All-posture adjustment movable rehabilitation carrying exoskeleton

Abstract

The invention discloses an all-posture adjustment movable rehabilitation carrying exoskeleton, and relates to the technical field of rehabilitation instruments. The seat comprises a seat mechanism, the seat mechanism comprises a backrest, a cushion, armrests and an inertia measurement unit, and the cushion is movably connected with the backrest through a hinge. Through cooperation of the six-degree-of-freedom posture adjusting mechanism and the inertial measurement unit, six-degree-of-freedom balance compensation of the posture of the seat is achieved, a user is helped to horizontally sit on the seat all the time, and the adaptability, safety and stability of the movable exoskeleton in various terrains are guaranteed; according to the rehabilitation assisting device, rehabilitation of lower limb dysfunction is achieved, rehabilitation assisting of shanks, plantar dorsal flexion rehabilitation assisting of ankles and rehabilitation assisting of ankle inward and outward rotation can be achieved, multi-angle rehabilitation assisting is provided for patients suffering from the lower limb dysfunction, and the rehabilitation assisting device is convenient to go out and can be used for rehabilitation assisting of the patients suffering from the lower limb dysfunction. And lower limb atrophy and movement function decline caused by long-term dependence on movement assistance are effectively prevented.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation equipment technology, and in particular relates to a fully adjustable and movable rehabilitation and transport exoskeleton. Background Technology

[0002] In recent years, the global aging process has accelerated, and the elderly population has continued to expand, leading to a significant increase in the prevalence of lower limb dysfunction. This problem severely restricts the daily activities of the elderly and greatly reduces their quality of life, resulting in a surge in market demand for assistive mobile devices. Full-posture adjustable mobile rehabilitation and transport exoskeletons, with their excellent environmental adaptability, reliable motion performance, and intelligent interactive experience, have become core equipment in the field of social rehabilitation engineering, demonstrating extremely high research and social value in improving the quality of life for the elderly and disabled.

[0003] Currently, for patients with lower limb movement disorders, using ordinary mobility aids for transfer is very difficult and poses safety risks. For example, transferring from a mobile aid to a bed and from a bed to a mobile aid is not something many patients with lower limb movement disorders can do, or they are very prone to tilting, falling, and other safety hazards during the transfer.

[0004] For patients with lower limb dysfunction, simple mobility assistance is no longer sufficient to meet all their needs. Rehabilitation training is equally important. Long-term reliance on mobility assistance can easily lead to leg muscle atrophy and motor function decline. To address this, a fully adjustable, mobile rehabilitation and transport exoskeleton design that integrates lower limb rehabilitation training functions has emerged. The development of this fully adjustable, mobile rehabilitation and transport exoskeleton aims to enable patients to seamlessly switch from daily movement to rehabilitation training, effectively reducing potential risks during equipment transfer and helping patients to carry out leg rehabilitation training anytime, anywhere.

[0005] To address these issues, we provide a fully adjustable, mobile rehabilitation and transport exoskeleton. Summary of the Invention

[0006] The purpose of this invention is to provide a fully adjustable, movable rehabilitation and transport exoskeleton. Through the structural cooperation of a seat lateral movement mechanism, a six-degree-of-freedom balance compensation mechanism, and a lower limb exoskeleton rehabilitation mechanism, it can achieve different balance compensation effects according to different road conditions, so that the seat always remains horizontal. While meeting the daily travel needs of the elderly and disabled, it improves travel safety and posture stability, and can also realize functions such as assisting in getting into bed, and provide lower limb rehabilitation training functions anytime and anywhere.

[0007] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution.

