An intelligent exoskeleton robot for lower limb rehabilitation treatment

Abstract

The application relates to the technical field of intelligent exoskeletons, and discloses an intelligent exoskeleton robot for lower limb rehabilitation treatment, a control equipment box is fixedly installed in the middle of one side of the support frame, a connecting box is connected to the side of the lifting frame, a hip joint is installed on one side of the connecting box, a knee joint is connected to the bottom of the hip joint, an ankle joint is connected to the bottom of the knee joint, the hip joint, the knee joint and the ankle joint are all constrained on the hip, the knee and the ankle in a binding mode, the elastic built-in capsule of the application is driven by liquid pressure to adaptively expand and deform towards the waist, and the gap and the concave-convex between the air-permeable layer and the human waist are sequentially filled, so that the elastic built-in capsule and the air-permeable layer can be wrapped around the waist in a mode conforming to the waist curve of the human body; and the combination constraint of the rigid clamping arc plate and the liquid adaptive gasket effectively improves the compactness and stability of the waist constraint, and avoids oppression and displacement caused by local stress concentration.

Description

Technical Field

[0001] This invention relates to the field of intelligent exoskeleton technology, specifically to an intelligent exoskeleton robot for lower limb rehabilitation. Background Technology

[0002] A smart exoskeleton is an exoskeleton device that integrates electronic devices to enhance the wearer's physical abilities. It is typically used to improve the strength and efficiency of the human body when performing specific tasks. Smart exoskeletons have already shown great application potential in many fields such as medical rehabilitation, military training, and industrial production. As a high-tech wearable device, a smart exoskeleton can provide the wearer with enhanced physical abilities and power support. The device typically includes a mechanical frame, power source, sensors, and control system. The wearer's movements can trigger the sensors, which in turn activate the power source, thereby creating coordination between the exoskeleton and the wearer's movements. A smart exoskeleton used for lower limb rehabilitation is an advanced rehabilitation assistive device that can provide support and assistance to patients who need lower limb rehabilitation. By mimicking the normal walking pattern of humans, it helps patients to carry out rehabilitation training, thereby helping patients to restore the motor function of their lower limbs. In the current practical use of rehabilitation exoskeletons, the waist is a key load-bearing node connecting the upper and lower body, and also the reference position for binding and restraint. Traditional waist restraint uses a combination of rigid clamping arc plates and adjusting screws / buckles for limiting. However, rigid arc plates cannot adapt to the physiological curvature of the human waist, nor can they match the waist curves of different rehabilitation personnel. They have poor adaptability to people of different body types, and are prone to the phenomenon of being tight at the top and loose at the bottom and having the sides suspended, resulting in local pressure concentration and unstable restraint. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an intelligent exoskeleton robot for lower limb rehabilitation, solving the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an intelligent exoskeleton robot for lower limb rehabilitation, comprising a support frame, wherein a bracket is connected vertically to the middle of one side of the support frame, and a control device box is fixedly installed in the middle of one side of the support frame; A connecting box is connected to the side of the lifting frame. A hip joint is installed on one side of the connecting box. A knee joint is connected to the bottom of the hip joint. An ankle joint is connected to the bottom of the knee joint. The hip joint, knee joint and ankle joint are all restrained at the hip, knee and ankle by binding. A bidirectional electric slide rail is embedded in the side of the connecting box. A drive block is slidably connected to both sides of the bidirectional electric slide rail. A connecting seat is fixedly connected to one end of the drive block. A clamping arc plate is fixedly connected to the side end of the connecting seat. An elastic built-in bladder is fixedly connected to the inner side wall of the clamping arc plate. A liquid collection box is embedded inside the connecting box, and the side of the liquid collection box is connected to the top of the connecting seat through a liquid guiding corrugated pipe. The elastic built-in bladder has a deformation chamber inside, and a distribution hose is uniformly embedded inside the deformation chamber. The distribution hose has liquid distribution holes uniformly opened on its side, and a concentration groove is opened inside the connecting seat.

[0005] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, the controller is integrated and installed in the control equipment box, and the hip joint and knee joint adopt the SEA architecture of motor, harmonic reducer and torque sensor, and spring and joint are arranged in series. The bracket is telescopically fitted inside the lifting frame. The top center of the control equipment box is connected to a lifting cylinder that drives the lifting frame to rise and slide. Universal wheels are installed at the bottom corners of the support frame. Both sides of the connecting box are connected to handrails. A connecting block is fitted on the outer side of the handrail. A support plate is connected to the top of the connecting block. An assembly seat is connected to the bottom of the connecting block. The connecting block is connected to the hip joint through the assembly seat.

[0006] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, the bottom of the hip joint is connected to the knee joint through a connecting arm, the bottom of the knee joint is connected to the ankle joint through a connecting arm, the tops of the knee joint and the ankle joint are both connected to the connecting arm through quick-release connectors, and a foot pedal is connected to the side of the ankle joint. The assembly base and quick-release connector adopt QSP quick-release interface and are automatically aligned and connected through electrical connector.

