Self-adaptive knee joint rehabilitation training exoskeleton and control method thereof

Abstract

The invention discloses a self-adaptive knee joint rehabilitation training exoskeleton and a control method thereof.The self-adaptive knee joint rehabilitation training exoskeleton comprises two mounting blocks, a waist wearing assembly is fixedly connected between the two mounting blocks, and the upper ends of the two mounting blocks are fixedly connected with inserting blocks in an inserting mode; the lower ends of the two inserting blocks are fixedly connected with hip joint supports, hip joint moving assemblies are movably installed in the two hip joint supports, the lower ends of the two hip joint moving assemblies are fixedly connected with connecting blocks, and the inner wall faces of the two connecting blocks are fixedly connected with knee joint self-adaptive mechanisms. According to the self-adaptive knee joint rehabilitation training exoskeleton and the control method thereof, the knee joint self-adaptive mechanism can flexibly adjust the strength and the action mode of knee joint rehabilitation training according to different rehabilitation requirements of users by controlling the rotating speed, the rotating direction and the rotating time of the second micro rotating motor.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton devices, and particularly relates to an adaptive knee joint rehabilitation training exoskeleton and a control method thereof. Background Art

[0002] Knee joint injuries are relatively common in daily life and sports. Whether it is knee joint trauma caused by accidental accidents or diseases, or knee joint dysfunction caused by joint degeneration in the elderly, it has a serious impact on the mobility and quality of life of patients.

[0003] With the aggravation of the aging society and the increase of sports injuries and other situations, the number of patients with knee joint diseases and injuries is increasing continuously. Knee joint rehabilitation training is crucial for restoring knee joint function and improving the quality of life of patients. However, traditional knee joint rehabilitation training exoskeletons often have a single function and cannot be adjusted individually according to the physical conditions and rehabilitation stages of different patients. In addition, they cannot adapt to the thigh lengths of different patients, resulting in poor applicability. Therefore, we propose an adaptive knee joint rehabilitation training exoskeleton and a control method thereof. Summary of the Invention

[0004] The main purpose of the present invention is to provide an adaptive knee joint rehabilitation training exoskeleton and a control method thereof, which can effectively solve the problems in the background art.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] An adaptive knee joint rehabilitation training exoskeleton includes mounting blocks. There are two mounting blocks, and a waist wearing component is fixedly connected between the two mounting blocks. Insertion blocks are fixedly inserted through the upper ends of the two mounting blocks. Hip joint brackets are fixedly connected to the lower ends of the two insertion blocks. Hip joint moving components are movably installed in the two hip joint brackets. Connecting blocks are fixedly connected to the lower ends of the two hip joint moving components. Knee joint adaptive mechanisms are fixedly connected to the inner wall surfaces of the two connecting blocks. Moving blocks are fixedly connected to the lower ends of the two knee joint adaptive mechanisms. Calf brackets are fixedly connected to the lower ends of the two moving blocks. Lower inner sides of the two hip joint moving components are fixedly connected with thigh adjustable straps through bolts. Lower inner sides of the two calf brackets are fixedly connected with calf adjustable straps through bolts.

[0007] The knee joint adaptive mechanism includes a knee joint bracket. A fixed block is fixedly connected to the upper inner wall surface of the knee joint bracket. A second micro-rotary motor is fixedly installed on the right inner wall surface of the right knee joint bracket. The left end of the second micro-rotary motor on the right is fixedly connected to the right end of the fixed block on the right. The output end of the second micro-rotary motor on the right penetrates through the right end of the fixed block on the right and extends to the left end of the fixed block on the right. A small movable gear is fixedly installed at the output end of the second micro-rotary motor. A large movable gear is meshed and connected to the lower outer surface of the small movable gear. A long movable gear is fixedly connected to the middle of the right end of the large movable gear on the right. A semi-circular movable gear is meshed and connected to the lower outer surface of the long movable gear. The lower outer surface of the semi-circular movable gear is fixedly connected to the upper end of the movable block. The outer surface of the knee joint bracket is fixedly connected to the inner wall surface of the connecting block.

[0008] As a further improvement of the above solution, the left end of the small movable gear on the right, the left end of the large movable gear on the right, and the left end of the semi-circular movable gear on the right are all movably connected to the left inner wall surface of the right knee joint bracket through a rotating shaft. The right end of the long movable gear on the right and the right end of the semi-circular movable gear on the right are both movably connected to the right inner wall surface of the right knee joint bracket through a rotating shaft.

[0009] As a further improvement of the above solution, the waist wearing assembly includes a waist fixing frame. An inflatable fixing airbag is fixedly connected to the inner wall surface of the waist fixing frame. An inflation tube is inserted and fixedly connected to the upper outer surface of the inflatable fixing airbag. A switch valve is inserted and movably installed on the lower outer surface of the inflation tube. A silica gel pad is fixedly connected to the inner side of the outer surface of the inflatable fixing airbag. The waist fixing frame is fixedly connected between two mounting blocks.

