Exoskeleton auxiliary hanging bracket and lower limb rehabilitation training device

Abstract

The utility model provides an exoskeleton auxiliary hanging bracket and a lower limb rehabilitation training device. The exoskeleton auxiliary hanging bracket comprises a vertical supporting frame, an exoskeleton connecting piece and a movable seat arranged on the vertical supporting frame in a sliding mode. The vertical supporting frame comprises a vertical fixed cylinder, and a movable rod in sliding fit with the vertical fixed cylinder is arranged at the bottom of the movable base. The relative positions of the movable rods and the corresponding vertical fixing cylinders are locked through positioning pieces; a containing cavity is formed in the movable seat, and the exoskeleton connecting piece is installed in the containing cavity in a sliding mode in the vertical direction; the bottom of the movable seat is in threaded connection with a vertical adjusting rod; the top end of the vertical adjusting rod extends into the containing cavity and abuts against the exoskeleton connecting piece. The height of the exoskeleton connecting piece is roughly adjusted through a telescopic structure formed by the movable rod and the vertical fixing cylinder, then the vertical adjusting rod is screwed to precisely and finely adjust the height position of the exoskeleton connecting piece, and therefore the cost of the exoskeleton auxiliary hanging bracket is reduced while the height adjusting precision is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of assisted exercise technology, specifically relating to an exoskeleton assistive suspension and a lower limb rehabilitation training device. Background Technology

[0002] Exoskeleton robots are used for rehabilitation or walking by people with lower limb disabilities. When walking, the weight of the patient and the exoskeleton robot can put a heavy burden on the patient. Therefore, it is necessary to use an exoskeleton auxiliary frame to lift the patient and the exoskeleton robot in order to achieve a weight reduction effect.

[0003] To meet the needs of patients of different heights, exoskeleton assistive devices need to have height adjustment capabilities. Currently, the height adjustment function of exoskeleton assistive devices is mainly achieved through automatic drive devices such as hydraulic cylinders, air cylinders, and motor screws. Although this has the advantage of convenient adjustment, its price is relatively high, which is not conducive to its widespread use.

[0004] To reduce the cost of exoskeleton auxiliary frames, some manufacturers have proposed replacing expensive automatic drive devices such as hydraulic cylinders, pneumatic cylinders, and motor screws with a telescopic rod consisting of a fixed cylinder and a movable rod for height adjustment. By inserting positioning components such as pins into the fixed holes of the fixed cylinder and cooperating with different adjustment holes on the movable rod, the relative distance between the movable rod and the fixed cylinder can be locked, thus adjusting the telescopic rod's extension length. While this solution can significantly reduce the price of the exoskeleton auxiliary frame, the accuracy of the telescopic rod's extension adjustment depends entirely on the distance between the various adjustment holes, making it prone to incomplete adjustment. Therefore, providing a low-cost exoskeleton auxiliary frame with accurate height adjustment is the technical problem that this application urgently needs to solve. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide an exoskeleton assistive suspension and a lower limb rehabilitation training device, which optimizes the height adjustment device of the existing exoskeleton assistive suspension to reduce the cost of the height adjustment device while ensuring the accuracy of height adjustment, thereby enhancing the market competitiveness of the exoskeleton assistive suspension.

[0006] To achieve the above and other related objectives, this utility model provides an exoskeleton auxiliary frame comprising a vertical support frame, an exoskeleton connector, and a movable seat slidably mounted on the vertical support frame. The vertical support frame includes a vertical fixed cylinder, and the bottom of the movable seat is provided with a movable rod that slides in cooperation with the vertical fixed cylinder. The movable rod and the corresponding vertical fixed cylinder slide in the vertical direction, and their relative positions are locked by a positioning component. The movable seat has a receiving cavity, and the exoskeleton connector is slidably installed in the receiving cavity along the vertical direction. A vertical adjustment rod is threadedly connected to the bottom of the movable seat. The top end of the vertical adjustment rod extends into the receiving cavity and abuts against the exoskeleton connector. This utility model uses a telescopic structure formed by the movable rod and the vertical fixed cylinder to roughly adjust the height of the exoskeleton connector, and then screws the vertical adjustment rod to precisely fine-tune the height position of the exoskeleton connector, thereby ensuring height adjustment accuracy while reducing the cost of the exoskeleton auxiliary frame.

[0007] Preferably, the top of the vertical adjustment rod abuts against the exoskeleton connector via a vertical spring; by adding a vertical spring, the up-and-down movement of the exoskeleton connector during human walking is adapted to ensure the patient's exercise comfort.

[0008] Preferably, there are two vertical support frames, which are spaced apart in the left-right direction; each vertical support frame has a movable seat slidably installed on it; the exoskeleton connector includes two hip connectors, which are vertically slidably installed in the accommodating cavities of the two movable seats, thereby adapting to the up-and-down movement of the left and right hips during human walking, so as to ensure a good gait.

[0009] Preferably, an auxiliary lifting device is detachably installed on the vertical support frame; the auxiliary lifting device includes a horizontal support rod and a vertical lifting rod threadedly connected to the horizontal support rod; the top of the vertical lifting rod abuts against the corresponding movable seat; in this way, the vertical lifting rod can be used to replace the lifting personnel to lift and support the movable seat, thereby conveniently realizing the single-person home height adjustment of the exoskeleton auxiliary hanger.

