Hip bearing structure for lower limb exoskeleton robot

Abstract

The utility model discloses a hip bearing structure for a lower limb exoskeleton robot, which comprises a hip bearing pad, a fixed angle plate is arranged on the back side of the hip bearing pad, the fixed angle plate is arranged on a connecting plate, and the position of the fixed angle plate relative to the connecting plate is adjustable. The front end of the connecting plate is fixedly installed on an upper supporting leg of the exoskeleton robot, and after the patient wears the exoskeleton robot, the hip of the patient leans against the hip bearing pad. A patient can directly sit on the hip bearing pad to wear, even wearing can be completed without assistance of medical staff, in the training process, the thigh and hip bearing assembly, the thighs and the exoskeleton supporting legs are more tightly fixed through the bandages, the training experience is better, and meanwhile secondary injuries such as strain and sprain can be avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to a hip bearing structure for lower limb exoskeleton robot belongs to hip bearing technical field for lower limb exoskeleton robot. BACKGROUND

[0002] Lower limb motor dysfunction is common in stroke, spinal cord injury, bone / joint trauma, muscle weakness, paraplegic patients, etc. Take stroke patients as an example, the rehabilitation of motor function of stroke patients is the focus of daily care after the acute phase, and high-frequency, scientific rehabilitation exercise training can help patients effectively recover motor function, achieve self-care, improve the quality of life of patients, and reduce the burden on families and society.

[0003] For the lower limb exercise of the above-mentioned patients, researchers have proposed a scheme of applying exoskeleton robots to lower limb exercise: the patient's feet, lower legs and thighs are bound to the exoskeleton support legs by straps, and the patient's lower limbs are trained with the movement of the exoskeleton support legs. The invention patent with publication number CN115944507A discloses a mobile gantry type lower limb exoskeleton rehabilitation robot, which includes a support platform, a dynamic balance mechanism, an auxiliary fixing mechanism and a pair of symmetrical mechanical legs. The structures such as telescopic supports, backrests and handrails are adjustable and can meet the needs of different patients; the dynamic balance mechanism makes the swing of the center of gravity more natural during walking, and provides assistance for the upward movement of the patient's center of gravity through the balance spring and related structures.

[0004] However, the lower limb exoskeleton robot of the above-mentioned patent is very troublesome to wear, as the patient cannot stand normally, and needs medical personnel to hold the patient and bind the patient's lower limbs to the exoskeleton support legs, or an exoskeleton support leg of the same height is placed between the two exoskeleton support legs, the patient is seated, the exoskeleton support legs are adjusted to a sitting position, and then the patient's lower limbs are bound to the exoskeleton support legs. Moreover, it is easy to cause secondary injury, and during the training process, the patient's lower limbs are only fixed by the straps, which is not reliable, and the patient's training experience is not good.

[0005] From the above, it is obvious that the prior art has disadvantages in actual use, and therefore needs to be improved. UTILITY MODEL CONTENTS

[0006] The utility model provides a hip bearing structure for lower limb exoskeleton robot in view of the deficiency in the background art, the patient can directly sit on the hip bearing pad for wearing, and even without the assistance of medical personnel, the wearing can be completed, and during the training process, the thigh hip bearing assembly is fixed by the strap, the thigh and the exoskeleton support leg are more closely fixed, the training experience is better, and secondary injuries such as sprains can be avoided.

[0007] To solve the above technical problems, the utility model adopts the following technical solutions:

[0008] A hip supporting structure for a lower extremity exoskeleton robot, comprising a hip supporting pad, a fixed angle plate is mounted on the back side of the hip supporting pad, the fixed angle plate is installed on a connecting plate, the position of the fixed angle plate relative to the connecting plate is adjustable, the front end of the connecting plate is fixedly installed on the upper support leg of the exoskeleton robot, after the patient wears it, the patient's hips are placed on the hip supporting pad.

[0009] Further, it further comprises an adapter plate, the first side of the adapter plate is fixedly connected with the fixed angle plate, and the second side of the adapter plate is hinged to the middle position of the connecting plate.