[0008] This invention relates to a fully adjustable, movable rehabilitation and transport exoskeleton, comprising a seat mechanism including a backrest, a seat cushion, armrests, and an inertial measurement unit. The seat cushion and backrest are hinged together, and the armrests are movably connected to one side of the backrest. A directional rocker and a control panel are mounted on the top of the armrests. A lateral movement mechanism is located at the bottom of the seat mechanism, driving it to move laterally in the horizontal direction. A six-degree-of-freedom (DOF) balance compensation mechanism is located at the bottom of the lateral movement mechanism, wirelessly connected to the inertial measurement unit, for adjusting the seat cushion's posture according to road conditions to maintain horizontality. A lower limb exoskeleton rehabilitation mechanism is located on one side of the seat mechanism, used for rehabilitation training of the patient's lower limbs. A drive mechanism is located at the bottom of the seat mechanism, providing power for its movement.

[0009] The present invention is further configured such that the seat lateral movement mechanism includes a first seat base plate installed at the bottom of the seat cushion, a second seat base plate disposed at the bottom of the seat cushion, a drive motor installed at the top of the second seat base plate, a coupling installed at the output end of the drive motor, a lead screw installed at the other end of the coupling, a slider threaded to the surface of the lead screw, and a slide rail fixedly connected to the top of the second seat base plate.

[0010] The present invention is further configured such that the top end of the slider is fixedly connected to the first base plate of the seat, the bottom end of the slider is slidably connected to the slide rail, a bearing seat is movably connected to the surface of the lead screw, and one side of the bearing seat is fixedly connected to the second base plate of the seat.

[0011] The present invention is further configured such that the six-degree-of-freedom balance compensation mechanism includes a base disposed at the bottom of the second base plate of the seat, an electric push rod disposed at the top of the base, and two sets of Hooke hinges movably connected to the top and bottom of the electric push rod, the other ends of the two sets of Hooke hinges being fixedly connected to the second base plate of the seat and the base, respectively.

[0012] The invention is further configured such that there are six sets of electric actuators, the inertial measurement unit detects the posture of the seat cushion in real time, the control panel calculates the required extension and retraction of each electric actuator based on the posture data, and controls each electric actuator to move independently, so as to realize the posture adjustment and balance compensation of the seat cushion in six degrees of freedom.

[0013] The present invention is further configured such that the lower limb exoskeleton rehabilitation mechanism includes two sets of drive motors installed at the bottom of the second base plate of the seat, an extension rod installed at the conveying end of the two sets of drive motors, and a foot and ankle rehabilitation component and a foot and ankle internal and external rotation rehabilitation component disposed on one side of the extension rod.

[0014] The present invention is further configured such that the foot and ankle rehabilitation component includes a second drive motor movably connected to the other end of the extension rod, a pedal installed at the output end of the second drive motor, a third drive motor installed at the top of the pedal, a rotating plate installed at the output end of the third drive motor, and a plantar pressure sensor installed on one side of the rotating plate. Through the foot and ankle rehabilitation component, plantar flexion and dorsiflexion rehabilitation assistance of the foot and ankle can be realized. A vertical arc-shaped limiting groove is slidably connected to one side of the rotating plate through a fixed shaft, and one side of the vertical arc-shaped limiting groove is fixedly connected to the pedal.

[0015] The present invention is further configured such that the foot and ankle internal and external rotation rehabilitation component includes a drive motor four installed on the top of the rotating plate and a foot plate installed on the output end of the drive motor four. The internal and external rotation rehabilitation component of the foot and ankle realizes rehabilitation assistance for internal and external rotation of the foot and ankle. The top of the rotating plate is provided with a horizontal arc-shaped limiting groove, and the bottom of the foot plate is slidably connected to the inner wall of the horizontal arc-shaped limiting groove through a fixing block.

[0016] The present invention is further configured such that the foot and ankle rehabilitation component also includes a binding strap fixedly connected to the top of the footplate for fixing the user's foot to the footplate.

[0017] The present invention is further configured such that the driving mechanism includes a battery compartment installed on the top of the base, a power battery installed inside the battery compartment, a drive motor five and a drive motor six installed on the top of the base, a reducer installed at the output end of the drive motor five and the drive motor six, a rear wheel installed at the output end of the reducer, a front wheel movably connected to one side of the base, and an auxiliary wheel movably connected to one side of the base.