[0010] Preferably, the vertical support frame includes two vertical fixed cylinders, which are spaced apart in the front-to-back direction; the two ends of the horizontal support rod are detachably connected to the two vertical fixed cylinders in the vertical support frame to ensure the stability of the vertical lifting rod lifting the movable seat.

[0011] Preferably, the two vertical fixing cylinders 11 located on the front side are connected by the bottom U-shaped frame 7 to ensure the strength of the exoskeleton auxiliary hanger.

[0012] Preferably, the bottom U-shaped frame includes a central telescopic rod and L-shaped connecting cylinders located at both ends of the central telescopic rod, so as to avoid interfering with the width adjustment of the entire exoskeleton auxiliary frame.

[0013] Preferably, the two movable seats are connected by a width adjustment device located on the front side of the movable seats to meet the usage needs of patients with different widths.

[0014] Preferably, the movable seat is equipped with handrails to facilitate pushing with the assistance of others.

[0015] Preferably, the exoskeleton auxiliary frame includes casters to reduce the difficulty of moving the exoskeleton auxiliary frame.

[0016] Preferably, the two movable seats are connected by a backrest device, which is located behind the width adjustment device; one side of the backrest device is rotatably mounted on the corresponding movable seat, and the other side of the backrest device is mounted on the other movable seat via a locking assembly; when the locking assembly is released, the backrest device can freely switch between the working position and the first clearance position; when the backrest device is in the first clearance position, the rear of the exoskeleton auxiliary frame forms an entrance / exit for the patient to enter and exit the exoskeleton auxiliary frame; the flip-type backrest device not only provides auxiliary support for the patient during exercise to prevent them from leaning backward and collapsing, but also allows for patient clearance before and after exercise, reducing the difficulty for the patient to enter and exit the exoskeleton auxiliary frame.

[0017] Preferably, the locking assembly includes a locking seat and a locking element; the locking seat is rotatably mounted on a corresponding movable seat; the locking seat can switch between a locked position and a second clearance position; when the locking seat is in the locked position, the locking seat and the backrest device are locked in position by the locking element; when the locking element is removed, the locking seat can rotate to the second clearance position, so that the backrest device can freely switch between the working position and the first clearance position; the entire switching process is convenient, quick, and inexpensive.

[0018] Preferably, the movable seat is provided with a horizontal slide rod extending in the front-to-back direction; a slide block is slidably mounted on the horizontal slide rod, and the relative position of the slide block and the horizontal slide rod is locked by a positioning member; one side of the backrest device is rotatably mounted on the corresponding slide block, and the locking seat is rotatably mounted on the remaining slide block; in this way, the front-to-back position of the backrest device can be adjusted by sliding the slide block, thereby meeting the back support needs of people of different body types and preventing them from leaning backward during use.

[0019] Preferably, the backrest device includes a back panel, a first backrest connecting plate, and a second backrest connecting plate; both the first backrest connecting plate and the second backrest connecting plate slide in the left-right direction with the back panel, and the relative positions of the back panel and the corresponding backrest connecting plate are locked by positioning components; thus, the usage needs of people with different widths can be met.

[0020] Preferably, the back panel includes an upper back panel, a middle back panel, and a lower back panel, with the first backrest connecting plate and the second backrest connecting plate mounted on the middle back panel; the upper back panel and the lower back panel are both vertically slidably mounted on the middle back panel, and the relative positions of the upper back panel and the middle back panel, as well as the relative positions of the lower back panel and the middle back panel, are locked by positioning components to adjust the height of the upper and lower back panels as needed.

[0021] Preferably, elastic backrests are installed on the upper back panel, middle back panel and lower back panel to improve support comfort.

[0022] This utility model also provides a lower limb rehabilitation training device, which includes an exoskeleton robot and the aforementioned exoskeleton auxiliary frame; the exoskeleton robot includes two exoskeleton legs symmetrically distributed in the left-right direction; elastic airbags are arranged opposite each other on the inner side of the hip of the two exoskeleton legs, and airbag inflation and deflation components are connected to the elastic airbags; the thickness of the elastic airbags in the left-right direction can be adjusted by inflation and deflation operations, thereby meeting the needs of patients with different clothing thicknesses, and at the same time, improving comfort and usability.

[0023] Preferably, the airbag inflation / deflation assembly includes an air tube, an elastic inflatable ball, and an air valve; the air valve has an air inlet, an air outlet, and an air release port; one end of the air tube is connected to the elastic airbag, and the other end of the air tube is connected to the air outlet of the air valve; the air inlet of the air valve is connected to the elastic inflatable ball; inflation is performed using the inflatable ball, which has the advantages of simple operation and low cost.

[0024] Preferably, the air valve has a valve core that can be switched between a first position and a second position; when the valve core is in the first position, the air inlet and the air outlet of the air valve are connected; when the valve core is in the second position, the air outlet and the air release port of the air valve are connected; this allows the user to perform inflation or deflation operations by switching the valve core.

[0025] Preferably, the exoskeleton robot is controlled by a control box.

