Lower limb exoskeleton robot

Abstract

The utility model relates to a lower limb exoskeleton robot, and belongs to the field of exoskeleton robots, the lower limb exoskeleton robot comprises an exoskeleton main body and a support strap mounted on the exoskeleton main body, the support strap comprises a backrest part and two shoulder strap parts connected to the backrest part, and the two shoulder strap parts are slidably provided with anti-wear parts; the anti-abrasion piece comprises an anti-abrasion gasket and a locking gasket connected to the upper edge of the anti-abrasion gasket, and a sliding notch used for allowing the shoulder strap part to be arranged in a sliding mode is formed in the connecting position of the locking gasket and the anti-abrasion gasket. A first magnetic sheet is arranged at the lower end part of the anti-abrasion gasket, the locking gasket is provided with a locking part used for being pressed on the shoulder strap part, and a second magnetic sheet used for being attracted with the first magnetic sheet is arranged at the locking part. The supporting strap has the effect of reducing the probability that the skin of a patient is abraded by the supporting strap.

Description

Technical Field

[0001] This application relates to the field of exoskeleton robots, and more particularly to a lower limb exoskeleton robot. Background Technology

[0002] Lower limb exoskeleton robots are wearable bionic devices that can help patients walk upright with a highly similar repetitive gait, enabling coordinated rehabilitation training of multiple joints and the body.

[0003] The lower limb exoskeleton robot mainly consists of a lumbar fixation device, a drive mechanism mounted on the lumbar fixation device, a support strap connected to the lumbar fixation device, and a leg connection strap connected to the drive mechanism. When patients wear the above-mentioned lower limb exoskeleton robot for rehabilitation training, due to the long training time, the support strap will constantly shift during the patient's training, thereby causing abrasion to the patient's chest skin.

[0004] Regarding the aforementioned technologies, the inventors believe there is a need for a lower limb exoskeleton robot that reduces friction on the patient's skin. Utility Model Content

[0005] To reduce the probability of skin abrasion caused by the support straps when patients use a lower limb exoskeleton robot, this application provides a lower limb exoskeleton robot.

[0006] The lower limb exoskeleton robot provided in this application adopts the following technical solution:

[0007] A lower limb exoskeleton robot includes an exoskeleton body and a support strap mounted on the exoskeleton body. The support strap includes a backrest portion and two shoulder strap portions connected to the backrest portion. Anti-abrasion components are slidably mounted on both shoulder strap portions. Each anti-abrasion component includes an anti-abrasion pad and a locking pad connected to the upper edge of the anti-abrasion pad. The connection between the locking pad and the anti-abrasion pad has a sliding notch for allowing the shoulder strap portions to slide. A first magnet is provided at the lower end of the anti-abrasion pad. The locking pad has a locking portion for pressing against the shoulder strap portion and a second magnet is provided at the locking portion for attracting the first magnet.

[0008] By adopting the above technical solution, during the rehabilitation training of patients wearing the lower limb exoskeleton robot, anti-abrasion components are set on the two shoulder straps of the support strap, thereby reducing the probability of skin abrasion caused by the support strap during use. During the installation of the anti-abrasion components, the support strap is inserted through the sliding notch, and the anti-abrasion components are fixed in the upper and lower parts of the shoulder straps of the support strap by the cooperation of the first magnetic plate on the anti-abrasion pad and the second magnetic plate on the locking pad.

[0009] Optionally, the length of the second magnet is 60% to 80% of the width of the locking part.

[0010] By adopting the above technical solution, the length of the second magnetic piece is 60% to 80% of the width of the locking part, which helps the patient to separate the locking pad and the anti-wear pad, and the second magnetic piece on the locking pad and the first magnetic piece on the anti-wear pad have an ideal attraction effect.

[0011] Optionally, the outer surface of the anti-abrasion pad is provided with a sliding sleeve structure for the shoulder strap portion to slide.

[0012] By adopting the above technical solution, a sliding sleeve structure is set on the outer surface of the anti-abrasion pad, which allows the patient to adjust the position of the anti-abrasion pad according to their own situation, and further reduces the probability of the anti-abrasion pad coming off the support strap.

[0013] Optionally, the sliding sleeve structure includes a first connecting strip connected to one side of the anti-wear pad and a second connecting strip connected to the other side of the anti-wear pad, wherein the first connecting strip and the second connecting strip are detachably engaged by a Velcro structure.