[0018] The present invention has the following beneficial effects.

[0019] 1. This invention achieves six-degree-of-freedom balance compensation for seat posture through the cooperation of a six-degree-of-freedom posture adjustment mechanism and an inertial measurement unit, helping users to always sit horizontally on the seat. This ensures the adaptability, safety, and stability of the movable exoskeleton in various terrains. Through the lower limb rehabilitation mechanism, it achieves rehabilitation for lower limb dysfunction, providing rehabilitation assistance for the calf, plantar dorsiflexion rehabilitation assistance for the foot and ankle, and rehabilitation assistance for internal and external rotation rehabilitation of the foot and ankle. It provides multi-angle rehabilitation assistance for patients with lower limb dysfunction, facilitating travel while effectively preventing lower limb atrophy and motor function decline caused by long-term reliance on mobility aids.

[0020] 2. This invention, through a seat lateral movement mechanism, helps patients with lower limb movement disorders to move horizontally and laterally, enabling functions such as assisted transfer and assisted bed getting, greatly facilitating the lives of patients with lower limb movement disorders.

[0021] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0023] Figure 1 This is a three-dimensional diagram of a fully adjustable, movable rehabilitation and transport exoskeleton.

[0024] Figure 2 This is a schematic diagram of the lateral movement mechanism of the seat in a fully adjustable and movable rehabilitation and transport exoskeleton.

[0025] Figure 3 This is a schematic diagram of a six-degree-of-freedom balance compensation mechanism in a fully adjustable, mobile rehabilitation and transport exoskeleton.

[0026] Figure 4 This is a schematic diagram of the lower limb exoskeleton rehabilitation mechanism in a fully adjustable and movable rehabilitation and transport exoskeleton.

[0027] In the attached diagram: 1. Backrest; 2. Seat cushion; 3. Armrest; 4. Steering lever; 5. Control panel; 6. First seat base plate; 7. Coupling; 8. Lead screw; 9. Slider; 10. Slide rail; 11. Bearing seat; 12. Second seat base plate; 13. Electric actuator; 14. Hooke hinge; 15. Base; 16. Reducer; 17. Power battery; 18. Drive motor two; 19. Auxiliary wheel; 20. Drive motor one; 21. Extension rod; 22. Drive motor three; 23. Pedal; 24. Footrest; 25. Binding strap; 26. Vertical arc-shaped limiting groove; 27. Drive motor four; 28. Horizontal arc-shaped limiting groove; 29. ​​Rotating plate; 30. Battery compartment; 31. Drive motor six; 32. Front wheel; 33. Rear wheel; 34. Drive motor five. Detailed Implementation

[0028] The technical solutions of the present invention will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present invention, and not all embodiments. Example 1

[0029] Please see Figures 1-4This invention relates to a fully adjustable, movable rehabilitation and transport exoskeleton, comprising a seat mechanism including a backrest 1, a seat cushion 2, armrests 3, and an inertial measurement unit. The seat cushion 2 is hinged to the backrest 1, and the armrests 3 are movably connected to one side of the backrest 1. A directional rocker arm 4 and a control panel 5 are mounted on the top of the armrests 3. A lateral movement mechanism is located at the bottom of the seat mechanism, used to drive the seat mechanism to move laterally in the horizontal direction. A six-degree-of-freedom balance compensation mechanism is located at the bottom of the lateral movement mechanism, wirelessly connected to the inertial measurement unit, used to adjust the posture of the seat cushion 2 according to road conditions to maintain horizontality. A lower limb exoskeleton rehabilitation mechanism is located on one side of the seat mechanism, used for rehabilitation training of the patient's lower limbs. A drive mechanism is located at the bottom of the seat mechanism, providing power for the movement of the seat mechanism.