[0026] As described above, the exoskeleton assistive suspension and lower limb rehabilitation training device of this utility model have the following beneficial effects:

[0027] (1) This utility model adds a vertical adjustment rod at the bottom of the movable seat to make fine adjustments to the height of the exoskeleton connector, which effectively ensures the height adjustment accuracy of the exoskeleton connector; moreover, since the automatic drive devices such as hydraulic cylinder, air cylinder, and motor screw are eliminated, the cost and weight of the exoskeleton auxiliary frame are reduced, which improves the market competitiveness of the exoskeleton auxiliary frame; in addition, the setting of the vertical spring can realize the adaptive up and down movement of the exoskeleton connector during walking, ensuring that the patient has a good gait when exercising and walking.

[0028] (2) The auxiliary lifting device can replace the lifting personnel to lift and support the movable seat, effectively reducing manpower consumption, thus facilitating the single-person home height adjustment of the exoskeleton auxiliary hanger.

[0029] (3) Since the width adjustment device and the bottom U-shaped frame are both located on the front side of the movable seat, patients in wheelchairs can directly enter the exoskeleton frame from the back to put on the lower limb exoskeleton, effectively reducing the difficulty for patients to put on the lower limb exoskeleton; and the flip-back device can support the patient during exercise to prevent the patient from falling backward and getting injured, and can also help the patient when entering and exiting the exoskeleton frame to ensure the patient's smooth entry and exit.

[0030] (4) The present invention provides elastic airbags on the inner sides of the two exoskeleton legs, so as to control the thickness of the elastic airbags in the left and right directions by controlling the inflation volume of the elastic airbags. This not only facilitates the use needs of patients with different clothing thicknesses, but also avoids direct rigid contact between the hip of the exoskeleton leg and the patient's hip, thus improving the patient's comfort. Attached Figure Description

[0031] Figure 1 This is a three-dimensional view of the exoskeleton auxiliary hanger in this utility model.

[0032] Figure 2 for Figure 1 The right view.

[0033] Figure 3 This is a diagram showing the fit between the movable seat and the vertical support frame in this utility model.

[0034] Figure 4 This is a schematic diagram of the structure of the bottom U-shaped frame connecting two vertical fixed cylinders in this utility model.

[0035] Figure 5 This is a schematic diagram of the width adjustment device in this utility model.

[0036] Figure 6 This is a schematic diagram of a synchronous adjustment component.

[0037] Figure 7This is a schematic diagram of another structure for the synchronization adjustment component.

[0038] Figure 8 This is a schematic diagram of the backrest device mounted on the exoskeleton auxiliary frame (the casters are not shown).

[0039] Figure 9 This is a schematic diagram showing the connection between the backrest device and each horizontal sliding rod.

[0040] Figure 10 This is a rear view of the backrest assembly.

[0041] Figure 11 This is an exploded view of the tabletop assembly.

[0042] Figure 12 This is a three-dimensional diagram of a lower limb rehabilitation training device.

[0043] Figure 13 This is a structural diagram of an elastic airbag installed on the exoskeleton leg.

[0044] Figure 14 This is a schematic diagram showing the connection between the elastic airbag and the airbag deployment and deployment assembly.

[0045] Figure 15 This is a schematic diagram showing the control box and table assembly mounted on the width adjustment device.

[0046] Explanation of reference numerals in the attached figures

[0047] Vertical support frame 110, vertical fixed cylinder 111, movable seat 120, movable rod 121, vertical adjusting rod 122, vertical spring 123, handrail 124, locking seat 125, horizontal slide rod 126, slide block 127, hip connector 131, horizontal support rod 141, vertical lifting rod 142, bottom U-shaped frame 150, intermediate telescopic rod 151, L-shaped connecting cylinder 152, width adjusting device 160, fixed plate 161, first mounting part 162a, second mounting part 162b, positive and negative lead screw 163, intermediate gear 164, first rack 166a. Second rack 166b, intermediate rotating rod 167, first push rod 168a, second push rod 168b, backrest device 170, back panel 171, upper back panel 171a, middle back panel 171b, lower back panel 171c, first backrest connecting plate 172a, second backrest connecting plate 172b, table assembly 180, table 181, first table support 182a, second table support 182b, table fixing support 183, exoskeleton leg 210, elastic airbag 220, air tube 231, elastic inflatable ball 232, air valve 233, control box 300. Detailed Implementation

[0048] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0049] Please see Figures 1 to 15 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the disclosed technical content. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0050] This application provides an exoskeleton assistive suspension for mounting an exoskeleton robot. When a patient wears the exoskeleton robot on the assistive suspension for exercise and walking, the assistive suspension can support the patient wearing the exoskeleton robot, thereby reducing the impact of the patient's own weight and the weight of the exoskeleton robot on the patient's exercise and walking. In the following embodiments, for ease of description, the directions are defined as follows: the patient's forward-backward direction after mounting the device (i.e., wearing the exoskeleton robot on the assistive suspension) is defined as the forward-backward direction; the patient's left-right direction after mounting the device is defined as the left-right direction; and the patient's height direction after mounting the device is defined as the up-down direction. Based on this, Figure 2 In the view, the left and right sides of the paper are the back and front directions, the top and bottom sides of the paper are the top and bottom directions, and the inside and outside sides of the paper are the left and right directions.