[0010] As a further improvement of the above solution, the hip joint activity assembly includes a hip joint activity disc. Hip joint activity rods are fixedly connected to both the left end and the right end of the hip joint activity disc. Thigh fixing frames are fixedly connected to both the front outer surface and the rear outer surface of the hip joint activity disc. A connecting frame is fixedly connected to the common right end of the two thigh fixing frames on the right. A U-shaped fixing plate is fixedly connected to the upper front end of the connecting frame. Two through guide grooves are formed in the left end of the connecting frame on the right. T-shaped grooves penetrating through both the inside and the outside are formed in the inner side surfaces of the two thigh fixing frames. A control mechanism is inserted and installed at the front end of the U-shaped fixing plate. The hip joint activity disc is movably sleeved inside the hip joint bracket.

[0011] As a further improvement of the above solution, the outer sides of the two hip joint activity rods are respectively inserted and movably connected to the left inner wall surface and the right inner wall surface of the hip joint bracket through bearings.

[0012] As a further improvement of the above solution, the control mechanism includes a first micro-rotary motor, the output end of the first micro-rotary motor is fixedly installed with a driving gear, the outer surface of the driving gear is meshed and connected with a driven gear, the rear end of the driven gear is fixedly connected with a worm, the left part of the outer surface of the worm is meshed and connected with a worm gear, the lower end of the worm gear is fixedly connected with a lead screw, the outer surface of the lead screw is threadedly connected with a transmission adjustment component, the upper end of the worm gear is fixedly connected with a connecting rod, the rear end of the first micro-rotary motor is fixedly connected with the front end of the U-shaped fixing plate, and the output end of the first micro-rotary motor penetrates through the front end of the U-shaped fixing plate and extends into the U-shaped fixing plate.

[0013] As a further improvement of the above solution, the rear end of the driving gear is movably connected with the front end of the connecting frame through a rotating shaft, the front end of the driven gear is movably connected with the front inner wall surface of the U-shaped fixing plate through a rotating shaft, the rear end of the worm is movably connected with the rear inner wall surface of the connecting frame through a rotating shaft, the lower end of the lead screw is movably connected with the lower inner wall surface of the connecting frame through a rotating shaft, and the upper end of the connecting rod is movably connected with the upper inner wall surface of the connecting frame through a bearing.

[0014] As a further improvement of the above solution, the transmission adjustment component includes a transmission adjustment block, the left end of the right transmission adjustment block is fixedly connected with two guide blocks, the left ends of the two right guide blocks are jointly fixedly connected with a thigh adjustment frame, the front end and the rear end of the thigh adjustment frame are both fixedly connected with T-shaped plates, and the inner wall surface of the transmission adjustment block is threadedly connected with the outer surface of the lead screw.

[0015] As a further improvement of the above solution, the two guide blocks are respectively movably sleeved in the corresponding two guide grooves, and the two T-shaped plates are respectively movably sleeved in the corresponding two T-shaped grooves.

[0016] The control method of the adaptive knee joint rehabilitation training exoskeleton includes the following steps:

[0017] Step 1, waist fixation: Surround the waist wearing component around the user's waist position, inflate the inflatable fixing airbag through the inflatable tube, and after reaching the appropriate pressure, close the switch valve. The silica gel pad on the inner surface of the inflatable fixing airbag can increase the fitting degree and comfort with the human body, and ensure that the waist is firmly fixed in the waist wearing component;

[0018] Step 2. Thigh length adjustment: Start the first micro rotary motor in the control mechanism. The first micro rotary motor drives the active gear at the output end to rotate. The active gear meshes with the driven gear, causing the driven gear to rotate. The worm fixed to the rear end of the driven gear rotates accordingly. The worm meshes with the worm gear, and the worm gear starts to rotate. The lead screw fixedly connected to the lower end of the worm gear rotates synchronously. When the lead screw rotates, the transmission adjustment block in the transmission adjustment assembly threadedly connected to the lead screw moves up and down along the lead screw. The two guide blocks fixedly connected to the transmission adjustment block slide in the guide grooves on the connecting frame, playing a guiding role to ensure the stable movement of the transmission adjustment block. At the same time, the transmission adjustment block drives the thigh adjustment frame to move up and down. The T-shaped plates fixedly connected to the front end and the rear end of the thigh adjustment frame slide in the T-shaped grooves on the thigh fixing frame, further ensuring the stability of the movement of the thigh adjustment frame. By controlling the forward and reverse rotation and the rotation time of the first micro rotary motor, the thigh adjustment frame can be adjusted to a suitable height to adapt to the thigh lengths of different users;