[0007] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment according to the present invention, a bidirectional lead screw is provided inside the bidirectional electric slide rail, and the bidirectional lead screw is driven by a servo motor. The bidirectional lead screw drives two drive blocks inside the bidirectional electric slide rail to move synchronously in the same or opposite directions.

[0008] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, a breathable layer is fixedly bonded to the inner side wall of the elastic built-in sac, the liquid collection box is filled with heat-conducting liquid, and the liquid collection box delivers the heat-conducting liquid to the liquid-conducting corrugated pipe by pumping. The liquid-conducting corrugated pipe slides and expands synchronously with the connecting seat. The inner side wall of the connecting seat is provided with guide holes corresponding to the inlet positions of the flexible hoses, and a heating plate is embedded in the side of the connecting seat.

[0009] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, an adjustable binding ring is connected to one side of the bottom connecting arm of the hip joint and the knee joint, and a deflection binding ring is rotatably connected to the other side of the connecting arm. The deflection binding ring is deflected by a first motor. The adjustable binding ring and the deflection binding ring are provided with combination grooves on opposite sides. The foot pedal is provided with a binding strap on the outside, and a fastening strap is connected to one end of the binding strap. A rotating seat is installed on the side of the foot pedal, and a take-up reel is rotatably connected to the inside of the rotating seat. The take-up reel is driven to rotate by a second motor, and the fastening strap is fixed to the edge of the take-up reel.

[0010] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, the adjustable binding ring and the deflection binding ring are rotatably connected to the side of the connecting arm through a rotating seat. The first motor drives the rotating shaft connected to the deflection binding ring to deflect. The adjustable binding ring and the deflection binding ring are combined and spliced ​​to form an arc structure. Rubber air cushions are provided on the inner sidewalls of the adjustable binding ring, the deflection binding ring and the binding strap.

[0011] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, the bracket is connected to the support frame through the sleeve at its bottom end and the drive arm. The bracket is fixedly installed on the top of the sleeve. The drive arm is embedded and slidably connected inside the sleeve. The sleeve is provided with a telescopic cavity. The end of the drive arm is connected to a sealing plug plate at the position inside the telescopic cavity. A sliding plate is provided inside the sleeve on one side of the sealing plug plate. A connecting groove is provided on the edge of the sleeve corresponding to the center position of the sliding plate. An electromagnetic adsorption plate is provided inside the sleeve on one side of the sliding plate. The sliding plate and the electromagnetic adsorption plate are connected by a connecting spring, and an adsorption block is provided on the side of the sliding plate. An infusion tube is connected to the edge of the sleeve corresponding to the connecting groove. A pumping box is installed on the edge of the sleeve. The input end of the infusion tube is connected to the output end of the pumping box. A distance measuring sensor is embedded in the inner side of the front end of the support frame.

[0012] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, the control equipment box is fixedly installed on the side of the sleeve, the drive arm slides tightly along the telescopic cavity through the sealing plug plate, the side of the sliding plate is provided with a sealing sleeve, and the sliding plate seals the connecting groove through the sealing sleeve, the ranging sensor is electrically connected to the controller inside the control equipment box, and the electromagnetic adsorption plate and the delivery pump inside the pumping liquid box are both started by receiving control commands from the controller, and the pumping liquid box is filled with hydraulic fluid.

[0013] As a preferred technical solution of the intelligent exoskeleton robot for lower limb rehabilitation treatment of the present invention, the two sides of the connecting box are connected to adjusting sleeves, the inner wall of the adjusting sleeve is embedded and slidably connected to a sliding frame, and the top side of the adjusting sleeve is connected to the liquid collection box through a liquid delivery pipe. The liquid collection box delivers its internal heat-conducting liquid to the liquid delivery pipe and the liquid-conducting corrugated pipe by pumping, and the end of the sliding frame is tightly fitted along the inner wall of the adjusting sleeve by a sealing block.

[0014] Compared with the prior art, the present invention provides an intelligent exoskeleton robot for lower limb rehabilitation therapy, which has the following beneficial effects: 1. The bidirectional electric slide rail synchronously drives the driving blocks on both sides to move in opposite directions. The driving blocks drive the connecting seat and clamping arc plate to move inward synchronously, implementing the first level of coarse positioning constraint on the waist of the rehabilitation personnel. The inner side of the clamping arc plate is fitted with an elastic built-in sleeve and a breathable layer. The elastic built-in sleeve is a flexible wrapping curved surface under normal conditions, and the breathable layer is made of flexible fabric with good breathability. The two work together to form a soft contact buffer layer between the clamping arc plate and the waist of the human body, which significantly improves the local pressure on the waist under long-term constraint and enhances the tolerance and comfort of rehabilitation training. The infusion mechanism, consisting of a collection box and a corrugated pipe, delivers the heat transfer fluid to the collection tank inside the connector for the first stage of convergence. Then, through the evenly distributed guide holes on the side of the collection tank, the heat transfer fluid is stably distributed into multiple sets of distribution hoses evenly arranged along the arc length of the clamping plate. The distribution hoses are provided with several outlet distribution holes at intervals along their circumferential walls. After the heat transfer fluid is sprayed out through the outlet distribution holes, it can quickly and evenly diffuse into the deformation chamber inside the elastic inner bladder. As the heat transfer fluid is continuously injected, the liquid pressure in the deformation chamber gradually increases. The liquid pressure drives the elastic inner bladder to expand and deform adaptively towards the waist, filling the gaps and unevenness between the breathable layer and the waist, so that the elastic inner bladder and the breathable layer can cover the waist in a way that conforms to the curve of the waist. This method effectively improves the tightness and stability of lumbar restraint by combining rigid clamping arc plates and liquid adaptive pads, while avoiding compression and displacement caused by local stress concentration. The heating plate heats the heat-conducting fluid, which facilitates the improvement of the delivery temperature of the heat-conducting fluid in cold seasons and avoids cold stimulation of the lumbar region caused by low heat-conducting fluid temperature, making it more comfortable for rehabilitation personnel to carry out rehabilitation training.

