includes two symmetrically arranged leg bindings 4, each of which is arranged below a waist binding, and the two leg bindings 4 are arranged symmetrically. Each leg binding 4 includes a thigh rod 19, a knee-locking assembly and a calf rod 20. The upper end of the thigh rod 19 is connected to a waist binding, and the lower end is rotatably connected to the calf rod 20. The front and rear sides of the thigh rod 19 and the calf rod 20 are both provided with rotatably connected binding plates 21.

[0031] Considering that the thigh rod 19 may bind patients with different leg lengths, the upper end of the thigh rod 19 and the waist binding member may be configured to be telescopically adjustable. Figure 7 As shown, in this embodiment, the upper end of the thigh rod 19 is connected to the waist binding member through a telescopic locking member, and the telescopic locking member includes a shell 31, an extrusion block 32 and an elastic member 33. The extrusion block 32 can be slidably inserted into one side of the shell 31 and connected to the other side of the shell 31 through the elastic member 33. The shell 31 is provided with a fixed groove 34 vertically penetrating, the extrusion block 32 is provided with a movable groove 35 vertically penetrating, and one side of the movable groove 35 is provided with a plurality of movable clips 36 spaced along the vertical direction, and the waist binding member is provided with a plurality of fixed clips 12 spaced along the vertical direction. The shell 31 is fixed to the side of the thigh rod 19, and the lower end of the waist binding member is inserted into the fixed groove 34 and the movable groove 35, and the elastic member 33 squeezes the extrusion block 32 to clamp the movable clip 36 with the fixed clip 12.

[0032] By pushing the squeezing block 32, the elastic member 33 can be compressed, so that the movable clamping strip 36 moves and separates from the fixed clamping strip 12, so that the thigh rod 19 can be moved up and down. In order to facilitate pressing the squeezing block 32, the shell 31 is a rectangular parallelepiped, and the squeezing block 32 is approximately a rectangular parallelepiped. Here, the squeezing block 32 is embedded in the shell 31 and can slide horizontally. The squeezing block 32 is provided with a button 37 extending out of the shell 31 at one end away from the elastic member 33. The elastic member 33 is a plurality of springs, each of which is arranged in the sliding direction of the squeezing block 32, and one end of each spring is connected to the squeezing block 32 and the other end is connected to the inner wall of the shell 31. The spring is in a compressed state, so that the squeezing block 32 is pushed, so that the movable clamping strip 36 is clamped with the fixed clamping strip 12.

[0033] It should be noted that the fixed card strip 12 and the movable card strip 36 form an openable buckle structure, and the specific structural shape can be flexibly set. As described in this embodiment, the fixed card strip 12 and the movable card strip 36 are both wedge-shaped horizontal strips, and the fixed card strip 12 and the movable card strip 36 have matching inclined engaging surfaces.

[0034] In some embodiments, the waist binding device includes an L-shaped waist binding plate 21, a fixed rod 7 and an adjusting rod 8, wherein the upper end of the fixed rod 7 is fixedly connected to the side of the waist binding plate 21, and the lower end is rotatably connected to the upper end of the adjusting rod 8, so that the adjusting rod 8 and the fixed rod 7 can rotate forward and backward. The fixed clip 12 is arranged on the side of the lower end of the adjusting rod 8, and the lower end of the adjusting rod 8 passes through the fixed slot 34 and the movable slot 35.

[0035] In some embodiments, the end of the waist binding piece is provided with a binding hole 11 so that the binding belt can pass through and be tied to the patient's waist. At the same time, the binding plate 21 is an arc-shaped plate, one end of each arc-shaped plate is rotatably connected to the thigh rod 19 or the calf rod 20 through a hinge 27, and the other end is also provided with a binding hole. And wherein each two binding plates 21 are arranged front and back oppositely to form a group, and each group of binding plates 21 fits and binds the front and back sides of a height of the patient's legs.