[0019] Step 3. Thigh and calf fixation: Use the adjustable thigh strap to wrap around the thigh and adjust the tightness. Then use the adjustable calf strap to wrap around the calf and adjust the tightness, so that the patient's thigh and calf are firmly fixed on the rehabilitation training exoskeleton;

[0020] Step 4. Knee joint rehabilitation training: When knee joint rehabilitation training is required, start the second micro rotary motor in the knee joint adaptive mechanism. The output end of the second micro rotary motor drives the small movable gear to rotate. The small movable gear meshes with the large movable gear, causing the large movable gear to rotate. The long movable gear fixedly connected to the middle of the right end of the large movable gear rotates synchronously. The long movable gear meshes with the semi-circular movable gear. Since the lower part of the outer surface of the semi-circular movable gear is fixedly connected to the upper end of the movable block, and the lower end of the movable block is fixedly connected to the calf bracket, the calf bracket is driven to move around the knee joint as the axis, realizing the rehabilitation training movement of the knee joint. By controlling the rotation speed, rotation direction and rotation time of the second micro rotary motor, the intensity and movement mode of the knee joint rehabilitation training can be adjusted according to the rehabilitation needs of the user.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In the present invention, through the first micro rotary motor in the control mechanism, the coordinated operation of the active gear, driven gear, worm, worm gear and lead screw is driven, so that the transmission adjustment block in the transmission adjustment assembly moves up and down along the lead screw, and then drives the thigh adjustment frame to move up and down. The guide blocks slide in the guide grooves on the connecting frame, and the T-shaped plates slide in the T-shaped grooves on the thigh fixing frame, ensuring the movement stability. According to the thigh lengths of different users, the height of the thigh adjustment frame can be adjusted to achieve personalized adaptation, improving the comfort of the patient's wearing and the effectiveness of the rehabilitation training;

[0023] 2. In the present invention, an inflatable fixing airbag is connected to the inner wall of the waist fixing frame in the waist wearing assembly. It is inflated through an inflation tube and controlled by a switching valve. The silica gel pad on the inner surface of the inflatable fixing airbag increases the fit and comfort with the human body, and can firmly fix the user's waist in the waist wearing assembly, providing a stable support basis for the entire rehabilitation training exoskeleton. It ensures that during the rehabilitation training process, the exoskeleton and the human waist remain relatively stable, avoiding affecting the rehabilitation training effect or even causing potential safety hazards due to waist shaking.

[0024] 3. In the present invention, the output end of the second micro rotary motor in the knee joint adaptive mechanism drives the small moving gear to rotate. Through meshing with the large moving gear, the long moving gear, and the semi-circular moving gear in sequence, it drives the moving block and the calf bracket connected thereto to move around the knee joint as an axis. By controlling the rotation speed, rotation direction, and rotation time of the second micro rotary motor, the intensity and action mode of knee joint rehabilitation training can be flexibly adjusted according to different rehabilitation needs of the user. In the initial stage of rehabilitation, a slower rotation speed and a smaller rotation angle can be set for gentle rehabilitation training. As the patient's rehabilitation condition improves, the rotation speed and rotation range are gradually increased to achieve personalized and precise knee joint rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic diagram of the overall structure of the adaptive knee joint rehabilitation training exoskeleton of the present invention;

[0027] Figure 2 It is an exploded view of the structure of the waist wearing assembly of the adaptive knee joint rehabilitation training exoskeleton of the present invention;

[0028] Figure 3 It is a schematic diagram of the structure of the hip joint activity assembly of the adaptive knee joint rehabilitation training exoskeleton of the present invention;

[0029] Figure 4 It is a sectional view of the structure of the hip joint activity assembly of the adaptive knee joint rehabilitation training exoskeleton of the present invention (where the thigh fixing frame and the connecting frame are sectioned);

[0030] Figure 5 It is a schematic diagram of the structure of the control mechanism of the adaptive knee joint rehabilitation training exoskeleton of the present invention;

[0031] Figure 6 It is for the adaptive knee joint rehabilitation training exoskeleton of the present inventionFigure 5 Enlarged view of structure at position A in

[0032] Figure 7 Schematic structural diagram of the transmission adjustment component of the adaptive knee joint rehabilitation training exoskeleton of the present invention;

[0033] Figure 8 Schematic structural diagram of the knee joint adaptive mechanism of the adaptive knee joint rehabilitation training exoskeleton of the present invention;

[0034] Figure 9 Cross-sectional view of the structure of the knee joint adaptive mechanism of the adaptive knee joint rehabilitation training exoskeleton of the present invention (wherein the knee joint bracket is sectioned);

[0035] Figure 10 For the adaptive knee joint rehabilitation training exoskeleton of the present invention Figure 9 Enlarged view of structure at position B in

