Exoskeleton rehabilitation robot

Abstract

The invention relates to the technical field of robots, in particular to an exoskeleton rehabilitation robot which structurally comprises a waist assembly, two thigh assemblies, two shank assemblies and two foot assemblies which are sequentially connected from top to bottom, and the thigh assemblies, the shank assemblies and the foot assemblies are symmetrically arranged. The air pump is inflated to enable the annular air bag to expand and to be tightly attached to the leg, the leg is stably fixed in the exoskeleton robot in the mode, meanwhile, the air pump is controlled by the air pressure sensor to inflate and exhaust, the tightness of fixing the leg by the annular air bag is guaranteed, and therefore it is guaranteed that in the whole using process, the leg is not damaged. The annular air bag can keep proper fixation of the legs, and it is ensured that a patient feels comfortable when wearing the device; and after wearing for a period of time, the adjusting mechanism drives the leg fixing mechanism to move up and down to ensure that the fixing pressure is not concentrated on a certain part, so that the risk of skin compression or local ischemia is effectively avoided.

Description

Technical Field

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

[0002] As a walking-assisting device, the lower limb exoskeleton couples the mechanical structure of the exoskeleton with the human legs. Through human control and external energy supply, the operator who is unable to walk or has limited mobility can walk autonomously. In view of the problems of high labor intensity, low treatment efficiency and treatment effect restricted by the technical level of professional doctors for traditional rehabilitation trainers, the use of exoskeleton robots can replace the traditional rehabilitation training work of therapists, realize the rehabilitation treatment and daily assisted walking of patients with lower limb movement disorders, and achieve the purpose of rapid rehabilitation of patients with lower limb movement disorders.

[0003] A wearable lower limb rehabilitation exoskeleton robot is disclosed in a patent document with publication number: CN211193877U, including a control system, an execution system, a sensor system, a power system and a structural body. The structural body includes a back component and two groups of symmetrically arranged leg components. The leg component includes a thigh support component, a calf support component and a foot rest. The thigh support component is connected to the back component through a hip joint motion mechanism, the thigh support component is connected to the calf support component through a knee joint motion mechanism, and the calf support component is connected to the foot rest through an ankle joint motion mechanism. The hip joint motion mechanism and the knee joint motion mechanism both include a small pulley, a large pulley and a reducer. The execution system is connected to and drives the small pulley, the small pulley is connected to the large pulley through a synchronous belt, the large pulley is connected to the reducer, and the reducer is connected to the corresponding thigh support component and calf support component.

[0004] In the process of practical application, the following deficiencies still exist: the existing exoskeleton robots are fixed to the legs by straps when in use, and during use, the straps are always fixed to the same part. When the straps are too tight, as the use time increases, it is easy to cause marks on the skin and cause local blood circulation disorders in the limbs, leading to local ischemia and making the patient feel uncomfortable; and as the patient moves, the straps are easy to become loose due to friction or stretching, resulting in a weakened fixation effect. The patient has to frequently re-tie or adjust the straps, affecting the stability and use effect of the exoskeleton. Summary of the invention

[0005] The present invention provides an exoskeleton rehabilitation robot, which can effectively solve the above problems.

[0006] The present invention is achieved in that:

[0007] An exoskeleton rehabilitation robot, the structure of which includes a waist component, a thigh component, a calf component, and a foot component connected in sequence from top to bottom, the thigh component, the calf component, and the foot component each having two groups and symmetrically arranged, the front end of the waist component is pivotally connected to the upper end of the thigh component, the lower end of the thigh component is pivotally connected to the upper end of the calf component, the lower end of the calf component is pivotally connected to the upper end of the foot component, the back of the waist component is provided with a power supply for power supply and a control module with a control function, the control module is connected to a controller, the thigh component, The inner side of the calf assembly is provided with a self-adjusting restraint assembly connected to the leg; the self-adjusting restraint assembly includes two groups of leg fixing mechanisms arranged vertically and an adjusting mechanism for driving the two groups of leg fixing mechanisms to move up and down synchronously, the leg fixing mechanism includes two semicircular fixing frames, one end of the two fixing frames is hinged together, and the hinged end is provided with a control mechanism for controlling the opening and closing of the two fixing frames, a plurality of annular grooves are evenly distributed on the fixing frames, annular air bags are provided in the annular grooves, and an air pump for controlling the expansion and contraction of the annular air bags is provided at the bottom of the control mechanism.

