Pulse type exoskeleton robot

Abstract

The utility model belongs to the technical field of exoskeleton robots, and discloses a pulse type exoskeleton robot which comprises a robot body, the robot body comprises a machine body, a thigh supporting piece and a shank supporting piece, the pulse type exoskeleton robot further comprises a control helmet, one side of the thigh supporting piece and one side of the shank supporting piece are each provided with a first installation block, and one side of each first installation block is provided with a through groove; a screw rod is rotationally connected into the through groove, a sliding block is in threaded connection with the periphery of the screw rod, a pair of electric telescopic rods is installed on the two sides of the sliding block, a supporting plate is installed at one ends of the electric telescopic rods, a first connecting rod is installed on one side of the supporting plate, a pulse patch is installed at one end of the first connecting rod, and the control helmet is electrically connected with the pulse patch. A supporting rod is installed on the upper end face of the machine body, a pair of second installation blocks are installed on the two sides of the machine body, a first groove is formed in one side of each second installation block, and a connecting block is movably connected into each first groove. The device is simple and reasonable in structure, novel in design, easy to operate, high in practicability and convenient to widely popularize and use.

Description

TECHNICAL FIELD

[0001] The utility model belongs to exoskeleton robot technical field, more specifically, especially, it is related to a pulse type exoskeleton robot. BACKGROUND

[0002] The pulse type exoskeleton robot is a wearable robot device, which combines the support and power assistance function of exoskeleton and the muscle activation ability of electric stimulation technology. This robot supports the body weight through an external support system and provides power support, and at the same time stimulates the muscle with pulse current to enhance or restore the wearer's movement ability.

[0003] Currently, the functions of some exoskeleton robots are limited to helping patients to conduct autonomous rehabilitation training and assisting hemiplegic patients in daily walking. This relatively single assistance training mode limits the application scenarios, thereby weakening the practicality and diversification value of the product to some extent. At the same time, some exoskeleton robots are prone to tipping accidents when used in practice, which may cause the risk of injury to the patient's body due to factors such as insufficient initial use, improper operation or poor adaptation.

[0004] Therefore, in view of the above, the existing structure and defects are studied and improved, and a pulse type exoskeleton robot is provided to achieve the purpose of having more practical value. INVENTION CONTENTS

[0005] In order to solve the above technical problems, the utility model provides a pulse type exoskeleton robot, which is achieved by the following specific technical means:

[0006] A pulse type exoskeleton robot, comprising a robot main body, the robot main body comprising a fuselage, a thigh support and a calf support, further comprising a control helmet, one side of the thigh support and the calf support is provided with a mounting block one, one side of the mounting block one is provided with a through slot, a lead screw is rotatably connected in the through slot, a sliding block is threadedly connected on the outer periphery of the lead screw, a pair of electric telescopic rods are installed on both sides of the sliding block, a supporting plate is installed on one end of the electric telescopic rod, a connecting rod one is installed on one side of the supporting plate, a pulse patch is installed on one end of the connecting rod one, the control helmet is electrically connected with the pulse patch, a supporting rod is installed on the upper end face of the fuselage main body, a pair of mounting blocks two are installed on both sides of the fuselage, a recess one is provided on one side of the mounting block two, a connecting block is movably connected in the recess one, a pair of connecting rods two are installed on one side of the connecting block, an auxiliary support assembly is installed on the other end of the connecting rod two.

[0007] Further, a motor is installed on the upper end face of the mounting block one, and the top end of the lead screw penetrates through the upper end face of the mounting block one and is connected with the output end of the motor.

[0008] Further, the bottom end surface of the mounting block two is provided with a groove two, the bottom of the groove two is provided with a supporting block, the upper end surface of the supporting block is movably connected with a transmission rod, the top end of the transmission rod is provided with a supporting seat, the upper end surface of the supporting seat is provided with a pair of clamping pins, the bottom end of the transmission rod is provided with a pull ring, the transmission rod is peripherally provided with a compression spring, and the two ends of the compression spring are connected with the supporting block and the top of the groove two respectively.

