Exoskeleton robot for rehabilitation

Abstract

The utility model relates to the technical field of medical instruments, in particular to a rehabilitation exoskeleton robot which comprises a lower support, a driving assembly arranged at the front end of the lower support and used for driving a device to move, an upper support arranged above the lower support, a lifting assembly fixedly erected between the lower support and the upper support, and a control assembly installed on the upper support. Due to the fact that the driving assembly and the control assembly are arranged, when a patient conducts rehabilitation training, the device can move under the control of the patient, the motion trail can be autonomously controlled, the brain conscious walking action of the patient can be autonomously controlled and completed, and the rehabilitation training effect of the patient is improved. In addition, the device is matched with the lifting assembly, so that the standing height of the patient can be adjusted, two training modes of landing gait movement training and in-situ suspension gait training can be provided according to the requirements of the patient, and the training effect of the patient is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to an exoskeleton robot for rehabilitation. Background Art

[0002] At present, patients with limb movement disorders due to accidents, paraplegia, hemiplegia, disability, etc. find it difficult to stand up and move freely in life. They must rely on the help of others or use assistive devices such as crutches to walk. Therefore, many rehabilitation exoskeleton training devices for patients with limb movement disorders have appeared on the market. Most of the existing rehabilitation training devices have played a positive role in the rehabilitation training of patients with limb movement disorders. However, during use, some of them have too complex structures and too high costs for patients to afford, and some of them do not have complete functions. When patients are undergoing lower limb rehabilitation training, it is difficult for patients to control the direction of movement, accidents are prone to occur, and it is difficult to conduct independent training. As a result, during the rehabilitation walking training process, both family members and patients need to spend a lot of energy and time, and the training effect is poor. Utility Model Content

[0003] The utility model provides an exoskeleton robot for rehabilitation, which solves the technical problems of existing exoskeleton training devices, such as overly complex structures, high costs, incomplete functions, difficulty in controlling the direction of movement during lower limb rehabilitation training, and prone to accidents.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the utility model is achieved as follows:

[0005] The utility model provides an exoskeleton robot for rehabilitation, comprising a lower bracket, a driving assembly being provided at the front end of the lower bracket for driving the movement of a device, an upper bracket being provided above the lower bracket, a lifting assembly being fixedly mounted between the lower bracket and the upper bracket, a control assembly being installed on the upper bracket, and a lower limb structure connected to the control assembly being also installed.

[0006] Furthermore, the lower bracket is provided with a U-shaped frame, universal wheels are symmetrically provided at both ends of the U-shaped frame, and a placement frame is provided at the bottom.

[0007] Furthermore, the driving assembly is provided with a battery, which is fixedly mounted on the placement rack. Both sides of the battery are electrically connected to the first driving motor respectively, and the first driving motor is directly connected to the first driving wheels mounted on both sides of the placement rack respectively.

[0008] Furthermore, the lifting assembly includes two support rods vertically fixedly mounted on the placement frame and a movable rod sleeved on the two support rods;

[0009] One side of the two support rods is fixedly connected to the first diagonal support installed at the bottom of the U-shaped frame. A mounting seat is fixedly installed between the support rods. The tops of the two movable rods are connected to the fixed seat. The bottom of the electric telescopic rod is fixedly installed on the mounting seat. The movable end is hinged to the fixed seat. The outside of the two movable rods and the two support rods are wrapped with protective plates.

[0010] Furthermore, the upper bracket is provided with a U-shaped mounting frame, the mounting plate is horizontally installed on the U-shaped mounting frame, the U-shaped mounting frame is fixedly connected to the two movable rods respectively, a column is fixedly installed at the bottom of the U-shaped mounting frame, the column is fixedly connected to the fixing seat, one end of the second diagonal brace is fixedly connected to the column, and the other end is fixedly connected to the U-shaped mounting frame, a mounting groove is vertically installed in the middle of the U-shaped mounting frame, a third diagonal brace is provided between the mounting groove and the U-shaped mounting frame, and the outer periphery of the U-shaped mounting frame is also wrapped with an outer shell.