[0008] As a further improvement, the adjustment mechanism includes guide rails respectively arranged on the inner sides of the thigh component and the calf component, a transmission screw is provided in the guide rail, and a lifting motor for controlling the rotation of the transmission screw is provided at the bottom of the guide rail; the control mechanism includes a sliding seat cooperating with the guide rail, and a threaded hole cooperating with the transmission screw is provided on the sliding seat.

[0009] As a further improvement, the slide seat is provided with an opening for limiting the top and bottom of one end of the two fixed frames and for allowing the two fixed frames to rotate, and one end of the fixed frame is provided with a coaxial transmission gear, and the transmission gears of the two fixed frames are respectively arranged at the top and bottom of one end of the fixed frame. The control mechanism also includes a first transmission shaft rod coaxially arranged with the hinged end of the fixed frame, and the outer side of the first transmission shaft rod is provided with a first driving gear that cooperates with the transmission gear of one of the fixed frames, the middle sleeve of the first transmission shaft rod is provided with a second driving gear that cooperates with the transmission gear of the other fixed frame at the bottom of the second transmission shaft rod, the first transmission shaft shaft and the second transmission shaft shaft are respectively provided with a first bevel gear and a second bevel gear on the top, the tooth surfaces of the first bevel gear and the second bevel gear are arranged opposite to each other, a third bevel gear is provided in the slide seat

[0010] As a further improvement, a rotating sleeve is provided between the annular airbag and the annular groove, the rotating sleeve can rotate around the annular groove, the annular airbag sleeve is arranged on the outside of the rotating sleeve, and a synchronous driving mechanism is provided in the fixed frame to drive the rotating sleeve to rotate synchronously in the annular groove.

[0011] As a further improvement, the synchronous drive mechanism includes a transmission belt arranged in a fixed frame, a tooth block is provided on the inner side of the transmission belt, and synchronous gears cooperating with the transmission belt tooth blocks are respectively provided at both ends of the fixed frame. A slide groove for guiding the transmission belt is also provided in the fixed frame, and a plurality of drive grooves equidistantly arranged and inclined along the axial direction of the rotating sleeve are provided on the inner side of the rotating sleeve, and a plurality of drive columns cooperating with the drive grooves are evenly distributed on the outer side of the transmission belt. A sliding gap is provided on the outer side of the annular groove of the fixed frame for the drive column to pass through and slide along the drive groove, and a synchronous motor for driving the synchronous gear to rotate is also provided on the fixed frame.

[0012] As a further improvement, an air nozzle and an air inlet hole are provided on the surface of the rotating sleeve, and the air inlet hole and the air nozzle are connected through an air guide channel. An air inlet hole connected to the air nozzle is provided on the inner side of the annular airbag, and an air supply assembly is fixed on the fixed frame. The air supply assembly has an annular structure and is sleeved on one end of the rotating sleeve close to the air hole. An air flow channel corresponding to the air inlet hole is provided on the inner side of the air supply assembly. An air pumping pipe connected to the air flow channel is provided on the surface of the air supply assembly. The air pumping pipes of two adjacent air supply assemblies are connected through an air delivery pipe, and the air guide pipe of the air pump is connected to the air pump pipe of one of the air supply assemblies.

[0013] As a further improvement, sealing rings are provided on both sides of the air flow channel in the air supply component.

[0014] As a further improvement, the cross-section of the annular airbag is in an I-shaped structure.

[0015] As a further improvement, one end of the driving column close to the transmission belt is a cylindrical structure, and the other end is a conical structure.