[0009] Further, the bottom end surface of the connecting block is provided with a pair of clamping grooves one, and the clamping pins and the clamping grooves one are matched in size.

[0010] Further, the auxiliary support assembly comprises an auxiliary frame and a roller, one end of a pair of the connecting rods two is connected to one side of the upper end of the auxiliary frame, and a pair of rollers are installed on the bottom end surface of the auxiliary frame.

[0011] Further, the upper end of the supporting rod is provided with a clamping block.

[0012] Further, one side of the control helmet is provided with a clamping groove two, and the clamping block and the clamping groove two are matched in size.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] Through the cooperation of the control helmet and the pulse patch, the control helmet first receives the instructions or the brain electrical signals of the patient, the processor in the control helmet processes and analyzes the received signals to identify the intention and demand of the user, according to the processing result, the control helmet generates corresponding control instructions, when the control system of the robot main body receives the instructions, the posture of the exoskeleton is adjusted and the power is provided, when the pulse patch system receives the instructions, the muscle is stimulated to help the patient train, and thus the practicability and the diversified value of the product are improved.

[0015] Through the cooperation of the motor, the screw rod, the sliding block, the electric telescopic rod, the supporting plate and the connecting rod one, when the user needs to adjust the position of the pulse patch, the motor is started, the motor drives the screw rod to rotate, the screw rod drives the sliding block to move up and down when rotating because the screw rod is threadedly connected with the sliding block, the sliding block drives the supporting plate to move up and down through the electric telescopic rod, the supporting plate drives the pulse patch to move up and down through the connecting rod one, so that the pulse patch moves to the specified position, then the electric telescopic rod is started, and the electric telescopic rod drives the pulse patch to move towards the direction of the patient's thigh and calf through the supporting plate and the connecting rod one, so that the pulse patch closely adheres to the skin of the patient, thereby the use effect of the product can be improved.

[0016] The auxiliary support component provides support for patients, preventing tipping accidents and injuries caused by unfamiliarity with its use, improper operation, or poor adaptation. Through the coordinated use of the pull ring, drive rod, support base, locking pin, compression spring, and slot one, the user can quickly install the auxiliary support component by pulling down the drive rod via the pull ring. The drive rod, through the support base, moves the locking pin downwards to the top of slot one. The connecting block is then inserted into slot one. Releasing the pull ring causes the compression spring to push the support base upwards, which in turn moves the locking pin upwards into slot one. The auxiliary support component can be quickly installed, and disassembled by reversing the operation, thus improving product convenience. Attached Figure Description

[0017] Figure 1 This is a front-view stereoscopic diagram of the present invention.

[0018] Figure 2 This is a rear-view sectional perspective view of the present invention.

[0019] Figure 3 This is a three-dimensional sectional view of part of the structure of this utility model from below.

[0020] Figure 4 This is a side view sectional diagram of a portion of the structure in this utility model.

[0021] Figure 5 This is a utility model Figure 2 An enlarged diagram of A in the diagram.

[0022] Figure 6 This is a utility model Figure 2 Enlarged diagram of B in the diagram.

[0023] Figure 7 This is a utility model Figure 3 An enlarged diagram of C in the diagram.

[0024] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0025] 1, Robot body; 101, Thigh support; 102, Calf support; 103, Body; 2, Control helmet; 201, Slot two; 3, Mounting block one; 301, Through slot; 4, Screw rod; 401, Slide block; 5, Electric telescopic rod; 501, Support plate; 502, Connecting rod one; 6, Pulse patch; 7, Support rod; 701, Clamping block; 8, Mounting block two; 801, Groove one; 802, Groove two; 803, Support block; 9, Connecting block; 901, Connecting rod two; 902, Slot one; 10, Auxiliary support assembly; 1001, Auxiliary frame; 1002, Roller; 11, Motor; 12, Transmission rod; 1201, Support seat; 1202, Clamping pin; 1203, Pull ring; 1204, Compression spring. DETAILED DESCRIPTION

[0026] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0027] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. EMBODIMENT

[0029] As shown in the accompanying Figure 1 to the accompanying Figure 7 :