[0014] By adopting the above technical solution, the specific structure of the sliding sleeve structure is disclosed. The first connecting strip and the second connecting strip are connected by a Velcro structure, so as to realize the detachable engagement of the first connecting strip and the second connecting strip, which helps to disassemble and replace the anti-wear pad.

[0015] Optionally, the locking washer and the anti-wear washer are connected on one side of the sliding notch by a snap-fit ​​structure.

[0016] By adopting the above technical solution, a snap-fit ​​structure is provided on one side of the sliding notch of the locking washer and the anti-wear washer, so that the locking washer and the anti-wear washer can be separably fitted on one side, which helps to disassemble and replace the anti-wear washer.

[0017] Optionally, the abrasion protector is connected to an elastic cord, the elastic cord having an elastic loop at one end away from the abrasion protector, and the top of the two shoulder straps having mounting buttons for mounting the elastic loop.

[0018] By adopting the above technical solution, the elastic cord and the installation button help to limit the movement of the wear-resistant parts and reduce the probability of displacement of the wear-resistant parts during use.

[0019] Optionally, the support strap is provided with a storage bag on the backrest. The outer surface of the storage bag is provided with a buckle assembly for mounting the storage bag. The buckle assembly includes a third connecting strap connected to one side of the storage bag, a connecting plug disposed at the end of the third connecting strap away from the storage bag, a fourth connecting strap connected to the other side of the storage bag, and a connecting slot disposed at the end of the fourth connecting strap away from the storage bag.

[0020] By adopting the above technical solution, a storage bag is set in the back area of ​​the support strap, so that patients can put cold water bags or hot water bags in the storage bag when using it. The storage bag can be detached and installed in the back area of ​​the support strap through a locking structure, which helps to adapt to the different usage needs of patients.

[0021] Optionally, the storage bag has a mounting flap, the mounting flap having a fitting portion that fits against the outer wall of the storage bag, the fitting portion and the outer wall of the storage bag having a Velcro structure for preventing items placed inside the storage bag from falling out.

[0022] By adopting the above technical solution, the installation of the flange and the Velcro structure on the outer wall of the storage bag helps to prevent items placed inside the storage bag from falling out of the bag, and makes it more convenient to take out and put in items inside the storage bag.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. A lower limb exoskeleton robot, which reduces the probability of skin abrasion caused by the support shoulder straps during use by setting anti-abrasion parts on the two shoulder straps of the support strap, and locks the anti-abrasion parts on the support straps by the attraction between the first magnetic piece on the anti-abrasion pad and the second pad of the locking pad;

[0025] 2. By setting a sliding structure on the outer surface of the anti-abrasion pad, and the first connecting strip and the second connecting strip in the sliding structure being detachably engaged by a Velcro structure, the anti-abrasion pad is fixed left and right on the support strap;

[0026] 3. Adding a storage pocket to the backrest area of ​​the support strap helps accommodate different patient needs. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the lower limb exoskeleton robot in the embodiments of this application.

[0028] Figure 2 This is a schematic diagram of the structure of the wear-resistant component in the embodiments of this application.

[0029] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0030] Figure 4 This is a schematic diagram showing the engagement of the anti-wear pad with the first connecting strip and the second connecting strip in an embodiment of this application.

[0031] Figure 5 yes Figure 1 A magnified view of a portion of point B in the middle.

[0032] Figure 6 This is a schematic diagram of the storage bag and the mounting flange in an embodiment of this application.

[0033] Figure 7 This is a schematic diagram illustrating the cooperation between the storage bag and the third connecting strap in an embodiment of this application.

[0034] Explanation of reference numerals in the attached drawings: 1. Exoskeleton main body; 2. Support strap; 21. Backrest; 22. Shoulder strap; 221. Button mounting; 3. Anti-abrasion component; 31. Anti-abrasion pad; 311. Female buckle mounting; 312. First magnetic piece; 313. First connecting strap; 3131. First Velcro piece; 314. Second connecting strap; 3141. Second Velcro piece; 32. Locking pad; 321. Female buckle mounting; 322. Locking part; 3221. Second magnetic piece; 33. Sliding notch; 34. Sewn part; 35. Elastic cord; 351. Elastic ring; 4. Storage bag; 41. Flip-top mounting; 411. Fitting part; 4111. Third Velcro strip; 42. Fourth Velcro piece; 43. Third connecting strap; 431. Connecting plug; 44. Fourth connecting strap; 441. Connecting slot. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0036] This application discloses a lower limb exoskeleton robot. (Refer to...) Figure 1 A lower limb exoskeleton robot includes an exoskeleton body 1 and a support strap 2 mounted on the exoskeleton robot body. The support strap 2 includes a backrest portion 21 and two shoulder strap portions 22 connected to the backrest portion 21. Anti-abrasion components 3 are slidably mounted on both shoulder strap portions 22 of the support strap 2.

