An exoskeleton robot rehabilitation training device

Abstract

This invention provides an exoskeleton robot rehabilitation training device, belonging to the field of rehabilitation assistive devices, designed to address the problem that existing rehabilitation training devices are not suitable for patients of different body types and have significant limitations in use. The exoskeleton robot rehabilitation training device includes a chassis assembly, a lifting column assembly, a flexible adjustment assembly, a lumbar adjustment assembly, and an exoskeleton rehabilitation assembly. The lifting column assembly is mounted on the chassis assembly, and the flexible adjustment assembly is mounted on the lifting end of the lifting column assembly, including a floating component that can move up and down. The lumbar adjustment assembly includes a lumbar support and a first and second handrail structure, both mounted on the lumbar support. The lumbar support is connected to the floating component. The distance between the first and second handrail structures is adjustable, and the exoskeleton rehabilitation assembly is mounted on both the first and second handrail structures. This invention is suitable for patients of different body types and offers high flexibility in use.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation assistive devices, and more specifically, to an exoskeleton robot rehabilitation training device. Background Technology

[0002] When patients with lower limb motor dysfunction wear exoskeletons for rehabilitation training, they cannot maintain their balance using their own limbs or the rehabilitation exoskeleton. They need to be supported by other people or assisted by fixation devices to ensure that they do not fall during rehabilitation training and avoid secondary injury.

[0003] Among these challenges, relying on other personnel to assist patients in rehabilitation training requires a significant amount of labor; and using fixation devices to assist patients in rehabilitation training is limited by the fact that existing fixation devices are standardized and cannot be adapted to different body types. Utility Model Content

[0004] The purpose of this invention is to provide an exoskeleton robot rehabilitation training device to solve the technical problem that existing rehabilitation training devices are not applicable to patients of different body types and have significant limitations in use.

[0005] The exoskeleton robot rehabilitation training device provided by this utility model includes a chassis assembly, a lifting column assembly, a flexible adjustment assembly, a waist adjustment assembly, and an exoskeleton rehabilitation assembly. The lifting column assembly is mounted on the chassis assembly, and the flexible adjustment assembly is mounted on the lifting end of the lifting column assembly. The flexible adjustment assembly includes a floating component that can move up and down. The waist adjustment assembly includes a waist support and a first handrail structure and a second handrail structure, both disposed on the waist support. The waist support is connected to the floating component. The distance between the first handrail structure and the second handrail structure is adjustable. The exoskeleton rehabilitation assembly is mounted on both the first handrail structure and the second handrail structure.

[0006] Furthermore, the flexible adjustment assembly also includes a sliding frame, a guide column, a baffle, and an elastic element. The sliding frame is installed at the lifting end of the lifting column assembly and includes an upper horizontal wall and a lower horizontal wall that are opposite to each other and spaced apart in the vertical direction. The upper end of the guide column is fixedly connected to the upper horizontal wall, and the lower end of the guide column is fixedly connected to the lower horizontal wall. The baffle is sleeved on the guide column, the elastic element is located between the baffle and the lower horizontal wall, and the floating element is fixedly connected to the baffle.

[0007] Furthermore, the flexible adjustment assembly also includes an adjusting nut, the guide post includes an axially arranged optical axis segment and a threaded segment, the optical axis segment is provided with a limiting step; the elastic element includes a helical spring, the helical spring is sleeved on the guide post, the baffle is sleeved on the optical axis segment, the adjusting nut is screwed onto the threaded segment, the upper end of the helical spring abuts against the baffle, and the lower end of the helical spring abuts against the adjusting nut.

[0008] Furthermore, the helical spring is a rectangular spring; and / or, one of the floating member and the sliding frame is fixedly provided with a first slider, and the other of the floating member and the sliding frame is fixedly provided with a first guide rail, the first guide rail extending in the vertical direction, and the first slider slidingly engaging with the first guide rail.