[0036] In order to make the waist binding better fit the waists of patients with different waist circumferences, the adjusting rod 8 can be set to multiple sections, and two adjacent sections can be rotatably connected by hinges, so that the sections of the adjusting rod 8 can be rotated left and right to fit the waists of patients with different waist circumferences.

[0037] The shapes of the fixed groove 34 and the movable groove 35 are adapted to the cross-sectional shape of the adjusting rod 8. The fixed rod 7 and the adjusting rod 8 are generally configured as plates, so the shapes of the fixed groove 34 and the movable groove 35 are generally configured as rectangles.

[0038] The knee locking assembly is used to fit with the patient's knee, and to lock and release the patient's knee. The knee locking assembly mainly includes an execution wheel 47, a driving gear 24, a driving rack 23 and a knee locking plate 26, wherein the execution wheel 47 is rotatably arranged at the connection between the thigh rod 19 and the calf rod 20, the driving gear 24 is installed on the outside of the execution wheel 47, the driving rack 23 is slidable forward and backward and meshes with the driving gear 24, and the knee locking plate 26 is installed on the driving rack 23 and is located on the front side of the leg binding 4.

[0039] Specifically, the upper end of the calf rod 20 is arranged outside the lower end of the thigh rod 19, and the upper end of the calf rod 20 is arranged on the lower end of the thigh rod 19 and a bearing is embedded and installed, the two bearings are connected by a rotating shaft, and a fixed wheel disc is also installed at the outer end of the rotating shaft, the execution wheel 47 is installed on the fixed wheel disc, and the driving gear 24 is installed on the rotating shaft. The rotation of the execution wheel 47 can drive the rotating shaft to rotate, thereby driving the driving gear 24 to rotate.

[0040] In order to make the knee locking plate 26 fit the patient's knee more accurately, a moving block 25 is provided at the front end of the driving rack 23, and a fastener is provided on the moving block 25. The knee locking plate 26 can be connected to the moving block 25 by sliding left and right, and the fastener can lock the knee locking plate 26. Here, a plug rod 29 is provided at the end of the knee locking plate 26, and a through groove 28 is provided on the moving block 25. The plug rod 29 is inserted into the through groove 28 and can slide left and right. The fastener is a bolt, and the fastener is arranged on one side of the through groove 28. The plug rod 29 is inserted into the through groove 28 to adjust the knee locking plate 26 to the desired position, and the plug rod 29 is locked by the fastener.

[0041] The knee locking assembly further includes a movable guide rail 22, and the drive rack 23 is slidably connected to the thigh rod 19 via the movable guide rail 22. Specifically, the movable guide rail 22 is fixed to the thigh rod 19 and arranged along the front-back direction. The drive rack 23 is slidably mounted on the movable guide rail 22, and the knee locking plate 26 is vertically arranged with the drive rack 23. The rear side surface of the knee locking plate 26 is provided with an arc-shaped contact groove 30, and the contact groove 30 is arc-shaped so as to fit the patient's knee.

[0042] In some embodiments, the calf rod 20 includes an upper connecting rod and a lower connecting rod, wherein the upper end of the upper connecting rod is rotatably connected to the lower end of the thigh rod 19, and the lower end is rotatably connected to the upper end of the lower connecting rod. Here, the lower end of the upper connecting rod is rotatably connected to the upper end of the lower connecting rod through a hinge, so that the upper connecting rod and the lower connecting rod can rotate left and right.

[0043] Please refer to Figure 8 The supporting driving mechanism 3 includes a movable frame and a motor 43 arranged on the movable frame. The motor 43 is connected to the execution wheels 47 of the two knee locking assemblies through a Bowden rope 45 to drive the driving gear 24 and the driving rack 23 to transmit, so that the knee locking plate 26 moves forward and backward, thereby locking and releasing the knee locking plate 26.

[0044] The movable frame is a moving frame 38 with rollers 39 at the bottom, and a supporting frame 40 is provided on the upper part of the moving frame 38. The supporting frame 40 is U-shaped and includes two armrests 41. There is a standing space for the patient between the two armrests 41. A main control panel 42 is provided on the front side of the supporting frame 40, and the motor 43 is installed on the front side of the main control panel 42.

