Exoskeleton robot for rehabilitation training

Abstract

The utility model relates to the technical field of medical treatment, in particular to an exoskeleton robot for rehabilitation training, which comprises a support seat, a guide plate, sliders, a connecting plate, a hinge plate and a mounting rod, the guide plate is mounted on the rear side of the support seat, guide grooves are formed in two sides of the guide plate, the sliders are slidably arranged in the guide grooves, and the hinge plate is mounted on the support seat. Second connecting rods are fixedly connected to the sides, away from the supporting base, of the sliding blocks, connecting plates are connected to the second connecting rods, hinged plates are rotationally arranged on the sides, away from each other, of the two connecting plates, and mounting rods are rotationally arranged at the ends, away from the connecting plates, of the hinged plates. When the shoulders of the patient move, the elastic belts serve as resistance generated when the shoulders of the patient move, so that the patient can conveniently conduct preliminary strength rehabilitation training, and the resistance generated when the shoulders of the patient move is adjusted by increasing the number of the elastic belts arranged on the second connecting rod and the first connecting rod in a sleeving mode; therefore, the muscle strength and the control ability of the patient are gradually enhanced.

Description

Technical Field

[0001] This utility model relates to the field of medical technology, and in particular to an exoskeleton robot for rehabilitation training. Background Technology

[0002] An exoskeleton robot is a mechanical device used to enhance or restore human mobility. It can be worn on the outside of the body to assist users in completing specific tasks. It is mainly used to help people who have difficulty moving due to illness or injury to relearn to walk or enhance their existing mobility.

[0003] When patients use exoskeleton robots for rehabilitation training, they usually need to go through a process from no ability to ability, from dependence to independence. In this process, patients are encouraged to gradually increase their muscle strength and control ability, so that they can gradually reduce the amount of assistance according to their strength recovery. Because everyone's rehabilitation condition is different, even for the same type or stage of injury, the differences between individuals are very obvious, and the assistance required by the rehabilitation training exoskeleton robot is also different for the same individual during the rehabilitation training process.

[0004] Therefore, there is a need to design an exoskeleton robot for rehabilitation training that can adjust the training intensity. Utility Model Content

[0005] To overcome the shortcomings of individual differences in rehabilitation conditions, even for injuries of the same type or stage, and the varying needs of the rehabilitation training exoskeleton robot for different levels of assistance during rehabilitation training, this invention provides an exoskeleton robot for rehabilitation training that can adjust the training intensity.

[0006] The technical implementation scheme of this utility model is as follows: An exoskeleton robot for rehabilitation training includes a support base, a guide plate, a slider, a connecting plate, a hinge plate, a mounting rod, a second connecting rod, a hand fixation structure, and a shoulder fixation structure. A guide plate is installed on the rear side of the support base. Guide grooves are opened on both sides of the guide plate. A slider is slidably arranged in the guide groove. A second connecting rod is fixedly connected to the side of the slider away from the support base. A connecting plate is connected to the second connecting rod. A hinge plate is rotatably arranged on the side of the two connecting plates away from each other. A mounting rod is rotatably arranged on the end of the hinge plate away from the connecting plate. A mounting plate is installed on the mounting rod. A hand fixation structure for fixing the patient's upper limb is installed on the mounting plate. A shoulder fixation structure for wearing on the patient is arranged between the upper and lower sides of the support base. It also includes a mounting plate, a first connecting rod, and an elastic band. A mounting plate is installed on the rear side of the support base. A set of first connecting rods is fixedly connected to each side of the mounting plate. Each set of first connecting rods is connected to a second connecting rod through an elastic band, and the two elastic bands are staggered.

[0007] More preferably, the hand fixing structure includes a fixing rod, an upper limb fixing plate, a first male hook and loop fastener, a fixing strap, and a first female hook and loop fastener. The fixing rod is mounted on the mounting rod, the upper limb fixing plate is mounted on the fixing rod, the first male hook and loop fastener is provided on one side of the upper limb fixing plate, the fixing strap is provided on the other side of the upper limb fixing plate, and the first female hook and loop fastener is provided at the end of the fixing strap near the first male hook and loop fastener. The adjacent first male hook and loop fasteners are bonded to the first female hook and loop fastener.

[0008] More preferably, the shoulder fixing structure includes a second male hook and loop fastener, a second female hook and loop fastener, an elastic band, rivets, and a shoulder strap. Elastic bands are connected to both sides of the lower part of the support base. The second male hook and loop fastener and the second female hook and loop fastener are respectively provided at the ends of the two elastic bands that are close to each other. The second male hook and loop fastener and the second female hook and loop fastener are bonded together. Shoulder straps are provided on both sides of the upper part of the support base through rivets. The end of the shoulder strap away from the rivet is connected to the adjacent elastic band.

