Rapid hip and waist adjusting device and method for lower limb rehabilitation robot

Abstract

The invention provides a rapid hip and waist adjusting device and method for a lower limb rehabilitation robot, and the device comprises a connecting rod assembly which is used for adjusting the horizontal distance between a lower limb exoskeleton and a human joint so as to enable the lower limb exoskeleton to be attached to the side surface of a leg, and comprises a pair of connecting rod units, each connecting rod unit comprises at least three connecting rods hinged to one another, the connecting rod at the foremost end is rotationally connected with a hip joint of the lower limb exoskeleton, the connecting rod at the rearmost end is detachably connected with the spine base, one connecting rod unit is located on the left side of the spine base, and the other connecting rod unit is located on the right side of the spine base; and the joint lock assembly is used for locking the adjusted lower limb exoskeleton and is formed between two adjacent connecting rods. The lower limb exoskeleton 3 can be easily attached to the side face of the leg only by adjusting the position of the connecting rod at the front end.

Description

Technical Field

[0001] This invention belongs to the technical field of rehabilitation robots and their physiotherapy devices, and particularly relates to a hip and waist rapid adjustment device and adjustment method for a lower limb rehabilitation robot. Background Technology

[0002] With the increasing aging of society, the number of patients suffering from motor dysfunction due to cardiovascular diseases such as stroke and traffic accidents is increasing year by year. The use of rehabilitation exoskeleton robots effectively alleviates the pressure on the rehabilitation industry and improves the efficiency of patient training. To accommodate patients with different hip widths and body thicknesses, lower limb rehabilitation robots require adjustment of the horizontal distance between the two hip joints and the anterior-posterior distance between the hip joints and the spine. Existing adjustment methods mostly involve manual adjustment via two sliding joints, which is cumbersome. To reduce the adjustment time when wearing lower limb exoskeletons and simplify the operation process, a rapid hip and lumbar position adjustment device is needed to accommodate patients of different body types. Summary of the Invention

[0003] The purpose of this invention is to provide a hip and lumbar quick adjustment device and method for a lower limb rehabilitation robot. During wear, simply adjusting the position of the front connecting rod allows the lower limb exoskeleton 3 to easily attach to the side of the leg, which not only improves the work efficiency of rehabilitation therapists but also reduces discomfort for patients when putting on and taking off the robot. The technical solution adopted is as follows:

[0004] A hip and lumbar rapid adjustment device for a lower limb rehabilitation robot, comprising:

[0005] Linkage assembly 1 is used to adjust the horizontal distance between the lower limb exoskeleton and the human joint so that the lower limb exoskeleton can be attached to the side of the leg. It includes a pair of linkage units, each linkage unit including at least 3 linkages that are hinged to each other. The foremost linkage is rotatably connected to the hip joint of the lower limb exoskeleton 3, and the rearmost linkage is detachably connected to the spinal base 14. One linkage unit is located on the left side of the spinal base 4, and the other linkage unit is located on the right side of the spinal base 4.

[0006] and joint locking assembly 2, used to lock the adjusted lower limb exoskeleton, which is formed between two adjacent links.

[0007] Preferably, the joint locking assembly 2 includes:

[0008] Gear 22, the non-tooth surface of its outer circumference is set on the connecting rod near the front end of the human body, and it is connected to another connecting rod through the hinge shaft 15 between the two connecting rods;

[0009] A connecting rod away from the front end of the human body has an installation groove 16 and a first guide groove 17. The first guide groove 17 is located on the rear side of the connecting rod, and its groove wall includes a horizontal section 171 and a vertical section 172 communicating with the horizontal section 171. The horizontal section 171 is located near the gear 22. The horizontal section 171 communicates with the installation groove 16. The installation groove 16 extends forward from the wall of the first guide groove 17, and its end face near the gear 22 is an arc-shaped surface and open to allow the slider 21 to move to the tooth surface of the slider 21 to mesh with the gear 22.

[0010] And the connecting rod 23, which is set on the same connecting rod as the slider 21, one end of which is attached to the vertical section 172 and can move along the vertical section 172;

[0011] The slider 21 is slidably connected to the mounting groove 16, and its rear end face is rotatably connected to the connecting rod 23. It can move along the horizontal section 171.