[0051] like Figure 3As shown, the exoskeleton auxiliary hanger involved in this application includes a vertical support frame 110, a movable seat 120, an exoskeleton connector, and a vertical adjustment rod 122. The exoskeleton connector is used to connect the exoskeleton robot. The vertical support frame 110 includes a vertical fixed cylinder 111, and the bottom of the movable seat 120 is provided with a movable rod 121 that slides and engages with the vertical fixed cylinder 111. The movable rod 121 and the corresponding vertical fixed cylinder 111 slide and engage in the vertical direction to form a telescopic structure. This telescopic structure is used to adjust the height position of the movable seat 120 on the vertical support frame 110. The vertical fixed cylinder 111 has a fixing hole, and the movable rod 121 has multiple adjustment holes spaced apart in the vertical direction. By inserting positioning parts such as pins and bolts into the fixing holes of the vertical fixed cylinder 111 and engaging with different adjustment holes on the movable rod 121, the movable rod 121 can be locked at different height positions of the vertical fixed cylinder 111, thereby achieving the locking of the movable seat 120 at different height positions. The movable seat 120 has a receiving cavity on the side closest to the patient, and the exoskeleton connector is vertically slidably installed within the receiving cavity of the movable seat 120. A vertical adjustment rod 122 is threaded to the bottom of the movable seat 120, and the tip of the vertical adjustment rod 122 extends into the receiving cavity of the corresponding movable seat 120 and abuts against the exoskeleton connector. Thus, by rotating the vertical adjustment rod 122, the height position of the exoskeleton connector within the corresponding movable seat 120 can be changed.

[0052] When the height of the exoskeleton connector needs to be adjusted according to the patient's height, the positioning component must first be disassembled. Then, based on the patient's height and the relative distance between the adjustment holes on the movable rod 121, the movable seat 120 is adjusted to a suitable height and locked. Next, the vertical adjustment rod 122 is turned to finely adjust the height of the exoskeleton connector on the movable seat 120, ensuring that the height of the exoskeleton connector matches the patient's height and guaranteeing the accuracy of the height adjustment. In this way, while ensuring accuracy, the high cost of traditional automatic height adjustment devices such as pneumatic cylinders and hydraulic cylinders is overcome, improving the market competitiveness of the exoskeleton auxiliary suspension system.

[0053] Because when the human body walks normally, there is an up-and-down movement of the body's center of gravity. For example... Figure 3 As shown, in order to adapt to the fluctuations of the human body's center of gravity, this application provides a vertical spring 123 between the vertical adjustment rod 122 and the exoskeleton connector, so as to realize the up-down adaptive floating of the exoskeleton connector by the compression or recovery of the vertical spring 123, thereby improving the comfort of patients exercising and walking.

[0054] Preferably, such as Figure 3 As shown, in order to limit the bending deformation of the vertical spring 123, a spring guide rod is provided at the top of the vertical adjusting rod 122, and the vertical spring 123 is sleeved on the spring guide rod; in this way, the spring guide rod can be used to guide and limit the vertical spring 123.

[0055] It is understood that the vertical support frame 110 can be arranged in various positions, such as in front of the patient, behind the patient, or on the left or right sides of the patient, and there is no limitation thereto; in this embodiment, there are two vertical support frames 110, and the two vertical support frames 110 are arranged at intervals in the left and right direction.

[0056] Specifically, such as Figures 1 to 3 As shown, each vertical support frame 110 has a movable seat 120 slidably mounted on it, and each movable seat 120 has a vertical slide rail inside its accommodating cavity. The exoskeleton connector includes two hip connectors 31, which are vertically slidably mounted on the vertical slide rails of the two movable seats 120 respectively. In this way, the two hip connectors 131 can move up and down alternately with the left and right hips of the human body to ensure a good gait for the patient when exercising and walking.

[0057] In an alternative embodiment, such as Figure 3 As shown, an auxiliary lifting device is detachably installed on the vertical support frame 110. The auxiliary lifting device includes a horizontal support rod 141 and a vertical lifting rod 142 threadedly connected to the horizontal support rod 141. The top of the vertical lifting rod 142 abuts against the corresponding movable seat 120, so that when adjusting the position of the movable seat 120, the vertical lifting rod 142 can replace the lifting personnel to lift and support the movable seat 120, thereby reducing the number of personnel and the strength required for height adjustment. In addition, since the auxiliary lifting device can be removed after height adjustment, the weight of the exoskeleton auxiliary frame is reduced, thereby reducing the difficulty of transporting the exoskeleton auxiliary frame. In this embodiment, in order to ensure the stability of the auxiliary lifting device, the vertical support frame 110 includes two vertical fixed cylinders 111 spaced apart in the front-back direction. The two ends of the horizontal support rod 141 are detachably connected to the two vertical fixed cylinders 111 in the vertical support frame 110, respectively. The detachable connection can be an existing separable connection method such as a plug-in connection, a bolt connection, or a clamp connection.

