Robot facilitating lower limb movement

Abstract

The utility model discloses a robot facilitating lower limb movement, belongs to the field of lower limb exoskeleton robots, and aims to solve the problems that when a lower limb exoskeleton robot is used, the distance between a bottom supporting plate and a shank rod is relatively fixed, different patients have different body heights, the lower limb exoskeleton robot is easily limited in use, and the lower limb exoskeleton robot cannot move conveniently. Therefore, the rehabilitation exercise of the patient is influenced, and the use effect is not ideal. One end of a bandage is adhered to a magic tape, so that the legs of a patient can be bound, the feet of the patient can be fixed similarly, then a motor drives a connecting rod to rotate, a lower leg rod can be driven to move, when the lower leg rod rotates to a certain position, rotation of the motor is stopped, and then the motor is driven to rotate reversely; the lower leg rod can be driven to restore, so that the legs of the patient can be moved, the connecting rod is driven by the electric push rod to reciprocate, the distance between the bottom supporting plate and the lower leg rod can be increased, and the device can be suitable for patients of different heights to use.

Description

Technical Field

[0001] The utility model relates to the field of lower limb exoskeleton robots, and more specifically to a robot which facilitates lower limb movements. Background Art

[0002] A lower limb exoskeleton robot is a wearable mechanical device that can help users enhance lower limb strength, improve walking ability, or assist in rehabilitation training. A lower limb exoskeleton robot is usually composed of a frame, joints, and a transmission system, and can interact with the user's movements through sensors and control algorithms. It can provide force support through an electric motor or hydraulic system and provide appropriate assistance according to the user's needs.

[0003] The document with the authorization announcement number CN217572882U proposes a lower limb exoskeleton robot that is easy to fold up, including a support sleeve rod, a flip vertical rod is inserted at the bottom end of the support sleeve rod, a side edge of the flip vertical rod is horizontally connected to a bottom support plate, a plug-in shaft rod is horizontally inserted at the side edge of the support sleeve rod, and a handle rod is vertically connected to one side edge of the support sleeve rod. The split structure of the utility model device is simple and easy to operate. The flip connection structure is adopted to facilitate storage operation, and the snap-on connection makes installation easy and beneficial to subsequent use. However, in the above document, although the lower limb exoskeleton robot can be used to exercise the patient's lower limbs, when the lower limb exoskeleton robot is in use, the distance between the bottom support plate and the calf rod is relatively fixed, and different patients have different body heights, which makes it easy to be restricted during use, which in turn affects the patient's rehabilitation exercise and the use effect is not ideal. Utility Model Content

[0004] The purpose of the utility model is to overcome the problem in the prior art that when a lower limb exoskeleton robot is in use, the distance between the bottom support plate and the calf rod is relatively fixed, while different patients have different body heights, which makes it easy to be restricted during use, thereby affecting the patient's rehabilitation exercises and resulting in unsatisfactory use effects. A robot that facilitates lower limb movements is provided to make up for the above deficiencies and facilitate use.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by the utility model is:

[0006] The utility model discloses a robot facilitating lower limb movement, comprising a back plate and a connecting column arranged at the lower end of the back plate, the lower end of the connecting column is movably connected to an upper leg rod, the lower end of the upper leg rod is movably connected to the lower leg rod, and a bottom supporting plate is arranged at the lower end of the lower leg rod, and a driving member is also arranged on the outer side of the upper leg rod, and one end of the lower leg rod is driven to move by the driving member, and the driving member comprises a motor arranged on the outer side of the upper leg rod and a connecting rod connected to the output end of the motor, the other end of the connecting rod is movably connected to one end of the lower leg rod, and the connecting rod is driven by the motor to rotate, so as to drive the lower leg rod to move, a protective pad is arranged on the inner side of the lower leg rod, a placement groove for placing the patient's legs is opened on the surface of the protective pad, an inner cavity is opened inside the lower leg rod, an electric push rod is installed on the inner top wall of the inner cavity, the lower end of the electric push rod is connected with a connecting rod, the connecting rod is in an L-shaped structure, and the other end of the connecting rod is connected to the bottom supporting plate, and the distance between the bottom supporting plate and the lower leg rod can be enlarged by driving the connecting rod to make reciprocating motion by the electric push rod.

[0007] Preferably, one side of the upper leg rod and the lower leg rod are provided with a strap, and the back side of the upper leg rod and the lower leg rod are provided with Velcro, one end of the strap is adhered to the Velcro, which can bind the patient's legs, and the upper end of the bottom support plate is also provided with a strap to fix the patient's feet.

[0008] Preferably, an elastic pad is provided on the inner side of the upper leg rod, and both the elastic pad and the protective pad play a role in reducing the contact pressure between the patient's legs and the upper leg rod and the lower leg rod.

[0009] Preferably, a side groove is provided on the side wall of the connecting rod, and movable balls are evenly distributed inside the side groove, so that the movable balls can reduce friction.