[0030] Specifically: The seat cushion 2 and backrest 1 are hinged together, providing an adjustable backrest angle to suit the comfort needs of different patients. The armrest 3 is movably connected to one side of the backrest 1, providing arm support and enhancing stability. A directional rocker arm 4 and a control panel 5 are located at the top of the armrest 3. The directional rocker arm 4 is used to intuitively control the movement direction of the device, while the control panel 5 integrates a functional interface, enabling convenient control of the exoskeleton by the patient. A lateral movement mechanism is located at the bottom of the seat mechanism, which drives the seat to move laterally in the horizontal direction, particularly assisting patients in lateral transfers such as getting in and out of bed, significantly reducing the risk of falls during transfers. To enhance safety, the seat's lateral movement mechanism features a six-degree-of-freedom balance compensation mechanism at its bottom. This mechanism, wirelessly connected to the inertial measurement unit, can detect road conditions in real time and dynamically adjust the seat cushion's posture, ensuring the seat remains level under any road conditions. This significantly improves riding comfort and safety. A lower limb exoskeleton rehabilitation mechanism is located on one side of the seat mechanism. This mechanism provides systematic rehabilitation training for the patient's lower limbs, covering multiple areas such as the calf and ankle, helping to slow muscle atrophy and promote the recovery of motor function. A drive mechanism is located at the bottom of the seat mechanism, providing stable power to the entire exoskeleton system and supporting the device's movement needs in various environments. Example 2

[0031] Please see Figures 1-4Based on Embodiment 1, the seat lateral movement mechanism includes a first seat base plate 6 installed at the bottom of the seat cushion 2, a second seat base plate 12 installed at the bottom of the seat cushion 2, a drive motor installed at the top of the second seat base plate 12, a coupling 7 installed at the output end of the drive motor, a lead screw 8 installed at the other end of the coupling 7, a slider 9 threadedly connected to the surface of the lead screw 8, and a slide rail 10 fixedly connected to the top of the second seat base plate 12. The top end of the slider 9 is fixedly connected to the first seat base plate 6, and the bottom end of the slider 9 is slidably connected to the slide rail 10. A bearing seat 11 is movably connected to the surface of the lead screw 8, and one side of the bearing seat 11 is fixedly connected to the second seat base plate 12. The six-degree-of-freedom balance compensation mechanism includes a base 15 installed at the bottom of the second seat base plate 12, an electric actuator 13 installed at the top of the base 15, and two sets of Hooke hinges 14 movably connected to the top and bottom ends of the electric actuator 13. The other ends of the two sets of Hooke hinges 14 are fixedly connected to the second seat base plate and the base 15, respectively.

[0032] Specifically: The seat lateral movement mechanism includes a first seat base plate 6 installed at the bottom of the seat cushion 2, a second seat base plate 12 located at the bottom of the seat cushion 2, a drive motor installed at the top of the second seat base plate 12, a coupling 7 installed at the output end of the drive motor, a lead screw 8 installed at the other end of the coupling 7, a slider 9 threadedly connected to the surface of the lead screw 8, and a slide rail 10 fixedly connected to the top of the second seat base plate 12. The servo motor drives the lead screw 8 to move the slider 9 along the slide rail 10, thereby achieving smooth and precise lateral displacement of the seat. The top of the slider 9 is fixedly connected to the first seat base plate 6, and the bottom of the slider 9 is slidably connected to the slide rail 10 to ensure stability and low friction during movement. A bearing seat 11 is movably connected to the surface of the lead screw 8, and one side of the bearing seat 11 is fixedly connected to the second seat base plate 12, effectively separating the two sides of the seat. The radial load on the lead screw 8 is reduced, extending the service life of the mechanism. The six-degree-of-freedom balance compensation mechanism includes a base 15 located at the bottom of the second base plate 12 of the seat, an electric actuator 13 located at the top of the base 15, and two sets of Hooke hinges 14 movably connected to the top and bottom of the electric actuator 13. The other ends of the two sets of Hooke hinges 14 are fixedly connected to the second base plate of the seat and the base 15 respectively. The Hooke hinges 14 enable flexible rotation with multiple degrees of freedom. The extension and retraction of the electric actuators 13 complete complex posture adjustments. There are six sets of electric actuators 13. The inertial measurement unit detects the posture of the seat cushion 2 in real time. The control panel 5 calculates the required extension and retraction of each electric actuator 13 based on the posture data and controls each electric actuator 13 to move independently, realizing high-precision posture adjustment and real-time balance compensation of the seat cushion 2 in six degrees of freedom, adapting to rugged or inclined road surfaces. Example 3