[0015] 2. By adopting a split ring structure of adjustable binding ring and deflection binding ring, the adjustable binding ring can be adjusted by rotation and deflection to flexibly adjust the binding angle according to the circumference, position and posture of the rehabilitation personnel's thigh. On this basis, the first motor drives the deflection binding ring to deflect relative to the adjustable binding ring, so that the two can quickly connect and combine to form a complete and stable ring binding structure. The combination groove ensures that the position of the two after splicing is accurate and the combination is firm, avoiding misalignment or loosening during rehabilitation walking, and ensuring the constraint strength and stability of the thigh area. At the same time, a winding tensioning structure of binding strap, fastening strap and reel is adopted. The second motor drives the reel to rotate, and then the fastening strap is wound onto the reel simultaneously. The winding process of the fastening strap directly drives the binding strap to gradually tighten along the ankle direction, so that the binding strap is stably attached to the rehabilitation personnel's ankle area, realizing multi-directional and uniform constraint of the ankle. The locking force can be quantified and has high adjustment precision, and can maintain a stable ankle constraint force throughout the rehabilitation walking process. Furthermore, by setting rubber air cushions on the inner walls of the adjustable binding ring, the deflection binding ring, and the binding strap, the rubber air cushions are in a flexible, slightly convex state under normal conditions. When the exoskeleton binds and restrains the legs and ankles, the rubber air cushions first intervene as a buffer layer, changing the restraint force from hard contact to soft contact, avoiding the feeling of constriction and pressure caused by rigid locking. At the same time, the elastic deformation of the rubber air cushions can also absorb some of the impact and micro-displacement generated during rehabilitation walking, so that the binding restraint has good followability and tolerance while maintaining tightness, significantly improving the user experience during long-term rehabilitation training.

[0016] In summary, the system achieves synchronous, opposing restraint of the waist by using a bidirectional electric sliding rail to drive the clamping arc plate; it achieves circumferential flexible restraint of the legs by using a combination of a first motor-driven deflecting binding ring and an adjustable binding ring; and it achieves coiled flexible restraint of the ankles by using a second motor-driven winding reel to reel in the fastening strap. These three levels of restraint work together to cover the three key rehabilitation areas: the waist, legs, and ankles. All restraint contact surfaces utilize flexible buffering media such as elastic built-in sleeves, breathable layers, and rubber air cushions to achieve soft contact and soft restraint, avoiding the strangulation and indentations caused by rigid locking. Furthermore, the shape and position of each restraint level can be adaptively adjusted according to different body types of rehabilitation personnel, ensuring that the exoskeleton always maintains a high degree of consistency with the human body structure and maintains a stable and reliable restraint effect. Simultaneously, it allows rehabilitation personnel to independently complete the binding of multiple parts of the waist, legs, and ankles without the assistance of caregivers, fundamentally eliminating the dependence on third-party assistance during the use of intelligent exoskeletons. This significantly improves the ease of use, independence, and applicability of the rehabilitation exoskeleton, providing strong support for rehabilitation personnel to conduct long-term, standardized rehabilitation training.

[0017] 3. The sleeves and drive arms at the ends of the support frame facilitate the adjustment of the spacing of the support frame. Before the rehabilitation personnel enter the exoskeleton, the internal space of the support frame can be adjusted to a suitable initial spacing according to their shoulder width and hip width. This avoids the initial gap being too narrow, which may affect the normal entry of the rehabilitation personnel, or the gap being too wide, which may cause instability during subsequent binding and walking training. The gap can be adjusted according to the body shape of the rehabilitation personnel. Through the telescopic cavity, sealing plate, sliding plate, connecting groove, electromagnetic adsorption plate, connecting spring and adsorption block, the sliding plate can be moved by the electromagnetic adsorption plate in an autonomous driving manner, so that the connecting groove is opened. This allows the infusion tube and pumping fluid box to quickly deliver hydraulic fluid to one side of the sealing plate. The hydraulic pressure drives the sealing plate to move, which in turn drives the drive arm to move, quickly and synchronously adjusting the spacing. This adjustment method is based on the response of the distance sensor, which detects the spacing in real time. The controller converts the spacing detection signal into the start signal of the electromagnetic adsorption plate and the delivery pump in the pumping fluid box, realizing synchronous adaptive adjustment of the spacing. The spacing adjustment is completed synchronously during the rehabilitation personnel's entry, without the need for rehabilitation personnel to stand and wait, or for nursing staff to operate manually. This achieves one-stop entry and seamless adjustment, ensuring the convenience of the exoskeleton adjustment process. By using the adjusting sleeve, sliding frame, and delivery tube, the spacing of the handrails can be adjusted simultaneously at both ends of the connecting box. Through this synchronous adjustment, the spacing of the handrails can be adaptively matched with the shoulder width, allowing the arms to be placed stably and naturally on the support board, forming a complete upper limb support system. This provides a stable upper body posture foundation for subsequent walking rehabilitation training, enabling rehabilitation personnel to better carry out subsequent walking rehabilitation training. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the lifting frame of the present invention.