[0011] Furthermore, a detachable backrest and a handle are installed on the upper surface of the upper bracket, and an armrest is also provided at the rear of the upper bracket.

[0012] Furthermore, the control assembly is provided with a rocker and a control panel, which are both mounted on a mounting plate, a second drive motor is provided under the mounting plate, the second drive motor is fixedly mounted on the mounting slot, the second drive motor is fixedly mounted with a second drive wheel, and is connected to the lower limb structure through a chain.

[0013] Furthermore, the lower limb structure is provided with a calf exoskeleton, a pedal is provided at the lower end of the calf exoskeleton, a knee joint connector is provided at the upper end, a strap is provided on the knee joint connector, a first link and a second link are hinged at the upper end of the knee joint connector, a third link is hinged between the first link and the second link, the ends of the first link and the second link are also connected to a first connector and a second connector respectively, the first connector is hinged on a first fixed block, the first fixed block is fixedly mounted on a U-shaped mounting frame, the second connector is hinged on a rotating block, the rotating block is rotatably connected to the second fixed block, the second fixed block is fixedly mounted on the U-shaped mounting frame, and the second fixed block is also fixedly mounted with a driven wheel.

[0014] Furthermore, the lower limb structure also includes calf exoskeletons of different specifications to suit different patients.

[0015] Furthermore, a plurality of mounting holes are provided on the first connecting member and the second connecting member for adjusting the length of the lower limb structure and the training stride.

[0016] Beneficial effects of the utility model:

[0017] 1. The utility model adds a lifting component. When the height is increased, the patient can be suspended in place for gait rehabilitation training. When the height is lowered, the lower limb structure is in contact with the ground, and the upper limbs are used to operate the rocker control device to move, and the lower limb structure is coordinated for rehabilitation training. The patient controls the trajectory of the upper limb control device to achieve autonomous training, effectively avoiding accidents caused by loss of control of the movement trajectory, providing sufficient convenience for the patient and his family, and being more conducive to the patient's motor function recovery.

[0018] 2. The lower limb structure exoskeleton of the utility model can realize the real gait of human walking through the design of the connecting rod. On the other hand, it has a simple structure and does not require a harmonic reduction motor to be installed in each joint, effectively reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the internal structure of the utility model;

[0021] Figure 3 This is a side view of the utility model;

[0022] Figure 4 for Figure 3 A in the middle is an enlarged schematic diagram;

[0023] Figure 5 Schematic diagram of the lower limb structure.

[0024] Description of reference numerals:

[0025] 1. Lower bracket; 11. U-shaped bracket; 12. Placement rack; 13. Universal wheel; 2. Drive assembly; 21. Battery; 22. First drive motor; 23. First drive wheel; 3. Lifting assembly; 31. Support rod; 32. Movable rod; 33. Electric push rod; 34. Mounting base; 35. First diagonal brace; 36. Fixed base; 4. Upper bracket; 41. Mounting plate; 42. Second diagonal brace; 43. U-shaped mounting bracket; 44. Housing; 45. Column; 46. Mounting slot; 47. Third diagonal brace; 5. Lower limb mechanism; 51. Pedal; 52. Calf bone; 53. Knee joint connector; 54. First connecting rod; 55. Second connecting rod; 56. Driven wheel; 57. First connecting rod; 58. Third connecting rod; 59. Second connecting rod; 510. Rotating block; 511. First fixed block; 512. Second fixed block; 6. Backrest; 7. Control assembly; 71. Rocker; 72. Control panel; 73. Second drive motor; 74. Chain; 75. Second drive wheel; 8. Armrest; 9. Handle. DETAILED DESCRIPTION

[0026] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many other forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0027] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are for the purpose of describing specific embodiments only and are not intended to limit this invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] It should also be noted that, in the embodiments of the present application, the same figure mark represents the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0032] As described in the background technology, some existing exoskeleton training devices are too complex in structure and too expensive, while others are not fully functional. When patients are undergoing lower limb rehabilitation training, it is difficult to control the direction of movement and accidents are prone to occur, resulting in both family members and patients having to spend a lot of energy and time, and the training effect is poor.