[0012] Preferably, it further includes a limiting block 24, which is detachably disposed on the connecting rod away from the front end of the human body. A groove corresponding to the first guide groove 17 is opened on its front side, and a moving groove 241 is opened on it. The moving groove 241 extends in the vertical direction and is a through groove that connects to the groove. One end of the connecting rod 23 that moves along the vertical section 172 is provided with a pull rod 231. The pull rod 231 can move along the moving groove 241 and extends out of the limiting plate 24.

[0013] Preferably, the moving groove 241 is higher than the horizontal section 171 of the first guide groove 17.

[0014] Preferably, the upper and lower ends of the mounting groove 16 are provided with a second guide groove 161, which is adapted to the slider 22.

[0015] Preferably, the non-tooth surface of the gear 22 is integrally formed with the corresponding connecting rod.

[0016] A method for rapid hip and lumbar adjustment for a lower limb rehabilitation robot includes the following steps:

[0017] Step 1: The patient stands behind the exoskeleton 3 and in front of the link unit;

[0018] Then lift the linkage 23 to unlock all joint lock components 2;

[0019] Step 2: Push the foremost connecting rod inward, and the hip joint 31 of the human exoskeleton 3 moves toward the human body until the hip joint 31 fits against the side of the leg, thereby achieving a match between the width of the human exoskeleton 3 and the patient's hip.

[0020] Step 3: Lock the joint lock assembly 2 corresponding to the foremost link;

[0021] Step 4: Push the remaining linkage inwards to complete the waist adjustment;

[0022] Step 5: Lock the remaining joint lock assembly 2.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] 1. Quick Adaptation: The linkage mechanism synchronously adjusts the horizontal distance of the hip joint (fitting hip width) and the anterior-posterior displacement (fitting body thickness), with a single adjustment time of less than 10 seconds. Specifically:

[0025] 2. Safety locking: The dead-point structure ensures that external forces during movement will not cause accidental unlocking, and the toothed mesh can withstand a torque of ≥200 N·m;

[0026] 3. User-friendly: Unlocking / locking can be completed with one-handed operation of the lever, reducing the complexity of operation for therapists. Attached Figure Description

[0027] Figure 1(a) is a side view of the hip and waist quick adjustment device for the lower limb rehabilitation robot before adjustment;

[0028] Figure 1(b) is a perspective view of the hip and waist quick adjustment device for the lower limb rehabilitation robot before adjustment;

[0029] Figure 2 A top view of the lower limb rehabilitation robot;

[0030] Figure 3 This is a structural diagram of a linkage element;

[0031] Figure 4 A diagram illustrating the connection method between a linkage unit and a spinal fixation device;

[0032] Figure 5 This is a diagram showing the locking state of the joint lock assembly.

[0033] Figure 6 Diagram showing the state of the lever, guide groove 1, slider, and gear in the locked state;

[0034] Figure 7 Diagram showing the meshing state of the slider and gear in the locked state;

[0035] Figure 8 This is a diagram showing the fit between the gear and the end face of the mounting slot.

[0036] Figure 9 This is a diagram showing the position of the slider when it is locked.

[0037] Figure 10 This is a diagram showing the positional relationship between guide groove No. 1 and mounting groove;

[0038] Figure 11This is a schematic diagram showing the position of the limit block;

[0039] Figure 12 This is a diagram showing the positional relationship between the horizontal section of the moving groove and the first guide groove on the limit block;

[0040] Figure 13 This is a 3D view of the slider;

[0041] Figure 14 for Figure 5 Exploded view;

[0042] Figure 15 This is a diagram showing the unlocked state of the joint lock component;

[0043] Figure 16 This is a diagram showing the slider's position in the unlocked state.

[0044] Figure 17 This diagram illustrates the connection between the first link and the hip joint.

[0045] Figure 18 This is a diagram showing the positional relationship between the limit block and the mounting slot.

[0046] Among them, 1-linkage assembly,

[0047] 11. Link 1, 12. Link 2, 13. Link 3

[0048] 14. Spine base; 15. Hinge shaft;

[0049] 16-Mounting slot, 161-Guide slot No. 2,

[0050] 17-Guide groove No. 1, 171-Horizontal section, 172-Vertical section;

[0051] 2-Joint Locking Components

[0052] 21. Slider; 211. Connecting shaft;

[0053] 22. Gear

[0054] 23. Shift lever, 231-Shift lever, 232-Connecting lever

[0055] 24. Limiting block; 241. Moving slot;

[0056] 3-Lower limb exoskeleton, 31. Hip joint. Detailed Implementation

[0057] The hip and lumbar rapid adjustment device and adjustment method for a lower limb rehabilitation robot of the present invention will be described in more detail below with reference to the schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0058] In this embodiment, the "lower limb rehabilitation robot" is the lower limb exoskeleton 3.

