Walking training device suitable for being used by different people

Abstract

The invention belongs to the technical field of exoskeleton devices, and provides a walking training device suitable for being used by different people. The device comprises a waist fixing frame and walking mechanisms symmetrically arranged on the two sides of the lower end of the waist fixing frame, and each walking mechanism comprises a thigh supporting and adjusting frame with the upper end rotationally connected with the waist fixing frame and a shank supporting and adjusting frame with the upper end rotationally connected with the thigh supporting and adjusting frame; the driving mechanism is used for driving the thigh supporting and adjusting frame and the shank supporting and adjusting frame to rotate. According to the invention, the lengths of the thigh supporting part and the shank supporting part can be adjusted through the thigh supporting adjusting frame and the shank supporting adjusting frame respectively, so that the use requirements of users with different heights and the use requirements of different leg lengths of the same user can be met; therefore, the problem that the walking training effect used by the patient is affected due to the fact that the exoskeleton device cannot be adjusted is effectively avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeleton devices, and in particular relates to a walking training device suitable for use by different groups of people. Background Art

[0002] An exoskeleton is a mechanical device made of a steel frame that can be worn by people. This equipment can provide additional energy for the movement of the limbs. At present, there are three main types of exoskeleton devices: one that covers the whole body and provides comprehensive assistance, which is mainly used in active work scenarios; one that assists the legs, which is mainly used for rehabilitation training after leg diseases; and one that is an upper limb exoskeleton that enhances arm strength.

[0003] In the prior art, exoskeleton devices for assisting legs are expensive and are mostly installed in public places such as rehabilitation training centers and hospitals. They are rarely customized by individuals. Since exoskeleton devices generally adopt a mechanical skeleton structure, their size is not adjustable. They mostly adopt universal size styles, which are mainly divided into adult and children's sizes to adapt to different patient groups. However, the heights of different individuals vary greatly, and even the left and right legs of the same person may be different. This leads to poor applicability of exoskeleton devices for assisting legs, which reduces or even affects the walking training effect of patients using exoskeleton devices for assisting legs. Summary of the invention

[0004] The purpose of the present invention is to provide a walking training device suitable for use by different groups of people, so as to solve the technical problems existing in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: A walking training device suitable for use by different groups of people comprises a waist fixing frame for being worn on the waist of a human body, a walking mechanism symmetrically arranged on both sides of the lower end of the waist fixing frame, the walking mechanism comprising a thigh support adjustment frame with an upper end rotatably connected to the waist fixing frame, a calf support adjustment frame with an upper end rotatably connected to the thigh support adjustment frame, and a driving mechanism for driving the thigh support adjustment frame and the calf support adjustment frame to rotate; the thigh support adjustment frame comprises a fixed connecting rod with an upper end rotatably connected to the waist fixing frame, a movable connecting rod arranged at the lower end of the fixed connecting rod and sleeved on the outside of the fixed connecting rod, and the movable connecting rod It can move relative to the fixed link and an adjusting screw is arranged inside the two. The upper end of the adjusting screw is threadedly connected with the fixed link, and the lower end extends to the lower part of the movable link and a horizontal bevel gear is fixedly arranged at its end. A rotating shaft is arranged at the lower part of the movable link and below the horizontal bevel gear, and a vertical bevel gear meshing with the horizontal bevel gear is arranged on one side of the rotating shaft. One end of the rotating shaft extends to the outer side of the movable link and a permanent magnet rotor is arranged at its end. An adjusting drive mechanism is slidably arranged on the outer side of the movable link, and a conductor rotor matching the permanent magnet rotor is arranged at the output end of the adjusting drive mechanism.

[0006] In one embodiment, the movable link and the fixed link are hollow structures, and a fixing nut fixedly connected thereto is provided at the inner lower end of the fixed link, and the adjusting screw is inserted into the fixing nut and threadedly connected thereto.

[0007] In one embodiment, the adjustment drive mechanism includes a shell slidingly connected to the outer side of the movable connecting rod, and an adjustment drive motor fixed in the shell, the conductor rotor is arranged on the output shaft of the adjustment drive motor, and an opening is provided on a side of the shell facing the movable connecting rod.

[0008] In one embodiment, two slide rails are arranged on the side of the movable link, and slide bars embedded in the slide rails are symmetrically arranged on the housing at both ends of the opening.

[0009] In one embodiment, a fastening bolt is further provided on the outer shell, and the fastening bolt is inserted into the outer shell. A fastening threaded hole matching the fastening bolt is provided on the side of the movable connecting rod and between the two slide rails.

[0010] In one embodiment, a guide strip which is an integral structure with the fixed link is disposed on the outer wall of the fixed link, and a guide groove which matches the guide strip is disposed on the inner wall of the movable link.