[0036] In the figure: 1, mounting block; 2, waist wearing component; 3, inserting block; 4, hip joint activity component; 5, connecting block; 6, knee joint adaptive mechanism; 7, moving block; 8, calf bracket; 9, thigh adjustable strap; 10, calf adjustable strap; 11, hip joint bracket; 21, waist fixing frame; 22, inflatable fixing airbag; 23, air filling pipe; 24, switch valve; 25, silica gel pad; 41, hip joint activity disc; 42, hip joint activity rod; 43, thigh fixing frame; 44, connecting frame; 45, U-shaped fixing plate; 46, guiding groove; 47, T-shaped groove; 48, control mechanism; 481, first micro rotary motor; 482, driving gear; 483, driven gear; 484, worm; 485, worm gear; 486, lead screw; 487, transmission adjustment component; 488, connecting rod; 4871, transmission adjustment block; 4872, guiding block; 4873, thigh adjustment frame; 4874, T-shaped plate; 61, knee joint bracket; 62, fixing block; 63, second micro rotary motor; 64, small moving gear; 65, large moving gear; 66, long moving gear; 67, semi-circular moving gear. Specific embodiments

[0037] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0038] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "back end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] The technical solution of the present invention will be further described below with reference to the drawings.

[0041] Embodiment

[0042] The adaptive knee joint rehabilitation training exoskeleton, as Figure 1 shown, includes a mounting block 1, and is characterized in that: there are two mounting blocks 1, a waist wearing component 2 is fixedly connected between the two mounting blocks 1, insertion blocks 3 are fixedly inserted and connected to the upper ends of the two mounting blocks 1, hip joint brackets 11 are fixedly connected to the lower ends of the two insertion blocks 3, hip joint moving components 4 are movably installed in the two hip joint brackets 11, connection blocks 5 are fixedly connected to the lower ends of the two hip joint moving components 4, knee joint adaptive mechanisms 6 are fixedly connected to the inner wall surfaces of the two connection blocks 5, moving blocks 7 are fixedly connected to the lower ends of the two knee joint adaptive mechanisms 6, calf brackets 8 are fixedly connected to the lower ends of the two moving blocks 7, thigh adjustable straps 9 are fixedly connected to the lower inner sides of the two hip joint moving components 4 by bolts, and calf adjustable straps 10 are fixedly connected to the lower inner sides of the two calf brackets 8 by bolts.

[0043] Please refer to Figures 8 - 10, the knee joint adaptive mechanism 6 includes a knee joint bracket 61. A fixed block 62 is fixedly connected to the upper inner wall surface of the knee joint bracket 61. A second micro rotary motor 63 is fixedly installed on the right inner wall surface of the right knee joint bracket 61. The left end of the right second micro rotary motor 63 is fixedly connected to the right end of the right fixed block 62. And the output end of the right second micro rotary motor 63 penetrates through the right end of the right fixed block 62 and extends to the left end of the right fixed block 62. A small movable gear 64 is fixedly installed at the output end of the second micro rotary motor 63. A large movable gear 65 is meshed and connected to the lower outer surface of the small movable gear 64. A long movable gear 66 is fixedly connected to the middle of the right end of the right large movable gear 65. A semi-circular movable gear 67 is meshed and connected to the lower outer surface of the long movable gear 66. And the lower outer surface of the semi-circular movable gear 67 is fixedly connected to the upper end of the movable block 7. The outer surface of the knee joint bracket 61 is fixedly connected to the inner wall surface of the connecting block 5; the left end of the right small movable gear 64, the left end of the right large movable gear 65, and the left end of the right semi-circular movable gear 67 are all movably connected to the left inner wall surface of the right knee joint bracket 61 through a rotating shaft. The right end of the right long movable gear 66 and the right end of the right semi-circular movable gear 67 are both movably connected to the right inner wall surface of the right knee joint bracket 61 through a rotating shaft.

[0044] Please refer to Figure 2 , the waist wearing assembly 2 includes a waist fixing frame 21. An inflatable fixing airbag 22 is fixedly connected to the inner wall surface of the waist fixing frame 21. An inflation tube 23 is fixedly connected to the upper outer surface of the inflatable fixing airbag 22 in an inserted manner. A switch valve 24 is movably installed in an inserted manner on the lower outer surface of the inflation tube 23. A silica gel pad 25 is fixedly connected to the inner side of the outer surface of the inflatable fixing airbag 22. The waist fixing frame 21 is fixedly connected between the two mounting blocks 1.