[0033] To solve the above problems, refer to Figures 1 to 5 The present application provides an exoskeleton robot for rehabilitation, which is provided with a lower bracket 1 at the bottom, a driving component 2 at the front end of the lower bracket 1, a universal wheel 13 at the tail end of the lower bracket 1, an upper bracket 4 above the lower bracket 1, and a lifting component 3 fixedly mounted between the lower bracket 1 and the upper bracket 4. The lifting component 3 can adjust the installation height of the upper bracket 4. A control component 7 is installed on the upper bracket 4, and a lower limb structure 5 connected to the control component 7 is also installed. The control component 7 is electrically connected to the driving component 2 and the lifting component 3, and the control component 7 operates the driving component 2 to drive the movement of the drive device and control the installation height of the upper bracket 4.

[0034] like Figure 2~Figure 3 As shown, the lower bracket 1 includes a U-shaped frame 11, universal wheels 13 are symmetrically provided at both ends of the U-shaped frame 11, a placement frame 12 is provided at the bottom, a drive assembly 2 is provided on the placement frame 12, and a battery 21 is fixedly installed in the placement frame 12. Both sides of the battery 21 are electrically connected to the first drive motor 22, and the first drive motor 22 is directly connected to the first drive wheels 23 installed on both sides of the placement frame 12. The first drive motors 22 on both sides operate independently and can individually control the rotation of the first drive wheels 23 connected thereto, thereby realizing forward, backward, left turn and right turn.

[0035] In this embodiment, the lifting assembly 3 includes two support rods 31 vertically fixedly mounted on the placement frame 12 and a movable rod 32 sleeved on the two support rods 31;

[0036] A first diagonal brace 35 is provided between the bottom of the support rod 31 and the U-shaped frame 11 for fixing. A mounting seat 34 is fixedly installed at the bottom between the two support rods 31 for fixedly connecting the two support rods 31. A fixing seat 36 is connected to the top of the two movable rods 32. The bottom of the electric telescopic rod 33 is fixedly installed on the mounting seat 34. The movable end is hinged to the fixing seat 36. The movable rod 32 is lifted and lowered by the extension and retraction of the electric telescopic rod 33. The outside of the two movable rods 32 and between the movable rod 32 and the two support rods 31 are also wrapped with protective plates to provide good protection for the lifting component 3.

[0037] The upper bracket 4 is provided with a U-shaped mounting frame 43, and the mounting plate 41 is horizontally mounted on the U-shaped mounting frame 43. The U-shaped mounting frame 43 is respectively connected to the two movable rods 32 by welding or bolts. A column 45 is fixedly installed on the U-shaped mounting frame 43 at the connection point, and the column 45 is welded or bolted to the fixing seat 36. At the same time, one end of the second diagonal brace 42 is fixedly connected to the column 45, and the other end is fixedly connected to the U-shaped mounting frame 43, so that the U-shaped mounting frame 43 and the movable rod 32 are firmly fixed. A mounting groove 46 is also vertically installed in the middle of the U-shaped mounting frame 43, and a third diagonal brace 47 is provided between the mounting groove 46 and the U-shaped mounting frame 43. The outer periphery of the U-shaped mounting frame 43 is wrapped with an outer shell 44, and a detachable backrest 6, a grip 9, and an armrest 8 are also installed at the tail. The installed backrest 6 can provide good support for patients who cannot stand in balance during exercise. When necessary, relying on the armrest 8, it is convenient for the patient's family to hold the device and train with the patient.

[0038] like Figures 3 to 5 As shown, the control component 7 is provided with a rocker 71 and a control panel 72. The rocker 71 and the control panel 72 are both mounted on the mounting plate 41. The rocker 71 is electrically connected to the two first drive motors 22. When the rocker 71 is pushed forward, the first drive wheel 23 rotates forward. When the rocker 71 is pushed forward and backward, the first drive wheel 23 rotates backward. The speed of the first drive motor 22 is changed by the pushing amplitude of the rocker 71. The larger the amplitude, the faster the speed of the first drive motor 22, thereby realizing the forward, backward and steering movement of the device. The control panel 72 is used to control the lifting and lowering of the electric push rod, and to realize the linkage between the drive component 2 and the lower limb structure 5.

