Wearable rehabilitation exoskeleton power-assisted robot

Abstract

The utility model discloses a wearable rehabilitation exoskeleton power-assisted robot, which belongs to the technical field of power-assisted robots and is characterized by comprising a connecting block, a main controller body is fixedly connected to the inner side of the connecting block, and a mounting structure is fixedly connected to the rear side of the connecting block. The bottom of the mounting structure is fixedly connected with an adjusting structure, the outer side of the adjusting structure is rotatably connected with an auxiliary structure, the top of the fixing shell is fixedly connected with the bottom of the mounting structure, the outer wall of the limiting block is in threaded connection with the inner wall of the fixing shell, and the limiting block penetrates through the extending block and the fixing shell and makes contact with the movable column. According to the wearable rehabilitation exoskeleton assisting robot, the problems that a wearable rehabilitation exoskeleton assisting robot lacks certain adaptability, it is difficult to ensure that an exoskeleton can be tightly attached to the legs of a patient, the size is improper, blood circulation is likely to be blocked due to the fact that the exoskeleton is too tight, and the rehabilitation effect of a user is affected are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of power-assisted robots, in particular to a wearable rehabilitation exoskeleton power-assisted robot. Background Art

[0002] Wearable rehabilitation exoskeleton assisted robots are specially designed to assist patients in rehabilitation. They can help patients regain mobility, relieve pain and improve their quality of life.

[0003] At present, the research on wearable elbow exoskeleton rehabilitation robots is still in its infancy. From the perspective of mechanical structure, they can be mainly divided into two categories: parallel and serial. Among them: the parallel design can flexibly assist in the rehabilitation of the movement function of the elbow joint, but the connecting rods are usually not compact enough, the volume and weight are large, and it will cause a heavy load when worn on the patient; the serial design is smaller in size, but it has not yet considered how to eliminate the obstructive internal force between the human and the machine caused by the misalignment of the human-machine joint rotation axis. This obstructive internal force will cause discomfort during use;

[0004] The existing patent (Announcement No.: CN111407596A) discloses a wearable elbow exoskeleton rehabilitation device. First, the present invention adopts a serial connecting rod mechanism to make the overall mechanism more compact, but the difference from other serial connecting rod mechanisms is that it does not require the restriction that the human-machine joint axis is completely aligned, reducing the hindering internal force between the human and the machine. Second, the present invention is based on a two-degree-of-freedom spatial six-bar mechanism, so that the human-machine closed chain degrees of freedom formed by the human body and the mechanical system correspond to the flexion and extension movement and internal and external rotation movement of the elbow joint, wherein, taking the position of the upper arm in the anatomical position of the human body as the starting point, the flexion and extension movement range can reach 0°-70°, and the internal and external rotation movement range can reach 0-80°, which fully meets the needs of the human elbow joint range of motion. Third, the present invention adopts an electric push rod and a motor drive to provide driving force for flexion and extension, internal and external rotation, respectively, so that the human-machine closed chain as a whole constitutes a proper constraint mechanism.

[0005] In response to the above problems, existing patents have provided solutions. The functions of existing wearable rehabilitation exoskeleton assisted robots are relatively complete. However, due to the different heights of different users, the current wearable rehabilitation exoskeleton assisted robots still lack a certain degree of adaptability. It is difficult to ensure that the exoskeleton can fit the patient's legs tightly, which will result in an inappropriate size. Too tight may cause blood circulation obstruction and affect the user's rehabilitation effect.

[0006] To this end, a wearable rehabilitation exoskeleton assisted robot is proposed. Utility Model Content

[0007] The purpose of the utility model is to provide a wearable rehabilitation exoskeleton assisted robot, which can solve the problem that the existing wearable rehabilitation exoskeleton assisted robots still lack a certain degree of adaptability, it is difficult to ensure that the exoskeleton can fit the patient's legs tightly, which will result in an inappropriate size. Too tight may cause blood circulation to be blocked, affecting the user's rehabilitation effect.

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a wearable rehabilitation exoskeleton power-assisting robot, comprising a connecting block, the inner side of which is fixedly connected to a main controller body, the rear side of which is fixedly connected to a mounting structure, the bottom of which is fixedly connected to an adjustment structure, and the outer side of which is rotatably connected to an auxiliary structure;

[0009] The adjustment structure includes a fixed shell, an extension block, a limit block, a movable column and a connecting piece. The top of the fixed shell is fixedly connected to the bottom of the mounting structure, the left side of the fixed shell is fixedly connected to the right side of the extension block, the inner side of the fixed shell is plugged into the outer side of the movable column, the inner wall of the extension block is threadedly connected to the outer wall of the limit block, the outer wall of the limit block is threadedly connected to the inner wall of the fixed shell, the limit block passes through the extension block and the fixed shell and contacts the movable column, and the bottom of the movable column is fixedly connected to the top of the connecting piece.