[0045] Please refer to Figures 3 - 7, the hip joint movement component 4 includes a hip joint movement disc 41. Both the left end and the right end of the hip joint movement disc 41 are fixedly connected with hip joint movement rods 42. Both the front outer surface and the rear outer surface of the hip joint movement disc 41 are fixedly connected with thigh fixing frames 43. The right ends of the two thigh fixing frames 43 on the right side are jointly fixedly connected with a connecting frame 44. The upper part of the front end of the connecting frame 44 is fixedly connected with a U-shaped fixing plate 45. Two through holes are opened at the left end of the right connecting frame 44, and two T-shaped grooves 47 that penetrate inside and outside are opened on the inner side surfaces of the two thigh fixing frames 43. A control mechanism 48 is inserted and installed at the front end of the U-shaped fixing plate 45. The hip joint movement disc 41 is movably sleeved inside the hip joint bracket 11; the outer side surfaces of the two hip joint movement rods 42 are respectively inserted and movably connected with the left inner wall surface and the right inner wall surface of the hip joint bracket 11 through bearings; the control mechanism 48 includes a first micro-rotary motor 481. The output end of the first micro-rotary motor 481 is fixedly installed with a driving gear 482. The outer surface of the driving gear 482 is meshed and connected with a driven gear 483. The rear end of the driven gear 483 is fixedly connected with a worm 484. The left part of the outer surface of the worm 484 is meshed and connected with a worm gear 485. The lower end of the worm gear 485 is fixedly connected with a lead screw 486. The outer surface of the lead screw 486 is threadedly connected with a transmission adjustment component 487. The upper end of the worm gear 485 is fixedly connected with a connecting rod 488. The rear end of the first micro-rotary motor 481 is fixedly connected with the front end of the U-shaped fixing plate 45, and the output end of the first micro-rotary motor 481 penetrates through the front end of the U-shaped fixing plate 45 and extends into the U-shaped fixing plate 45; the rear end of the driving gear 482 is movably connected with the front end of the connecting frame 44 through a rotating shaft. The front end of the driven gear 483 is movably connected with the front inner wall surface of the U-shaped fixing plate 45 through a rotating shaft. The rear end of the worm 484 is movably connected with the rear inner wall surface of the connecting frame 44 through a rotating shaft. The lower end of the lead screw 486 is movably connected with the lower inner wall surface of the connecting frame 44 through a rotating shaft. The upper end of the connecting rod 488 is movably connected with the upper inner wall surface of the connecting frame 44 through a bearing; the transmission adjustment component 487 includes a transmission adjustment block 4871. The left end of the right transmission adjustment block 4871 is fixedly connected with two guide blocks 4872. The left ends of the two guide blocks 4872 on the right side are jointly fixedly connected with a thigh adjustment frame 4873. Both the front end and the rear end of the thigh adjustment frame 4873 are fixedly connected with T-shaped plates 4874. The inner wall surface of the transmission adjustment block 4871 is threadedly connected with the outer surface of the lead screw 486; the two guide blocks 4872 are respectively movably sleeved inside the corresponding two through holes, and the two T-shaped plates 4874 are respectively movably sleeved inside the corresponding two T-shaped grooves 47.

[0046] During the specific use of the embodiment, the waist-wearing component 2 is wrapped around the waist position of the user. The inflatable fixing airbag 22 is inflated through the inflatable tube 23. After reaching the appropriate pressure, the switch valve 24 is closed. The silica gel pad 25 on the inner surface of the inflatable fixing airbag 22 increases the fit and comfort with the human body, ensuring that the waist is firmly fixed within the waist-wearing component 2. The first micro-rotary motor 481 in the control mechanism 48 is started. The first micro-rotary motor 481 drives the driving gear 482 at the output end to rotate. The driving gear 482 meshes with the driven gear 483, causing the driven gear 483 to rotate. The worm 484 fixedly connected to the rear end of the driven gear 483 rotates accordingly. The worm 484 meshes with the worm gear 485, and the worm gear 485 starts to rotate. The lead screw 486 fixedly connected to the lower end of the worm gear 485 rotates synchronously. When the lead screw 486 rotates, the transmission adjustment block 4871 in the transmission adjustment assembly 487 threadedly connected to the lead screw 486 moves up and down along the lead screw 486. The two guide blocks 4872 fixedly connected to the transmission adjustment block 4871 slide within the guide grooves 46 on the connecting frame 44, ensuring the stable movement of the transmission adjustment block 4871. The transmission adjustment block 4871 drives the thigh adjustment frame 4873 to move up and down. The T-shaped plates 4874 fixedly connected to the front end and the rear end of the thigh adjustment frame 4873 slide within the T-shaped grooves 47 on the thigh fixing frame 43, further ensuring the stability of the movement of the thigh adjustment frame 4873. By controlling the forward and reverse rotation and the rotation time of the first micro-rotary motor 481, the thigh adjustment frame 4873 is adjusted to the appropriate height to adapt to the thigh lengths of different users. The thigh adjustable strap 9 is used to wrap around the thigh and adjust the tightness. The calf adjustable strap 10 is used to wrap around the calf and adjust the tightness, firmly fixing the user's thigh and calf on the rehabilitation training exoskeleton. When knee joint rehabilitation training is required, the second micro-rotary motor 63 in the knee joint adaptive mechanism 6 is started. The output end of the second micro-rotary motor 63 drives the small movable gear 64 to rotate. The small movable gear 64 meshes with the large movable gear 65, causing the large movable gear 65 to rotate. The long movable gear 66 fixedly connected to the middle of the right end of the large movable gear 65 rotates synchronously. The long movable gear 66 meshes with the semi-circular movable gear 67. Since the lower part of the outer surface of the semi-circular movable gear 67 is fixedly connected to the upper end of the movable block 7, and the lower end of the movable block 7 is fixedly connected to the calf bracket 8, the calf bracket 8 is driven to move with the knee joint as the axis, realizing the rehabilitation training movement of the knee joint. By controlling the rotation speed, rotation direction, and rotation time of the second micro-rotary motor 63, the intensity and action mode of the knee joint rehabilitation training are adjusted according to the rehabilitation needs of the user.