[0009] More preferably, it also includes a servo motor, a first rotating shaft, a second rotating shaft, a guide wheel, a winding wheel, and a pull rope. Two servo motors are installed on the rear side of the support base. The first rotating shaft is fixedly connected to the connecting plate, and the second rotating shaft is fixedly connected to the fixing rod. The guide wheel is rotatably mounted on the first rotating shaft. The winding wheel is mounted on the output shaft of the servo motor. A pull rope is wound on the winding wheel. The end of the pull rope is connected to the second rotating shaft, and the middle of the pull rope is in contact with the guide wheel.

[0010] More preferably, it also includes a limiting plate, with limiting plates fixed to both sides of the upper part of the support base, and the connecting plate sliding within the adjacent limiting plates.

[0011] More preferably, it also includes a top block, with the top block fixed to the front of the support base.

[0012] More preferably, it also includes a cushioning pad, with a cushioning pad installed on the inside of the upper limb fixation plate.

[0013] Compared with the prior art, the present invention has the following advantages: 1. When the patient moves his shoulder, the elastic band acts as a resistance to the movement, thus facilitating the patient's initial strength rehabilitation training. By increasing the number of elastic bands fitted on the second connecting rod and the first connecting rod, the resistance during the patient's shoulder movement can be adjusted, thereby enabling the patient to gradually enhance his muscle strength and control ability.

[0014] 2. By repeatedly starting and stopping the servo motor, the fixing rod drives the upper limb fixing plate to rotate upward around the mounting rod as the axis, thereby assisting the patient in performing reciprocating arm extension and closure training. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Figure 2 This is a three-dimensional structural diagram of the support base, guide plate, and limiting plate of this utility model.

[0017] Figure 3 This is a three-dimensional structural diagram of the mounting rod, fixing rod, and upper limb fixing plate of this utility model.

[0018] Figure 4 This is a three-dimensional structural diagram of the hinge plate, upper limb fixation plate, and fixation strap of this utility model.

[0019] Figure 5 This is a three-dimensional structural diagram of the support base, servo motor, and guide wheel of this utility model.

[0020] Figure 6 This is a three-dimensional structural diagram of the support base, telescopic belt, and top block of this utility model.

[0021] The meanings of the reference numerals in the diagram are as follows: 1. Support base; 2. Guide plate; 201. Guide groove; 3. Slider; 4. Connecting plate; 5. Limiting plate; 6. Hinge plate; 7. Mounting rod; 8. Fixing rod; 9. Upper limb fixing plate; 10. First male Velcro strap; 11. Fixing strap; 12. First female Velcro strap; 13. Mounting plate; 1301. First connecting rod; 1302. Second connecting rod; 1303. Elastic band; 14. Second male Velcro strap; 15. Second female Velcro strap; 1501. Telescopic belt; 16. Rivet; 17. Shoulder strap; 18. Top block; 19. Buffer pad; 20. Servo motor; 21. First rotating shaft; 22. Second rotating shaft; 23. Guide wheel; 24. Winding wheel; 25. Pull rope. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example 1: An exoskeleton robot for rehabilitation training, see reference Figures 1-3As shown, the device includes a support base 1, a guide plate 2, a slider 3, a connecting plate 4, a hinge plate 6, a mounting rod 7, a second connecting rod 1302, a hand fixation structure, and a shoulder fixation structure. The guide plate 2 is bolted to the rear of the support base 1, and a top block 18, made of rubber, is bolted to the front of the support base 1 to ensure the support base 1 fits snugly against the patient's back and prevents it from not adhering properly. Guide grooves 201 are provided on both sides of the guide plate 2, and a slider 3 slides within these grooves. A second connecting rod 1302 is welded to the rear of the slider 3, and a connecting plate 4 is connected to the second connecting rod 1302. The upper left and right sides of the support base 1 are also welded with... Limiting plate 5 and connecting plate 4 slide within adjacent limiting plate 5. Limiting plate 5 guides connecting plate 4, allowing connecting plate 4 to slide smoothly left and right. Hinged plate 6 is rotatably provided on the side of each connecting plate 4 that is far from each other. Mounting rod 7 is rotatably provided on the end of hinged plate 6 that is far from connecting plate 4. Mounting plate 13 is mounted on mounting rod 7. Hand fixation structure for fixing the patient's upper limb is mounted on mounting plate 13. Shoulder fixation structure for wearing on the patient is provided between the upper and lower sides of support base 1. A set of first connecting rods 1301 is fixed to each side of mounting plate 13. Each set of first connecting rods 1301 is connected to a second connecting rod 1302 through elastic band 1303, and the two elastic bands 1303 are staggered.