[0020] Figure 3 This is a schematic diagram of the connecting box of the present invention.

[0021] Figure 4 This is a schematic diagram of the hip joint structure of the present invention.

[0022] Figure 5 This is a schematic diagram of the connecting arm of the present invention.

[0023] Figure 6 This is a schematic diagram of the bidirectional electric slide rail of the present invention.

[0024] Figure 7 This is a schematic diagram of the connector of the present invention.

[0025] Figure 8 This is a schematic diagram of the internal structure of the elastic built-in sheath of the present invention.

[0026] Figure 9 This is a schematic diagram of the structure of the drive arm of the present invention.

[0027] Figure 10 This is a planar schematic diagram of the inside of the sleeve of the present invention.

[0028] In the diagram: 1. Support frame; 2. Bracket; 3. Lifting frame; 4. Control equipment box; 5. Lifting cylinder; 6. Casters; 7. Connecting box; 8. Handrail; 9. Connecting block; 10. Tray; 11. Assembly base; 12. Hip joint; 13. Knee joint; 14. Connecting arm; 15. Quick-release connector; 16. Ankle joint; 17. Foot pedal; 18. Adjustable binding ring; 19. Deflecting binding ring; 20. First motor; 21. Rubber air cushion; 22. Combination groove; 23. Binding strap; 24. Fastening strap; 25. Rotary seat; 26. Reel; 27. Second motor; 28. Bidirectional electric slide rail; 29. 30. Drive block; 31. Connecting seat; 32. Clamping arc plate; 33. Elastic built-in bladder; 34. Breathable layer; 35. Liquid collection box; 36. Liquid guiding corrugated pipe; 37. Deformation chamber; 38. Distribution hose; 39. Liquid distribution hole; 40. Concentration tank; 41. Heating plate; 42. Sleeve; 43. Drive arm; 44. Telescopic cavity; 45. Sealing plug plate; 46. Sliding plate; 47. Connecting groove; 48. Electromagnetic adsorption plate; 49. Connecting spring; 50. Adsorption block; 51. Infusion tube; 52. Pumping liquid box; 53. Distance sensor; 54. Adjusting sleeve; 55. Sliding frame; 56. Liquid delivery tube. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0030] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0031] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0032] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] Example: Please refer to Figures 1-10 The present invention provides the following technical solution: an intelligent exoskeleton robot for lower limb rehabilitation treatment, including a support frame 1, a bracket 2 connected vertically in the middle of one side of the support frame 1, and a control equipment box 4 fixedly installed in the middle of one side of the support frame 1. The side of the lifting frame 3 is connected to the connecting box 7. A hip joint 12 is installed on one side of the connecting box 7. A knee joint 13 is connected to the bottom of the hip joint 12. An ankle joint 16 is connected to the bottom of the knee joint 13. The hip joint 12, knee joint 13 and ankle joint 16 are all restrained at the hip, knee and ankle by binding. A bidirectional electric slide rail 28 is embedded in the side of the connecting box 7. Both sides of the bidirectional electric slide rail 28 are embedded with a slidably connected drive block 29. One end of the drive block 29 is fixedly connected to a connecting seat 30. The side end of the connecting seat 30 is fixedly connected to a clamping arc plate 31. An elastic built-in bladder 32 is fixedly connected to the inner side wall of the clamping arc plate 31. The elastic built-in bladder 32 is made of medical silicone and its elastic modulus is configured to be 0.5-2MPa to ensure that a radial deformation of 5-15mm is generated in the range of liquid pressure of 0.1-0.3MPa to adapt to the waist curvature change in the range of 60-100cm. A liquid collection box 34 is embedded inside the connecting box 7, and the side of the liquid collection box 34 is connected to the top of the connecting seat 30 through a liquid guiding bellows 35. The elastic built-in sleeve 32 has a deformation chamber 36 inside. The bidirectional electric slide rail 28 and the liquid collection box 34 are configured for linkage control: when the bidirectional electric slide rail 28 drives the clamping arc plate 31 to retract to the preset position, the controller starts the pumping device in the liquid collection box 34 to inject heat transfer fluid into the deformation chamber 36 at a flow rate of 5-10 ml / s, so as to achieve a smooth transition of the constraint force. The deformation chamber 36 is embedded with uniformly installed distribution hoses 37. The distribution hoses 37 have uniformly opened liquid distribution holes 38 on their edges. There are 3-6 distribution hoses 37, which are evenly arranged around the circumference of the deformation chamber 36. The diameter of the liquid distribution hole 38 on each distribution hose 37 is 0.5-1.5 mm and the spacing is 8-12 mm to ensure that the heat transfer fluid forms a uniform pressure field in the deformation chamber 36. The connecting seat 30 has a concentration groove 39 inside.