[0047] A control method for an adaptive knee joint rehabilitation training exoskeleton includes the following steps:

[0048] Step 1. Waist fixation: Wrap the waist-wearing component 2 around the user's waist position. Inflate the inflatable fixing airbag 22 through the inflatable tube 23. After reaching the appropriate pressure, close the switch valve 24. The silica gel pad 25 on the inner surface of the inflatable fixing airbag 22 can increase the fit and comfort with the human body, ensuring that the waist is firmly fixed within the waist-wearing component 2;

[0049] Step 2. Thigh length adjustment: Start the first micro rotary motor 481 in the control mechanism 48. The first micro rotary motor 481 drives the driving gear 482 at the output end to rotate. The driving gear 482 meshes with the driven gear 483, causing the driven gear 483 to rotate. The worm 484 fixedly connected to the rear end of the driven gear 483 rotates accordingly. The worm 484 meshes with the worm gear 485, and the worm gear 485 starts to rotate. The lead screw 486 fixedly connected to the lower end of the worm gear 485 rotates synchronously. When the lead screw 486 rotates, the transmission adjustment block 4871 in the transmission adjustment assembly 487 threadedly connected to the lead screw 486 will move up and down along the lead screw 486. The two guide blocks 4872 fixedly connected to the transmission adjustment block 4871 slide in the guide grooves 46 on the connecting frame 44, playing a guiding role to ensure the stable movement of the transmission adjustment block 4871. At the same time, the transmission adjustment block 4871 drives the thigh adjustment frame 4873 to move up and down. The T-shaped plates 4874 fixedly connected to the front end and the rear end of the thigh adjustment frame 4873 slide in the T-shaped grooves 47 on the thigh fixing frame 43, further ensuring the stability of the movement of the thigh adjustment frame 4873. By controlling the forward and reverse rotation and rotation time of the first micro rotary motor 481, the thigh adjustment frame 4873 can be adjusted to an appropriate height to adapt to the thigh lengths of different users;

[0050] Step 3. Thigh and calf fixation: Use the thigh adjustable strap 9 to wrap around the thigh and adjust the tightness, and then use the calf adjustable strap 10 to wrap around the calf and adjust the tightness, so that the patient's thigh and calf are firmly fixed on the rehabilitation training exoskeleton;

[0051] Step 4. Knee joint rehabilitation training: When knee joint rehabilitation training is required, start the second micro rotary motor 63 in the knee joint adaptive mechanism 6. The output end of the second micro rotary motor 63 drives the small moving gear 64 to rotate. The small moving gear 64 meshes with the large moving gear 65, causing the large moving gear 65 to rotate. The long moving gear 66 fixedly connected to the middle of the right end of the large moving gear 65 rotates synchronously. The long moving gear 66 meshes with the semi-circular moving gear 67. Since the lower part of the outer surface of the semi-circular moving gear 67 is fixedly connected to the upper end of the moving block 7, and the lower end of the moving block 7 is fixedly connected to the calf bracket 8, the calf bracket 8 is driven to move around the knee joint as the axis, realizing the rehabilitation training movement of the knee joint. By controlling the rotation speed, rotation direction and rotation time of the second micro rotary motor 63, the intensity and action mode of the knee joint rehabilitation training can be adjusted according to the rehabilitation needs of the user.