[0016] As a further improvement, the surface of the annular airbag is evenly provided with spherical protrusions.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention is provided with a self-adjusting restraint component. After the patient puts the legs between the two fixing frames and closes them, the air pump starts to inflate. At this time, the annular airbag expands and fits tightly to the legs. In this way, the legs are firmly fixed in the exoskeleton robot. At the same time, the pressure in the annular airbag is detected by the air pressure sensor to control the inflation and exhaust of the air pump to ensure the tightness of the annular airbag fixing the legs, thereby ensuring that the annular airbag can maintain moderate fixation on the legs during the entire use process, ensuring that the patient feels comfortable when wearing it; and after wearing it for a period of time, the adjustment mechanism drives the leg fixing mechanism to move up and down, ensuring that the fixing pressure is not concentrated in a certain part, thereby effectively avoiding the risk of skin compression or local ischemia, and further improving the comfort and safety of patients when using the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of an exoskeleton rehabilitation robot provided by the present invention;

[0021] Figure 2 It is a schematic structural diagram of a calf assembly, a foot assembly, and a leg fixing mechanism provided by the present invention;

[0022] Figure 3 It is a structural schematic diagram of the regulating mechanism provided by the present invention;

[0023] Figure 4 It is a structural schematic diagram of the leg fixing mechanism provided by the present invention;

[0024] Figure 5 It is a schematic diagram of a partial cross-section of the structure of the control mechanism provided by the present invention;

[0025] Figure 6 It is a schematic diagram of a partial cross-section of the structure of the control mechanism provided by the present invention;

[0026] Figure 7 is a schematic structural diagram of a first transmission shaft and a second transmission shaft provided by the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the leg fixing mechanism provided by the present invention when viewed from above;

[0028] Fig. 9 It is a structural schematic diagram of the annular airbag, the rotating sleeve, and the air supply assembly provided by the present invention;

[0029] Fig.10 It is a schematic diagram of a partial cross-section of the annular airbag, the rotating sleeve, and the air supply assembly provided by the present invention;

[0030] Fig.11 is a schematic structural diagram of a cross-section of a fixing frame provided by the present invention;

[0031] Fig.12 is a schematic structural diagram of a cross-section of a fixing frame provided by the present invention;

[0032] Fig.13 The present invention provides Fig.12 A and B are enlarged structural diagrams;

[0033] Fig.14It is a structural schematic diagram of a partial cross-section of the rotating sleeve provided by the present invention;

[0034] Fig.15 It is a schematic structural diagram of the annular airbag provided by the present invention when viewed from the front.

[0035] In the figure: waist component-1, thigh component-2, calf component-3, foot component-4, controller-5, self-adjusting restraint component-6, leg fixing mechanism-7, adjustment mechanism-8, fixing frame-71, control mechanism-72, annular groove-711, annular airbag-73, air pump-74, guide rail-81, transmission screw-82, lifting motor-83, slide seat-721, threaded hole-722, transmission gear-712, first transmission shaft-723, first driving gear-724, second transmission shaft-725, second driving gear-726, first Bevel gear 727, second bevel gear 728, third bevel gear 729, opening and closing drive motor 7210, rotating sleeve 75, synchronous drive mechanism 9, transmission belt 91, synchronous gear 92, slide groove 713, drive groove 751, drive column 93, sliding gap 714, synchronous motor 94, air nozzle 752, air inlet hole 753, air guide channel 754, air inlet hole 731, air delivery component 76, air flow channel 761, air pumping pipe 762, air delivery pipe 763, sealing ring 764, spherical protrusion 732. DETAILED DESCRIPTION