[0011] In one embodiment, a limit block is fixedly provided at the lower end inside the movable connecting rod and above the horizontal bevel gear, and the adjusting screw passes through the limit block.

[0012] In one embodiment, one end of the waist fixing frame is fixedly connected to a connecting groove portion via an elastic band, and the other end is fixedly connected to a connecting block portion matching the connecting groove portion via an elastic band. When connected, the connecting block portion is embedded in the connecting groove portion.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) According to the present invention, based on the waist fixing frame, a walking mechanism is symmetrically arranged at its lower end, and the walking mechanism includes a thigh support adjustment frame whose upper end is rotatably connected to the waist fixing frame and a calf support adjustment frame rotatably connected to the thigh support adjustment frame. The length of the thigh support part and the calf support part can be adjusted respectively through the thigh support adjustment frame and the calf support adjustment frame, thereby meeting the use requirements of users of different heights and the use requirements of the same user with different leg lengths, thereby effectively avoiding the problem that the exoskeleton device is not adjustable and affects the walking training effect of the patient.

[0014] (2) According to the present invention, the adjustment scheme using the adjustment screw, horizontal bevel gear and vertical bevel gear not only makes the adjustment more precise, but also the pressure exerted by the exoskeleton device itself or the patient on the exoskeleton device will not cause adjustment deformation.

[0015] (3) According to the present invention, a permanent magnet rotor is arranged at the end of the rotating shaft. By adjusting the setting of the driving mechanism, a conductor rotor matching the permanent magnet rotor is arranged at its output end. The two constitute a magnetic coupling structure. When adjustment is required, the adjusting driving mechanism is slid to the lower part, and the permanent magnet rotor and the conductor rotor are coupled. Not only can the adjustment be realized normally, but also the control of the adjustment is more convenient. After the adjustment is completed, the adjusting driving mechanism is slid to the upper part to disconnect the coupling, thereby avoiding the influence of misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 for Figure 1 A magnified schematic diagram of part A in FIG.

[0018] Figure 3 for Figure 1 B is an enlarged schematic diagram.

[0019] Figure 4 It is a schematic diagram of the internal structure of the thigh support adjustment frame in the present invention.

[0020] Figure 5 for Figure 4Enlarged schematic diagram of part C in FIG.

[0021] Figure 6 It is an internal schematic diagram of the adjustment drive mechanism in the present invention.

[0022] Figure 7 It is a side schematic diagram of the adjustment drive mechanism in the present invention.

[0023] Among them, the names corresponding to the figure marks are as follows: 1-waist fixing frame, 2-controller, 3-thigh support adjustment frame, 4-calf support adjustment frame, 5-fixed connecting rod, 6-movable connecting rod, 7-adjusting screw, 8-horizontal bevel gear, 9-rotating shaft, 10-vertical bevel gear, 11-permanent magnet rotor, 12-conductor rotor, 13-fixing nut, 14-housing, 15-adjusting drive motor, 16-opening, 17-slide rail, 18-slide bar, 19-fastening bolt, 20-fastening threaded hole, 21-guide bar, 22-guide groove, 23-limiting block, 24-connecting groove part, 25-connecting block part, 26-upper drive motor, 27-lower drive motor. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present invention, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described below are only used to explain the present invention, and are convenient for understanding. The technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

[0025] Example like Figures 1 to 7 As shown, this embodiment provides a walking training device suitable for use by different groups of people, which is mainly used for leg training of the human body, including a waist fixing frame and a walking mechanism symmetrically arranged on both sides of the lower end of the waist fixing frame, wherein the waist fixing frame is used to be worn on the waist of the human body, and its shape can adopt conventional shapes such as round, elliptical, rectangular, etc. The waist fixing frame is provided with an open end, based on the setting of the open end, a connecting groove portion is fixedly connected to one end thereof through an elastic band, and a connecting block portion matching the connecting groove portion is fixedly connected to the other end thereof through an elastic band. When connected, the connecting block portion is embedded in the connecting groove portion, thereby realizing the connection and fixation of the waist fixing frame, and the setting of the elastic band enables the waist fixing frame to adapt to different waist circumferences; a battery, a controller, etc. are arranged at the rear end of the waist fixing frame for power supply and control of the exoskeleton device, which belongs to an existing mature structure, so it is not described here.

[0026] The walking mechanism is an actuator for leg training, including a thigh support adjustment frame whose upper end is rotatably connected to the waist fixing frame, a calf support adjustment frame whose upper end is rotatably connected to the thigh support adjustment frame, and a driving mechanism for driving the thigh support adjustment frame and the calf support adjustment frame to rotate, wherein the driving mechanism includes an upper driving motor for driving the thigh support adjustment frame to rotate relative to the waist fixing frame, and a lower driving motor for driving the calf support adjustment frame to rotate relative to the thigh support adjustment frame, which belongs to an existing mature structure, so it will not be described here. The length adjustment of the thigh part and the length adjustment of the calf part of the walking mechanism can be realized through the thigh support adjustment frame and the calf support adjustment frame, and the two adjustments are independent adjustments to adapt to different adjustment needs.