[0033] Please see Figures 1-4Based on Embodiments 1 and 2, there are six sets of electric actuators 13. The inertial measurement unit detects the posture of the seat cushion 2 in real time. The control panel 5 calculates the required extension amount of each electric actuator 13 based on the posture data and controls the independent movement of each electric actuator 13 to achieve posture adjustment and balance compensation of the seat cushion 2 in six degrees of freedom. The lower limb exoskeleton rehabilitation mechanism includes two sets of drive motors 20 installed at the bottom of the second base plate 12 of the seat, extension rods 21 installed at the conveying ends of the two sets of drive motors 20, and extension rods 21 set on the extension rods. The ankle rehabilitation component and ankle internal / external rotation rehabilitation component are located on one side of the extension rod 21. The ankle rehabilitation component includes a second drive motor 18 movably connected to the other end of the extension rod 21, a pedal 23 installed at the output end of the second drive motor 18, a third drive motor 22 installed on the top of the pedal 23, a rotating plate 29 installed at the output end of the third drive motor 22, and a plantar pressure sensor installed on one side of the rotating plate 29. Through the ankle rehabilitation component, plantar flexion and dorsiflexion rehabilitation assistance of the ankle is achieved. A vertical shaft is slidably connected to one side of the rotating plate 29. An arc-shaped limiting groove 26 is provided, with one side of the vertical arc-shaped limiting groove 26 fixedly connected to the pedal 23. The ankle internal and external rotation rehabilitation component includes a drive motor 27 mounted on the top of the rotating plate 29 and a foot plate 24 mounted on the output end of the drive motor 27. The ankle internal and external rotation rehabilitation component provides rehabilitation assistance for internal and external rotation of the ankle. A horizontal arc-shaped limiting groove 28 is provided on the top of the rotating plate 29, and the bottom of the foot plate 24 is slidably connected to the inner wall of the horizontal arc-shaped limiting groove 28 through a fixing block. The ankle rehabilitation component also includes a component fixedly connected to the top of the foot plate 24. The binding strap 25 is used to fix the user's feet to the foot plate 24. The drive mechanism includes a battery compartment 30 installed on the top of the base 15, a power battery 17 installed inside the battery compartment 30, a drive motor 5 34 and a drive motor 6 31 installed on the top of the base 15, a reducer 16 installed at the output end of the drive motor 5 34 and the drive motor 6 31, a rear wheel 33 installed at the output end of the reducer 16, a front wheel 32 movably connected to one side of the base 15, and an auxiliary wheel 19 movably connected to one side of the base 15.

[0034] Specifically, the lower limb exoskeleton rehabilitation mechanism includes two sets of drive motors 20 installed at the bottom of the second base plate 12 of the seat, an extension rod 21 installed at the conveying end of the two sets of drive motors 20, and a foot and ankle rehabilitation component and a foot and ankle internal and external rotation rehabilitation component set on one side of the extension rod 21. The motor drives the lower leg to achieve lower leg elevation and multi-directional ankle rehabilitation training. The drive motor 22 drives the rotating plate 29 to move along the vertical arc-shaped limiting groove 26 to achieve ankle plantar flexion and dorsiflexion rehabilitation training. The plantar pressure sensor monitors the force in real time to adjust the amount of assistance. The drive motor 27 drives the foot plate 24 to rotate along the horizontal arc-shaped limiting groove 28 to achieve ankle internal and external rotation rehabilitation training, enhancing ankle flexibility and muscle control. The foot and ankle rehabilitation component also includes a component fixedly connected to the top of the foot plate 24. The binding strap 25 is used to securely fix the user's feet to the foot plate 24 to prevent slipping or falling off during training, thereby improving the safety and effectiveness of training. The drive mechanism includes a battery compartment 30 installed on the top of the base 15, a power battery 17 installed inside the battery compartment 30 to provide long-lasting and stable power support for the entire system, drive motor 5 34 and drive motor 6 31 installed on the top of the base 15, a reducer 16 installed at the output end of drive motor 5 34 and drive motor 6 31, a rear wheel 33 installed at the output end of reducer 16, and a front wheel 32 movably connected to one side of the base 15. Flexible steering and smooth movement are achieved through dual-motor differential control. An auxiliary wheel 19 is movably connected to one side of the base 15 to further enhance the equipment's passability and stability on complex terrain.