[0036] In order to make the embodiments of the present invention, all belong to the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0037] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as referring to the purpose, technical solutions and advantages of the methods. To be more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 indicate or imply relative importance or implicitly indicate the number of indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0038] Existing exoskeleton robots are fixed to the legs by straps when in use. During use, the straps are always fixed to the same part. When the straps are too tight, as the use time increases, it is easy to cause skin marks and cause local blood circulation disorders in the limbs, leading to local ischemia and discomfort to the patient. In addition, as the patient moves, the straps are easy to become loose due to friction or stretching, resulting in a weakened fixation effect. The patient has to frequently re-tie or adjust the straps, which affects the stability and use effect of the exoskeleton. In order to solve the above technical problems, this case proposes the following technical solutions:

[0039] Reference Figures 1 to 14 As shown, an exoskeleton rehabilitation robot, the structure of which includes a waist component 1, a thigh component 2, a calf component 3, and a foot component 4 connected in sequence from top to bottom, the thigh component 2, the calf component 3, and the foot component 4 each have two groups and are symmetrically arranged, the front end of the waist component 1 is pivoted to the upper end of the thigh component 2, the lower end of the thigh component 2 is pivoted to the upper end of the calf component 3, the lower end of the calf component 3 is pivoted to the upper end of the foot component 4, the back of the waist component 1 is provided with a power supply for power supply and a control module with a control function, the control module is connected to a controller 5, the thigh component 2 and the calf component 3 are internally connected to the control module 5, and the control module 5 is connected to the control module 5. The sides of the legs are each provided with a self-adjusting restraint assembly 6 connected to the legs; the self-adjusting restraint assembly 6 includes two groups of leg fixing mechanisms 7 arranged vertically and an adjusting mechanism 8 for driving the two groups of leg fixing mechanisms 7 to move up and down synchronously, the leg fixing mechanism 7 includes two semicircular fixing frames 71, one end of the two fixing frames 71 is hinged together, and the hinged end is provided with a control mechanism 72 for controlling the opening and closing of the two fixing frames 71, a plurality of annular grooves 711 are evenly distributed on the fixing frames 71, an annular airbag 73 is provided in the annular groove 711, and an air pump 74 for controlling the expansion and contraction of the annular airbag 73 is provided at the bottom of the control mechanism 72;

[0040] Among them, the adjustment mechanism 8, the control mechanism 72, the air pump 74 and the controller 5 are electrically connected, so that during use, the controller 5 controls the leg fixing mechanism 7 to move up and down along the thigh component 2 and the calf component 3, and the control mechanism 72 controls the opening and closing of the fixing frame 71 to fix the legs.

[0041] In addition, the air pump 74 is connected to the annular airbag 73 through an air tube, and an air pressure sensor for monitoring the air pressure of the annular airbag 73 is also provided on the air pump 74. When the user finishes wearing the annular airbag 73, the air pump 74 is started to inflate the annular airbag 73. When the air pressure sensor detects that the pressure in the annular airbag 73 reaches a preset safety pressure value, the air pump 74 automatically stops the inflation operation to ensure that the annular airbag 73 is inflated to an appropriate pressure.

[0042] During the process of the adjustment mechanism 8 driving the leg fixing mechanism 7 to move up and down, due to the inconsistent thickness of different parts of the legs, the air pressure sensor can adjust the working state of the air pump 74 according to the pressure change of the annular airbag 73. Therefore, when the leg fixing mechanism 7 moves from thicker to thinner, the air pressure sensor detects that the pressure in the annular airbag 73 decreases, so the air pressure sensor controls the air pump 74 to start inflation through an electrical signal to maintain a comfortable tightness between the annular airbag 73 and the leg; when the leg fixing mechanism 7 moves from thinner to thicker, the pressure detected by the air pressure sensor rises, so the air pressure sensor controls the air pump 74 to exhaust through an electrical signal to prevent the airbag from over-expanding and causing excessive pressure on the legs, thereby effectively avoiding discomfort or excessive compression.