[0027] In this embodiment, the structures of the thigh support adjustment frame and the calf support adjustment frame are the same. Here, the thigh support adjustment frame is described as the reference. The thigh support adjustment frame includes a fixed connecting rod rotatably connected to the waist fixing frame at the upper end, and a movable connecting rod is arranged at the lower end of the fixed connecting rod and sleeved on the outside of the fixed connecting rod. Corresponding to the calf support adjustment frame, the upper end of the fixed connecting rod is rotatably connected to the lower end of the movable connecting rod of the thigh support adjustment frame.

[0028] There is no special limitation on the shapes of the movable connecting rod and the fixed connecting rod. It can adopt a rectangular frame structure or a cylindrical frame structure. The rectangular frame structure is preferred. The interior of the movable connecting rod and the fixed connecting rod is hollow, and an adjusting screw is provided inside both. The upper end of the adjusting screw is threadedly connected to the fixed connecting rod. Its implementation structure is as follows: a fixing nut fixedly connected to the fixed connecting rod is provided at the lower end of the interior of the fixed connecting rod, and the adjusting screw is inserted into the fixing nut and threadedly connected to the fixed connecting rod. Through the above arrangement, when the adjusting screw rotates, the fixing nut moves axially along the adjusting screw. Since the fixing nut is fixed, the adjusting screw moves up and down relative to the fixed nut, thereby driving the movable connecting rod to move up and down relative to the fixed connecting rod through the adjusting screw.

[0029] Taking into account the stability of the movable connecting rod in its up and down movement relative to the fixed connecting rod, in this embodiment, a guide strip which is an integral structure with the fixed connecting rod is provided on the outer wall of the movable connecting rod, and a guide groove which matches the guide strip is provided on the inner wall of the movable connecting rod. The movement of the movable connecting rod is guided and limited by the cooperation of the guide strip and the guide groove.

[0030] The lower end of the adjusting screw extends to the lower part of the movable connecting rod. Taking into account the influence of the exoskeleton device's own weight and the pressure applied to the exoskeleton device by the user after wearing it, in order to avoid the adjustment being deformed by pressure, this embodiment is based on the adjusting screw, and a horizontal bevel gear that is integrated with it is fixedly provided at its lower end. At the same time, a rotating shaft is provided at the lower part of the movable connecting rod and below the horizontal bevel gear, and a vertical bevel gear meshing with the horizontal bevel gear is provided on one side thereof. The vertical bevel gear is fixedly sleeved on the rotating shaft and driven by the rotating shaft. The rotating shaft is rotatably connected to the movable connecting rod, and can realize self-rotation. The rotation of the rotating shaft drives the vertical bevel gear to rotate, thereby driving the horizontal bevel gear to rotate, and then driving the adjusting screw to rotate.

[0031] Taking the adjustment limit into consideration and avoiding the influence of over-adjustment, in this embodiment, a limit block is fixedly arranged at the lower end inside the movable connecting rod and above the horizontal bevel gear, and the adjusting screw passes through the limit block. Specifically, a through hole is provided in the middle of the limit block, and the inner diameter of the through hole is larger than the outer diameter of the adjusting screw, and the adjusting screw passes through the through hole of the limit block.

[0032] In this embodiment, the drive of the rotating shaft adopts an electric drive structure, and an adjustment drive mechanism is slidably arranged on the outer side of the movable link. It has the advantages of high adjustment accuracy and simple operation, and based on the electric drive structure, its control can be integrated into the general control end of the exoskeleton device, such as: intelligent control end. The specific implementation is as follows: one end of the rotating shaft extends to the outer side of the movable link and a permanent magnet rotor is arranged at its end, and an adjustment drive mechanism is slidably arranged on the outer side of the movable link, and a conductor rotor matching the permanent magnet rotor is arranged at the output end of the adjustment drive mechanism. Through the above arrangement, the permanent magnet rotor and the conductor rotor are coupled, and the adjustment can be achieved normally.