[0024] See Figure 4 As shown, the hand fixation structure includes a fixing rod 8, an upper limb fixation plate 9, a first male Velcro 10, a fixing strap 11, and a first female Velcro 12. The fixing rod 8 is installed on the mounting rod 7 by bolt connection, and the upper limb fixation plate 9 is installed on the fixing rod 8 by bolt connection. The upper limb fixation plate 9 is arc-shaped to adhere the patient's upper limb. A cushioning pad 19 made of sponge is installed on the inner side of the upper limb fixation plate 9 to prevent the patient's upper limb from being crushed during fixation. The first male Velcro 10 is provided on the side of the upper limb fixation plate 9 away from the support base 1, and the fixing strap 11 is provided on the side of the upper limb fixation plate 9 close to the support base 1. The fixing strap 11 is made of elastic material, and the first female Velcro 12 is provided at the end of the fixing strap 11 close to the first male Velcro 10. The adjacent first male Velcro 10 and first female Velcro 12 are bonded together.

[0025] See Figure 6As shown, the shoulder fixing structure includes a second male hook and loop fastener 14, a second female hook and loop fastener 15, an elastic band 1501, a rivet 16, and a shoulder strap 17. The lower left and right sides of the support base 1 are connected to elastic bands 1501. The ends of the two elastic bands 1501 that are close to each other are respectively provided with the second male hook and loop fastener 14 and the second female hook and loop fastener 15. The second male hook and loop fastener 14 and the second female hook and loop fastener 15 are glued together. The upper sides of the support base 1 are provided with shoulder straps 17 through rivets 16. The end of the shoulder strap 17 away from the rivet 16 is connected to the adjacent elastic band 1501.

[0026] When using the exoskeleton robot for rehabilitation training, the support base 1 is placed on the patient's back. Shoulder straps 17 are then wrapped around the patient's shoulders, and elastic straps 1501 are wrapped around both sides of the patient's waist. The second male Velcro strap 14 and the second female Velcro strap 15 are then glued together, thus fixing the support base 1 to the patient's forehead and back. The patient's arm is then placed within two separate upper limb fixation plates 9. The first male Velcro strap 10 and the first female Velcro strap 12 are then glued together, fixing the patient's arm to the upper limb fixation plates 9 via the fixation straps 11, the first male Velcro strap 10, and the first female Velcro strap 12. In the initial training phase, one end of an elastic band 1303 is fitted onto the second connecting rod 1302, and the other end is fitted onto the corresponding first connecting rod 1301. The patient trains by moving their shoulder forward and backward. When the patient's shoulder moves forward, the patient's arm moves through the hinge plate 6 and the mounting rod 7. The fixing rod 8 and the upper limb fixation plate 9 pull the connecting plate 4 to slide outward. The connecting plate 4 drives the slider 3 to slide outward in the guide groove 201. The slider 3 stretches the elastic band 1303 through the second connecting rod 1302, causing deformation. When the patient's shoulder moves backward, the elastic band 1303 returns to its original shape and pulls the slider 3 inward to reset through the second connecting rod 1302. The slider 3 drives the connecting plate 4, hinge plate 6, mounting rod 7, fixing rod 8, and upper limb fixation plate 9 to move inward to reset, thereby providing resistance when the patient's shoulder moves, thus facilitating the patient's initial strength rehabilitation training. When it is necessary to increase the training intensity, the number of elastic bands 1303 sleeved on the second connecting rod 1302 and the first connecting rod 1301 is increased, thereby adjusting the resistance when the patient's shoulder moves, so that the patient can gradually enhance their muscle strength and control ability.

[0027] Example 2: Based on Example 1, refer to Figure 5As shown, it also includes a servo motor 20, a first rotating shaft 21, a second rotating shaft 22, a guide wheel 23, a winding wheel 24, and a pull rope 25. Two servo motors 20 are installed on the left and right sides of the rear of the support base 1 by bolt connection. The first rotating shaft 21 is fixed to the connecting plate 4, and the second rotating shaft 22 is fixed to the fixing rod 8. The guide wheel 23 is rotatably arranged on the first rotating shaft 21. The winding wheel 24 is installed on the output shaft of the servo motor 20. The pull rope 25 is wound on the winding wheel 24. The end of the pull rope 25 is connected to the second rotating shaft 22, and the middle of the pull rope 25 is in contact with the guide wheel 23.

[0028] When a patient needs to perform arm extension rehabilitation training, the servo motor 20 is activated. The output shaft of the servo motor 20 drives the winding wheel 24 to rotate. The winding wheel 24 winds the pull rope 25, causing the pull rope 25 to lift the second rotating shaft 22 under the guidance of the guide wheel 23. The second rotating shaft 22 drives the upper limb fixation plate 9 to rotate upward around the mounting rod 7 via the fixing rod 8, thereby lifting the patient's arm upward. Then, the servo motor 20 is turned off, and the patient's arm hangs down naturally under the action of gravity. The patient's arm drives the upper limb fixation plate 9 to rotate downward around the mounting rod 7. The mounting rod 7 stretches the pull rope 25 back to its original position via the second rotating shaft 22. By repeatedly starting and stopping the servo motor 20, the purpose of assisting the patient in performing reciprocating arm extension and closure training is achieved.