[0037] Reference Figure 1 and Figure 2The anti-abrasion component 3 includes an anti-abrasion pad 31 and a locking pad 32 connected to the upper edge of the anti-abrasion pad 31. The locking pad 32 and the anti-abrasion pad 31 have a sliding notch 33 at their connection point for sliding the shoulder strap portion 22 of the support strap 2. When the anti-abrasion component 3 is installed on the shoulder strap portion 22 of the support strap 2, the shoulder strap portion 22 passes through the sliding notch 33, such that the anti-abrasion pad 31 is located below the shoulder strap portion 22, and the locking pad 32 is located above the shoulder strap portion 22. In this embodiment, the sliding notch 33 has a square cross-section.

[0038] Reference Figure 2 and Figure 3 To facilitate the disassembly of the anti-wear component 3, the locking washer 32 and the anti-wear washer 31 have a sewn portion 34 on one side of the sliding notch 33, and the locking washer 32 and the anti-wear washer 31 are connected at the other end of the sliding notch 33 by a snap fastener. The anti-wear washer 31 is provided with a female mounting buckle 311, and the locking washer 32 is provided with a male mounting buckle 321 that mates with the female mounting buckle. In this embodiment, the anti-wear washer 31 has two female mounting buckles 311 on one side of the sliding notch 33, and the locking washer 32 has two corresponding male mounting buckles 321 that mate with the female mounting buckles 311.

[0039] Reference Figure 4 To lock the abrasion-resistant component 3 installed on the shoulder strap portion 22 of the support strap 2, a first magnetic piece 312 is provided at the lower end of the abrasion-resistant pad 31. A locking pad 32 has a locking portion 322 that presses against the shoulder strap portion 22, and a second magnetic piece 3221 that attracts the first magnetic piece 312 is provided at the locking portion 322 of the locking pad 322. The length of the second magnetic piece 3221 is 60% to 80% of the width of the locking portion 322. In this embodiment, the length of the second magnetic piece 3221 is 60% of the width of the locking portion 322.

[0040] Reference Figure 4 The outer surface of the anti-abrasion pad 31 is also provided with a sliding sleeve structure for sliding the shoulder strap portion 22 of the back strap 2. The sliding sleeve structure includes a first connecting strap 313 connected to one side of the anti-abrasion pad 31 and a second connecting strap 314 connected to the other end of the anti-abrasion pad 31. The first connecting strap 313 and the second connecting strap 314 are detachably engaged by a first hook and loop fastener structure. The first hook and loop fastener structure includes a first hook and loop fastener piece 3131 disposed at the end of the first connecting strap 313 away from the anti-abrasion pad 31 and a second hook and loop fastener piece 3141 disposed on the bottom surface of the end of the second connecting strap 314 away from the anti-abrasion pad 31 and engaged with the first hook and loop fastener piece 3131.

[0041] Reference Figure 5In order to reduce the slippage of the anti-abrasion component 3 installed on the support strap 2 during use, the anti-abrasion component 3 is connected to the seam 34 of the locking pad 32 and the anti-abrasion pad 31 with an elastic cord 35, and the elastic cord 35 has an elastic ring 351 at the end away from the locking pad 32 and the anti-abrasion pad 31. The top of each of the two shoulder straps 22 of the support strap 2 has a mounting button 221 for mounting the elastic ring 351.

[0042] Reference Figure 1 and Figure 6 The support strap 2 is also provided with a storage pocket 4 on the backrest 21. The storage pocket 4 has a mounting flap 41, and the mounting flap 41 has a fitting part 411 that fits against the outer wall of the storage pocket 4. A second hook and loop fastener structure is provided between the fitting part 411 of the mounting flap 41 and the outer wall of the storage pocket 4 to prevent items placed in the storage pocket 4 from falling out of the storage pocket 4. The second hook and loop fastener structure includes a third hook and loop fastener strip 4111 disposed on the fitting part 411 of the mounting flap 41 and a fourth hook and loop fastener strip 42 disposed on the outer wall of the storage pocket 4 and used to cooperate with the third hook and loop fastener strip.