[0059] The "front" and "back" directions are defined with the human body as the reference point. The direction facing the front of the human body is the "front" direction.

[0060] A linkage unit consists of 3 links.

[0061] like Figures 1(a) to 18 A hip and lumbar rapid adjustment device for a lower limb rehabilitation robot, comprising:

[0062] Linkage assembly 1, used to adjust the horizontal distance between the lower limb exoskeleton 3 and the human joint so that the lower limb exoskeleton is attached to the side of the leg, includes a pair of linkage units.

[0063] The linkage unit consists of three hinged links: link 11, link 12, and link 13. All links are coaxially connected via hinge shafts. Link 11 is coaxially connected to the internal and external rotation degrees of freedom of the hip joint via a rotating pin.

[0064] The foremost link, namely link 11, is rotatably connected to the hip joint of the lower limb exoskeleton 3, and the rearmost link, namely link 3, is detachably connected to the spine base 14.

[0065] One of the linkage units is located on the left side of the spine base 4, and the other linkage unit is located on the right side of the spine base 4;

[0066] and joint locking assembly 2, used to lock the adjusted lower limb exoskeleton, which is formed between two adjacent links.

[0067] The hinge connection between links will be explained using link 12 (number 2) and link 13 (number 3) as examples:

[0068] like Figure 3 As shown, the two connecting rods are rotatably connected by a hinge shaft 15; the lower end of the hinge shaft 15 is provided with a retaining ring groove, and an open retaining ring (not shown in the figure) is installed on the retaining ring groove.

[0069] Specifically: the hinge shaft 15 is interference-fitted with the shaft hole on the third connecting rod 13; the hinge shaft 15 is clearance-fitted with the gear 22 on the second connecting rod 12 or keyed.

[0070] like Figure 2 , Figure 17 As shown, the specific method of "the first link 11 and the hip joint rotational connection of the lower limb exoskeleton 3" is as follows: the rotating shaft pin is fitted with the first link 11 and the hip joint clearance, and is fixed to the hip joint by the positioning pin.

[0071] like Figure 4 As shown, the specific method of "detachable connection between the third link 13 and the spine base 14" is as follows: the third link 13 is connected to the spine base 14 by fasteners.

[0072] Taking the joint locking assembly 2 of link 12 and link 13 as an example, the structure of the joint locking assembly 2 will be specifically described, including:

[0073] The gear 22 has its non-tooth surface on its outer circumference set on the connecting rod near the front end of the human body, namely the second connecting rod 12, which is connected to the third connecting rod 3 through the hinge shaft 15 between the two connecting rods; wherein, the second connecting rod 12 has an effective adjustable stroke of 150-250mm; the slider 21 has a module of 1.5mm and a meshing depth of ≥3mm.

[0074] Link 3, number 13, is the link furthest from the front of the body, such as... Figure 10 As shown, an installation slot 16 and a guide slot 17 are provided on it.

[0075] The first guide groove 17 is opened on the rear side of the third connecting rod 13. Its groove wall includes a horizontal section 171 and a vertical section 172 connected to the horizontal section 171. The horizontal section 171 is located near the gear 22.

[0076] Horizontal segment 171 communicates with mounting groove 16, which extends forward from the wall of guide groove 17. Therefore, one wall of mounting groove 16 includes a portion of horizontal segment 17, such as... Figure 9 As shown.

[0077] The end face of the mounting groove 16 near the gear 22 is arc-shaped and open to allow the slider 21 to move to the tooth surface of the slider 21 to mesh with the gear 22;

[0078] Preferably, the arc-shaped surface of the mounting groove 16 fits against the outer circumference of the gear 22, such as... Figure 8 As shown.

[0079] The connecting rod 23, which is mounted on the same connecting rod as the slider 21, has one end attached to the vertical section 172 and can move along the vertical section 172. Figure 9 As shown;

[0080] The slider 21 is slidably connected to the mounting groove 16, and its rear end face is rotatably connected to the connecting rod 23. For example... Figure 7 As shown, the connecting shaft 211 and the connecting rod 232 are in clearance fit.