[0043] Therefore, when in use, the control mechanism 72 first drives the two fixing frames 71 to open outwards. After the patient puts the legs between the two fixing frames 71, the control mechanism 72 controls the two fixing frames 71 to close, and at the same time the air pump 74 starts to inflate. When the air pressure sensor detects that the pressure in the annular airbag 73 reaches a preset safety pressure value, the inflation is stopped. At this time, the annular airbag 73 expands and fits tightly to the leg. In this way, the leg is firmly fixed in the exoskeleton robot. At the same time, the air pressure sensor detects the pressure in the annular airbag 73 to control the inflation and exhaust of the air pump 74 to ensure that the annular airbag 73 fixes the leg. The tightness is adjusted to ensure that the annular airbag 73 can maintain moderate fixation on the legs during the entire use process, ensuring that the patient feels comfortable when wearing it; and after wearing it for a period of time, in order to avoid long-term fixation in the same part, causing skin marks or local blood circulation problems, the adjustment mechanism 8 drives the leg fixing mechanism 7 to move up and down along the thigh component 2 and the calf component 3. During the movement, the annular airbag 73 rotates around the annular groove 711 to ensure that the fixing pressure is not concentrated on a certain part, thereby effectively avoiding the risk of skin compression or local ischemia, and further improving the comfort and safety of patients when using the exoskeleton robot.

[0044] Specifically, the adjustment mechanism 8 includes guide rails 81 respectively arranged on the inner sides of the thigh component 2 and the calf component 3, a transmission screw 82 is arranged in the guide rail 81, and a lifting motor 83 for controlling the rotation of the transmission screw 82 is arranged at the bottom of the guide rail 81; the control mechanism 72 includes a slide 721 cooperating with the guide rail 81, and a threaded hole 722 cooperating with the transmission screw 82 is arranged on the slide 721. After the patient wears and uses it for a period of time, the lifting motor 83 drives the transmission screw 82 to rotate alternately in forward and reverse directions. Since the slide 721 is provided with a threaded hole 722 cooperating with the transmission screw 82, and the slide 721 cooperates with the guide rail 81, the slide 721 is driven to move up and down along the guide rail 81, and the fixing frame 71 is installed in the control mechanism 72, thereby synchronously driving the fixing frame 71 and the annular airbag 73 to slide up and down, avoiding discomfort or local blood circulation problems caused by being fixed in the same position for a long time, and further improving the patient's comfort and the adaptability of the exoskeleton.

[0045] At the same time, the slide seat 721 is provided with openings for limiting the top and bottom of one end of the two fixed frames 71 and for rotating the two fixed frames 71. One end of the fixed frame 71 is hinged with a coaxial transmission gear 712. The transmission gears 712 of the two fixed frames 71 are respectively arranged at the top and bottom of one end of the fixed frame 71. The control mechanism 72 also includes a first transmission shaft rod 723 coaxially arranged with the hinged end of the fixed frame 71. The outer side of the first transmission shaft rod 723 is provided with a first driving gear 724 that cooperates with the transmission gear 712 of one of the fixed frames 71. The middle of the first transmission shaft rod 723 is provided with a second transmission shaft rod 725. The bottom of the second transmission shaft rod 725 is provided with a second driving gear 726 that cooperates with the transmission gear 712 of the other fixed frame 71. The first transmission shaft rod 723 and the second transmission shaft rod 725 are respectively provided with a first bevel gear 727 and a second bevel gear 728 on the top. The tooth surfaces of 727 and the second bevel gear 728 are arranged opposite to each other. A third bevel gear 729 meshing with the first bevel gear 727 and the second bevel gear 728 is provided in the slide seat 721. An opening and closing driving motor 7210 is provided on the slide seat 721 to drive the second bevel gear 728 to rotate. When the fixed frame 71 is opened and closed, the second bevel gear 728 is driven to rotate by the opening and closing driving motor 7210, so that the second bevel gear 728 drives the first bevel gear 727 to rotate synchronously through the third bevel gear 729, and the rotation directions of the second bevel gear 728 and the first bevel gear 727 are opposite to each other, and then the second bevel gear 728 drives the second drive gear 726 to rotate through the second transmission shaft 725, and the first bevel gear 727 drives the first drive gear 724 to rotate through the first transmission shaft 723, and the second drive gear 726 and the first drive gear 724 are respectively meshed with the transmission gears 712 on the two fixed frames 71, thereby driving the two fixed frames 71 to perform opening and closing actions.