[0043] Reference Figure 1 and Figure 7 The outer surface of the storage bag 4 is provided with a buckle assembly for mounting the storage bag 4 to the back area of ​​the support strap 2. The buckle assembly includes a third connecting strap 43 connected to one end of the storage bag 4, a connecting plug 431 disposed at the end of the third connecting strap 43 away from the storage bag 4, a fourth connecting strap 44 connected to the other end of the storage bag 4, and a connecting slot 441 disposed at the end of the fourth connecting strap 44 away from the storage bag 4 and for engaging with the connecting plug 431.

[0044] The implementation principle of a lower limb exoskeleton robot in this application embodiment is as follows: During the rehabilitation training process of the patient using the lower limb exoskeleton robot, the probability of the patient's skin being worn by the support strap 2 is reduced by setting anti-abrasion parts 3 on the two shoulder straps 22 of the support strap 2. Furthermore, by setting a sliding sleeve structure on the outer surface of the anti-abrasion pad 31 of the anti-abrasion part 3, it is helpful to reduce the lateral slippage of the anti-abrasion part 3 on the support strap 2. Finally, by setting a snap fastener structure at one end of the slippage notch 33 for the anti-abrasion pad 31 and the locking pad 32, it is helpful to disassemble and replace the anti-abrasion part 3.

[0045] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A lower limb exoskeleton robot, comprising an exoskeleton body (1) and a support strap (2) mounted on the exoskeleton body (1), the support strap (2) comprising a backrest portion (21) and two shoulder strap portions (22) connected to the backrest portion (21), characterized in that, Both shoulder strap portions (22) are slidably fitted with anti-abrasion components (3); each anti-abrasion component (3) includes an anti-abrasion pad (31) and a locking pad (32) connected to the upper edge of the anti-abrasion pad (31). The connection between the locking pad (32) and the anti-abrasion pad (31) has a sliding notch (33) for the shoulder strap portion (22) to slide. The lower end of the anti-abrasion pad (31) is provided with a first magnet (312). The locking pad (32) has a locking portion (322) for pressing against the shoulder strap portion (22) and a second magnet (3221) for attracting the first magnet (312) is provided at the locking portion (322).

2. The lower limb exoskeleton robot according to claim 1, characterized in that, The length of the second magnetic piece (3221) is 60% to 80% of the width of the locking part (322).

3. The lower limb exoskeleton robot according to claim 1, characterized in that, The outer surface of the anti-abrasion pad (31) is provided with a sliding sleeve structure for the shoulder strap portion (22) to slide.

4. A lower limb exoskeleton robot according to claim 3, characterized in that, The sliding sleeve structure includes a first connecting strip (313) connected to one side of the anti-wear pad (31) and a second connecting strip (314) connected to the other side of the anti-wear pad (31). The first connecting strip (313) and the second connecting strip (314) are detachably connected by a first Velcro structure.

5. A lower limb exoskeleton robot according to claim 1, characterized in that, The locking pad (32) and the anti-wear pad (31) are connected on one side of the sliding notch (33) by a snap-fit ​​structure.

6. A lower limb exoskeleton robot according to claim 1, characterized in that, The abrasion-resistant component (3) is connected to an elastic cord (35), which has an elastic loop (351) at one end away from the abrasion-resistant component (3), and the top of the two shoulder strap portions (22) has mounting buttons (221) for mounting the elastic loop (351).

7. A lower limb exoskeleton robot according to claim 1, characterized in that, The support strap (2) is provided with a storage bag (4) on the backrest (21). The outer surface of the storage bag (4) is provided with a buckle assembly for mounting the storage bag (4). The buckle assembly includes a third connecting strap (43) connected to one side of the storage bag (4), a connecting plug (431) arranged at the end of the third connecting strap (43) away from the storage bag (4), a fourth connecting strap (44) connected to the other side of the storage bag (4), and a connecting slot (441) arranged at the end of the fourth connecting strap (44) away from the storage bag (4).

8. A lower limb exoskeleton robot according to claim 7, characterized in that, The storage bag (4) has a mounting flap (41), the mounting flap (41) has a fitting part (411) that fits against the outer wall of the storage bag (4), and the fitting part (411) and the outer wall of the storage bag (4) are provided with a second Velcro structure for restricting the items arranged in the storage bag (4) from falling out.

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