[0035] The working principle of this invention is as follows: After adjusting the backrest 1 and armrest 3 to a comfortable position, adjust the leg extension bar 21 through the control panel 5 on the armrest 3, place the foot on the footboard 24, so that the leg and foot are in a comfortable position, and complete the adjustment, adaptation and wearing of the exoskeleton.

[0036] Reference Figure 1 As shown, the exoskeleton's forward, backward, left, and right movements are controlled by the directional joystick 4 on the handrail 3. When the directional joystick 4 is pushed forward, the drive motor 5 34 rotates, transmitting the rotation to the reducer 16, which drives the rear wheel 33 to rotate, thus enabling the exoskeleton to move forward. Pushing the directional joystick 4 backward causes the exoskeleton to move backward. Similarly, when the directional joystick 4 is pushed to the left, the speed of the right drive motor 5 34 is higher than that of the left drive motor 6 31. The difference in speed between the left and right motors enables the exoskeleton to turn left, and pushing the directional joystick 4 to the right enables the exoskeleton to turn right.

[0037] Reference Figure 1 As shown, the height of the seat cushion 2 is adjusted by the control panel 5. When the control panel 5 issues a command to raise the seat cushion 2, the controller of the control panel 5 calculates the extension length of the electric push rod 13 through inverse kinematics. Subsequently, the six electric push rods 13 extend, and the Hooke joint 14 rotates accordingly, so as to raise the seat cushion 2. The process of lowering the seat cushion 2 is the same.

[0038] Reference Figure 2 As shown, taking assisted bed-getting as an example, the exoskeleton is moved to the edge of the bed, and the seat cushion 2 is raised above the bed position. The lateral movement function of the seat cushion 2 is selected through the control panel 5, which controls the servo motor to drive the lead screw 8 to rotate. The lead screw 8 drives the slider 9 to move. The top of the slider 9 cooperates with the first base plate of the seat cushion 2, thereby realizing the lateral movement of the seat cushion 2. The first base plate of the seat cushion 2 is in direct contact with the bed and is placed on the bed, which shortens the distance between the patient and the bed while providing greater support, effectively improving stability, preventing lateral tilting, and safely assisting the user to get into bed. The exoskeleton can retract the seat cushion 2 by selecting the movement completion option on the control panel 5.

[0039] Reference Figure 3 As shown, when the exoskeleton moves to an uneven surface, the inertial measurement unit on the seat 2 provides the seat 2's posture and acceleration data. The controller performs inverse kinematics calculations to determine the required extension length of each electric actuator 13. This data is then fed back to each actuator 13, causing them to extend by their respective amounts, ultimately achieving a horizontal position for the seat 2. Simultaneously, the drive motor 20 rotates at a corresponding angle, and the extension rod 21 extends and retracts accordingly. This eliminates discomfort to the legs caused by the six-degree-of-freedom posture adjustment mechanism when adjusting the seat 2's posture. Taking an uphill slope as an example, the inertial measurement unit detects that the current posture is higher in the front and lower in the back, transmitting the data to the controller. After the controller performs inverse motion calculation, the four rear electric actuators 13 extend significantly, causing the rear of the seat cushion 2 to rise and achieve balance compensation for the seat cushion 2. At the same time, the drive motor 20 rotates, causing the extension rod 21 to rotate upward, making the leg posture more natural. Taking the exoskeleton traveling on a road surface that is higher on the left and lower on the right as an example, the inertial measurement unit detects that the current posture is higher on the left and lower on the right, transmits the data to the controller, and after performing inverse motion calculation, the right electric actuator 13 extends significantly, causing the right side of the seat cushion 2 to rise and achieve balance compensation for the seat cushion 2. The six-degree-of-freedom posture adjustment mechanism can cope with the imbalance problem of the seat cushion 2 caused by various complex terrains and can perform balance compensation.