[0046] In order to ensure that when the leg fixing mechanism 7 moves up and down along the thigh component 2 and the calf component 3, the annular airbag 73 rotates around the annular groove 711, thereby reducing the friction between the legs, a rotating sleeve 75 is further provided between the annular airbag 73 and the annular groove 711, and the rotating sleeve 75 can rotate around the annular groove 711. The annular airbag 73 is sleeved on the outside of the rotating sleeve 75, and the fixing frame 71 is provided with a synchronous driving mechanism 9 for driving the rotating sleeve 75 to rotate synchronously in the annular groove 711. When the leg fixing mechanism 7 moves up and down, the synchronous driving mechanism 9 can control the relative rotation between the rotating sleeve 75 and the annular groove 711, thereby ensuring that the annular airbag 73 can rotate continuously and stably during the entire movement process; thereby reducing the friction between the airbag and the leg, and effectively avoiding the discomfort caused by excessive friction, thereby improving the patient's comfort and the reliability of the fixing system.

[0047] Specifically, the synchronous drive mechanism 9 includes a transmission belt 91 arranged in a fixed frame 71, a tooth block is arranged on the inner side of the transmission belt 91, and synchronous gears 92 cooperating with the tooth blocks of the transmission belt 91 are respectively arranged at both ends of the fixed frame 71. A slide groove 713 for guiding the transmission belt 91 is also arranged in the fixed frame 71. A plurality of driving grooves 751 equidistantly arranged and inclined along the axial direction of the rotating sleeve 75 are arranged on the inner side of the rotating sleeve 75. A plurality of driving posts 93 cooperating with the driving grooves 751 are evenly distributed on the outer side of the transmission belt 91. A sliding gap 714 is arranged on the outer side of the annular groove 711 of the fixed frame 71 for the driving post 93 to pass through and slide along the driving groove 751. A synchronous motor 94 for driving the synchronous gear 92 to rotate is also arranged on the fixed frame 71.

[0048] When the control mechanism 72 drives the fixed frame 71 to move, the synchronous motor 94 drives the synchronous gear 92 to rotate, so that the synchronous gear 92 drives the transmission belt 91 to slide along the slide groove 713. During the sliding process, the driving column 93 on the transmission belt 91 slides along the driving groove 751, thereby driving the rotating sleeve 75 to rotate in the annular groove 711, prompting the annular airbag 73 to rotate synchronously, thereby reducing the friction between the airbag and the leg during movement, and improving the patient's comfort.

[0049] Furthermore, in order to ensure that the annular airbag 73 adjusts the air pressure in the airbag during rotation, an air nozzle 752 and an air inlet hole 753 are provided on the surface of the rotating sleeve 75, and the air inlet hole 753 and the air nozzle 752 are connected through an air guide channel 754. An air inlet hole 731 connected to the air nozzle 752 is provided on the inner side of the annular airbag 73, and an air supply component 76 is fixed on the fixed frame 71. The air supply component 76 has an annular structure and is sleeved on one end of the rotating sleeve 75 close to the air hole 753. An air flow channel 761 corresponding to the air inlet hole 753 is provided on the inner side of the air supply component 76. An air pump 762 connected to the air flow channel 761 is provided on the surface of the air supply component 76. The air pump 74 is connected to the air supply pipe 763. The air guide tube is connected to the air pump 762 of one of the air supply components 76; when in use, the air pump 74 is connected to one of the air supply components 76 through the air pump 762, and the air supply component 76 is connected to other air supply components 76 through the air supply pipe 763. Therefore, when the annular airbag 73 needs to be inflated during the rotation process, the air pump 74 inflates the air supply component 76 through the air pump 762 and enters the air flow channel 761. The air flow channel 761 has an annular structure, and then the gas flows through the air flow channel 761 to the air inlet hole 753 of the rotating sleeve 75, and then is discharged to the air nozzle 752 through the air guide channel 754. The gas finally enters the interior of the annular airbag 73 through the air inlet hole 731 to realize the inflation of the airbag; if exhaust is required, the process is reversed. This ensures that the annular airbag 73 can be accurately inflated and deflated as needed during the rotation process, thereby always maintaining appropriate air pressure, avoiding discomfort caused by changes in air pressure, and significantly improving the patient's comfort during use and the stability of the equipment.