[0010] Preferably, a fixing block is fixedly connected to the top of the fixing shell, the front side of the fixing block is fixedly connected to the rear side of the connecting block, and a mounting block is inserted into the inner side of the fixing block.

[0011] Preferably, the inner wall of the mounting block is threadedly connected to a rotating block, the outer wall of the rotating block is threadedly connected to the inner wall of the mounting block, and the rear side of the mounting block is fixedly connected to a connecting belt.

[0012] Preferably, a mounting piece is fixedly connected to the front side of the connecting belt, a rotating piece is bolted to the outside of the mounting piece, a matching block is rotatably connected to the outside of the rotating piece, and the front side of the matching block is fixedly connected to the rear side of the connecting block.

[0013] Preferably, an auxiliary block is rotatably connected to the outer side of the connecting piece, and a stabilizing block is inserted into the bottom of the auxiliary block.

[0014] Preferably, a legging strap is fixedly connected to the right side of the stabilizing block, a twist block is threadedly connected to the inner wall of the auxiliary block, and the twist block passes through the auxiliary block and contacts with the left side of the stabilizing block.

[0015] Preferably, threaded holes are fixedly provided on the left side of the extension block and the left side of the fixing shell, an elliptical groove is provided on the bottom of the fixing shell, and the threaded hole is communicated with the elliptical groove.

[0016] Preferably, a plug-in slot is provided on the top of the fixing block, a connecting hole is provided on the left side of the fixing block, and the plug-in slot is communicated with the connecting hole.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. The present application can adjust the height of the lower connection part of the power-assisting robot according to the leg height of different users through the setting of the adjustment structure, so as to achieve the effect of improving the adaptability of the power-assisting robot;

[0019] 2. By setting up an installation structure, the present application allows the user to wear the main controller body around the waist to prevent the power-assist robot from falling off. By setting the connecting belt and its connecting part to be detachable, the user only needs to replace straps with different tensions or replace damaged straps, which is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the overall structural diagram of the wearable rehabilitation exoskeleton power-assisting robot of the utility model;

[0021] Figure 2 A diagram showing the splitting of the adjustment structure of the utility model;

[0022] Figure 3 A diagram showing the disassembled connection portion of the installation structure of the utility model;

[0023] Figure 4 A diagram showing the disassembly of the auxiliary structure of the utility model;

[0024] Figure 5 For this utility model Figure 1 Bottom view of the rear side of the overall structure.

[0025] In the figure, 1. connecting block; 2. main controller body; 3. mounting structure; 31. fixed block; 32. mounting block; 33. rotating block; 34. connecting belt; 35. mounting piece; 36. rotating piece; 37. matching block; 4. adjusting structure; 41. fixed shell; 42. extension block; 43. limit block; 44. movable column; 45. connecting piece; 5. auxiliary structure; 51. auxiliary block; 52. stabilizing block; 53. legging strap; 54. torsion block; 6. threaded hole; 7. elliptical groove; 8. plug-in groove; 9. connecting hole. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figure 1-5 , the utility model provides a technical solution:

[0028] A wearable rehabilitation exoskeleton power-assisting robot comprises a connection block 1, a main controller body 2 is fixedly connected to the inner side of the connection block 1, a mounting structure 3 is fixedly connected to the rear side of the connection block 1, an adjustment structure 4 is fixedly connected to the bottom of the mounting structure 3, and an auxiliary structure 5 is rotatably connected to the outer side of the adjustment structure 4;

[0029] The adjustment structure 4 includes a fixed shell 41, an extension block 42, a limit block 43, a movable column 44 and a connecting piece 45. The top of the fixed shell 41 is fixedly connected to the bottom of the mounting structure 3, the left side of the fixed shell 41 is fixedly connected to the right side of the extension block 42, the inner side of the fixed shell 41 is plugged into the outer side of the movable column 44, the inner wall of the extension block 42 is threadedly connected to the outer wall of the limit block 43, the outer wall of the limit block 43 is threadedly connected to the inner wall of the fixed shell 41, the limit block 43 passes through the extension block 42 and the fixed shell 41 and contacts with the movable column 44, and the bottom of the movable column 44 is fixedly connected to the top of the connecting piece 45.

[0030] In this embodiment: by setting a connecting block 1 connected to the main controller body 2, the mounting structure 3 can be fixed to one side of the main controller body 2. By setting the mounting structure 3, the power-assist robot can be fixed to the user's waist. By setting the adjustment structure 4 fixed at the bottom of the mounting structure 3, after the user wears the main controller body 2 part to the waist, the user can twist the limit block 43 on the inner wall of the extension block 42, and the limit block 43 releases the limit on the movable column 44 on the inner wall of the fixed shell 41. The user can pull the connecting piece 45 downward to pull the movable column 44 out from the inner wall of the fixed shell 41 to achieve the purpose of adjusting the height of the auxiliary structure 5. By setting the auxiliary structure 5 connected to the connecting piece 45, the user can wear the auxiliary structure 5 to the legs.