[0045] The movable frame is provided with two driving wire wheels 44, the number of the motors 43 and the Bowden ropes 45 are both set to two, each of the motors 43 is connected to a driving wire wheel 44, each of the Bowden ropes 45 is connected to a driving wire wheel 44 and an execution wheel 47, and each of the motors 43 is also provided with a control handle 46. The side wall of the execution wheel 47 is provided with a rope groove, and the Bowden rope 45 passes around the rope groove. The edge of the rope groove is provided with a baffle. Under the limiting effect of the baffle, the Bowden rope 45 is stably installed on the rope groove, and the execution wheel 47 can be stably driven to rotate.

[0046] When the patient uses the knee-locking exoskeleton robot for leg rehabilitation training, the patient first drives the wheelchair to the rear of the mobile frame, then fits the two waist bindings to the patient's waist and tightens them with straps, and fits the two leg bindings 4 to the patient's legs and tightens them with straps. When wearing the leg bindings 4, the knee-locking plates 26 of the knee-locking assemblies of the two leg bindings 4 fit the front of the patient's knees by adjusting the telescopic locking members.

[0047] To assist the patient to stand up, the patient holds the two armrests 41 on the support frame 40 with both hands and approaches the two control handles 46. At this time, the distance between the left waist binding member 5 and the right waist binding member 6 can be adjusted by adjusting the gear rack mechanism to make the tightness appropriate.

[0048] Afterwards, the two control handles 46 are controlled to control the locking and releasing of the knees of the left and right legs by the knee locking assembly. When it is necessary to take a step, one of the control handles 46 is controlled to start one of the motors 43, driving the Bowden rope 45 to pull the execution wheel 47 of the left knee locking assembly to rotate, driving the driving gear 24 to rotate, thereby driving the knee locking plate 26 to fit and lock the left knee of the patient, so that the left leg can stand; the knee locking plate 26 of the right knee locking assembly is separated and released from the right knee, in a state of loose knees, and the patient can control the right leg to take a step by using his waist and abdomen strength. Then, when the left leg needs to move, the other control handle 46 is controlled to start the other motor 43, driving the knee locking plate 26 of the right knee locking assembly to fit and lock the knee of the patient's right leg, so that the right leg can stand, and the previous control handle 46 is controlled to turn off the previous motor 43, so that the knee locking plate 26 of the left knee locking assembly is separated from the left knee, so that the left knee is in a loose knee state, and the patient can control the left leg to take a step by using his or her waist and abdominal strength.

[0049] Every time a step is taken, the supporting mechanism is pushed forward one step, and active walking rehabilitation training can be achieved in this reciprocating manner, which improves the initiative of spinal cord patients in self-rehabilitation and maximizes the rehabilitation training effect of patients. It also effectively solves the problem of doctors' fatigue caused by the need for rehabilitation doctors to assist patients in artificial rehabilitation training during locked knee rehabilitation training.

[0050] In this article, the directional words such as front, back, top, and bottom involved are defined by the positions of the parts in the drawings and the positions of the parts relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can change accordingly according to different ways of use and placement, and the use of the directional words should not limit the scope of protection claimed in this application.

[0051] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A knee-locking exoskeleton robot, characterized in that: include: A waist binding mechanism, comprising two waist binding members and an adjustable connecting member connecting the two waist binding members; A knee-locking actuator, comprising two symmetrically arranged leg bindings, each of which comprises a thigh rod, a knee-locking assembly and a calf rod, wherein the upper end of the thigh rod is connected to a waist binding, and the lower end is rotatably connected to the calf rod, and the front and rear sides of the thigh rod and the calf rod are both provided with rotatably connected binding plates, and the knee-locking assembly comprises an actuator wheel, a driving gear, a driving rack and a knee-locking plate, wherein the actuator wheel is rotatably arranged at the connection between the thigh rod and the calf rod, the driving gear is mounted on the outer side of the actuator wheel, the driving rack can be slidably arranged forward and backward and meshed with the driving gear, and the knee-locking plate is mounted on the driving rack and is located at the front side of the leg binding; And a supporting driving mechanism, which includes a movable frame and a motor arranged on the movable frame, wherein the motor is connected to the execution wheels of the two knee locking assemblies through a Bowden rope to drive the driving gear and the driving rack to drive the knee locking plate to move forward and backward, thereby locking and releasing the knee locking plate.