[0033] In this embodiment, the adjustment drive mechanism includes a housing slidably connected to the outer side of the movable link, and an adjustment drive motor fixed in the housing, the conductor rotor is arranged on the output shaft of the adjustment drive motor, and an opening is arranged on the side of the housing facing the movable link. The implementation structure of the sliding connection between the housing and the outer side of the movable link is as follows: two slide rails are arranged on the side of the movable link, and slide bars embedded in the slide rails are symmetrically arranged on the housing at both ends of the opening, and at the same time, a fastening bolt is also arranged on the housing, the fastening bolt is inserted into the housing, and a fastening threaded hole matching the fastening bolt is arranged on the side of the movable link between the two slide rails. When adjustment is needed, the adjustment drive mechanism is slid to the lower part so that the conductor rotor and the permanent magnet rotor are coupled. At this time, the adjustment drive motor is started to adjust the relative position of the movable link and the fixed link normally. After the adjustment is completed, the adjustment drive mechanism is slid to the upper part, and then the fastening bolt is tightened. The end of the fastening bolt is connected to the fastening threaded hole to fix the adjustment drive mechanism to the upper part. At this time, the coupling port of the conductor rotor and the permanent magnet rotor is formed. Even if the adjustment drive motor is started, the relative position of the movable link and the fixed link will not be adjusted. This structure can effectively avoid the influence of misoperation.

[0034] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A walking training device suitable for use by different groups of people, comprising a waist fixing frame (1) for being worn on the waist of a human body, and a walking mechanism symmetrically arranged on both sides of the lower end of the waist fixing frame (1), characterized in that: The walking mechanism comprises a thigh support adjustment frame (3) whose upper end is rotatably connected to the waist fixing frame (1), a calf support adjustment frame (4) whose upper end is rotatably connected to the thigh support adjustment frame (3), and a driving mechanism for driving the thigh support adjustment frame (3) and the calf support adjustment frame (4) to rotate; the thigh support adjustment frame (3) comprises a fixed connecting rod (5) whose upper end is rotatably connected to the waist fixing frame (1), a movable connecting rod (6) arranged at the lower end of the fixed connecting rod (5) and sleeved on the outside of the fixed connecting rod (5), the movable connecting rod (6) being movable relative to the fixed connecting rod (5) and having an adjusting screw (7) arranged inside the two, the adjusting screw (7) 7) The upper end is threadedly connected to the fixed connecting rod (5), the lower end extends to the lower part of the movable connecting rod (6) and a horizontal bevel gear (8) is fixedly arranged at the end thereof; a rotating shaft (9) is arranged at the lower part of the movable connecting rod (6) and below the horizontal bevel gear (8); a vertical bevel gear (10) meshing with the horizontal bevel gear (8) is arranged on one side of the rotating shaft (9); one end of the rotating shaft (9) extends to the outer side of the movable connecting rod (6) and a permanent magnet rotor (11) is arranged at the end thereof; an adjustment drive mechanism is slidably arranged on the outer side of the movable connecting rod (6), and a conductor rotor (12) matching the permanent magnet rotor (11) is arranged at the output end of the adjustment drive mechanism.

2. The walking training device suitable for different groups of people according to claim 1, characterized in that: The movable connecting rod (6) and the fixed connecting rod (5) are hollow structures inside, and a fixing nut (13) fixedly connected thereto is provided at the lower end inside the fixed connecting rod (5), and the adjusting screw (7) is inserted into the fixing nut (13) and is threadedly connected thereto.

3. The walking training device suitable for different groups of people according to claim 2, characterized in that: The adjustment drive mechanism comprises a housing (14) slidably connected to the outer side of the movable link (6), and an adjustment drive motor (15) fixed in the housing (14); the conductor rotor (12) is arranged on the output shaft of the adjustment drive motor (15); and an opening (16) is arranged on a side of the housing (14) facing the movable link (6).

4. The walking training device suitable for different groups of people according to claim 3, characterized in that: Two slide rails (17) are arranged on the side of the movable connecting rod (6), and slide bars (18) embedded in the slide rails (17) are symmetrically arranged on the housing (14) at both ends of the opening (16).

5. The walking training device suitable for different groups of people according to claim 4, characterized in that: A fastening bolt (19) is also provided on the housing (14), and the fastening bolt (19) is inserted into the housing (14). A fastening threaded hole (20) matching the fastening bolt (19) is provided on the side of the movable connecting rod (6) and between the two slide rails (17).

6. The walking training device suitable for different groups of people according to claim 5, characterized in that: A guide strip (21) which is an integral structure with the fixed connecting rod (5) is provided on the outer wall of the fixed connecting rod (5), and a guide groove (22) which matches the guide strip (21) is provided on the inner wall of the movable connecting rod (6).

7. The walking training device suitable for different groups of people according to claim 6, characterized in that: A limit block (23) is fixedly arranged at the lower end inside the movable connecting rod (6) and above the horizontal bevel gear (8), and the adjusting screw rod (7) passes through the limit block (23).

8. The walking training device suitable for different groups of people according to claim 7, characterized in that: One end of the waist fixing frame (1) is fixedly connected to a connecting groove portion (24) via an elastic band, and the other end is fixedly connected to a connecting block portion (25) matching the connecting groove portion (24) via an elastic band; when connected, the connecting block portion (25) is embedded in the connecting groove portion (24).

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