[0010] Preferably, an inner groove is opened inside the bottom support plate, a support column is installed inside the inner groove, and the inner groove is filled with soft material.

[0011] Preferably, a support frame is provided inside the inner groove, a micro motor is installed at the lower end of the support frame, the output end of the micro motor is connected to a driving rod, the other end of the driving rod is connected to a turntable, and massage protrusions are evenly distributed on the surface of the turntable. The driving rod and the turntable are driven by the micro motor to rotate, and the massage protrusions can rotate to massage the patient's feet.

[0012] Compared with the prior art, the technical solution provided by the utility model has the following beneficial effects:

[0013] (1) The utility model provides a robot that facilitates lower limb movement. The operator sticks one end of the strap to the Velcro to bind the patient's legs. Similarly, the patient's feet can be fixed, that is, the patient's legs are fixed to the device, and then the connecting rod is driven by a motor to rotate, which can drive the lower leg rod to move. At this time, the lower leg rod can rotate with the connection between the connecting rod and the upper leg rod as the center of the circle. When it rotates to a certain position, the motor is stopped, and then the motor is driven to reverse, which can drive the lower leg rod to return to its original state, so that the patient's legs can be exercised, which is beneficial to the patient's exercise and rehabilitation. In addition, the electric push rod drives the connecting rod to make reciprocating motion, which can increase the distance between the bottom support plate and the lower leg rod, and can adapt to patients of different heights, effectively improving the scope of use and having strong practicality.

[0014] (2) The utility model is a robot that facilitates lower limb movement. The patient's feet are fixed to the bottom support plate by straps. At this time, the operator drives the driving rod and the turntable to rotate through a micro motor. The massage protrusion can rotate to massage the patient's feet, promote blood circulation, and facilitate the patient's recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the overall structure diagram of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the driving member of the utility model;

[0017] Figure 3 This is a schematic diagram of the lower leg rod structure of the utility model;

[0018] Figure 4 This is a bottom view schematic diagram of the lower leg rod of the utility model;

[0019] Figure 5 It is a plan view of the bottom support plate of the utility model.

[0020] In the figure: 1. back plate; 2. connecting column; 3. upper leg rod; 31. elastic pad; 32. strap; 33. Velcro; 4. lower leg rod; 41. protection pad; 42. placement groove; 43. inner cavity; 44. electric push rod; 45. connecting rod; 46. side groove; 47. movable ball; 5. bottom support plate; 51. inner groove; 52. support column; 53. support frame; 54. micro motor; 55. drive rod; 56. turntable; 57. massage protrusion; 6. drive member; 61. motor; 62. connecting rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings.

[0023] Combination Figure 1 and Figure 2 The utility model is a robot that facilitates lower limb movement, including a back plate 1 and a connecting column 2 arranged at the lower end of the back plate 1, the lower end of the connecting column 2 is movably connected with an upper leg rod 3, the lower end of the upper leg rod 3 is movably connected with a lower leg rod 4, and a bottom support plate 5 is arranged at the lower end of the lower leg rod 4. A driving member 6 is also arranged on the outer side of the upper leg rod 3, and one end of the lower leg rod 4 is driven to move by the driving member 6. The driving member 6 includes a motor 61 arranged on the outer side of the upper leg rod 3 and a connecting rod 62 connected to the output end of the motor 61, the other end of the connecting rod 62 is movably connected to one end of the lower leg rod 4, and the connecting rod 62 is driven to rotate by the motor 61, which can drive the lower leg rod 4 to move.

[0024] The utility model is further described below in conjunction with embodiments.

[0025] Combination Figure 2-5A protective pad 41 is provided on the inner side of the lower leg rod 4, and a placement groove 42 for placing the patient's legs is provided on the surface of the protective pad 41. An inner cavity 43 is provided inside the lower leg rod 4, and an electric push rod 44 is installed on the inner top wall of the inner cavity 43. The lower end of the electric push rod 44 is connected to a connecting rod 45, and the connecting rod 45 is in an L-shaped structure. The other end of the connecting rod 45 is connected to the bottom support plate 5. The electric push rod 44 drives the connecting rod 45 to do reciprocating motion, so that the bottom support plate 5 and the lower leg rod 4 can be moved. The distance is larger, and it can be used for patients of different heights, which effectively increases the scope of use and is more practical. A strap 32 is provided on one side of the upper leg rod 3 and the lower leg rod 4, and a Velcro 33 is provided on the back side of the upper leg rod 3 and the lower leg rod 4. One end of the strap 32 is adhered to the Velcro 33, which can bind the patient's legs. The upper end of the bottom support plate 5 is also provided with a strap 32, which can fix the patient's feet, so that the patient can be fixed on the device for subsequent leg exercises, which is convenient for exercise. The upper leg rod 3 is provided with an elastic pad 31 on the inner side, and the elastic pad 31 and the protection pad 41 both play the role of reducing the contact pressure between the patient's legs and the upper leg rod 3 and the lower leg rod 4, which can reduce discomfort. A side groove 46 is provided on the side wall of the connecting rod 45, and movable balls 47 are evenly distributed inside the side groove 46. The movable balls 47 can reduce the friction force and reduce the wear between the connecting rod 45 and the inner cavity 43. An inner groove 51 is provided inside the bottom support plate 5, and a support column 52 is installed inside the inner groove 51, and the inner groove 51 is filled with soft material. A support frame 53 is provided inside the inner groove 51, and a micro motor 54 is installed at the lower end of the support frame 53. The output end of the micro motor 54 is connected to a driving rod 55, and the other end of the driving rod 55 is connected to a turntable 56. The surface of the turntable 56 is evenly distributed with massage protrusions 57. The driving rod 55 and the turntable 56 are driven to rotate by the micro motor 54, and the massage protrusions 57 can rotate, which can massage the patient's feet.