[0052] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An adaptive knee joint rehabilitation training exoskeleton, comprising a mounting block (1), characterized in that: There are two installation blocks (1). A waist - wearing component (2) is fixedly connected between the two installation blocks (1). Insertion blocks (3) are fixedly inserted and connected to the upper ends of the two installation blocks (1). Hip joint brackets (11) are fixedly connected to the lower ends of the two insertion blocks (3). Hip joint moving components (4) are movably installed in the two hip joint brackets (11). Connecting blocks (5) are fixedly connected to the lower ends of the two hip joint moving components (4). Knee joint adaptive mechanisms (6) are fixedly connected to the inner wall surfaces of the two connecting blocks (5). Moving blocks (7) are fixedly connected to the lower ends of the two knee joint adaptive mechanisms (6). Calf brackets (8) are fixedly connected to the lower ends of the two moving blocks (7). Lower inner sides of the two hip joint moving components (4) are fixedly connected with thigh adjustable straps (9) through bolts. Lower inner sides of the two calf brackets (8) are fixedly connected with calf adjustable straps (10) through bolts; The knee joint adaptive mechanism (6) includes a knee joint bracket (61). A fixed block (62) is fixedly connected to the upper inner wall surface of the knee joint bracket (61). A second micro - rotary motor (63) is fixedly installed on the right inner wall surface of the right knee joint bracket (61). The left end of the right second micro - rotary motor (63) is fixedly connected to the right end of the right fixed block (62), and the output end of the right second micro - rotary motor (63) penetrates through the right end of the right fixed block (62) and extends to the left end of the right fixed block (62). A small moving gear (64) is fixedly installed on the output end of the second micro - rotary motor (63). The lower outer surface of the small moving gear (64) is meshed with a large moving gear (65). A long moving gear (66) is fixedly connected to the middle of the right end of the right large moving gear (65). The lower outer surface of the long moving gear (66) is meshed with a semi - circular moving gear (67), and the lower outer surface of the semi - circular moving gear (67) is fixedly connected to the upper end of the moving block (7). The outer surface of the knee joint bracket (61) is fixedly connected to the inner wall surface of the connecting block (5).

2. The adaptive knee joint rehabilitation training exoskeleton according to claim 1, characterized in that: The left ends of the right small moving gear (64), the left ends of the right large moving gear (65), and the left ends of the right semi - circular moving gear (67) are all movably connected to the left inner wall surface of the right knee joint bracket (61) through rotating shafts. The right ends of the right long moving gear (66) and the right ends of the right semi - circular moving gear (67) are all movably connected to the right inner wall surface of the right knee joint bracket (61) through rotating shafts.

3. The adaptive knee joint rehabilitation training exoskeleton according to claim 1, characterized in that: The waist-wearing component (2) includes a waist fixing frame (21). An inflatable fixing airbag (22) is fixedly connected to the inner wall surface of the waist fixing frame (21). An air charging pipe (23) is fixedly connected to the upper part of the outer surface of the inflatable fixing airbag (22). A switch valve (24) is inserted and movably installed on the lower part of the outer surface of the air charging pipe (23). A silica gel pad (25) is fixedly connected to the inner side of the outer surface of the inflatable fixing airbag (22). The waist fixing frame (21) is fixedly connected between two mounting blocks (1).

4. The adaptive knee joint rehabilitation training exoskeleton according to claim 1, wherein: The hip joint movement component (4) includes a hip joint movement disc (41). Hip joint movement rods (42) are fixedly connected to both the left end and the right end of the hip joint movement disc (41). Thigh fixing frames (43) are fixedly connected to both the front part and the rear part of the outer surface of the hip joint movement disc (41). A connecting frame (44) is fixedly connected to the right ends of the two thigh fixing frames (43) on the right side. A U-shaped fixing plate (45) is fixedly connected to the upper part of the front end of the connecting frame (44). Two through guide grooves (46) are formed in the left end of the connecting frame (44) on the right side. T-shaped grooves (47) that penetrate both inside and outside are formed in the inner side surfaces of the two thigh fixing frames (43). A control mechanism (48) is inserted and installed at the front end of the U-shaped fixing plate (45). The hip joint movement disc (41) is movably sleeved inside a hip joint support (11).

5. The adaptive knee joint rehabilitation training exoskeleton according to claim 4, characterized in that: The outer sides of the two hip joint movement rods (42) are respectively inserted and movably connected to the left inner wall surface and the right inner wall surface of the hip joint support (11) through bearings.

6. The adaptive knee joint rehabilitation training exoskeleton according to claim 4, wherein: The control mechanism (48) includes a first micro rotary motor (481). A driving gear (482) is fixedly installed at the output end of the first micro rotary motor (481). A driven gear (483) is meshed with the outer surface of the driving gear (482). A worm (484) is fixedly connected to the rear end of the driven gear (483). A worm gear (485) is meshed with the left part of the outer surface of the worm (484). A lead screw (486) is fixedly connected to the lower end of the worm gear (485). A transmission adjustment component (487) is threadedly connected to the outer surface of the lead screw (486). A connecting rod (488) is fixedly connected to the upper end of the worm gear (485). The rear end of the first micro rotary motor (481) is fixedly connected to the front end of the U-shaped fixing plate (45), and the output end of the first micro rotary motor (481) penetrates the front end of the U-shaped fixing plate (45) and extends into the U-shaped fixing plate (45).