[0009] Furthermore, the lifting column assembly includes a lifting fixing frame, a drive motor, a vertical lead screw, a lifting slider nut, a second guide rail, and a second slider. The lifting fixing frame is mounted on the chassis assembly; the drive motor is mounted on the lifting fixing frame; the vertical lead screw is rotatably mounted on the lifting fixing frame around a vertical axis and is driven by the drive motor; the lifting slider nut is helically engaged with the vertical lead screw, and the sliding frame is fixedly connected to the lifting slider nut; one of the second guide rail and the second slider is fixedly mounted on the sliding frame, and the other of the second guide rail and the second slider is fixedly mounted on the lifting fixing frame. The second guide rail extends vertically, and the second slider is slidably engaged with the second guide rail.

[0010] Furthermore, the lifting and fixing frame is provided with an upper buffer block and a lower buffer block spaced apart in the vertical direction. The upper buffer block is used to cooperate with the upper horizontal wall, and the lower buffer block is used to cooperate with the lower horizontal wall. And / or, the lifting and fixing frame is provided with an upper sensing part and a lower sensing part spaced apart in the vertical direction, and the sliding frame is provided with an upper engaging part and a lower engaging part spaced apart in the vertical direction. The upper engaging part is used to engage with the upper sensing part to limit the upward movement stroke of the sliding frame, and the lower engaging part is used to engage with the lower sensing part to limit the downward movement stroke of the sliding frame.

[0011] Furthermore, the lifting and fixing frame is equipped with a support handrail.

[0012] Furthermore, the lumbar adjustment assembly also includes a horizontal lead screw, which is rotatably mounted on the lumbar support. The outer surface of the horizontal lead screw is provided with a first thread and a second thread with opposite directions of rotation. The first armrest structure includes a first adjusting block and a first armrest fixedly connected to the first adjusting block. The second armrest structure includes a second adjusting block and a second armrest fixedly connected to the second adjusting block. The first adjusting block is helically assembled on the first thread and is slidably connected to the lumbar support in the horizontal direction. The second adjusting block is helically assembled on the second thread and is slidably connected to the lumbar support in the horizontal direction.

[0013] Furthermore, an adjusting handwheel is fixedly provided at one end of the horizontal lead screw; and / or, the waist adjustment assembly further includes a first limiting block and a second limiting block, both of which are fixedly provided on the waist support, and are respectively located on both sides of the first adjusting block. The first limiting block is used to limit and cooperate with the first side of the first adjusting block, and the second limiting block is used to limit and cooperate with the second side of the second adjusting block.

[0014] Furthermore, the chassis assembly includes a chassis bracket and four casters mounted on the chassis bracket. The chassis bracket is provided with a U-shaped opening for entry, and the four casters are arranged in a rectangular pattern.

[0015] The beneficial effects of this new exoskeleton robot rehabilitation training device are:

[0016] By setting up an exoskeleton robot rehabilitation training device mainly composed of a chassis assembly, a lifting column assembly, a flexible adjustment assembly, a lumbar adjustment assembly, and an exoskeleton rehabilitation assembly, when a patient needs to use it for rehabilitation training, the flexible adjustment assembly, along with the lumbar adjustment assembly mounted on it, can be adjusted to the required height according to the patient's height using the lifting column assembly. At the same time, the distance between the first and second armrest structures mounted on the lumbar support is adjusted to adapt to the patient's waist width. During this adjustment process, the exoskeleton rehabilitation assemblies mounted on the first and second armrest structures will move closer or further apart accordingly, thereby meeting the patient's usage needs.

[0017] Therefore, it can be seen that the exoskeleton robot rehabilitation training device, through the above-mentioned settings, not only does not require assistance from other personnel, reducing labor, but also allows for bidirectional adjustment of height and width according to the patient's body shape, meeting the usage needs of patients of different body types, making it convenient for patients to wear the exoskeleton rehabilitation components, reducing restrictions during use, and demonstrating high flexibility.