[0026] In this embodiment, the operator adheres one end of the strap 32 to the Velcro 33 to bind the patient's legs. Similarly, the patient's feet can be fixed, that is, the patient's legs are fixed to the device, and then the motor 61 drives the connecting rod 62 to rotate, which can drive the lower leg rod 4 to move. At this time, the lower leg rod 4 can rotate with the connection point between the connecting rod 62 and the upper leg rod 3 as the center of the circle. When it rotates to a certain position, the motor 61 is stopped, and then the motor 61 is driven to reverse, which can drive the lower leg rod 4 to return to its original state, so that the patient can be fixed. The leg exercises are beneficial to the patient's exercise and rehabilitation, and the electric push rod 44 drives the connecting rod 45 to do reciprocating motion, which can increase the distance between the bottom support plate 5 and the lower leg rod 4, and can adapt to patients of different heights, effectively improve the scope of use, and has strong practicality. At the same time, the patient's feet are fixed to the bottom support plate 5 by the straps 32. At this time, the operator drives the driving rod 55 and the turntable 56 to rotate through the micro motor 54, and the massage protrusion 57 can rotate, which can massage the patient's feet, promote blood circulation, and is beneficial to the patient's rehabilitation.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for facilitating lower limb movement, comprising a back plate (1) and a connecting column (2) arranged at the lower end of the back plate (1), the lower end of the connecting column (2) is movably connected to an upper leg rod (3), the lower end of the upper leg rod (3) is movably connected to a lower leg rod (4), a bottom support plate (5) is arranged at the lower end of the lower leg rod (4), a driving member (6) is further arranged on the outer side of the upper leg rod (3), and one end of the lower leg rod (4) is driven to move by the driving member (6), characterized in that: The driving member (6) comprises a motor (61) arranged on the outside of the upper leg rod (3) and a connecting rod (62) connected to the output end of the motor (61); the other end of the connecting rod (62) is movably connected to one end of the lower leg rod (4); the connecting rod (62) is driven to rotate by the motor (61); a protection pad (41) is arranged on the inner side of the lower leg rod (4); a placement groove (42) for placing the patient's legs is provided on the surface of the protection pad (41); an inner cavity (43) is provided inside the lower leg rod (4); an electric push rod (44) is installed on the inner top wall of the inner cavity (43); the lower end of the electric push rod (44) is connected to a connecting rod (45); the connecting rod (45) is in an L-shaped structure; and the other end of the connecting rod (45) is connected to the bottom support plate (5); the connecting rod (45) is driven to reciprocate by the electric push rod (44).

2. A robot for facilitating lower limb movement according to claim 1, characterized in that: One side of the upper leg rod (3) and the lower leg rod (4) is provided with a strap (32), and the back side of the upper leg rod (3) and the lower leg rod (4) is provided with a Velcro (33). One end of the strap (32) is adhered to the Velcro (33) so as to bind the patient's legs. The upper end of the bottom support plate (5) is also provided with a strap (32) so as to fix the patient's feet.

3. A robot for facilitating lower limb movement according to claim 2, characterized in that: An elastic pad (31) is arranged on the inner side of the upper leg rod (3), and the elastic pad (31) and the protective pad (41) both play a role in reducing the contact pressure between the patient's legs and the upper leg rod (3) and the lower leg rod (4).

4. A robot for facilitating lower limb movement according to claim 3, characterized in that: A side groove (46) is provided on the side wall of the connecting rod (45), and movable balls (47) are evenly distributed inside the side groove (46). The movable balls (47) can reduce friction.

5. A robot for facilitating lower limb movement according to claim 4, characterized in that: An inner groove (51) is provided inside the bottom support plate (5), and a support column (52) is installed inside the inner groove (51).

6. A robot for facilitating lower limb movement according to claim 5, characterized in that: A support frame (53) is arranged inside the inner groove (51), a micro motor (54) is installed at the lower end of the support frame (53), an output end of the micro motor (54) is connected to a driving rod (55), the other end of the driving rod (55) is connected to a rotating disk (56), the surface of the rotating disk (56) is evenly distributed with massage protrusions (57), and the driving rod (55) and the rotating disk (56) are driven to rotate by the micro motor (54).

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