[0050] The air supply assembly 76 is fixed to the outside of the fixing frame 71 by bolts.

[0051] In order to improve the sealing performance of the airflow channel 761 when the rotating sleeve 75 rotates, sealing rings 764 are respectively provided on both sides of the airflow channel 761 in the air supply component 76, so as to effectively prevent gas leakage and ensure the smooth flow of airflow in the channel, while improving the sealing performance and air pressure stability of the system.

[0052] The cross-sectional shape of the annular airbag 73 is an “I”-shaped structure, which can effectively increase the bearing area of ​​the airbag and provide a more uniform supporting force after inflation.

[0053] One end of the driving column 93 close to the transmission belt 91 is a cylindrical structure, and the other end is a conical structure, so as to ensure that the driving column 93 can slide smoothly in the driving groove 751.

[0054] The surface of the annular airbag 73 is evenly provided with spherical protrusions 732, which effectively prevent the annular airbag 73 from slipping during use.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. 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. An exoskeleton rehabilitation robot, the structure of which comprises a waist component (1), a thigh component (2), a calf component (3), and a foot component (4) connected in sequence from top to bottom, the thigh component (2), the calf component (3), and the foot component (4) each having two groups and symmetrically arranged, the front end of the waist component (1) is pivotally connected to the upper end of the thigh component (2), the lower end of the thigh component (2) is pivotally connected to the upper end of the calf component (3), and the lower end of the calf component (3) is pivotally connected to the upper end of the foot component (4), the back of the waist component (1) is provided with a power supply for power supply and a control module with control function, the control module is connected to a controller (5), and the characteristics are: The inner sides of the thigh component (2) and the calf component (3) are both provided with self-adjusting restraint components (6) connected to the legs; the self-adjusting restraint components (6) include two groups of leg fixing mechanisms (7) arranged vertically and an adjusting mechanism (8) for driving the two groups of leg fixing mechanisms (7) to move synchronously up and down; the leg fixing mechanism (7) includes two semicircular fixing frames (71); one end of the two fixing frames (71) is hinged together; the hinged end is provided with a control mechanism (72) for controlling the opening and closing of the two fixing frames (71); a plurality of annular grooves (711) are evenly distributed on the fixing frame (71); an annular airbag (73) is provided in the annular groove (711); and an air pump (74) for controlling the expansion and contraction of the annular airbag (73) is provided at the bottom of the control mechanism (72).

2. An exoskeleton rehabilitation robot as claimed in claim 1, characterized in that: The adjusting mechanism (8) comprises guide rails (81) respectively arranged on the inner sides of the thigh component (2) and the calf component (3); a transmission screw (82) is arranged inside the guide rail (81); a lifting motor (83) for controlling the rotation of the transmission screw (82) is arranged at the bottom of the guide rail (81); the control mechanism (72) comprises a slide seat (721) matched with the guide rail (81); a threaded hole (722) matched with the transmission screw (82) is arranged on the slide seat (721).