[0018] In addition, the flexible adjustment component allows patients to perform suspended training while supported by the lumbar adjustment component, and provides effective support when the user performs ground-based rehabilitation training. The amount of support can be determined by the patient's own situation, giving the patient initiative and improving the comfort of training. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of the exoskeleton robot rehabilitation training device provided in this embodiment of the utility model;

[0021] Figure 2 A schematic diagram of the lifting column assembly of the exoskeleton robot rehabilitation training device provided in this embodiment of the utility model;

[0022] Figure 3 A schematic diagram of the flexible adjustment component of the exoskeleton robot rehabilitation training device provided in this embodiment of the utility model;

[0023] Figure 4 A schematic diagram of the waist adjustment component of the exoskeleton robot rehabilitation training device provided in this embodiment of the utility model.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100 - Chassis Components; 200 - Lifting Column Components; 300 - Flexible Adjustment Components; 400 - Waist Adjustment Components; 500 - Exoskeleton Rehabilitation Components;

[0026] 110 - Chassis bracket; 111 - U-shaped opening; 120 - Casters;

[0027] 210-Lifting and fixing frame; 211-Upper buffer block; 212-Lower buffer block; 213-Upper sensing part; 214-Lower sensing part; 215-Bracket handrail; 220-Drive motor; 230-Vertical lead screw; 240-Lifting slider nut; 250-Second guide rail; 260-Second slider;

[0028] 310-Floating component; 320-Sliding frame; 321-Upper transverse wall; 322-Lower transverse wall; 323-Upper mating part; 324-Lower mating part; 330-Guide post; 340-Baffle; 350-Elastic element; 360-Adjusting nut; 371-First slider; 372-First guide rail;

[0029] 410 - Waist support; 420 - First handrail structure; 421 - First adjusting block; 422 - First handrail; 430 - Second handrail structure; 431 - Second adjusting block; 432 - Second handrail; 440 - Horizontal lead screw; 441 - First thread; 442 - Second thread; 450 - Adjusting handwheel; 461 - First limit block; 462 - Second limit block. Detailed Implementation

[0030] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0031] Figure 1 This is a schematic diagram of the structure of the exoskeleton robot rehabilitation training device provided in this embodiment. Figure 2 This is a structural schematic diagram of the lifting column assembly 200 of the exoskeleton robot rehabilitation training device provided in this embodiment. Figure 1 and Figure 2 As shown, this embodiment provides an exoskeleton robot rehabilitation training device, including a chassis assembly 100, a lifting column assembly 200, a flexible adjustment assembly 300, a waist adjustment assembly 400, and an exoskeleton rehabilitation assembly 500. The lifting column assembly 200 is installed on the chassis assembly 100, and the flexible adjustment assembly 300 is installed on the lifting end of the lifting column assembly 200.

[0032] Figure 3 This is a schematic diagram of the flexible adjustment component 300 of the exoskeleton robot rehabilitation training device provided in this embodiment. Figure 3 As shown, the flexible adjustment component 300 includes a floating member 310 that can move up and down.

[0033] Figure 4 This is a schematic diagram of the waist adjustment component 400 of the exoskeleton robot rehabilitation training device provided in this embodiment. Figure 4 As shown, the lumbar adjustment component 400 includes a lumbar support 410 and a first handrail structure 420 and a second handrail structure 430 both disposed on the lumbar support 410. The lumbar support 410 is connected to a floating member 310. The distance between the first handrail structure 420 and the second handrail structure 430 is adjustable. Both the first handrail structure 420 and the second handrail structure 430 are equipped with an exoskeleton rehabilitation component 500.

[0034] When a patient needs to use it for rehabilitation training, the flexible adjustment component 300, together with the lumbar adjustment component 400 set on it, can be adjusted to the required height according to the patient's height using the lifting column component 200. At the same time, the distance between the first handrail structure 420 and the second handrail structure 430 set on the lumbar support 410 is adjusted to adapt to the patient's waist width. During this adjustment process, the exoskeleton rehabilitation component 500 set on both the first handrail structure 420 and the second handrail structure 430 will move closer or further away accordingly to meet the patient's usage needs.