[0034] The controller is integrated in the control equipment box 4. The hip joint 12 and knee joint 13 adopt the SEA architecture of motor, harmonic reducer and torque sensor, and the spring is arranged in series with the joint. The human-machine interaction force is sensed in real time and the output stiffness is adjusted through the control algorithm to achieve the unity of passive impact absorption and active compliance control. The bracket 2 is telescopically fitted inside the lifting frame 3. The top middle of the control equipment box 4 is connected to a lifting cylinder 5 that drives the lifting frame 3 to rise and slide. The bottom corners of the support frame 1 are equipped with casters 6. Handrails 8 are connected to both sides of the connecting box 7. A connecting block 9 is fitted on the outside of the handrail 8. A support plate 10 is connected to the top of the connecting block 9. An assembly seat 11 is connected to the bottom of the connecting block 9. The connecting block 9 is connected to the hip joint 12 through the assembly seat 11.

[0035] The bottom of the hip joint 12 is connected to the knee joint 13 via the connecting arm 14. The bottom of the knee joint 13 is connected to the ankle joint 16 via the connecting arm 14. The tops of both the knee joint 13 and the ankle joint 16 are connected to the connecting arm 14 via quick-release connectors 15. A foot pedal 17 is connected to the side of the ankle joint 16. The assembly base 11 and quick-release connector 15 adopt QSP quick-release interface. QSP: Quick Snap / Secure Pin, which automatically aligns and connects through electrical connectors to achieve quick assembly and disassembly while ensuring connection rigidity, meeting the needs of frequent disinfection and rapid replacement in medical scenarios.

[0036] The bidirectional electric slide rail 28 is equipped with a bidirectional lead screw, which is driven by a servo motor. The bidirectional lead screw drives two drive blocks 29 inside the bidirectional electric slide rail 28 to move synchronously in the same or opposite directions.

[0037] A breathable layer 33 is fixedly bonded to the inner side wall of the elastic built-in sleeve 32. The breathable layer 33 is made of flexible breathable fabric. The liquid collection box 34 is filled with heat-conducting liquid, and the liquid collection box 34 delivers the heat-conducting liquid to the liquid-conducting bellows 35 by pumping. The liquid-conducting bellows 35 slides and extends synchronously with the connecting seat 30. The inner side wall of the connecting seat 30 is provided with guide holes corresponding to the inlet positions of the flexible hoses 37. A heating plate 40 is embedded in the side, which preheats the heat transfer liquid entering the central tank 39. The bidirectional electric slide rail 28 is configured to drive the two drive blocks 29 to move towards each other, so that the clamping arc plate 31 is retracted to achieve primary waist constraint. The liquid collection box 34 is configured to pump the heat transfer liquid through the liquid corrugated pipe 35 and the central tank 39 into the distribution hose 37, and then evenly diffuse it into the deformation chamber 36 through the liquid distribution hole 38, driving the elastic built-in bladder 32 to adaptively expand and fit the physiological curvature of the waist.

[0038] An adjustable binding ring 18 is connected to one side of the bottom connecting arm 14 of the hip joint 12 and the knee joint 13, and a deflection binding ring 19 is rotatably connected to the other side of the connecting arm 14. The deflection binding ring 19 is deflected by the first motor 20. The adjustable binding ring 18 and the deflection binding ring 19 are both provided with a combination groove 22 on their opposite sides. A binding strap 23 is provided on the outer side of the foot pedal 17. One end of the binding strap 23 is connected to a fastening strap 24. A rotating seat 25 is installed on the side of the foot pedal 17. A take-up reel 26 is rotatably connected to the inner side of the rotating seat 25. The take-up reel 26 is driven to rotate by the second motor 27. The fastening strap 24 is fixed to the edge of the take-up reel 26.

[0039] The adjustable binding ring 18 and the deflection binding ring 19 are rotatably connected to the side of the connecting arm 14 via a rotating seat. The first motor 20 drives the rotating shaft connected to the deflection binding ring 19 to deflect. The adjustable binding ring 18 and the deflection binding ring 19 are combined and spliced ​​to form an arc structure. Rubber air cushions 21 are provided on the inner side walls of the adjustable binding ring 18, the deflection binding ring 19 and the binding strap 23.