[0030] The utility model provides a kind of pulse type exoskeleton robot, including robot main body 1, robot main body 1 includes fuselage, thigh support piece 101 and shank support piece 102, further include control helmet 2, one side of thigh support piece 101 and shank support piece 102 is equipped with mounting block one 3, one side of mounting block one 3 is equipped with through slot 301, screw rod 4 is rotatably connected in through slot 301, the periphery of screw rod 4 is connected with sliding block 401, one side of sliding block 401 is equipped with a pair of electric telescopic rod 5, one end of electric telescopic rod 5 is equipped with support plate 501, one side of support plate 501 is equipped with connecting rod one 502, one end of connecting rod one 502 is equipped with pulse patch 6, control helmet 2 is electrically connected with pulse patch 6, the upper end surface of fuselage main body is equipped with support rod 7, the both sides of fuselage are equipped with a pair of mounting block two 8, one side of mounting block two 8 is equipped with recess one 801, connecting block 9 is movably connected in recess one 801, one side of connecting block 9 is equipped with a pair of connecting rod two 901, one end of connecting rod two 901 is equipped with auxiliary support assembly 10.

[0031] Wherein, the upper end surface of mounting block one 3 is equipped with motor 11, the top of screw rod 4 penetrates the upper end surface of mounting block one 3 and is connected with the output end of motor 11.

[0032] Wherein, the bottom end surface of mounting block two 8 is equipped with recess two 802, support block 803 is installed at the bottom of recess two 802, the upper end surface of support block 803 is movably connected with transmission rod 12, the top of transmission rod 12 is equipped with support seat 1201, the upper end surface of support seat 1201 is equipped with a pair of clamping pins 1202, the bottom end of transmission rod 12 is equipped with pull ring 1203, transmission rod 12 is equipped with compression spring 1204 around, the both ends of compression spring 1204 are connected with support block 803 and the top of recess two 802 respectively.

[0033] Wherein, the bottom end surface of connecting block 9 is equipped with a pair of clamping grooves one 902, the size of clamping pin 1202 and clamping groove one 902 is matched.

[0034] Wherein, auxiliary support assembly 10 includes auxiliary frame 1001 and gyro wheel 1002, one end of a pair of connecting rod two 901 is connected with the upper end one side of auxiliary frame 1001, a pair of gyro wheel 1002 is installed at the bottom end surface of auxiliary frame 1001, auxiliary frame 1001 can play the role of support, gyro wheel 1002 is convenient for one end of auxiliary frame 1001.

[0035] Wherein, the upper end one side of support rod 7 is equipped with clamping block 701.

[0036] Wherein, one side of control helmet 2 is equipped with clamping groove two 201, the size of clamping block 701 and clamping groove two 201 is matched, after completing use, control helmet 2 can be clamped in clamping groove two 201 on control helmet 2 on clamping block 701, it is convenient to place control helmet 2.

[0037] The working principle of the embodiment is as follows:

[0038] The control helmet 2 first receives the patient's instructions or brain electrical signals, and the processor in the control helmet 2 processes and analyzes the received signals to identify the user's intention and needs, and according to the processing result, the control helmet 2 generates corresponding control instructions, and when the control system of the robot main body 1 receives the instructions, the posture of the exoskeleton is adjusted and assistance is provided, and when the pulse patch 6 system receives the instructions, the muscle is stimulated to help the patient train, when the user adjusts the position of the pulse patch 6, the motor 11 is started, the motor 11 drives the screw rod 4 to rotate, and since the screw rod 4 is in threaded connection with the sliding block 401, the screw rod 4 drives the sliding block 401 to move up and down when rotating, the sliding block 401 drives the supporting plate 501 to move up and down through the electric telescopic rod 5, and the supporting plate 501 drives the pulse patch 6 to move up and down through the connecting rod one 502, so that the pulse patch 6 moves to the specified position, and then the electric telescopic rod 5 is started, and the electric telescopic rod 5 drives the pulse patch 6 to move towards the patient's thigh and calf through the supporting plate 501 and the connecting rod one 502, so that the pulse patch 6 closely adheres to the patient's skin, and the auxiliary support assembly 10 can provide support for the patient, so as to avoid the risk of the patient falling and being injured due to factors such as inexperience, improper operation or poor adaptation when the patient uses it for the first time, and the like, and the auxiliary support assembly 10 can be quickly installed by the cooperation of the pull ring 1203, the transmission rod 12, the supporting seat 1201, the locking pin 1202, the compression spring 1204 and the clamping groove one 902, when the auxiliary support assembly 10 needs to be installed, the user pulls the transmission rod 12 downward through the pull ring 1203, the transmission rod 12 drives the locking pin 1202 to move downward to the top of the groove one 801 through the supporting seat 1201, then the connecting block 9 is inserted into the groove one 801, and the pull ring 1203 is released, at this time, the supporting seat 1201 is pushed upward by the compression spring 1204 under the action force of the compression spring 1204, and the supporting seat 1201 drives the locking pin 1202 to move upward into the clamping groove one 902, so that the installation of the auxiliary support assembly 10 can be quickly completed, and vice versa.