7. The adaptive knee joint rehabilitation training exoskeleton according to claim 6, wherein: The rear end of the driving gear (482) is movably connected to the front end of the connecting frame (44) through a rotating shaft. The front end of the driven gear (483) is movably connected to the front inner wall surface of the U-shaped fixing plate (45) through a rotating shaft. The rear end of the worm (484) is movably connected to the rear inner wall surface of the connecting frame (44) through a rotating shaft. The lower end of the lead screw (486) is movably connected to the lower inner wall surface of the connecting frame (44) through a rotating shaft. The upper end of the connecting rod (488) is movably connected to the upper inner wall surface of the connecting frame (44) through a bearing.

8. The adaptive knee joint rehabilitation training exoskeleton according to claim 6, wherein: The transmission adjustment assembly (487) includes a transmission adjustment block (4871). At the left end of the right transmission adjustment block (4871), two guide blocks (4872) are fixedly connected. At the left end of the two right guide blocks (4872), a thigh adjustment frame (4873) is fixedly connected. At the front and rear ends of the thigh adjustment frame (4873), T-shaped plates (4874) are fixedly connected. The inner wall surface of the transmission adjustment block (4871) is threadedly connected to the outer surface of the lead screw (486).

9. The adaptive knee joint rehabilitation training exoskeleton according to claim 8, wherein: The two guide blocks (4872) are respectively movably sleeved in the corresponding two guide grooves (46), and the two T-shaped plates (4874) are respectively movably sleeved in the corresponding two T-shaped grooves (47).

10. The control method of the adaptive knee joint rehabilitation training exoskeleton according to any one of claims 1-9, characterized in that: It includes the following steps: Step 1, waist fixation: Surround the waist wearing assembly (2) around the user's waist position. Inflate the inflatable fixing airbag (22) through the air charging pipe (23). After reaching the appropriate pressure, close the switch valve (24). The silica gel pad (25) on the inner surface of the inflatable fixing airbag (22) can increase the fit and comfort with the human body, ensuring that the waist is firmly fixed in the waist wearing assembly (2). Step 2, thigh length adjustment: Start the first micro rotary motor (481) in the control mechanism (48). The first micro rotary motor (481) drives the driving gear (482) at the output end to rotate. The driving gear (482) meshes with the driven gear (483), causing the driven gear (483) to rotate. The worm (484) fixedly connected to the rear end of the driven gear (483) rotates accordingly. The worm (484) meshes with the worm gear (485), and the worm gear (485) starts to rotate. The lead screw (486) fixedly connected to the lower end of the worm gear (485) rotates synchronously. When the lead screw (486) rotates, the transmission adjustment block (4871) in the transmission adjustment assembly (487) threadedly connected to the lead screw (486) will move up and down along the lead screw (486). The two guide blocks (4872) fixedly connected to the transmission adjustment block (4871) slide in the guide grooves (46) on the connecting frame (44), playing a guiding role to ensure the stable movement of the transmission adjustment block (4871). At the same time, the transmission adjustment block (4871) drives the thigh adjustment frame (4873) to move up and down. The T-shaped plates (4874) fixedly connected to the front and rear ends of the thigh adjustment frame (4873) slide in the T-shaped grooves (47) on the thigh fixing frame (43), further ensuring the stability of the movement of the thigh adjustment frame (4873). By controlling the forward and reverse rotation and rotation time of the first micro rotary motor (481), the thigh adjustment frame (4873) can be adjusted to the appropriate height to adapt to the thigh lengths of different users. Step 3, thigh and calf fixation: Use the thigh adjustable strap (9) to surround the thigh and adjust the tightness, and then use the calf adjustable strap (10) to surround the calf and adjust the tightness, so that the patient's thigh and calf are firmly fixed on the rehabilitation training exoskeleton. Step 4. Knee joint rehabilitation training: When knee joint rehabilitation training is required, start the second micro rotary motor (63) in the knee joint adaptive mechanism (6). The output end of the second micro rotary motor (63) drives the small movable gear (64) to rotate. The small movable gear (64) meshes with the large movable gear (65), causing the large movable gear (65) to rotate. The long movable gear (66) fixedly connected to the middle of the right end of the large movable gear (65) rotates synchronously. The long movable gear (66) meshes with the semi-circular movable gear (67). Since the lower part of the outer surface of the semi-circular movable gear (67) is fixedly connected to the upper end of the movable block (7), and the lower end of the movable block (7) is fixedly connected to the calf bracket (8), the calf bracket (8) is driven to move around the knee joint as the axis, realizing the rehabilitation training movement of the knee joint. By controlling the rotation speed, rotation direction and rotation time of the second micro rotary motor (63), the intensity and movement mode of the knee joint rehabilitation training can be adjusted according to the rehabilitation needs of the user.

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