[0040] The bracket 2 is connected to the support frame 1 through the sleeve 41 at its bottom end and the drive arm 42. The bracket 2 is fixedly installed on the top of the sleeve 41. The drive arm 42 is embedded and slidably connected inside the sleeve 41. The sleeve 41 is provided with a telescopic cavity 43. The end of the drive arm 42 is connected to a sealing plug plate 44 at the position inside the telescopic cavity 43. Inside the sleeve 41, a sliding plate 45 is provided on one side of the sealing plug plate 44. A connecting groove 46 is provided on the edge of the sleeve 41 corresponding to the center position of the sliding plate 45. An electromagnetic adsorption plate 47 is provided inside the sleeve 41 on one side of the sliding plate 45. The sliding plate 45 and the electromagnetic adsorption plate 47 are connected by a connecting spring 48. An adsorption block 49 is provided on the side of the sliding plate 45. An infusion tube 50 is connected to the side of the sleeve 41 corresponding to the connecting groove 46. A pumping liquid box 51 is installed on the side of the sleeve 41. The input end of the infusion tube 50 is connected to the output end of the pumping liquid box 51. A distance sensor 52 is embedded in the inner side of the front end of the support frame 1. The electromagnetic adsorption plate 47 is configured to be electrically adsorbed to open the connecting groove 46 by the sliding plate 45. This allows the hydraulic fluid in the pumping liquid box 51 to enter the telescopic cavity 43 through the infusion tube 50, pushing the sealing plug plate 44 to move, thereby achieving seamless adjustment of the spacing of the support frame 1.

[0041] The control equipment box 4 is fixedly installed on the side of the sleeve 41. The drive arm 42 slides tightly against the telescopic cavity 43 through the sealing plug plate 44. The side of the sliding plate 45 is provided with a sealing sleeve, and the sliding plate 45 seals the connecting groove 46 through the sealing sleeve. The distance sensor 52 is electrically connected to the controller inside the control equipment box 4. The electromagnetic adsorption plate 47 and the delivery pump inside the pumping liquid box 51 are both started by receiving control commands from the controller. The pumping liquid box 51 is filled with hydraulic fluid.

[0042] Adjusting sleeves 53 are connected to both sides of the connecting box 7. A sliding frame 54 is embedded and slidably connected to the inner wall of the adjusting sleeve 53. The top side of the adjusting sleeve 53 is connected to the liquid collection box 34 through the liquid delivery pipe 55. The liquid collection box 34 delivers its internal heat transfer liquid to the liquid delivery pipe 55 and the liquid corrugated pipe 35 by pumping. The end of the sliding frame 54 moves in close contact with the inner wall of the adjusting sleeve 53 through the sealing block. The pressure of the heat transfer liquid in the liquid collection box 34 is used to synchronously adjust the spacing of the handrail 8.