2. A locking knee exoskeleton robot as claimed in claim 1, characterized in that: A moving block is provided at the front end of the driving rack, and a fastener is provided on the moving block. The knee locking plate can be slidably connected to the moving block left and right, and the fastener can lock the knee locking plate.

3. The knee-locking exoskeleton robot according to claim 1, characterized in that: The knee locking assembly also includes a movable guide rail, which is fixed on the thigh rod. The driving rack can be slidably installed on the movable guide rail. The knee locking plate is vertically arranged with the driving rack, and the rear side of the knee locking plate is provided with an arc-shaped contact groove.

4. The knee-locking exoskeleton robot according to claim 1, characterized in that: A rope groove is provided on the side wall of the execution wheel, the Bowden rope passes around the rope groove, and a baffle is provided on the edge of the rope groove.

5. The knee-locking exoskeleton robot according to claim 1, characterized in that: The upper end of the thigh rod is connected to the waist binding piece through a telescopic locking piece, and the telescopic locking piece includes an outer shell, an extrusion block and an elastic piece, the extrusion block can be slidably inserted into one side of the outer shell and connected to the other side of the outer shell through the elastic piece, the outer shell is provided with a vertically penetrating fixed groove, the extrusion block is provided with a vertically penetrating movable groove, one side of the movable groove is provided with a plurality of movable clips arranged at intervals along the vertical direction, the waist binding piece is provided with a plurality of fixed clips arranged at intervals along the vertical direction, the outer shell is fixed to the side of the thigh rod, the lower end of the waist binding piece is inserted into the fixed groove and the movable groove, and the elastic piece squeezes the extrusion block to clamp the movable clip and the fixed clip.

6. A knee-locking exoskeleton robot as claimed in claim 5, characterized in that: The waist binding device includes an L-shaped waist binding plate, a fixing rod and an adjusting rod, wherein the upper end of the fixing rod is fixedly connected to the side of the waist binding plate, and the lower end is rotatably connected to the upper end of the adjusting rod, the fixing clip is arranged on the side of the lower end of the adjusting rod, and the lower end of the adjusting rod passes through the fixing slot and the movable slot.

7. The knee-locking exoskeleton robot according to claim 1, characterized in that: The two waist bindings are respectively a left waist binding and a right waist binding, and the adjustable connecting piece includes a gear rack mechanism, one end of the right waist binding is inserted into one end of the left waist binding, and the left waist binding is connected through the gear rack mechanism.

8. A knee-locking exoskeleton robot as claimed in claim 7, characterized in that: The gear rack mechanism includes a driving gear, a driven gear, an upper rack and a lower rack. A slot is provided at one end of the left waist binding piece. The driving gear and the driven gear are rotatably installed in the slot. The driving gear and the driven gear are meshed with each other. One end of the right waist binding piece is inserted into the slot. The upper rack and the lower rack are installed on the right waist binding piece, and the driving gear and the driven gear are respectively meshed with the upper rack and the lower rack.

9. The locking knee exoskeleton robot according to claim 1, characterized in that: The calf rod comprises an upper connecting rod and a lower connecting rod. The upper end of the upper connecting rod is rotatably connected to the lower end of the thigh rod, and the lower end is rotatably connected to the upper end of the lower connecting rod.

10. The locking knee exoskeleton robot according to claim 1, characterized in that: The movable frame is provided with two driving wire wheels, the number of the motors and the Bowden ropes are both set to two, each of the motors is connected to a driving wire wheel, each of the Bowden ropes is connected to a driving wire wheel and an execution wheel, and each of the motors is also provided with a control handle.

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