[0058] Furthermore, such as Figure 1 and Figure 3 As shown, two vertical support frames 110 are connected by a bottom U-shaped frame 150 to improve the stability of the entire exoskeleton assistive frame. The bottom U-shaped frame 150 can be positioned in front of or behind the vertical support frames 110. In this embodiment, the bottom U-shaped frame 150 is positioned in front of the vertical support frames 110 to allow the patient to directly enter the exoskeleton assistive frame from the rear in a wheelchair to wear the exoskeleton robot, reducing the difficulty for the patient to enter and exit the exoskeleton assistive frame.

[0059] To ensure that the space enclosed by the two vertical support frames 110 and the bottom U-shaped frame 150 is sufficient for the patient to move around, the bottom U-shaped frame 150 needs to be connected to the vertical fixing cylinder 111 on the front side of the vertical support frame 110.

[0060] Preferably, such as Figure 4 As shown, the bottom U-shaped frame 150 includes a central telescopic rod 151 and L-shaped connecting cylinders 152 located at both ends of the central telescopic rod 151. By adjusting the length of the central telescopic rod 151, the distance between the two vertical support frames 110 can be adjusted, thereby achieving the purpose of adjusting the width of the entire exoskeleton auxiliary frame. Because the width of the exoskeleton auxiliary frame is adjustable, it can not only meet the needs of patients with different widths, but also facilitate smooth entry and exit in narrow elevators, reducing the difficulty of transferring the exoskeleton auxiliary frame between floors.

[0061] Furthermore, such as Figure 1 , Figure 2 and Figure 5 As shown, two movable seats 120 are connected by a width adjustment device 160. The width adjustment device 160 includes a fixed plate 161, a first connecting member 162a, a second connecting member 162b, and a synchronous adjustment component. The first connecting member 162a and the second connecting member 162b are both slidably mounted on the fixed plate 161 in the left-right direction and are respectively connected to the two movable seats 120. The synchronous adjustment component drives the first connecting member 162a and the second connecting member 162b to move closer or further away synchronously to adjust the distance between the first connecting member 162a and the second connecting member 162b, thereby achieving the purpose of adjusting the distance between the two movable seats 120.

[0062] Preferably, the synchronous adjustment component has various structural types, including but not limited to the following three structural forms:

[0063] The first structural form: such as Figure 5 As shown, the synchronous adjustment assembly includes a positive and negative lead screw 163, which is horizontally mounted on a fixed plate 161 via a lead screw support. The outer wall of the positive and negative lead screw 163 is provided with a positive thread and a negative thread. The first connector 162a and the second connector 162b are respectively threaded to the threads of different directions on the positive and negative lead screw 163 so that when the positive and negative lead screw 163 rotates forward or reverses, the first connector 162a and the second connector 162b can move closer or further away synchronously.

[0064] The second structural form: such as Figure 6As shown, the synchronization adjustment assembly includes an intermediate gear 164 and a first rack 166a and a second rack 166b that mesh with the intermediate gear 164 simultaneously; the first rack 166a is connected to a first connector 162a, and the second rack 166b is connected to the second connector 162b; thus, when the intermediate gear 164 rotates forward or backward, the first connector 162a and the second connector 162b can move closer or further away synchronously.

[0065] The third structural form; such as Figure 7 As shown, the synchronous adjustment assembly includes an intermediate rotating rod 167 and a first push rod 168a and a second push rod 168b respectively hinged to both ends of the intermediate rotating rod 167; the end of the first push rod 168a away from the intermediate rotating rod 167 is hinged to the first connecting member 162a, and the end of the second push rod 168b away from the intermediate rotating rod 167 is hinged to the second connecting member 162b; thus, when the intermediate rotating rod 167 rotates clockwise or counterclockwise, the first connecting member 162a and the second connecting member 162b can move closer or further away synchronously.

[0066] Since the lead screw has a self-locking function, for cost considerations, in this embodiment, the synchronous adjustment component is preferably... Figure 5 The first structural form shown.

[0067] Furthermore, such as Figure 2 , Figure 5 and Figure 11 As shown, a tabletop assembly 180 is installed on the fixed plate 161; the tabletop assembly 180 includes a tabletop 181, a first tabletop support 182a, a second tabletop support 182b, and a tabletop fixing support 183; wherein, the first tabletop support 182a, the second tabletop support 182b, and the tabletop fixing support 183 are all located below the tabletop 181 to support the tabletop 181; thus, when the patient exercises, the patient's arms can rest on the tabletop 181 to stabilize the patient's upper limbs and prevent the patient's upper limbs from swinging back and forth.

[0068] Specifically, the tabletop fixing support 183 is used to connect the tabletop 181 and the fixing plate 161; the first tabletop support 182a and the second tabletop support 182b are both slidably engaged with the tabletop fixing support 183 in the left and right directions, and the first tabletop support 182a connects the first connector 162a and a movable seat 120 together, and the second tabletop support 182b connects the second connector 162b and another movable seat 120 together; thus, when the synchronous adjustment component drives the first connector 162a and the second connector 162b to move closer or further away synchronously to adjust the distance between the two movable seats 120, the first tabletop support 182a and the second tabletop support 182b can follow and move closer or further away to ensure the support stability of the tabletop 181.