[0040] Reference Figure 4 As shown, when the user needs rehabilitation assistance, after placing the foot into the footplate 24, the foot is fixed to the footplate 24 by the binding strap 25. The user selects the calf rehabilitation mode on the control panel 5 to achieve rehabilitation assistance for the calf. At this time, the drive motor 1 20 is controlled to rotate, driving the extension rod 21 to rotate, so that the calf is raised, thus achieving rehabilitation assistance for the calf. The user can also select the ankle plantar dorsiflexion rehabilitation mode. The required amount of assistance is calculated by the plantar pressure sensor, and the drive motor 3 22 is controlled to rotate, driving the footplate 24 to rotate along the vertical arc-shaped limiting groove 26, thus achieving rehabilitation assistance for ankle plantar dorsiflexion. The user can also select the ankle internal and external rotation rehabilitation mode. The required amount of assistance is calculated by the plantar pressure sensor, and the drive motor 4 27 is controlled to rotate, driving the footplate 24 to rotate along the horizontal arc-shaped limiting groove 28, thus achieving rehabilitation assistance for ankle internal and external rotation.

[0041] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A full-attitude-adjustable mobile rehabilitation transfer exoskeleton comprising a seating mechanism, characterized in that: The seat mechanism comprises a backrest (1), a seat cushion (2), an armrest (3) and an inertial measurement unit, the seat cushion (2) is movably connected with the backrest (1) through a hinge, the armrest (3) is movably connected on one side of the backrest (1), and the top of the armrest (3) is provided with a direction rocker (4) and a control panel (5); The seat mechanism is provided with a seat transverse moving mechanism at the bottom, and the seat transverse moving mechanism is used for driving the seat mechanism to move transversely in the horizontal direction; The seat transverse moving mechanism is provided with a six-degree-of-freedom balance compensation mechanism at the bottom, the six-degree-of-freedom balance compensation mechanism is connected with the inertial measurement unit through wireless connection, and is used for adjusting the posture of the seat cushion (2) according to the road condition to keep horizontal; The seat mechanism is provided with a lower limb exoskeleton rehabilitation mechanism on one side, and the lower limb exoskeleton rehabilitation mechanism is used for rehabilitation training of the lower limbs of a patient; The seat mechanism is provided with a driving mechanism at the bottom, and the driving mechanism is used for providing power for the movement of the seat mechanism.

2. The full-gait-adjustable mobile rehabilitation transfer exoskeleton according to claim 1, characterized in that: The seat transverse moving mechanism comprises a seat first bottom plate (6) mounted at the bottom of the seat cushion (2), a seat second bottom plate (12) arranged at the bottom of the seat cushion (2), a driving motor mounted at the top of the seat second bottom plate (12), a shaft coupling (7) mounted at the output end of the driving motor, a lead screw (8) mounted at the other end of the shaft coupling (7), a sliding block (9) threadedly connected to the surface of the lead screw (8), and a sliding rail (10) fixedly connected to the top of the seat second bottom plate (12).

3. The full-gait-adjustable mobile rehabilitation transfer exoskeleton according to claim 2, characterized in that: The top end of the sliding block (9) is fixedly connected with the seat first bottom plate (6), the bottom of the sliding block (9) is slidably connected with the sliding rail (10), the surface of the lead screw (8) is movably connected with a bearing seat (11), and one side of the bearing seat (11) is fixedly connected with the seat second bottom plate (12).