[0031] Specifically, Figure 3 and Figure 5 As shown, a fixing block 31 is fixedly connected to the top of the fixing shell 41 , the front side of the fixing block 31 is fixedly connected to the rear side of the connecting block 1 , and a mounting block 32 is inserted into the inner side of the fixing block 31 .

[0032] Specifically, Figure 3 and Figure 5As shown, the inner wall of the mounting block 32 is threadedly connected to the rotating block 33 , the outer wall of the rotating block 33 is threadedly connected to the inner wall of the mounting block 32 , and the rear side of the mounting block 32 is fixedly connected to a connecting belt 34 .

[0033] Specifically, Figure 3 and Figure 5 As shown, a mounting member 35 is fixedly connected to the front side of the connecting belt 34 , a rotating member 36 is bolted to the outer side of the mounting member 35 , a matching block 37 is rotatably connected to the outer side of the rotating member 36 , and the front side of the matching block 37 is fixedly connected to the rear side of the connecting block 1 .

[0034] In this embodiment: by setting the fixing block 31 and the matching block 37 to be fixed to the connecting block 1, the user places the main controller body 2 on the front side of the navel part, and the two sides of the user's waist are initially clamped by the fixing block 31 and the matching block 37. Then the user pulls the connecting belt 34 through the mounting block 32. By setting the rotating member 36 on the inner side of the matching block 37, the mounting member 35 connected to the rotating member 36 and the mounting member 35 fixed to the connecting belt 34, the purpose of the connecting belt 34 being close to the user's back waist can be achieved. After that, the user inserts the mounting block 32 into the inner side of the fixing block 31, and then screws the rotating block 33 to the inner wall of the fixing block 31 and connects it to the inner wall of the mounting block 32, thereby completing the wearing of the main controller body 2.

[0035] Specifically, Figure 4 and Figure 5 As shown, the outer side of the connecting member 45 is rotatably connected to an auxiliary block 51 , and a stabilizing block 52 is inserted into the bottom of the auxiliary block 51 .

[0036] Specifically, Figure 4 and Figure 5 As shown, a legging strap 53 is fixedly connected to the right side of the stabilizing block 52 , and a twisting block 54 is threadedly connected to the inner wall of the auxiliary block 51 . The twisting block 54 passes through the auxiliary block 51 and contacts the left side of the stabilizing block 52 .

[0037] In this embodiment: through the rotation of the connecting piece 45 and the auxiliary block 51, the connection between them is electrically assisted and controlled by the main controller body 2, so as to achieve the purpose of assisting the user, by providing a stabilizing block 52 plugged into the bottom of the auxiliary block 51 and the stabilizing block 52 being limited by a torsion block 54 threadedly connected to the inner wall of the auxiliary block 51, by providing a leggings 53 fixed to the stabilizing block 52, the user can use the leggings 53 to tie around the legs to complete the wearing.

[0038] Specifically, Figure 2 and Figure 3 As shown, a threaded hole 6 is fixedly provided on the left side of the extension block 42 and the left side of the fixing shell 41 , an elliptical groove 7 is provided on the bottom of the fixing shell 41 , and the threaded hole 6 is communicated with the elliptical groove 7 .

[0039] Specifically, Figure 3 As shown, a plug-in slot 8 is provided on the top of the fixing block 31 , and a connecting hole 9 is provided on the left side of the fixing block 31 , and the plug-in slot 8 is communicated with the connecting hole 9 .

[0040] In this embodiment: the threaded hole 6 is provided in both the extension block 42 and the fixed shell 41, and the threaded hole 6 is connected to the elliptical groove 7 provided at the bottom of the fixed shell 41, so as to achieve the purpose of limiting the movable column 44 inside the fixed shell 41 by the limit block 43. The plug-in groove 8 and the connecting hole 9 provided in the fixed block 31 are provided to achieve the purpose of limiting the mounting block 32 by the rotating block 33.