[0035] Therefore, it can be seen that the exoskeleton robot rehabilitation training device, through the above-mentioned settings, not only does not require assistance from other personnel, reducing labor, but also allows for bidirectional adjustment of height and width according to the patient's body shape, meeting the usage needs of patients of different body types, making it convenient for patients to wear the exoskeleton rehabilitation component 500, reducing restrictions during use, and providing high flexibility.

[0036] In addition, the flexible adjustment component 300 allows patients to perform suspended training while supported by the lumbar adjustment component 400, and provides effective support when the user performs ground-based rehabilitation training. The amount of support can be determined by the patient's own condition, giving the patient initiative and improving the comfort of training.

[0037] Please continue to refer to Figure 3 In this embodiment, the flexible adjustment component 300 may further include a sliding frame 320, a guide column 330, a baffle 340, and an elastic element 350. The sliding frame 320 is installed on the lifting end of the lifting column assembly 200. The sliding frame 320 includes an upper horizontal wall 321 and a lower horizontal wall 322 that are opposite to each other and spaced apart in the vertical direction. The upper end of the guide column 330 is fixedly connected to the upper horizontal wall 321, and the lower end of the guide column 330 is fixedly connected to the lower horizontal wall 322. The baffle 340 is sleeved on the guide column 330, the elastic element 350 is located between the baffle 340 and the lower horizontal wall 322, and the floating element 310 is fixedly connected to the baffle 340.

[0038] When the patient's pressure is applied to the floating member 310 through the lumbar support 410, since the floating member 310 is fixedly connected to the baffle 340, the force on the floating member 310 is transmitted to the baffle 340, causing the baffle 340 to move up and down on the guide post 330. Specifically, by placing the elastic element 350 between the baffle 340 and the lower transverse wall 322, the elastic force of the elastic element 350 allows the baffle 340 to be in an elastic floating state, thereby achieving the purpose of elastic floating of the floating member 310.

[0039] This configuration of the flexible adjustment component 300 enables the floating component 310 to float elastically, allowing the patient to be flexibly supported by the lumbar support 410.

[0040] Please continue to refer to Figure 3 In this embodiment, the flexible adjustment component 300 may further include an adjusting nut 360. Specifically, the guide post 330 includes an axially arranged optical axis section and a threaded section, with a limit step provided on the optical axis section; the elastic element 350 includes a helical spring, wherein the helical spring is sleeved on the guide post 330, the baffle 340 is sleeved on the optical axis section, the adjusting nut 360 is screwed onto the threaded section, the upper end of the helical spring abuts against the baffle 340, and the lower end of the helical spring abuts against the adjusting nut 360.

[0041] By turning the adjusting nut 360, the coil spring can be clamped between the baffle 340 and the adjusting nut 360, so that the coil spring has a certain elastic preload, which can provide a certain elastic support for the lumbar support 410 through the floating part 310, so that the lumbar support 410 can move when subjected to a certain downward pressure, thus ensuring the lumbar support 410's ability to support the patient.

[0042] During use, the compression displacement of the helical spring can be adjusted by turning the adjusting nut 360 according to the patient's own condition, so as to change the elastic force of the helical spring and thus achieve the purpose of adjusting the elastic support force of the lumbar support 410.

[0043] Please continue to refer to Figure 3 In this embodiment, the helical spring can be a rectangular spring.

[0044] By setting the helical spring as a rectangular spring, the stiffness and fatigue resistance of the helical spring can be increased, giving it better durability and stability. In addition, it can reduce the space occupied inside the sliding frame 320, which helps to ensure the compact structure of the flexible adjustment component 300.

[0045] Please continue to refer to Figure 3 In this embodiment, the floating component 310 is fixedly provided with a first slider 371, and the sliding frame 320 is fixedly provided with a first guide rail 372. The first guide rail 372 extends in the vertical direction, and the first slider 371 slides in cooperation with the first guide rail 372.

[0046] This setting can improve the smoothness of the up-and-down movement of the floating component 310 and prevent the floating component 310 from getting stuck during elastic floating.