4. The full-gait-adjustable mobile rehabilitation transfer exoskeleton according to claim 1, characterized in that: The six-degree-of-freedom balance compensation mechanism comprises a base (15) arranged at the bottom of the seat second bottom plate (12), an electric push rod (13) arranged at the top of the base (15), two groups of hook hinges (14) movably connected at the top end and the bottom end of the electric push rod (13), and the other ends of the two groups of hook hinges (14) are fixedly connected with the seat second bottom plate (12) and the base (15) respectively.

5. The full-gait-adjustable mobile rehabilitation transfer exoskeleton according to claim 4, characterized in that: There are six groups of the electric push rods (13), the inertial measurement unit detects the posture of the seat cushion (2) in real time, the control panel (5) calculates the required extension amount of each electric push rod (13) according to the posture data, and controls independent actions of each electric push rod (13), so as to realize posture adjustment and balance compensation of the seat cushion (2) in six degrees of freedom.

6. The full-gait-adjustable mobile rehabilitation transfer exoskeleton according to claim 1, characterized in that: The lower limb exoskeleton rehabilitation mechanism comprises two groups of driving motors (20) mounted at the bottom of the seat second bottom plate (12), elongated rods (21) arranged at the conveying ends of the two groups of driving motors (20), an ankle rehabilitation assembly and an ankle medial-lateral rotation rehabilitation assembly arranged on one side of the elongated rod (21).

7. The full-gait-adjustable mobile rehabilitation transfer exoskeleton according to claim 6, characterized in that: The ankle rehabilitation assembly includes a driving motor two (18) movably connected to the other end of the elongated rod (21), a pedal (23) installed at the output end of the driving motor two (18), a driving motor three (22) installed at the top of the pedal (23), a rotating plate (29) installed at the output end of the driving motor three (22), a plantar pressure sensor installed at one side of the rotating plate (29), through the ankle rehabilitation assembly, the plantar flexion and dorsiflexion rehabilitation of the ankle is achieved, one side of the rotating plate (29) is slidably connected with a vertical arc-shaped limiting groove (26) through a fixed shaft, and one side of the vertical arc-shaped limiting groove (26) is fixedly connected with the pedal (23).

8. The full-gait adjustable mobile rehabilitation transfer exoskeleton according to claim 6, wherein: The ankle rehabilitation assembly includes a driving motor two (18) movably connected to the other end of the elongated rod (21), a pedal (23) installed at the output end of the driving motor two (18), a driving motor three (22) installed at the top of the pedal (23), a rotating plate (29) installed at the output end of the driving motor three (22), a plantar pressure sensor installed at one side of the rotating plate (29), through the ankle rehabilitation assembly, the plantar flexion and dorsiflexion rehabilitation of the ankle is achieved, one side of the rotating plate (29) is slidably connected with a vertical arc-shaped limiting groove (26) through a fixed shaft, and one side of the vertical arc-shaped limiting groove (26) is fixedly connected with the pedal (23).

9. The full-gait adjustable mobile rehabilitation transfer exoskeleton according to claim 6, wherein: The ankle rehabilitation assembly further includes a binding belt (25) fixedly connected to the top of the foot plate (24), which is used for fixing the user's feet on the foot plate (24).

10. The full-gait adjustable mobile rehabilitation transfer exoskeleton according to claim 1, wherein: The driving mechanism includes a battery compartment (30) installed at the top of the base (15), a power battery (17) installed inside the battery compartment (30), a driving motor five (34) and a driving motor six (31) installed at the top of the base (15), a speed reducer (16) installed at the output end of the driving motor five (34) and the driving motor six (31), a rear wheel (33) installed at the output end of the speed reducer (16), a front wheel (32) movably connected to one side of the base (15), and an auxiliary wheel (19) movably connected to one side of the base (15).

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