[0043] The working principle and usage process of this invention: When the rehabilitation personnel enter the inner side of the support frame 1, the distance sensor 52 is activated. When the rehabilitation personnel enter the support frame 1, the distance is detected in real time, and the controller converts the distance detection signal into the start signal of the electromagnetic adsorption plate 47 and the delivery pump in the pumping liquid box 51. After the electromagnetic adsorption plate 47 is activated, it drives the sliding plate 45 to move in a self-adsorption drive manner, so that the connecting groove 46 is in the open state, and the infusion pipe 50 and the pumping liquid box 51 quickly deliver the hydraulic fluid from the connecting groove 46 to one side of the sealing plug plate 44. The hydraulic pressure drives the sealing plug plate 44 to move, thereby driving the drive arm 42 to move, and quickly and synchronously realizes the distance adjustment. This adjustment method can be synchronously and adaptively activated, achieving imperceptible adjustment when rehabilitation personnel enter. By adjusting the sleeve 41 and drive arm 42 connected to the end of the support frame 1, the gap can be adjusted according to the body shape of the rehabilitation personnel to avoid the gap being too narrow and affecting rehabilitation training. Combined with the adjusting sleeve 53, sliding frame 54 and liquid delivery tube 55, the spacing of the handrails 8 can be adjusted synchronously at both ends of the connecting box 7, so that the rehabilitation personnel's arms can be stably placed on the support plate 10, so that the rehabilitation personnel can better carry out subsequent walking rehabilitation training. After the rehabilitation personnel enter the inner side of the support frame 1, the lifting cylinder 5, together with the bracket 2 and the lifting frame 3, realizes the height adjustment. After the height is adjusted, the waist of the rehabilitation personnel is first restrained and limited. The bidirectional electric slide rail 28 is activated to drive the drive block 29, the connecting seat 30 and the clamping arc plate 31 to move synchronously in opposite directions. The elastic built-in bladder 32 and the breathable layer 33 ensure the softness and breathability of the clamping arc plate 31 and the waist, and improve the comfort of the clamping arc plate 31 when restraining the waist for a long time. The heat transfer fluid is initially concentrated in the collection tank 39 inside the connector 30 by combining the liquid collection box 34 and the liquid guiding corrugated pipe 35. Then, the heat transfer fluid is evenly distributed to multiple sets of distribution hoses 37 by the guide holes. Combined with the liquid distribution holes 38 evenly distributed on the distribution hoses 37, the heat transfer fluid transported in the distribution hoses 37 can be quickly and evenly distributed into the deformation chamber 36. Based on the liquid pressure of the heat transfer fluid, the elastic built-in bladder 32 is automatically deformed to fill the gap between the breathable layer 33 and the waist. This improves the constraint effect of the clamping arc plate 31 and allows the elastic built-in bladder 32 and the breathable layer 33 to wrap around the waist in a way that conforms to the curve of the human waist when limiting the constraint, thus improving the constraint effect of the clamping arc plate 31. In addition, when the heat transfer fluid needs to be heated, the heating plate 40 is activated to improve the delivery temperature of the heat transfer fluid in cold seasons, making it easier for rehabilitation personnel to carry out rehabilitation training more comfortably. The handrail 8 and support plate 10 facilitate the grip and support of the rehabilitation personnel's hands, ensuring safety and comfort. After the waist of the rehabilitation personnel is restrained and limited, the thigh area of ​​the rehabilitation personnel is restrained. The thigh restraint position is adjusted by rotating and deflecting the adjustable binding ring 18. Based on the first motor 20, the deflecting binding ring 19 is deflected, and the deflecting binding ring 19 and the adjustable binding ring 18 are quickly combined to form a ring structure. The combination groove 22 ensures the stability of the combination and splicing between the deflecting binding ring 19 and the adjustable binding ring 18, ensuring the restraint effect of the thigh. When restraining and limiting the ankle area of ​​the rehabilitation personnel, the second motor 27 is activated to drive the take-up reel 26 to rotate, so that the fastening strap 24 is wound onto the take-up reel 26. The winding of the fastening strap 24 tightens the binding strap 23, so that the binding strap 23 restrains the foot and ensures the restraint effect. By using the adjustable binding ring 18, the deflecting binding ring 19 and the rubber air cushion 21 set on the inner wall of the binding strap 23, rigid locking restraint can be avoided when binding and restraining the thigh and ankle areas of the rehabilitation personnel, preventing strangulation during the binding process and improving the comfort and tightness of the binding restraint. The entire binding process is automated, allowing rehabilitation personnel to quickly and independently perform pre-rehabilitation binding work without the assistance of caregivers. This enables them to bind multiple parts of their bodies, avoiding complete dependence on others for binding work and thus limiting the use of the intelligent exoskeleton. During rehabilitation training, both hip joint 12 and knee joint 13 adopt an SEA architecture consisting of a motor, harmonic reducer, and torque sensor, and use a spring connected in series with the joint. Combined with the controller integrated in the control equipment box 4, it can sense the human-machine interaction force in real time and adjust the output stiffness through the control algorithm to achieve the unity of passive impact absorption and active compliance control. This allows for the absorption of external impacts, compliance with human joints, and stable motion protection, preventing secondary injuries caused by joint misalignment. In addition, the assembly base 11 and quick-release connector 15 adopt QSP quick-release interface, which automatically aligns and connects through electrical connectors to achieve quick assembly and disassembly. Through the modular connection design, the exoskeleton can be assembled and configured, and the same set of flexible exoskeleton can be quickly switched to different parts for individual use as needed, improving maintainability and versatility, and meeting the needs of frequent disinfection and rapid replacement in medical scenarios.

[0044] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent exoskeleton robot for lower limb rehabilitation, comprising a support frame (1), characterized in that, A bracket (2) is vertically connected to the middle of one side of the support frame (1), and a control equipment box (4) is fixedly installed in the middle of one side of the support frame (1). The side of the lifting frame (3) is connected to a connecting box (7), a hip joint (12) is installed on one side of the connecting box (7), a knee joint (13) is connected to the bottom of the hip joint (12), and an ankle joint (16) is connected to the bottom of the knee joint (13). The hip joint (12), knee joint (13) and ankle joint (16) are all restrained at the hip, knee and ankle by binding. The side of the connecting box (7) is embedded with a bidirectional electric slide rail (28). Both sides of the bidirectional electric slide rail (28) are embedded with a slidable drive block (29). One end of the drive block (29) is fixedly connected to a connecting seat (30). The side end of the connecting seat (30) is fixedly connected to a clamping arc plate (31). An elastic built-in bladder (32) is fixedly connected to the inner side wall of the clamping arc plate (31). The connecting box (7) is internally fitted with a liquid collection box (34), and the side of the liquid collection box (34) is connected to the top of the connecting seat (30) through a liquid guiding corrugated pipe (35). The elastic built-in bladder (32) has a deformation chamber (36) inside, and a distribution hose (37) is uniformly installed inside the deformation chamber (36). The distribution hose (37) has a liquid distribution hole (38) uniformly opened on the side. The connecting seat (30) has a concentration groove (39) inside.

2. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 1, characterized in that, The controller is integrated in the control equipment box (4). The hip joint (12) and knee joint (13) adopt the SEA architecture of motor, harmonic reducer and torque sensor, and are arranged in series with springs. The bracket (2) is telescopically fitted inside the lifting frame (3). The top middle of the control equipment box (4) is connected to a lifting cylinder (5) that drives the lifting frame (3) to rise and slide. The bottom corner of the support frame (1) is equipped with casters (6). Both sides of the connecting box (7) are connected to handrails (8), and a connecting block (9) is fitted on the outside of the handrail (8). A support plate (10) is connected to the top of the connecting block (9), and an assembly seat (11) is connected to the bottom of the connecting block (9). The connecting block (9) is connected to the hip joint (12) through the assembly seat (11).

3. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 2, characterized in that, The bottom of the hip joint (12) is connected to the knee joint (13) via a connecting arm (14), the bottom of the knee joint (13) is connected to the ankle joint (16) via a connecting arm (14), the tops of the knee joint (13) and the ankle joint (16) are both connected to the connecting arm (14) via a quick-release connector (15), and a foot pedal (17) is connected to the side of the ankle joint (16). The assembly base (11) and quick-release connector (15) adopt QSP quick-release interface and are automatically aligned and connected through electrical connector.

4. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 1, characterized in that, The bidirectional electric slide rail (28) is equipped with a bidirectional lead screw, which is driven by a servo motor. The bidirectional lead screw drives two drive blocks (29) inside the bidirectional electric slide rail (28) to move synchronously in the same or opposite directions.

5. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 1, characterized in that, A breathable layer (33) is fixedly bonded to the inner side wall of the elastic built-in bladder (32). The liquid collection box (34) is filled with heat-conducting liquid, and the liquid collection box (34) delivers the heat-conducting liquid to the liquid-conducting corrugated pipe (35) by pumping. The liquid-conducting corrugated pipe (35) slides and extends synchronously with the connecting seat (30). The inner side wall of the connecting seat (30) is provided with a flow guide hole at the inlet position of the hose (37), and a heating plate (40) is embedded in the side of the connecting seat (30).

6. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 2, characterized in that, An adjustable binding ring (18) is connected to one side of the bottom connecting arm (14) of the hip joint (12) and knee joint (13), and a deflection binding ring (19) is rotatably connected to the other side of the connecting arm (14). The deflection binding ring (19) is deflected by the first motor (20). The adjustable binding ring (18) and the deflection binding ring (19) are provided with a combination groove (22) on the opposite side of each other. The foot pedal (17) is provided with a binding strap (23) on the outside. One end of the binding strap (23) is connected to a fastening strap (24). A rotating seat (25) is installed on the side of the foot pedal (17). A take-up reel (26) is rotatably connected to the inside of the rotating seat (25). The take-up reel (26) is driven to rotate by a second motor (27). The fastening strap (24) is fixed to the side of the take-up reel (26).

7. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 6, characterized in that, The adjustable binding ring (18) and the deflection binding ring (19) are rotatably connected to the side of the connecting arm (14) through a rotating seat. The first motor (20) drives the rotating shaft connected to the deflection binding ring (19) to deflect. The adjustable binding ring (18) and the deflection binding ring (19) are combined and spliced ​​to form an arc structure. Rubber air cushions (21) are provided on the inner sidewalls of the adjustable binding ring (18), the deflection binding ring (19) and the binding strap (23).

8. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 1, characterized in that, The bracket (2) is connected to the support frame (1) through the sleeve (41) at its bottom end and the drive arm (42). The bracket (2) is fixedly installed on the top of the sleeve (41). The drive arm (42) is embedded and slidably connected inside the sleeve (41). The sleeve (41) has a telescopic cavity (43) inside. The end of the drive arm (42) is connected to a sealing plug plate (44) at the position inside the telescopic cavity (43). Inside the sleeve (41), a sliding plate (45) is provided on one side of the sealing plug plate (44). A connecting groove (46) is provided on the side of the sleeve (41) corresponding to the center position of the sliding plate (45). An electromagnetic adsorption plate (47) is provided inside the sleeve (41) on one side of the sliding plate (45). The sliding plate (45) and the electromagnetic adsorption plate (47) are connected by a connecting spring (48). An adsorption block (49) is provided on the side of the sliding plate (45). The sleeve (41) is connected to the infusion tube (50) at the corresponding connecting groove (46) on the side. The sleeve (41) is equipped with a pumping liquid box (51) on the side. The input end of the infusion tube (50) is connected to the output end of the pumping liquid box (51). The front inner side of the support frame (1) is embedded with a distance measuring sensor (52).

9. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 8, characterized in that, The control equipment box (4) is fixedly installed on the side of the sleeve (41). The drive arm (42) slides tightly along the telescopic cavity (43) through the sealing plug plate (44). The side of the sliding plate (45) is provided with a sealing sleeve, and the sliding plate (45) seals the connecting groove (46) through the sealing sleeve. The distance sensor (52) is electrically connected to the controller inside the control equipment box (4). The electromagnetic adsorption plate (47) and the delivery pump inside the pumping liquid box (51) are both started by receiving the control command from the controller. The pumping liquid box (51) is filled with hydraulic fluid.

10. The intelligent exoskeleton robot for lower limb rehabilitation according to claim 5, characterized in that, The two sides of the connecting box (7) are connected to adjusting sleeves (53), and the inner wall of the adjusting sleeve (53) is fitted with a sliding frame (54). The top side of the adjusting sleeve (53) is connected to the liquid collection box (34) through a liquid delivery pipe (55). The liquid collection box (34) delivers the heat-conducting liquid inside to the liquid delivery pipe (55) and the liquid-conducting corrugated pipe (35) by pumping. The end of the sliding frame (54) slides tightly against the inner wall of the adjusting sleeve (53) through the sealing block.

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