3. An exoskeleton rehabilitation robot as claimed in claim 2, characterized in that: The slide seat (721) is provided with openings for limiting the top and bottom of one end of the two fixed frames (71) and for allowing the two fixed frames (71) to rotate. One end of the fixed frame (71) is provided with a coaxially arranged transmission gear (712). The transmission gears (712) of the two fixed frames (71) are respectively arranged at the top and bottom of one end of the fixed frame (71). The control mechanism (72) also includes a first transmission shaft (723) coaxially arranged with the hinged end of the fixed frame (71). The first transmission shaft (723) is provided with a first driving gear (724) matched with the transmission gear (712) of one of the fixed frames (71) on the outer side. The first transmission shaft (723) is provided with a first transmission gear (724) in the middle. A second transmission shaft (725) is sleeved thereon, a second driving gear (726) is provided at the bottom of the second transmission shaft (725) and is matched with a transmission gear (712) of another fixed frame (71), a first bevel gear (727) and a second bevel gear (728) are provided at the top of the first transmission shaft (723) and the second transmission shaft (725) respectively, the tooth surfaces of the first bevel gear (727) and the second bevel gear (728) are arranged opposite to each other, a third bevel gear (729) is provided in the slide seat (721) and is meshed with the first bevel gear (727) and the second bevel gear (728), and an opening and closing driving motor (7210) is provided on the slide seat (721) and is driven to rotate the second bevel gear (728).

4. An exoskeleton rehabilitation robot as claimed in claim 3, characterized in that: A rotating sleeve (75) is further provided between the annular airbag (73) and the annular groove (711); the rotating sleeve (75) can rotate around the annular groove (711); the annular airbag (73) is sleeved on the outside of the rotating sleeve (75); and a synchronous driving mechanism (9) is provided in the fixing frame (71) for driving the rotating sleeve (75) to rotate synchronously in the annular groove (711).

5. An exoskeleton rehabilitation robot as claimed in claim 4, characterized in that: The synchronous drive mechanism (9) comprises a transmission belt (91) arranged in a fixed frame (71), a tooth block is arranged on the inner side of the transmission belt (91), synchronous gears (92) cooperating with the tooth blocks of the transmission belt (91) are respectively arranged at both ends of the fixed frame (71), a slide groove (713) for guiding the transmission belt (91) is also arranged in the fixed frame (71), a plurality of driving grooves (751) equidistantly arranged and inclined along the axial direction of the rotating sleeve (75) are arranged on the inner side of the rotating sleeve (75), a plurality of driving columns (93) cooperating with the driving grooves (751) are evenly distributed on the outer side of the transmission belt (91), a sliding gap (714) for the driving column (93) to pass through and slide along the driving groove (751) is arranged on the outer side of the annular groove (711) of the fixed frame (71), and a synchronous motor (94) for driving the synchronous gear (92) to rotate is also arranged on the fixed frame (71).

6. An exoskeleton rehabilitation robot as claimed in claim 5, characterized in that: The surface of the rotating sleeve (75) is provided with an air nozzle (752) and an air inlet hole (753), the air inlet hole (753) and the air nozzle (752) are communicated through an air guide channel (754), the inner side of the annular air bag (73) is provided with an air inlet hole (731) connected to the air nozzle (752), and the fixing frame (71) is fixed with an air supply component (76), the air supply component (76) is annular in structure and is sleeved on the rotating sleeve (75) near the air hole ( 753), an air flow channel (761) corresponding to the air inlet hole (753) is provided on the inner side of the air supply component (76), an air pumping pipe (762) connected to the air flow channel (761) is provided on the surface of the air supply component (76), the air pumping pipes (762) of two adjacent air supply components (76) are connected through the air delivery pipe (763), and the air guide pipe of the air pump (74) is connected to the air pumping pipe (762) of one of the air supply components (76).

7. An exoskeleton rehabilitation robot as claimed in claim 6, characterized in that: Sealing rings (764) are respectively provided on both sides of the air flow channel (761) in the air delivery component (76).

8. An exoskeleton rehabilitation robot as claimed in claim 1, characterized in that: The cross-sectional shape of the annular airbag (73) is an I-shaped structure.

9. An exoskeleton rehabilitation robot as claimed in claim 5, characterized in that: One end of the driving column (93) close to the transmission belt (91) is a cylindrical structure, and the other end is a conical structure.

10. An exoskeleton rehabilitation robot as claimed in claim 1, characterized in that: The surface of the annular airbag (73) is evenly provided with spherical protrusions (732).

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