[0081] The slider has a slope angle of 45°±5°, and the surface of the gear teeth of gear 22 is provided with a rubber damping layer to reduce the unlocking impact;

[0082] like Figure 8 As shown, slider 21 can move along horizontal segment 171.

[0083] Limiting block 24, which is detachably mounted on the connecting rod away from the front end of the human body, is mounted on connecting rod number three. Figure 11 As shown, the limiting block 24 is connected to the third connecting rod 13 by fasteners.

[0084] The front side of the limiting block 24 has a groove corresponding to the first guide groove 17, and a moving groove 241 is formed on it. The moving groove 241 extends vertically and is a through groove that connects to the groove. Figure 11 , Figure 18 As shown, the first guide groove 17 is flush with the groove on the limiting block 24 to receive the connecting rod 232.

[0085] When removing the exoskeleton from the human body, the connecting rod 23 at the first connecting rod 11 and the third connecting rod 13 needs to be pulled along the moving groove 241 to disengage the slider 21 from the tooth surface of the gear 22.

[0086] In the above process, in order to prevent excessive manual adjustment and to prevent the lever 23 from disengaging from the connecting shaft 221, a limit block 24 is provided.

[0087] The extreme position during the pulling process is when the lever 231 contacts the top of the moving groove 241.

[0088] like Figure 11 As shown, a pull rod 231 is provided on one end of the connecting rod 23 that moves along the vertical section 172. Specifically, the pull rod 231 is fixed to the connecting rod 232, or has an interference fit with the connecting rod 232.

[0089] The pull rod 231 can move up and down along the moving groove 241, and it extends out of the limiting plate 24. That is, the pull rod 231 can slide along the moving groove 241 to the top.

[0090] like Figure 12 As shown, the moving groove 241 is higher than the horizontal section 171 of the first guide groove 17.

[0091] like Figure 10 As shown, the upper and lower ends of the mounting groove 16 are provided with a second guide groove 161, which is adapted to the slider 22.

[0092] like Figure 7 As shown, the non-tooth surface of gear 22 is integrally formed with the corresponding connecting rod, i.e., with the second connecting rod 12.

[0093] The working principle of the hip and lumbar rapid adjustment device used in lower limb rehabilitation robots:

[0094] (1) The connecting rod 23 moves downward in the moving groove 241 of the limiting block 24, and transmits the motion to the slider 21 through the connecting rod 232. The slider 2-1 moves linearly in the mounting groove 16.

[0095] When slider 21 reaches the end, as Figure 9 As shown, it engages with gear 22 at the hinge to achieve locking at any angle, as shown. Figures 6-7 As shown, at this point, each hinge point forms a dead point structure.

[0096] like Figure 6 As shown, the rear end of the connecting rod 232 abuts against the vertical section 171, and the slider 21 meshes with the gear 22.

[0097] After locking, the joint reaction force is perpendicular to the direction of movement of slider 21, achieving self-reinforcing locking.

[0098] Joint reaction force: The force exerted by gear 22 on slider 21 is in the horizontal direction.

[0099] The direction of movement of slider 21 is vertical.

[0100] (2) The lever 23 moves upward until the slider 21 abuts against the end face of the mounting groove 16 near the vertical section 173, at which point unlocking is achieved. Figure 15 As shown.

[0101] At this point, each link rotates freely.

[0102] For the wearing procedure, please refer to... Figures 1(a) to 1(b) :

[0103] Step 1: The patient stands behind the exoskeleton 3 and in front of the link unit; holding the exoskeleton 3, he positions it sideways on either side of his legs.

[0104] The therapist then lifts lever 23 to unlock all joint locking components 2.

[0105] In the initial state, all joint locking components 2 are locked, and the horizontal and longitudinal distances between the linkage unit and the side of the human body are adjusted to the maximum, so that different patients can stand in front of the linkage unit and behind the exoskeleton 3. This device is adaptable to different patient body thicknesses.

[0106] Step 2: Push the first link 11 inward, and the hip joint 31 of the human exoskeleton 3 moves towards the human body until the hip joint 31 is in contact with the side of the leg.

[0107] The exoskeleton 3 was then worn on the foot.

[0108] This achieves a match between the human exoskeleton 3 and the patient's hip width.

[0109] As shown in Figure 1(b), only the upper part of the human exoskeleton 3 is shown. The human exoskeleton 3 is a prior art material and is worn on the feet.