[0041] Working principle: When the user needs to wear a rehabilitation exoskeleton assisted robot, the connecting block 1 connected to the main controller body 2 is set so that the mounting structure 3 can be fixed to one side of the main controller body 2. The fixing block 31 and the matching block 37 are fixed to the connecting block 1. The user places the main controller body 2 on the front side of the navel part, and the two sides of the user's waist are initially clamped by the fixing block 31 and the matching block 37. Then the user pulls the connecting belt 34 through the mounting block 32. By setting a rotating member 36 inside the matching block 37 and a mounting member 35 connected to the rotating member 36 and fixing the mounting member 35 to the connecting belt 34, the purpose of the connecting belt 34 being close to the user's lower back can be achieved. After that, the user inserts the mounting block 32 into the inside of the fixing block 31, and then screws the rotating block 33 to the fixing block 3. 1 and connected to the inner wall of the mounting block 32 to complete the wearing of the main controller body 2. After that, the limit block 43 on the inner wall of the extension block 42 can be twisted to release the limit on the movable column 44 on the inner wall of the fixed shell 41. The user can pull the connecting piece 45 downward to pull the movable column 44 out from the inner wall of the fixed shell 41 to achieve the purpose of adjusting the height of the auxiliary structure 5. Through the rotation of the connecting piece 45 and the auxiliary block 51, the connection between them is an electric power-assisted type controlled by the main controller body 2 to achieve the purpose of assisting the user. By setting a stabilizing block 52 plugged into the bottom of the auxiliary block 51 and the stabilizing block 52 being limited by a torsion block 54 threadedly connected to the inner wall of the auxiliary block 51, by setting a leggings 53 fixed to the stabilizing block 52, the user can use the leggings 53 to tie around the legs to complete the wearing of the power-assisting robot.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wearable rehabilitation exoskeleton assisted robot, comprising a connecting block (1), characterized in that: The main controller body (2) is fixedly connected to the inner side of the connection block (1), the mounting structure (3) is fixedly connected to the rear side of the connection block (1), the bottom of the mounting structure (3) is fixedly connected to the adjustment structure (4), and the outer side of the adjustment structure (4) is rotatably connected to the auxiliary structure (5); The adjustment structure (4) comprises a fixed shell (41), an extension block (42), a limit block (43), a movable column (44) and a connecting piece (45); the top of the fixed shell (41) is fixedly connected to the bottom of the mounting structure (3); the left side of the fixed shell (41) is fixedly connected to the right side of the extension block (42); the inner side of the fixed shell (41) is plugged into the outer side of the movable column (44); the inner wall of the extension block (42) is threadedly connected to the outer wall of the limit block (43); the outer wall of the limit block (43) is threadedly connected to the inner wall of the fixed shell (41); the limit block (43) passes through the extension block (42) and the fixed shell (41) and contacts the movable column (44); the bottom of the movable column (44) is fixedly connected to the top of the connecting piece (45).

2. A wearable rehabilitation exoskeleton-assisted robot according to claim 1, characterized in that: A fixing block (31) is fixedly connected to the top of the fixing shell (41), the front side of the fixing block (31) is fixedly connected to the rear side of the connecting block (1), and a mounting block (32) is inserted into the inner side of the fixing block (31).

3. A wearable rehabilitation exoskeleton-assisted robot according to claim 2, characterized in that: The inner wall of the mounting block (32) is threadedly connected to a rotating block (33), the outer wall of the rotating block (33) is threadedly connected to the inner wall of the mounting block (32), and the rear side of the mounting block (32) is fixedly connected to a connecting belt (34).

4. A wearable rehabilitation exoskeleton-assisted robot according to claim 3, characterized in that: The front side of the connecting belt (34) is fixedly connected to a mounting member (35), the outer side of the mounting member (35) is bolted to a rotating member (36), the outer side of the rotating member (36) is rotatably connected to a matching block (37), and the front side of the matching block (37) is fixedly connected to the rear side of the connecting block (1).

5. The wearable rehabilitation exoskeleton-assisted robot according to claim 1, characterized in that: The outer side of the connecting piece (45) is rotatably connected to an auxiliary block (51), and the bottom of the auxiliary block (51) is plugged with a stabilizing block (52).

6. A wearable rehabilitation exoskeleton-assisted robot according to claim 5, characterized in that: The right side of the stabilizing block (52) is fixedly connected with a legging strap (53), the inner wall of the auxiliary block (51) is threadedly connected with a twisting block (54), and the twisting block (54) passes through the auxiliary block (51) and contacts with the left side of the stabilizing block (52).

7. The wearable rehabilitation exoskeleton-assisted robot according to claim 1, characterized in that: A threaded hole (6) is fixedly provided on the left side of the extension block (42) and the left side of the fixed shell (41); an elliptical groove (7) is provided on the bottom of the fixed shell (41); and the threaded hole (6) is in communication with the elliptical groove (7).

8. The wearable rehabilitation exoskeleton-assisted robot according to claim 2, characterized in that: The top of the fixing block (31) is provided with a plug-in slot (8), the left side of the fixing block (31) is provided with a connecting hole (9), and the plug-in slot (8) is communicated with the connecting hole (9).

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