[0039] A second drive motor 73 is symmetrically provided under the mounting plate 41 . The second drive motor 73 can realize forward and reverse rotation. The second drive motor 73 is installed on the mounting groove 46 . A second drive wheel 75 is installed on the second drive motor 73 and is connected to the lower limb structure 5 through a chain 74 .

[0040] In this embodiment, the lower limb structure 5 is provided with a calf exoskeleton 52, a pedal 51 is provided at the lower end of the calf exoskeleton 52 for the patient to step on, a knee joint connector 53 is provided at the upper end of the calf exoskeleton 52, a strap (not shown) is provided on the knee joint connector 53 for fixing the patient's knee, a first link 54 and a second link 55 are hinged at the upper end of the knee joint connector 53, a third link 58 is hinged between the first link 54 and the second link 55, and the ends of the first link 54 and the second link 55 are hinged. The first connecting member 57 and the second connecting member 59 are respectively connected. The first connecting member 57 is hinged on the first fixing block 511, which is fixedly mounted on the U-shaped mounting frame 43. The second connecting member 59 is hinged on the rotating block 510. The rotating block 510 is rotatably connected to the second fixing block 512, which is fixedly mounted on the U-shaped mounting frame 43. The second fixing block 512 is also fixedly mounted with the driven wheel 56, which is connected to the second driving wheel 75 via the chain 74.

[0041] During exercise, the second drive motor 73 rotates and drives the driven wheel 56 to rotate by driving the chain 74. The rotating block 510 rotates and pulls the second connecting member 59 and the second connecting rod 55 up and down. At the same time, the third connecting rod 58 pulls the first connecting member 57 and the first connecting rod 54 up and down. Because the second connecting member 59 and the first connecting member 57 are of different lengths, they swing left and right, which in turn drives the knee joint connecting member 53 to swing, drives the calf exoskeleton 52 and the pedal 51 to move, and forms a bionic gait movement. In addition, connecting rods are used at the joints to achieve gait movement. At the same time, compared with similar products, the use of harmonic reduction motors is reduced, the structure is simpler, and costs are effectively saved.

[0042] In this embodiment, calf exoskeletons 52 of different specifications are provided, and the calf exoskeleton 52 can be replaced as needed to be suitable for patients of different heights.

[0043] In addition, a plurality of mounting holes are provided on the first connecting member 57 and the second connecting member 59. By adjusting the position of the mounting holes, the length of the lower limb structure 5 can be adjusted to further improve the practicality of the lower limb structure 5. While changing the length of the lower limb structure 5, the stride during training can also be changed. Through adjustment, the optimal training posture can be provided for the patient.

[0044] During use, the lifting assembly 3 is adjusted by the control panel 72. When it is raised, the patient stands in the air, the lower limb structure 5 is activated, and the patient can perform gait training in the air. When it is lowered, the pedal 51 touches the ground. At this time, the lower limb structure 5 is activated, the first drive motor 22 can be started, and the rocker 71 is controlled to perform mobile gait training.

[0045] Without turning on the first drive motor 22, you can select intensive training on the control panel 72, disconnect the electromagnetic brake of the first drive motor 22, and push the device to move through the friction between the pedal 51 and the ground during gait movement, thereby achieving the effect of intensive training.

[0046] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be included in the scope of protection of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A rehabilitation exoskeleton robot, characterized by: The exoskeleton robot comprises a lower bracket (1), a driving assembly (2) is provided at the front end of the lower bracket (1) for driving the movement of the exoskeleton robot, an upper bracket (4) is provided above the lower bracket (1), a lifting assembly (3) is provided between the lower bracket (1) and the upper bracket (4), a control assembly (7) is installed on the upper bracket (4), and a lower limb structure (5) connected to the control assembly (7) is also installed.

2. The rehabilitation exoskeleton robot according to claim 1, characterized in that: The lower bracket (1) is provided with a U-shaped frame (11), universal wheels (13) are symmetrically provided at both ends of the U-shaped frame (11), and a placement frame (12) is provided at the bottom.

