Auxiliary rehabilitation exoskeleton mechanism

Abstract

The auxiliary rehabilitation exoskeleton mechanism comprises a supporting assembly, a waist assembly and a leg assembly, the supporting assembly and the waist assembly are connected through a waist rotating mechanism, and the leg assembly and the supporting assembly are connected through a leg rotating mechanism. According to the rehabilitation training device, a patient can sit on the rehabilitation training device conveniently through the supporting assembly, the legs of the patient can be supported through the leg assembly, the waist of the patient can be supported through the waist assembly, knee joints of the legs of the patient can be moved through rotation between the leg assembly and the supporting assembly, and then rehabilitation training of the knee joints is conducted; through rotation between the waist assembly and the supporting assembly, the waist joints of the waist of the patient can be moved, and then recovery training of the waist joints is conducted.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeletons, in particular to an auxiliary rehabilitation exoskeleton mechanism. Background Art

[0002] For some people who suffer from lower limb muscle atrophy or injury, restorative training is very important. For patients who are bedridden for a long time or lack of exercise, complications such as pressure sores and deep vein thrombosis are prone to occur. The trainer can help patients avoid these complications through appropriate exercise and activities.

[0003] Currently, rehabilitation equipment can be used to help patients with restorative training. However, most of the current rehabilitation equipment can only achieve local rehabilitation training, such as achieving a single function such as leg rotation, and cannot achieve full-function rehabilitation training of the lower limbs. It cannot achieve functions such as self-standing, waist movement and walking for patients, resulting in unsatisfactory rehabilitation effects and reduced user experience. Utility Model Content

[0004] The utility model aims to provide an auxiliary rehabilitation exoskeleton mechanism to achieve recovery exercise for the patient's waist and legs and improve the patient's rehabilitation effect.

[0005] According to the purpose of the utility model, the utility model provides an auxiliary rehabilitation exoskeleton mechanism, including a support component, a waist component and a leg component, the support component and the waist component are connected by a waist rotation mechanism, and the leg component and the support component are connected by a leg rotation mechanism.

[0006] Furthermore, the support assembly includes two armrest plates, and supporting plates are fixedly provided on the inner bottom portions of the two armrest plates that are opposite to each other.

[0007] Furthermore, a seat plate is provided on the supporting plate, and a seat cushion is placed on the seat plate.

[0008] Furthermore, the number of the supporting plates is one or more.

[0009] Furthermore, the lumbar assembly includes a back plate and a lumbar connecting plate, two lumbar joint plates are fixed to the rear side of the armrest plate, the lumbar connecting plates are respectively fixed on both sides of the bottom of the back plate, the lumbar connecting plates are rotatably connected to the lumbar joint plates, and the other end of the lumbar connecting plate is fixedly connected to the back plate.

[0010] Furthermore, the waist rotation mechanism includes a waist servo motor, a waist rotating shaft is provided between the two waist joint plates, the waist connecting plate is rotatably connected to the waist rotating shaft, a waist rotating gear is fixed on the waist joint plate, the waist servo motor is fixed on the waist connecting plate, a waist driving gear is provided on the output shaft of the waist servo motor, and the waist driving gear is meshingly connected with the waist rotating gear.

[0011] Furthermore, the connection position between the back plate and the waist connection plate is adjustable in height.

[0012] Furthermore, the leg rotation mechanism includes a driving shell and a leg servo motor, one end of the driving shell is fixedly connected to the armrest plate, and the other end of the driving shell is provided with a knee joint plate, and the leg assembly is rotatably connected to the knee joint plate.

[0013] Furthermore, a connecting shaft is provided between the two knee joint plates, the leg assembly is rotatably connected to the connecting shaft, the leg servo motor is fixedly installed on the leg assembly, a leg rotating gear is fixed on the knee joint plate, a leg driving gear is fixed on the output shaft of the leg servo motor, and the leg driving gear is meshingly connected with the leg rotating gear.

[0014] Furthermore, the leg assembly includes a support leg, a leg connecting plate and a foot pedal, the leg connecting plate is fixedly connected to the top of the support leg, the leg connecting plate is rotationally connected to the connecting shaft, and the leg servo motor is fixed on the leg connecting plate.

[0015] The technical solution of the utility model can facilitate the patient's sitting through the support component, support the patient's legs through the leg component, support the patient's waist through the waist component, and the patient's knee joints can be moved through the rotation between the leg component and the support component to perform recovery training for the knee joints, and the patient's waist and lumbar joints can be moved through the rotation between the waist component and the support component to perform recovery training for the lumbar joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;

[0018] Figure 2 Another structural schematic diagram of an embodiment of the utility model;

[0019] In the figure: 1. armrest plate; 2. supporting plate; 3. back plate; 4. waist connecting plate; 5. waist joint plate; 6. driving housing; 7. knee joint plate; 8. supporting leg; 9. leg connecting plate; 10. footrest; 11. leg baffle. DETAILED DESCRIPTION

[0020] The technical solution of the utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0023] Example 1

[0024] like Figure 1-Figure 2 As shown,

[0025] An auxiliary rehabilitation exoskeleton mechanism includes a support component, a waist component and a leg component, wherein the support component and the waist component are connected via a waist rotation mechanism, and the leg component and the support component are connected via a leg rotation mechanism. The support component can facilitate the patient to sit, the leg of the patient can be supported by the leg component, the waist of the patient can be supported by the waist component, and the knee joints of the patient's legs can be moved through the rotation between the leg component and the support component to perform knee joint recovery training, and the waist and waist joints of the patient can be moved through the rotation between the waist component and the support component to perform waist joint recovery training.