[0069] It is worth mentioning that, such as Figure 11 As shown, the tabletop 181 includes a horizontal support part and a vertical mounting part; wherein, the vertical mounting part is used to install an abdominal support, so that when the patient's arms are resting on the horizontal support part of the tabletop 181, the abdominal support can provide flexible support for the patient's abdomen to improve the patient's comfort; the abdominal support can be any flexible support such as an elastic airbag or sponge, and there is no limitation on it.

[0070] In addition, such as Figures 8 to 10 As shown, a backrest device 170 can be selectively installed between the two movable seats 120. The backrest device 170 is located behind the width adjustment device 160 to support the patient's back and prevent the patient from leaning backward due to weakness in the upper limbs.

[0071] Specifically, one side of the backrest device 170 is rotatably mounted on the corresponding movable seat 120, and the other side of the backrest device 170 is mounted on the other movable seat 120 via a locking assembly. When the locking assembly is released, the backrest device 170 can freely switch between the working position and the first clearance position. When the backrest device 170 is in the first clearance position, the rear of the exoskeleton auxiliary frame forms an entrance and exit for the patient to enter and exit the exoskeleton auxiliary frame, ensuring that the patient can smoothly enter and exit the exoskeleton auxiliary frame. When the backrest device 170 is in the working position, the backrest device 170 can support the patient's back and prevent the patient from leaning backward.

[0072] In a preferred embodiment, the locking assembly includes a locking seat 125 and a locking member; wherein the locking seat 125 is rotatably mounted on a corresponding movable seat 120; the locking seat 125 can switch between a locked position and a second clearance position; when the locking seat 125 is in the locked position, the locking seat 125 and the backrest device 170 are locked in position by the locking member; when the locking member is removed, the locking seat 125 can rotate to the second clearance position, so that the backrest device 170 can freely switch between the working position and the first clearance position.

[0073] It should be noted that the side of the backrest device 170 away from the locking seat 125 can be vertically or horizontally mounted on the corresponding movable seat 120, and this is not limited. For ease of use, in this embodiment, the side of the backrest device 170 away from the locking component is rotatably mounted on the corresponding movable seat 120 via a vertical pivot or a vertical hinge. At this time, the locking seat 125 is rotatably mounted on the corresponding movable seat 120 via a horizontal pivot.

[0074] Of course, in other embodiments, the locking seat 125 can also be directly fixedly installed on the corresponding movable seat 120.

[0075] Because different patients have different body types, in order to accommodate the usage needs of patients with different thicknesses, such as Figures 8 to 9As shown, the top of the movable seat 120 is provided with a horizontal slide rod 126 extending in the front-back direction; a slide block 127 slides on the horizontal slide rod 126, and the relative position of the slide block 127 and the horizontal slide rod 126 is locked by positioning components such as pins and bolts; at this time, one side of the backrest device 170 is rotatably mounted on the corresponding side slide block 127, and the locking seat 125 is mounted on the remaining slide block 127; in this way, the front-back position of the backrest device 170 can be adjusted by the cooperation of the horizontal slide rod 126 and the slide block 127, thereby facilitating the use needs of patients with different thicknesses.

[0076] In addition, to accommodate the usage needs of patients with different widths, such as Figure 9 As shown, the backrest device 170 includes a back plate 171, a first backrest connecting plate 172a, and a second backrest connecting plate 172b. The first backrest connecting plate 172a and the second backrest connecting plate 172b are both slidably engaged with the back plate 171 in the left-right direction. The relative positions of the back plate 171 and the corresponding backrest connecting plate are locked by positioning components such as pins and bolts. The specific adjustment and locking methods can be referred to the adjustment and locking methods of the vertical fixed cylinder 111 and the movable rod 121 described above, and will not be repeated here.

[0077] It is worth mentioning that back lengths vary among patients. To accommodate the needs of patients with different back lengths, such as... Figure 10 As shown, the back panel 171 includes an upper back panel 171a, a middle back panel 171b, and a lower back panel 171c. The first backrest connecting plate 172a and the second backrest connecting plate 172b are both mounted on the middle back panel 171b. The upper back panel 171a and the lower back panel 171c are both vertically slidably mounted on the middle back panel 171b, and the relative positions of the upper back panel 171a and the middle back panel 171b, as well as the relative positions of the lower back panel 171c and the middle back panel 171b, are locked by positioning components such as pins and bolts.

[0078] In addition, to improve patient comfort, elastic backrests are installed on the upper backrest 171a, middle backrest 171b and lower backrest 171c; the elastic backrests are various flexible support structures such as elastic airbags or sponges, and there are no restrictions on which type they are.

[0079] Furthermore, the bottom of the exoskeleton auxiliary frame is equipped with casters to facilitate the following movement of the exoskeleton frame.

[0080] Preferably, a handrail 124 is installed on the horizontal slide bar 126 to facilitate the movement of the exoskeleton assistive frame by others.

[0081] like Figure 12 and Figure 13As shown, this application also provides a lower limb rehabilitation training device, which includes an exoskeleton robot and the above-mentioned exoskeleton auxiliary frame; wherein, the exoskeleton robot includes two exoskeleton legs 210 symmetrically distributed in the left-right direction; elastic airbags 220 are disposed opposite to each other on the inner side of the hip of the two exoskeleton legs 210, and an airbag deflator assembly is connected to the elastic airbag 220.