[0010] Further, the rear end of the connecting plate is rotatably installed with a rotating shaft, a screw rod is threadedly and telescopically installed on the rotating shaft, the inner end of the screw rod is rotatably installed on the back of the first side of the adapter plate, the outer end of the screw rod is fixedly provided with a rotating disc, and the outer side of the rotating disc is installed with a crank handle.

[0011] Further, the back of the adapter plate is provided with a mounting hole, a rotating column is rotatably installed in the mounting hole, the rotating column is provided with a notch, the inner end of the screw rod is provided with a protruding portion, and the protruding portion is sleeved in the notch of the rotating column.

[0012] Further, the back of the hip supporting pad is provided with a belt, the belt is wrapped with a supporting plate, the outer side surface of the supporting plate is fixedly provided with a mounting block, the surface of the mounting block is provided with a protruding block, the protruding block is slidably installed in the sliding groove of the fixed angle plate, and the protruding block is threadedly connected with a locking bolt to lock the mounting block and the fixed angle plate.

[0013] Further, one side of the supporting plate is provided with a strip-shaped bandage penetrating hole, and a bandage is penetratingly arranged in the bandage penetrating hole.

[0014] Compared with the prior art, the utility model has the following advantages after adopting the above technical scheme:

[0015] 1. The back of the hip supporting pad is provided with a fixed angle plate, the fixed angle plate is installed on a connecting plate, the front end of the connecting plate is fixedly installed on the upper support leg of the exoskeleton robot, and the patient can directly sit on the hip supporting pad for wearing after wearing it, and even the wearing can be completed without the assistance of medical staff.

[0016] 2. A bandage is penetratingly arranged in the bandage penetrating hole, and the thigh of the patient is tightly bound. The thigh hip supporting assembly is used to make the thigh and the exoskeleton support leg more closely fixed, the thigh more accurately moves with the exoskeleton support leg, the training experience is better, and secondary injuries such as sprains can be avoided.

[0017] The utility model will be described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0019] Figure 2 It is the plan view of the utility model;

[0020] Figure 3 It is the structure schematic diagram of the bearing plate and the installation block in the utility model;

[0021] Figure 4 It is the structure schematic diagram of screw rod and rotating column in the utility model.

[0022] In the drawing,

[0023] 1-hip bearing pad, 2-belt, 3-bearing plate, 4-mounting block, 5-bump, 6-fixed angle plate, 7-adaptor plate, 701-mounting hole, 8-connection plate, 9-screw rod, 10-rotating disc, 11-crank, 12-rotating column, 13-binder insertion hole. DETAILED DESCRIPTION

[0024] In order to have more clear understanding to the technical features, object and effect of the utility model, now the specific implementation mode of the utility model is explained with reference to the drawings.

[0025] As Figures 1-2 Indicated, the utility model provides a kind of hip bearing structure for lower limb exoskeleton robot, including hip bearing pad 1, the back side of hip bearing pad 1 is equipped with fixed angle plate 6, the fixed angle plate 6 is installed on connection plate 8, the position of fixed angle plate 6 relative to connection plate 8 is adjustable, and the front end of connection plate 8 is fixedly installed on the upper support leg of exoskeleton robot, after patient wears, make patient hip lean on hip bearing pad 1.Patients can directly sit on hip bearing pad 1 and wear, even without the assistance of medical staff can complete wearing.

[0026] The utility model further includes adaptor plate 7, the first side of adaptor plate 7 is fixedly connected with fixed angle plate 6, and the second side of adaptor plate 7 is hinged to the middle position of connection plate 8.

[0027] The rear end of the connecting plate 8 is rotatably installed with a rotating shaft, a screw rod 9 is threadedly installed on the rotating shaft, the inner end of the screw rod 9 is rotatably installed on the back of the first side of the adapter plate 7, the outer end of the screw rod 9 is fixed with a rotating disc 10, and the outer side of the rotating disc 10 is installed with a crank 11. The rotating disc 10 is rotated through the crank 11, the screw rod 9 is driven to rotate relative to the rotating shaft, the inner end of the screw rod 9 pushes and pulls the adapter plate 7, the adapter plate 7 swings relative to the connecting plate 8 together with the fixed angle plate 6 and the hip supporting pad 1, and thus the angle of the hip supporting pad 1 can be adjusted according to the body shape of the patient.