[0026] Specifically, the support assembly includes two armrest boards 1, and a support board 2 is fixedly arranged at the bottom of the inner sides of the two armrest boards 1. A seat board can be arranged on the support board 2, and a cushion can be placed on the seat board. By setting the support board, it is convenient for the patient to sit on the seat board, and it is convenient for the patient to sit on the exoskeleton.

[0027] In this embodiment, the number of the supporting plates 2 can be multiple, and the multiple supporting plates 2 are fixed between the two armrest plates 1 by bolts, and the number of supporting plates 2 installed can be adjusted, or supporting plates 2 of different widths can be selected to meet the needs of patients of different body shapes. When in use, a seat plate and a seat cushion are arranged on the supporting plate 2 to improve the sitting comfort of the patient.

[0028] The waist assembly includes a back plate 3 and a waist connecting plate 4, two waist joint plates 5 are fixed to the rear side of the armrest plate 1, waist connecting plates 4 are fixed to both sides of the bottom of the back plate 3, and the waist connecting plate 4 is rotatably connected to the waist joint plate 5 of the armrest plate 1. Specifically, the waist connecting plate 4 is rotatably connected to the waist joint plate 5, and the other end of the waist connecting plate 4 is fixedly connected to the back plate 3.

[0029] In order to achieve the exercise and recovery of the patient's waist, a waist rotation mechanism is provided between the waist component and the support component. Specifically, the waist rotation mechanism includes a waist servo motor, a waist shaft is provided between two waist joint plates 5, a waist connecting plate 4 is rotatably connected to the waist shaft, a waist rotating gear is fixed to one of the waist joint plates, the waist servo motor is fixed to the waist connecting plate 4, a waist driving gear is provided on the output shaft of the waist servo motor, and the waist driving gear is meshed and connected with the waist rotating gear. Through the rotation of the waist servo motor, the waist component can be driven to rotate relative to the support component, thereby achieving the exercise and recovery of the patient's waist.

[0030] In this embodiment, a plurality of first connecting holes are provided on the waist connecting plate 4, and a plurality of second connecting holes are also provided on both sides of the back plate 3. The spacing between the first connecting holes is the same as the spacing between the second connecting plates. When the back plate 3 and the waist connecting plate 4 are connected, the connection between the back plate 3 and the waist connecting plate 4 is realized by bolts passing through the first connecting plate and the second connecting plate through the cooperation of the first connecting holes and the second connecting holes.

[0031] And by adjusting the cooperation of different first connecting holes and second connecting holes, the height of the back plate 3 can be adjusted, so that the height of the back plate 3 and the waist connecting plate 4 is adapted to the patient, and the use needs of patients of different body shapes can be met.

[0032] The leg assembly and the support assembly are connected via a leg rotation mechanism. Specifically, the leg rotation mechanism includes a drive housing 6 and a leg servo motor. One end of the drive housing 6 is fixedly connected to the armrest plate 1, and the other end of the drive housing 6 is provided with a knee joint plate 7. The leg assembly is rotationally connected to the knee joint plate 7.

[0033] Specifically, a connecting shaft is provided between the two knee joint plates 7 of the driving housing 6, the leg assembly is rotatably connected to the connecting shaft, the leg servo motor is fixedly installed on the leg assembly, a leg rotating gear is fixed on one of the knee joint plates 7, a leg driving gear is fixed on the output shaft of the leg servo motor, and the leg driving gear is meshingly connected with the leg rotating gear. By controlling the rotation of the leg servo motor, the armrest board 1 can be driven to rotate relative to the leg assembly, thereby realizing recovery exercise for the patient's legs.

[0034] In this embodiment, the leg assembly includes a support leg 8, a leg connecting plate 9 and a foot pedal 10. The leg connecting plate 9 is fixedly connected to the top of the support leg 8, the leg connecting plate 9 is rotationally connected to the connecting shaft, and the leg servo motor is fixed on the leg connecting plate 9.

[0035] The footrest 10 is fixed to the bottom of the leg 8. When in use, the patient can place his feet on the footrest 10 to support the patient's feet. A leg baffle 11 is provided in the middle of the leg 8, and the leg can be conveniently supported by the leg baffle 11.