[0029] Although this disclosure has been shown and described with reference to specific exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made to this disclosure without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Therefore, the scope of this disclosure should not be limited to the above embodiments, but should be defined not only by the appended claims, but also by their equivalents.

Claims

1. An exoskeleton robot for rehabilitation training, comprising a support base (1), a guide plate (2), a slider (3), a connecting plate (4), a hinge plate (6), a mounting rod (7), a second connecting rod (1302), a hand fixing structure, and a shoulder fixing structure. The guide plate (2) is mounted on the rear side of the support base (1). Guide grooves (201) are provided on both sides of the guide plate (2). A slider (3) is slidably disposed in the guide grooves (201). The second connecting rod is fixedly connected to the side of the slider (3) away from the support base (1). (1302), a connecting plate (4) is connected to the second connecting rod (1302), and a hinge plate (6) is rotatably provided on the side of the two connecting plates (4) that is far away from each other. A mounting rod (7) is rotatably provided on the end of the hinge plate (6) that is far away from the connecting plate (4). A mounting plate (13) is installed on the mounting rod (7). A hand fixation structure for fixing the patient's upper limb is installed on the mounting plate (13). A shoulder fixation structure for wearing on the patient is provided between the upper and lower sides of the support base (1). Its characteristics are: It also includes a mounting plate (13), a first connecting rod (1301) and an elastic band (1303). The mounting plate (13) is installed on the rear side of the support base (1). A set of first connecting rods (1301) is fixed to each side of the mounting plate (13). Each set of first connecting rods (1301) is connected to a second connecting rod (1302) through an elastic band (1303), and the two elastic bands (1303) are staggered.

2. An exoskeleton robot for rehabilitation training according to claim 1, characterized in that: The hand fixing structure includes a fixing rod (8), an upper limb fixing plate (9), a first male hook and loop fastener (10), a fixing strap (11), and a first female hook and loop fastener (12). The fixing rod (8) is installed on the mounting rod (7), and the upper limb fixing plate (9) is installed on the fixing rod (8). The first male hook and loop fastener (10) is provided on one side of the upper limb fixing plate (9), and the fixing strap (11) is provided on the other side of the upper limb fixing plate (9). The first female hook and loop fastener (12) is provided at the end of the fixing strap (11) near the first male hook and loop fastener (10). The adjacent first male hook and loop fastener (10) and the first female hook and loop fastener (12) are glued together.

3. An exoskeleton robot for rehabilitation training according to claim 2, characterized in that: The shoulder fixing structure includes a second male hook and loop fastener (14), a second female hook and loop fastener (15), an elastic band (1501), a rivet (16), and a shoulder strap (17). The lower two sides of the support base (1) are connected to elastic bands (1501). The two elastic bands (1501) are respectively provided with a second male hook and loop fastener (14) and a second female hook and loop fastener (15) at their respective ends. The second male hook and loop fastener (14) and the second female hook and loop fastener (15) are bonded together. The upper two sides of the support base (1) are provided with shoulder straps (17) through rivets (16). The end of the shoulder strap (17) away from the rivet (16) is connected to the adjacent elastic band (1501).

4. An exoskeleton robot for rehabilitation training according to claim 3, characterized in that: It also includes a servo motor (20), a first rotating shaft (21), a second rotating shaft (22), a guide wheel (23), a winding wheel (24), and a pull rope (25). Two servo motors (20) are installed on the rear side of the support base (1). The first rotating shaft (21) is fixedly connected to the connecting plate (4), and the second rotating shaft (22) is fixedly connected to the fixing rod (8). The guide wheel (23) is rotatably arranged on the first rotating shaft (21). The winding wheel (24) is installed on the output shaft of the servo motor (20). The pull rope (25) is wound on the winding wheel (24). The end of the pull rope (25) is connected to the second rotating shaft (22), and the middle part of the pull rope (25) is in contact with the guide wheel (23).

5. An exoskeleton robot for rehabilitation training according to claim 4, characterized in that: It also includes a limiting plate (5), and the upper sides of the support base (1) are fixed with the limiting plate (5), and the connecting plate (4) slides within the adjacent limiting plate (5).

6. An exoskeleton robot for rehabilitation training according to claim 5, characterized in that: It also includes a top block (18), and the support base (1) is fixedly connected to the front of the top block (18).

7. An exoskeleton robot for rehabilitation training according to claim 6, characterized in that: It also includes a cushioning pad (19), and the cushioning pad (19) is installed on the inside of the upper limb fixation plate (9).

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