Single lower limb exoskeleton rehabilitation training device

Abstract

The utility model discloses a single lower limb exoskeleton rehabilitation training device which comprises a rack, a first motor, a thigh exoskeleton, a first bandage, a first connecting piece, a second motor, a shank exoskeleton, a second bandage, a second connecting piece and a foot pedal. When a patient is in a prone position state, the thighs of the patient are fixed to the thigh exoskeleton through the first binding bands, the shanks of the patient are fixed to the shank exoskeleton through the second binding bands, the first motor and the second motor are started, and the thigh exoskeleton and the shank exoskeleton are fixed. The thigh exoskeleton and the shank exoskeleton respectively pull the thigh and the shank of the patient to move, the movement state of the legs of a normal person during walking is simulated, and the rehabilitation effect on the patient is better.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation training equipment, in particular to a single lower limb exoskeleton rehabilitation training device. Background Art

[0002] Patients with impaired or incomplete lower limb function cannot walk like normal people, which has a great impact on their physical and mental health, so rehabilitation training is very important. At present, there are two main ways for such patients to conduct leg rehabilitation training. One is to wear an upright lower limb exoskeleton. The lower limb exoskeleton, driven by a module or other drive structure, will drive the legs to walk or step, thereby meeting the body's demand for leg exercise. The other is to install a rehabilitation mechanism next to the bed to drive the legs to perform flexion and extension and leg lifting while the patient is lying flat.

[0003] The walking action of the legs is the most frequent action of people and the action that best conforms to the characteristics of the human body structure. Therefore, training the legs to walk is the most commonly chosen rehabilitation program. However, for patients lying flat, the current rehabilitation devices can only enable them to perform the aforementioned flexion and extension and leg lifting actions on the bed. Compared with walking actions, these actions are more rigid and have less rehabilitation effect on patients. Utility Model Content

[0004] The present application provides a single lower limb exoskeleton rehabilitation training device, which can solve the problem that current rehabilitation devices can only enable patients to perform flexion and extension and leg lifting movements in a lying position.

[0005] In the present application, a single lower limb exoskeleton rehabilitation training device is provided, including: a frame, a first motor, a thigh exoskeleton, a first strap, a first connecting piece, a second motor, a calf exoskeleton, a second strap, a second connecting piece, and a foot pedal; the output shaft of the first motor is fixedly connected to the frame, the housing of the first motor is fixedly connected to one end of the thigh exoskeleton, and the thigh exoskeleton is provided with a first strap for fixing the user's thigh; the other end of the thigh exoskeleton is provided with a first connecting piece, one end of the first connecting piece is fixedly connected to the thigh exoskeleton and the first connecting piece is fixedly connected to the thigh exoskeleton. A connecting member is arranged in a direction parallel to the thigh exoskeleton, the other end of the first connecting member is fixedly connected to the output shaft of the second motor, the housing of the second motor is fixedly connected to one end of the calf exoskeleton close to the thigh exoskeleton, the rotating axis of the calf exoskeleton is parallel to the rotating axis of the thigh exoskeleton, and the calf exoskeleton is provided with a second strap for fixing the user's calf; a second connecting member is provided at one end of the calf exoskeleton away from the thigh exoskeleton, one end of the second connecting member is fixedly connected to the calf exoskeleton, and the other end is fixedly connected to the foot pedal.

[0006] In one embodiment, it further includes a bed, and the frame is arranged on the bed.

[0007] In one embodiment, the frame is detachably connected to the bed by means of a threaded connection.

[0008] In one embodiment, it also includes a first protective shell and a second protective shell, the first protective shell is fixedly connected between the output shaft of the first motor and the frame, and the thigh exoskeleton is rotatably connected to the first protective shell; the second protective shell is fixedly connected between the output shaft of the second motor and the first connecting member, and the calf exoskeleton is rotatably connected to the second protective shell.

[0009] In one embodiment, the foot pedal is provided with anti-slip grooves.

[0010] In one implementation, both the first motor and the second motor are servo motors.

[0011] To summarize, in the present application, a single lower limb exoskeleton rehabilitation training device has the following beneficial effects compared to the prior art: when the patient is in a lying position, the patient fixes his thigh to the thigh exoskeleton through the first strap, and fixes his calf to the calf exoskeleton through the second strap, and starts the first motor and the second motor, and the thigh exoskeleton and the calf exoskeleton respectively pull the patient's thigh and calf to exercise, simulating the movement state of the legs of a normal person when walking, which has a better rehabilitation effect on the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0013] Figure 1 It is an overall structural view of a single lower limb exoskeleton rehabilitation training device;

[0014] Figure 2 It is a front view of a single lower limb exoskeleton rehabilitation training device;

[0015] Figure 3 for Figure 2 Sectional view along AA;

[0016] Figure 4 for Figure 3 Magnified view of area A in the middle;

[0017] Figure 5 It is a stereoscopic diagram of one embodiment of a single lower limb exoskeleton rehabilitation training device.

[0018] In the figure, 1, frame; 2, first motor; 3, thigh exoskeleton; 4, first strap; 5, first connecting piece; 6, second motor; 7, calf exoskeleton; 8, second strap; 9, second connecting piece; 10, foot pedal; 11, bed; 12, first protective shell; 13, second protective shell. DETAILED DESCRIPTION

[0019] The following is a further description of the specific implementation of the utility model in conjunction with the accompanying drawings; the following embodiments are used to illustrate the utility model, but are not used to limit the scope of the utility model. The described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0020] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by those skilled in the art in the ordinary sense. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] See also Figure 1 In one embodiment, a single lower limb exoskeleton rehabilitation training device includes: a frame 1, a first motor 2, a thigh exoskeleton 3, a first strap 4, a first connecting piece 5, a second motor 6, a calf exoskeleton 7, a second strap 8, a second connecting piece 9, and a foot pedal 10.