[0039] The embodiments of the present application are given for the purpose of illustration and description, and are not exhaustive or limit the present application to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles and practical application of the present application, and to enable those of ordinary skill in the art to understand the present application so as to design various embodiments with various modifications for specific purposes.

Claims

1. A pulse-type exoskeleton robot comprising a robot main body (1) including a body, a thigh support member (101), and a shank support member (102), characterized by: Also include control helmet (2), the thigh support (101) and the shank support (102) one side are equipped with installation piece one (3), one side of installation piece one (3) is equipped with through groove (301), the through groove (301) is rotatably connected with the lead screw (4), the outer periphery of lead screw (4) is connected with sliding block (401), both sides of sliding block (401) are equipped with a pair of electric telescopic rod (5), one end of electric telescopic rod (5) is equipped with support plate (501), one side of support plate (501) is equipped with connecting rod one (502), one end of connecting rod one (502) is equipped with pulse patch (6), control helmet (2) and pulse patch (6) are electrically connected, the upper end surface of fuselage main body is equipped with support rod (7), both sides of fuselage are equipped with a pair of installation piece two (8), one side of installation piece two (8) is equipped with recess one (801), recess one (801) is movably connected with connecting block (9), one side of connecting block (9) is equipped with a pair of connecting rod two (901), the other end of connecting rod two (901) is equipped with auxiliary support assembly (10).

2. The pulsed exoskeleton robot of claim 1, wherein: The upper end surface of installation piece one (3) is equipped with motor (11), the top of lead screw (4) penetrates the upper end surface of installation piece one (3) and is connected with the output end of motor (11).

3. The pulsed exoskeleton robot of claim 1, wherein: The bottom end surface of installation piece two (8) is equipped with recess two (802), the bottom of recess two (802) is equipped with support block (803), the upper end surface of support block (803) is movably connected with transmission rod (12), the top of transmission rod (12) is equipped with support seat (1201), the upper end surface of support seat (1201) is equipped with a pair of clamping pins (1202), the bottom end of transmission rod (12) is equipped with pull ring (1203), the outer periphery of transmission rod (12) is sleeved with compression spring (1204), both ends of compression spring (1204) are connected with support block (803) and the top of recess two (802) respectively.

4. The pulsed exoskeleton robot of claim 3, wherein: The bottom end surface of connecting block (9) is equipped with a pair of clamping grooves one (902), the size of clamping pin (1202) and clamping groove one (902) is matched.

5. The pulsed exoskeleton robot of claim 1, wherein: The auxiliary support assembly (10) comprises auxiliary frame (1001) and roller (1002), one side of the upper end of auxiliary frame (1001) is connected with one end of a pair of connecting rod two (901), the bottom end surface of auxiliary frame (1001) is equipped with a pair of rollers (1002).

6. The pulsed exoskeleton robot of claim 1, wherein: One side of the upper end of support rod (7) is equipped with clamping block (701).

7. The pulsed exoskeleton robot of claim 6, wherein: One side of control helmet (2) is equipped with clamping groove two (201), the size of clamping block (701) and clamping groove two (201) is matched.

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