[0082] In practical use, it was found that the width of the patient's clothing also changes when the thickness of the clothing changes. In order to adapt to the patient's needs under different clothing thicknesses, this application adds an adjustable elastic airbag 220 to the inner side of the hip of the exoskeleton leg 210. By simply adjusting the inflation of the elastic airbag 220, the patient's needs under different clothing thicknesses can be met. Compared with the traditional solution of adjusting the width of the exoskeleton auxiliary frame to adapt to the patient's body shape, the adjustment method of the elastic airbag 220 is more convenient and quick, and can be adjusted by the patient on the machine.

[0083] In a preferred embodiment, such as Figure 14 As shown, the airbag inflation / deflation assembly includes an air tube 231, an elastic inflation ball 232, and an air valve 233. The air valve 233 has an air inlet, an air outlet, and a deflation port. One end of the air tube 231 is connected to the elastic airbag 220, and the other end is connected to the air outlet of the air valve 233. The air inlet of the air valve 233 is connected to the elastic inflation ball 232. Thus, when the elastic airbag 220 needs to be inflated, simply connect the air inlet of the air valve 233 to the air outlet and repeatedly squeeze the elastic inflation ball 231. When the elastic airbag 220 needs to be deflated, simply connect the air outlet of the air valve 233 to the deflation port, allowing some of the gas inside the elastic airbag 220 to be discharged through the deflation port.

[0084] To facilitate control of the state of the elastic airbag 220, the air valve 233 has a valve core that can switch between a first position and a second position. When the valve core is in the first position, the air inlet and outlet of the air valve 233 are connected, and the elastic airbag 220 can be inflated. When the valve core is in the second position, the air outlet of the air valve 233 is connected to the deflation port, and the elastic airbag 220 is in a deflated state.

[0085] Furthermore, the valve core can switch between the first position, the second position, and the third position; when the valve core is in the third position, the air inlet of the air valve 233 is connected to the air outlet, and the elastic airbag 220 is in a stable state, effectively avoiding accidental inflation caused by the elastic inflation balloon 232 being squeezed.

[0086] Of course, in other embodiments, the airbag inflation / deflation assembly may also employ an air pump assembly to perform automatic inflation / deflation operations.

[0087] Furthermore, it should be noted that the exoskeleton robot involved in this application is any existing type of assistive walking exoskeleton, and there is no limitation on it. For its specific structure, please refer to the lower limb exoskeletons disclosed in existing patents such as CN2022207294487, CN202310461755.0, and CN202210282170.8.

[0088] In this application, the two exoskeleton legs 210 are controlled and driven by a control box 300. The control box 300 may be arranged on the top rear side of the two exoskeleton legs 210 (i.e., the control box 300 is in front of the patient after the patient wears the exoskeleton legs 210) or on the top front side of the two exoskeleton legs 210 (i.e., the control box 300 is behind the patient after the patient wears the exoskeleton legs 210) or on the front side of the width adjustment device 160, without limitation. In this embodiment, the control box 300 is preferably arranged on the front side of the width adjustment device 160 so that the patient can control the movement of the exoskeleton legs 210 by himself through the control box 300.

[0089] Specifically, such as Figure 5 He Ru Figure 15 As shown, the control box 300 is mounted on the fixing plate 161 of the width adjustment device 160.

[0090] Therefore, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0091] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. An exoskeleton auxiliary suspension frame, comprising a vertical support frame (110), an exoskeleton connector, and a movable seat (120) slidably disposed on the vertical support frame (110); characterized in that, The vertical support frame (110) includes a vertical fixed cylinder (111), and the bottom of the movable seat (120) is provided with a movable rod (121) that slides with the vertical fixed cylinder (111). The movable rod (121) slides with the corresponding vertical fixed cylinder (111) in the vertical direction, and the relative position of the movable rod (121) and the corresponding vertical fixed cylinder (111) is locked by a positioning member. The movable seat (120) is provided with a receiving cavity, and the exoskeleton connector is slidably installed in the receiving cavity in the vertical direction. The bottom of the movable seat (120) is threaded with a vertical adjusting rod (122). The top end of the vertical adjusting rod (122) extends into the receiving cavity and abuts against the exoskeleton connector.

2. The exoskeleton auxiliary suspension according to claim 1, characterized in that, The top of the vertical adjustment rod (122) abuts against the exoskeleton connector via a vertical spring (123).

3. The exoskeleton auxiliary suspension according to claim 2, characterized in that, There are two vertical support frames (110), and the two vertical support frames (110) are spaced apart in the left and right direction; each vertical support frame (110) has a movable seat (120) slidably installed on it; the exoskeleton connector includes two hip connectors (131), and the two hip connectors (131) are respectively vertically slidably installed in the accommodating cavity of the two movable seats (120).

4. The exoskeleton auxiliary suspension according to claim 3, characterized in that, An auxiliary lifting device is detachably installed on the vertical support frame (110); the auxiliary lifting device includes a horizontal support rod (141) and a vertical lifting rod (142) threadedly connected to the horizontal support rod (141); the top of the vertical lifting rod (142) abuts against the corresponding movable seat (120).