[0022] See also Figure 1 The frame 1 is used to provide an installation position for the first motor 2. The output shaft of the first motor 2 is fixedly connected to the frame 1 by a threaded connection. The casing of the first motor 2 is fixedly connected to one end of the thigh exoskeleton 3. When the first motor 2 is started, its casing can drive the thigh exoskeleton 3 to rotate.

[0023] See also Figure 1The other end of the thigh exoskeleton 3 is provided with a first connecting member 5, one end of which is fixedly connected to the thigh exoskeleton 3 by welding or threaded connection, and the setting direction of the first connecting member 5 is parallel to the thigh exoskeleton 3, the other end of the first connecting member 5 is fixedly connected to the output shaft of the second motor 6, the housing of the second motor 6 is fixedly connected to one end of the calf exoskeleton 7 close to the thigh exoskeleton 3, and is used to drive the calf exoskeleton 7 to rotate, and the rotation axis of the calf exoskeleton 7 is parallel to the rotation axis of the thigh exoskeleton 3. The rotation of the calf exoskeleton 7 and the thigh exoskeleton 3 can simulate the movement state of the thigh and calf when a normal person walks.

[0024] See also Figure 1 The thigh exoskeleton 3 is provided with a first strap 4 for fixing the user's thigh. Preferably, the first strap 4 can be an elastic band. The calf exoskeleton 7 is provided with a second strap 8 for fixing the user's calf.

[0025] See also Figure 1 A second connecting member 9 is provided on one end of the calf exoskeleton 7 away from the thigh exoskeleton 3. One end of the second connecting member 9 is fixedly connected to the calf exoskeleton 7, and the other end is fixedly provided with the foot pedal 10. The surface where the foot pedal 10 is located is perpendicular to the setting direction of the calf exoskeleton 7, and is used to provide a pedal position for the patient.

[0026] See also Figure 5 In one embodiment, the machine body 11 is further included, and the frame 1 is arranged on the machine body 11. With such an arrangement, it is more convenient to use the machine body 11.

[0027] See also Figure 5 In one embodiment, the frame 1 is detachably connected to the bed body 11 by a threaded connection. With this arrangement, the patient can remove it and use it elsewhere after recovery, which is more flexible, and the threaded connection method is easier to set up and operate.

[0028] See also Figures 1 to 4 In one embodiment, the first protective shell 12 and the second protective shell 13 are further included. The first protective shell 12 is fixedly connected between the output shaft of the first motor 2 and the frame 1, and the thigh exoskeleton 3 is rotatably connected to the first protective shell 12; the second protective shell 13 is fixedly connected between the output shaft of the second motor 6 and the first connecting member 5, and the calf exoskeleton 7 is rotatably connected to the second protective shell 13. In this way, the first protective shell 12 and the second protective shell 13 can protect the output shafts of the first motor 2 and the second motor 6, and can also play a certain supporting role.

[0029] See also Figure 1 In one embodiment, the foot pedal 10 is provided with uneven anti-skid patterns, which can prevent the patient's feet from slipping.

[0030] In one implementation, preferably, both the first motor 2 and the second motor 6 are servo motors, because servo motors have relatively high precision and are more suitable for this working environment.

Claims

1. A single lower limb exoskeleton rehabilitation training device, characterized in that: include: A frame (1), a first motor (2), a thigh exoskeleton (3), a first strap (4), a first connecting piece (5), a second motor (6), a calf exoskeleton (7), a second strap (8), a second connecting piece (9), and a foot pedal (10); The output shaft of the first motor (2) is fixedly connected to the frame (1); the housing of the first motor (2) is fixedly connected to one end of the thigh exoskeleton (3); the thigh exoskeleton (3) is provided with a first strap (4) for fixing the thigh of the user; the other end of the thigh exoskeleton (3) is provided with a first connecting member (5); one end of the first connecting member (5) is fixedly connected to the thigh exoskeleton (3) and the setting direction of the first connecting member (5) is parallel to the thigh exoskeleton (3); the other end of the first connecting member (5) is fixedly connected to the second motor; The output shaft of the second motor (6) is fixedly connected to an end of the calf exoskeleton (7) close to the thigh exoskeleton (3), the rotation axis of the calf exoskeleton (7) is parallel to the rotation axis of the thigh exoskeleton (3), and the calf exoskeleton (7) is provided with a second strap (8) for fixing the user's calf; the end of the calf exoskeleton (7) away from the thigh exoskeleton (3) is provided with a second connecting member (9), one end of the second connecting member (9) is fixedly connected to the calf exoskeleton (7), and the other end is fixedly connected to the foot pedal (10).

2. A single lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: It also comprises a bed body (11), and the frame (1) is arranged on the bed body (11).

3. A single lower limb exoskeleton rehabilitation training device according to claim 2, characterized in that: The frame (1) is detachably connected to the bed (11) by means of threaded connection.

4. A single lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The invention also comprises a first protective shell (12) and a second protective shell (13), wherein the first protective shell (12) is fixedly connected between the output shaft of the first motor (2) and the frame (1), and the thigh exoskeleton (3) is rotatably connected to the first protective shell (12); the second protective shell (13) is fixedly connected between the output shaft of the second motor (6) and the first connecting member (5), and the calf exoskeleton (7) is rotatably connected to the second protective shell (13).

5. The single lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The foot pedal (10) is provided with anti-slip grooves.

6. A single lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The first motor (2) and the second motor (6) are both servo motors.

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