[0028] The back side of the hip supporting pad 1 is provided with a belt 2, the belt 2 is wrapped with a supporting plate 3, as shown in Figure 3 The outer side surface of the supporting plate 3 is fixed with a mounting block 4, the surface of the mounting block 4 is provided with a protruding block 5, the protruding block 5 is slidably installed in a sliding groove of the fixed angle plate 6, and a locking bolt is threadedly connected on the protruding block 5 to lock the mounting block 4 and the fixed angle plate 6. The position of the protruding block 5 in the sliding groove of the fixed angle plate 6 is adjustable, so that the transverse position of the hip supporting pad 1 is adjustable, and thus the transverse position of the hip supporting pad 1 can be adjusted according to the body shape of the patient.

[0029] The back of the adapter plate 7 is provided with a mounting hole 701, a rotating column 12 is rotatably installed in the mounting hole 701, the rotating column 12 is provided with a slot, and the inner end of the screw rod 9 is provided with a protruding part, the protruding part is sleeved in the slot of the rotating column 12.

[0030] One side of the supporting plate 3 is provided with a strip-shaped binding band penetrating hole 13, a binding band is penetrated in the binding band penetrating hole 13 to tightly bind the thigh of the patient. The thigh is bound on the hip supporting pad 1 through the binding band, so that the thigh is more closely fixed with the exoskeleton supporting leg, the thigh more accurately moves with the exoskeleton supporting leg, the training experience is better, and secondary injuries such as strains and sprains can be avoided.

[0031] The above is an example of the best implementation of the present application, wherein the parts not described in detail are all the common knowledge of ordinary skilled in the art. The protection scope of the present application is subject to the content of the claims, and any equivalent transformation based on the technical inspiration of the present application is also within the protection scope of the present application.

Claims

1. A hip support structure for a lower extremity exoskeleton robot, characterized by: The application relates to a hip supporting pad (1) provided with a fixed angle plate (6) on the back side, the fixed angle plate (6) is installed on a connecting plate (8), the position of the fixed angle plate (6) relative to the connecting plate (8) is adjustable, the front end of the connecting plate (8) is fixedly installed on the upper supporting leg of an exoskeleton robot, and the patient wears the hip supporting pad (1) after the patient's hip is placed on the hip supporting pad (1).

2. The hip support structure for a lower extremity exoskeleton robot according to claim 1, characterized by: The application further relates to an adapter plate (7), the first side of the adapter plate (7) is fixedly connected with the fixed angle plate (6), and the second side of the adapter plate (7) is hingedly connected to the middle position of the connecting plate (8).

3. The hip support structure for a lower extremity exoskeleton robot according to claim 2, characterized by: The rear end of the connecting plate (8) is rotatably provided with a rotating shaft, the rotating shaft is threadedly connected with a screw rod (9), the inner end of the screw rod (9) is rotatably installed on the back side of the first side of the adapter plate (7), the outer end of the screw rod (9) is fixedly provided with a rotating disc (10), and the outer side of the rotating disc (10) is provided with a crank handle (11).

4. The hip support structure for a lower extremity exoskeleton robot according to claim 3, characterized by: The back side of the adapter plate (7) is provided with a mounting hole (701), a rotating column (12) is rotatably installed in the mounting hole (701), the rotating column (12) is provided with a notch, the inner end of the screw rod (9) is provided with a protruding part, and the protruding part is sleeved in the notch of the rotating column (12).

5. The hip support structure for a lower extremity exoskeleton robot according to claim 1, wherein: The back side of the hip supporting pad (1) is provided with a belt (2), the belt (2) is wrapped with a supporting plate (3), the outer side surface of the supporting plate (3) is fixedly provided with a mounting block (4), the surface of the mounting block (4) is provided with a protruding block (5), the protruding block (5) is slidably installed in a sliding groove of the fixed angle plate (6), and the protruding block (5) is threadedly connected with a locking bolt to lock the mounting block (4) and the fixed angle plate (6).

6. The hip support structure for a lower extremity exoskeleton robot according to claim 5, characterized by: One side of the supporting plate (3) is provided with a strip-shaped bandage penetrating hole (13), and a bandage is arranged in the bandage penetrating hole (13).

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