3. The rehabilitation exoskeleton robot according to claim 2, characterized in that: The driving assembly (2) is provided with a battery (21), the battery (21) is fixedly mounted on the placement frame (12), both sides of the battery (21) are electrically connected to the first driving motor (22), and the first driving motor (22) is transmission-connected to the first driving wheels (23) mounted on both sides of the placement frame (12).

4. The rehabilitation exoskeleton robot according to claim 3, characterized in that: The lifting assembly (3) includes two support rods (31) vertically fixedly mounted on the placement frame (12) and a movable rod (32) sleeved on the two support rods (31); One side of the two support rods (31) is fixedly connected to the first oblique support (35) installed at the bottom of the U-shaped frame (11), a mounting seat (34) is fixedly installed between the support rods (31), the tops of the two movable rods (32) are connected to the fixing seat (36), the bottom of the electric telescopic rod (33) is fixedly installed on the mounting seat (34), the movable end is hinged to the fixing seat (36), and the outside of the two movable rods (32) and the two support rods (31) are wrapped with a protective plate.

5. The rehabilitation exoskeleton robot according to claim 4, characterized in that: The upper bracket (4) is provided with a U-shaped mounting frame (43), the mounting plate (41) is horizontally mounted on the U-shaped mounting frame (43), the U-shaped mounting frame (43) is fixedly connected to the two movable rods (32), and a column (45) is fixedly mounted on the bottom of the U-shaped mounting frame (43), the column (45) is fixedly connected to the fixing seat (36), one end of the second diagonal brace (42) is fixedly connected to the column (45), and the other end is fixedly connected to the U-shaped mounting frame (43), a mounting groove (46) is vertically mounted in the middle of the U-shaped mounting frame (43), a third diagonal brace (47) is provided between the mounting groove (46) and the U-shaped mounting frame (43), and the outer periphery of the U-shaped mounting frame (43) is also wrapped with a shell (44).

6. The rehabilitation exoskeleton robot according to claim 5, characterized in that: A detachable backrest (6) and a handle (9) are also installed on the upper surface of the upper bracket (4), and an armrest (8) is also provided at the rear of the upper bracket (4).

7. The rehabilitation exoskeleton robot according to claim 5, characterized in that: The control assembly (7) is provided with a rocker (71) and a control plate (72). The rocker (71) and the control plate (72) are both mounted on the mounting plate (41). A second drive motor (73) is provided under the mounting plate (41). The second drive motor (73) is fixedly mounted on the mounting groove (46). The second drive motor (73) is fixedly mounted with a second drive wheel (75) and is connected to the lower limb structure (5) through a chain (74).

8. The rehabilitation exoskeleton robot according to claim 7, characterized in that: The lower limb structure (5) is provided with a calf exoskeleton (52), the lower end of the calf exoskeleton (52) is provided with a pedal (51), the upper end is provided with a detachable knee joint connector (53), the knee joint connector (53) is provided with a strap, the upper end of the knee joint connector (53) is hinged with a first link (54) and a second link (55), the first link (54) and the second link (55) are hinged with a third link (58), and the ends of the first link (54) and the second link (55) are respectively connected to a third link (59). A connecting member (57) and a second connecting member (59), wherein the first connecting member (57) is hinged on a first fixed block (511), the first fixed block (511) is fixedly mounted on a U-shaped mounting frame (43), the second connecting member (59) is hinged on a rotating block (510), the rotating block (510) is rotatably connected to the second fixed block (512), the second fixed block (512) is fixedly mounted on the U-shaped mounting frame (43), and the second fixed block (512) is also fixedly mounted with a driven wheel (56).

9. The rehabilitation exoskeleton robot according to claim 8, characterized in that: The lower limb structure (5) also includes calf exoskeletons (52) of different sizes to suit different patients.

10. The rehabilitation exoskeleton robot according to claim 8, characterized in that: The first connecting member (57) and the second connecting member (59) are provided with a plurality of mounting holes for adjusting the length of the lower limb structure and training stride.

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