[0036] In this embodiment, the footrest 10 is arranged on the inner side of the leg 8, and the footrest 10 and the leg 8 are fixed by bolts. Specifically, a mounting plate is arranged on one side of the footrest 10, and a plurality of through holes are arranged on the mounting plate, and a plurality of threaded holes are arranged on the inner side of the leg 8, and the spacing between the through holes and the spacing between the threaded holes are equal, so that the connection position between the footrest 10 and the leg 8 can be realized by selecting different through holes and threaded holes, so as to meet the use of patients with different leg lengths, so that the setting position of the footrest 10 meets the patient's foot position.

[0037] In order to improve the safety of the utility model when in use, the utility model is also provided with a safety belt, the two ends of which are respectively fixed on both sides of the back plate 3, and the safety belt is provided with an adjustment buckle, and the length of the safety belt can be adjusted by adjusting the buckle, so that after the patient sits on the support assembly, the patient can be fixed on the back plate 3 by the safety belt, thereby ensuring that the patient will not fall from the support assembly.

[0038] When the utility model is in use, the patient sits on the support assembly, and then controls the waist servo motor of the waist rotation mechanism through the controller to drive the back plate 3 to rotate relative to the support assembly, or controls the leg servo motor of the leg rotation mechanism to drive the support assembly to rotate relative to the leg assembly before starting work, thereby respectively realizing recovery exercises for the patient's waist and legs.

[0039] The utility model can help patients recover muscle function, and can help patients recover muscle function through exercise. Through continuous use and training, the patient's muscles can gradually recover to a normal state, so that the patient can carry out daily life and work more freely.

[0040] The utility model can enhance the patient's motor ability and help the patient avoid complications. Patients who are bedridden for a long time or lack exercise are prone to complications such as pressure sores and deep vein thrombosis. The utility model training device can help patients avoid these complications through appropriate exercise and activities.

[0041] The utility model can help patients regain their self-confidence. Some people with lower limb injuries may feel inferior or unconfident. The utility model can help patients regain their self-confidence through training and exercise, and improve their mental state and psychological health level. During the recovery training process, patients can feel their own progress and sense of achievement, thereby enhancing their confidence and self-esteem.

[0042] The utility model can reduce the pain of patients and can help patients relieve pain and discomfort. For some people with lower limb injuries, pain and discomfort are very common. Through appropriate recovery training, patients can be helped to relieve pain and discomfort.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An auxiliary rehabilitation exoskeleton mechanism, characterized in that: It includes a support component, a waist component and a leg component, the support component and the waist component are connected by a waist rotation mechanism, and the leg component and the support component are connected by a leg rotation mechanism; the support component includes two armrest plates, and supporting plates are fixedly provided on the opposite inner bottoms of the two armrest plates; the waist component includes a back plate and a waist connecting plate, two waist joint plates are fixed on the rear side of the armrest plate, the waist connecting plates are respectively fixed on both sides of the bottom of the back plate, the waist connecting plate is rotatably connected to the waist joint plate, and the other end of the waist connecting plate is fixedly connected to the back plate.

2. The assisted rehabilitation exoskeleton mechanism according to claim 1, characterized in that: A seat plate is provided on the supporting plate, and a seat cushion is placed on the seat plate.

3. The assisted rehabilitation exoskeleton mechanism according to claim 2, characterized in that: The number of the supporting plates is one or more.

4. The assisted rehabilitation exoskeleton mechanism according to claim 1, characterized in that: The waist rotation mechanism includes a waist servo motor, a waist rotating shaft is arranged between the two waist joint plates, the waist connecting plate is rotatably connected to the waist rotating shaft, a waist rotating gear is fixed on the waist joint plate, the waist servo motor is fixed on the waist connecting plate, a waist driving gear is arranged on the output shaft of the waist servo motor, and the waist driving gear is meshingly connected with the waist rotating gear.

5. The assisted rehabilitation exoskeleton mechanism according to claim 4, characterized in that: The connection position between the back plate and the waist connection plate is adjustable in height.

6. The assisted rehabilitation exoskeleton mechanism according to claim 1, characterized in that: The leg rotation mechanism comprises a driving shell and a leg servo motor, one end of the driving shell is fixedly connected to the armrest plate, the other end of the driving shell is provided with a knee joint plate, and the leg assembly is rotationally connected to the knee joint plate.

7. The assisted rehabilitation exoskeleton mechanism according to claim 6, characterized in that: A connecting shaft is provided between the two knee joint plates, the leg assembly is rotatably connected to the connecting shaft, the leg servo motor is fixedly installed on the leg assembly, a leg rotating gear is fixed on the knee joint plate, a leg driving gear is fixed on the output shaft of the leg servo motor, and the leg driving gear is meshingly connected with the leg rotating gear.

8. The assisted rehabilitation exoskeleton mechanism according to claim 7, characterized in that: The leg assembly includes a supporting leg, a leg connecting plate and a footrest, the leg connecting plate is fixedly connected to the top of the supporting leg, the leg connecting plate is rotationally connected to the connecting shaft, and the leg servo motor is fixed on the leg connecting plate.

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