5. The exoskeleton auxiliary suspension frame according to claim 4, characterized in that, The vertical support frame (110) includes two vertical fixing cylinders (111), and the two vertical fixing cylinders (111) are spaced apart in the front-back direction; the two ends of the horizontal support rod (141) are detachably connected to the two vertical fixing cylinders (111) in the vertical support frame (110).

6. The exoskeleton auxiliary suspension according to claim 3, characterized in that, The two vertical fixed cylinders (111) located on the front side are connected by a bottom U-shaped frame (150).

7. The exoskeleton auxiliary suspension according to claim 6, characterized in that, The bottom U-shaped frame (150) includes a middle telescopic rod (151) and L-shaped connecting cylinders (152) located at both ends of the middle telescopic rod (151).

8. The exoskeleton auxiliary suspension according to claim 6, characterized in that, Two movable seats (120) are connected by a width adjustment device (160) located on the front side of the movable seats (120).

9. An exoskeleton auxiliary suspension according to any one of claims 1 to 8, characterized in that, The exoskeleton support frame includes casters.

10. An exoskeleton auxiliary suspension according to claim 9, characterized in that, The movable seat (120) is equipped with a handrail (124).

11. An exoskeleton auxiliary suspension according to claim 3, characterized in that, Two movable seats (120) are connected by a backrest device (170), and the backrest device (170) is located behind the width adjustment device (160); one side of the backrest device (170) is rotatably mounted on the movable seat (120) on the corresponding side, and the other side of the backrest device (170) is mounted on the movable seat (120) on the other side by a locking assembly; when the locking assembly is unlocked, the backrest device (170) can freely switch between the working position and the first clearance position; when the backrest device (170) is in the first clearance position, the rear of the exoskeleton assistive frame forms an entrance and exit for the patient to enter and exit the exoskeleton assistive frame.

12. The exoskeleton auxiliary suspension according to claim 11, characterized in that, The locking assembly includes a locking seat (125) and a locking element; the locking seat (125) is rotatably mounted on a corresponding movable seat (120); the locking seat (125) can switch between a locked position and a second clearance position; when the locking seat (125) is in the locked position, the locking seat (125) and the backrest device (170) are locked in position by the locking element; when the locking element is removed, the locking seat (125) can rotate to the second clearance position so that the backrest device (170) can freely switch between the working position and the first clearance position.

13. An exoskeleton auxiliary suspension according to claim 12, characterized in that, The movable seat (120) is provided with a horizontal slide rod (126) extending in the front-back direction; a slide block (127) slides on the horizontal slide rod (126), and the relative position of the slide block (127) and the horizontal slide rod (126) is locked by a positioning member; one side of the backrest device (170) is rotatably mounted on the corresponding slide block (127), and the locking seat (125) is rotatably mounted on the remaining slide block (127).

14. An exoskeleton auxiliary suspension according to any one of claims 11 to 13, characterized in that, The backrest device (170) includes a back plate (171), a first backrest connecting plate (172a), and a second backrest connecting plate (172b); the first backrest connecting plate (172a) and the second backrest connecting plate (172b) are both slidably engaged with the back plate (171) in the left-right direction, and the relative position of the back plate (171) and the corresponding backrest connecting plate is locked by a positioning member.

15. An exoskeleton auxiliary suspension according to claim 14, characterized in that, The back panel (171) includes an upper back panel (171a), a middle back panel (171b), and a lower back panel (171c). The first backrest connecting plate (172a) and the second backrest connecting plate (172b) are mounted on the middle back panel (171b). The upper back panel (171a) and the lower back panel (171c) are both vertically slidably mounted on the middle back panel (171b), and the relative positions of the upper back panel (171a) and the middle back panel (171b) and the lower back panel (171c) and the middle back panel (171b) are locked by positioning components.

16. An exoskeleton auxiliary suspension according to claim 15, characterized in that, Elastic backrests are installed on the upper back panel (171a), the middle back panel (171b), and the lower back panel (171c).

17. A lower limb rehabilitation training device, characterized in that, The invention includes an exoskeleton robot and an exoskeleton auxiliary frame as described in any one of claims 1 to 16; the exoskeleton robot includes two exoskeleton legs (210) symmetrically distributed in the left-right direction; elastic airbags (220) are disposed opposite each other on the inner side of the hip of the two exoskeleton legs (210), and an airbag detonation assembly is connected to the elastic airbags (220).

18. The lower limb rehabilitation training device according to claim 17, characterized in that, The airbag deployment assembly includes an air tube (231), an elastic inflatable ball (232), and an air valve (233); the air valve (233) has an air inlet, an air outlet, and an air release port; one end of the air tube (231) is connected to the elastic airbag (220), and the other end of the air tube (231) is connected to the air outlet of the air valve (233); the air inlet of the air valve (233) is connected to the elastic inflatable ball (232).

19. The lower limb rehabilitation training device according to claim 18, characterized in that, The air valve (233) has a valve core that can switch between a first position and a second position. When the valve core is in the first position, the air inlet and the air outlet of the air valve (233) are connected. When the valve core is in the second position, the air outlet and the air discharge port of the air valve (233) are connected.

20. The lower limb rehabilitation training device according to claim 17, characterized in that, The exoskeleton robot (200) is controlled by a control box (300).

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