[0110] Step 3: Press down on the lever 23 on the second link 12 to engage the slider 21 with the gear 22, thus completing the locking between the first link 11 and the second link 12.

[0111] Step 4: Stop when the first link 11, the second link 12, and the third link 13 are in contact with the human body, and the third link 13 is fixed to the fixed base with bolts, so as to adapt to the waist size of different people.

[0112] Step 5: Press down on the lever 23 on the third link 13 to engage the slider 21 with the gear 22, thus completing the locking between the third link 13 and the second link 12.

[0113] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A hip and lumbar rapid adjustment device for a lower limb rehabilitation robot, characterized in that, include: The linkage assembly (1) is used to adjust the horizontal distance between the lower limb exoskeleton and the human joint so that the lower limb exoskeleton can be attached to the side of the leg. It includes a pair of linkage units, each linkage unit including at least 3 linkages that are hinged to each other. The foremost linkage is rotatably connected to the hip joint of the lower limb exoskeleton (3), and the rearmost linkage is detachably connected to the spinal base (14). One linkage unit is located on the left side of the spinal base (4), and the other linkage unit is located on the right side of the spinal base (4). and joint locking assembly (2), used to lock the adjusted lower limb exoskeleton, which is formed between two adjacent links.

2. The hip and lumbar rapid adjustment device for a lower limb rehabilitation robot according to claim 1, characterized in that, The joint lock assembly (2) includes: The gear (22) has its outer circumference non-tooth surface set on the connecting rod near the front end of the human body, and is connected to another connecting rod through the hinge shaft (15) between the two connecting rods; A connecting rod away from the front end of the human body has an installation groove (16) and a first guide groove (17) on it; the first guide groove (17) is located on the rear side of the connecting rod, and its groove wall includes a horizontal section (171) and a vertical section (172) connected to the horizontal section (171). The horizontal section (171) is located near the gear (22). The horizontal section (171) is connected to the installation groove (16). The installation groove (16) extends forward from the wall of the first guide groove (17), and its end face near the gear (22) is an arc-shaped surface and open to allow the slider (21) to move to the tooth surface of the slider (21) to mesh with the gear (22). And a connecting rod (23), which is set on the same connecting rod as the slider (21), one end of which is attached to the vertical section (172) and can move along the vertical section (172); The slider (21) is slidably connected to the mounting groove (16), and its rear end face is rotatably connected to the connecting rod (23), and it can move along the horizontal section (171).

3. The hip and lumbar rapid adjustment device for a lower limb rehabilitation robot according to claim 2, characterized in that, Further including a limiting block (24), which is detachably set on the connecting rod away from the front end of the human body, with a groove corresponding to the first guide groove (17) on its front side, and a moving groove (241) on it, the moving groove (241) extending in the vertical direction, which is a through groove and connects to the groove; one end of the connecting rod (23) that moves along the vertical section (172) is provided with a pull rod (231), the pull rod (231) can move along the moving groove (241), and it extends out of the limiting plate (24).

4. The hip and lumbar rapid adjustment device for a lower limb rehabilitation robot according to claim 3, characterized in that, The moving groove (241) is higher than the horizontal section (171) of the first guide groove (17).

5. The hip and lumbar rapid adjustment device for a lower limb rehabilitation robot according to claim 2, characterized in that, The upper and lower surfaces of the mounting groove (16) are provided with a second guide groove (161), which is adapted to the slider (22).

6. The hip and lumbar rapid adjustment device for a lower limb rehabilitation robot according to claim 1, characterized in that, The non-tooth surface of the gear (22) is integrally formed with the corresponding connecting rod.

7. A method for rapid hip and lumbar adjustment in a lower limb rehabilitation robot, characterized in that, Includes the following steps: Step 1: The patient stands behind the human exoskeleton (3) and in front of the link unit; Then lift the lever (23) to unlock all joint lock components (2); Step 2: Push the frontmost connecting rod inward, and the hip joint (31) of the human exoskeleton (3) moves toward the human body until the hip joint (31) fits against the side of the leg, thereby achieving the matching of the width of the human exoskeleton (3) with the patient's hip. Step 3: Lock the joint lock assembly (2) corresponding to the foremost link; Step 4: Push the remaining linkage inwards to complete the waist adjustment; Step 5: Lock the remaining joint locking components (2).

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