[0047] It is understood that in other embodiments, the first slider 371 can also be fixedly mounted on the sliding frame 320, and the first guide rail 372 can be fixedly mounted on the floating member 310, which can also serve the purpose of guiding the floating member 310 to move up and down.

[0048] Please continue to refer to Figure 2 In this embodiment, the lifting column assembly 200 may include a lifting fixing frame 210, a drive motor 220, a vertical lead screw 230, a lifting slider nut 240, a second guide rail 250, and a second slider 260. The lifting fixing frame 210 is mounted on the chassis assembly 100; the drive motor 220 is mounted on the lifting fixing frame 210; the vertical lead screw 230 is rotatably mounted on the lifting fixing frame 210 around a vertical axis and is driven by the drive motor 220; the lifting slider nut 240 is helically engaged with the vertical lead screw 230; the sliding frame 320 is fixedly connected to the lifting slider nut 240; the second slider 260 is fixedly mounted on the sliding frame 320; the second guide rail 250 is fixedly mounted on the lifting fixing frame 210; the second guide rail 250 extends in the vertical direction; and the second slider 260 is slidably engaged with the second guide rail 250.

[0049] When the height of the flexible adjustment component 300 and the waist adjustment component 400 needs to be adjusted, the drive motor 220 can be started. The drive motor 220 drives the vertical lead screw 230 to rotate. Under the screw transmission between the lifting slider nut 240 and the vertical lead screw 230, and the sliding connection between the sliding frame 320 and the lifting fixed frame 210, the screw transmission between the lifting slider nut 240 and the vertical lead screw 230 is converted into the up-and-down movement of the lifting slider nut 240, thereby realizing the height adjustment of the flexible adjustment component 300 and the waist adjustment component 400. The upward and downward movements of the flexible adjustment component 300 and the waist adjustment component 400 can be achieved by the forward and reverse rotation of the drive motor 220, respectively.

[0050] This configuration of the lifting column assembly 200 not only enables stepless adjustment of the flexible adjustment assembly 300 in height space, allowing the waist adjustment assembly 400 to stay at any height position, but also ensures a smooth adjustment process.

[0051] Please continue to refer to Figure 2 In this embodiment, the lifting and fixing frame 210 is provided with an upper buffer block 211 and a lower buffer block 212 spaced apart in the vertical direction. The upper buffer block 211 is used to cooperate with the upper horizontal wall 321, and the lower buffer block 212 is used to cooperate with the lower horizontal wall 322.

[0052] By setting an upper buffer block 211 to cooperate with the upper horizontal wall 321, when the sliding frame 320 rises to its maximum stroke, on the one hand, the cooperation between the upper buffer block 211 and the upper horizontal wall 321 can mechanically limit the sliding frame 320, preventing the sliding frame 320 from moving too upward and disengaging from the lifting and fixing frame 210. On the other hand, it can also alleviate the rigid impact between the sliding frame 320 and the lifting and fixing frame 210 during the rising process, avoiding the sliding frame 320 from colliding with the lifting and fixing frame 210 and causing damage.

[0053] Similarly, by providing a lower buffer block 212 to cooperate with the lower transverse wall 322, when the sliding frame 320 descends to its maximum stroke, on the one hand, the cooperation between the lower buffer block 212 and the lower transverse wall 322 can mechanically limit the sliding frame 320, preventing it from moving downwards excessively and detaching from the lifting and fixing frame 210. On the other hand, it can also alleviate the rigid impact between the sliding frame 320 and the lifting and fixing frame 210 during the descent, avoiding collision between the sliding frame 320 and the lifting and fixing frame 210 and causing damage.

[0054] Please continue to refer to Figure 2 In this embodiment, an upper sensing part 213 and a lower sensing part 214 spaced apart in the vertical direction can also be provided on the lifting and fixing frame 210. Correspondingly, an upper engaging part 323 and a lower engaging part 324 spaced apart in the vertical direction can be provided on the sliding frame 320. The upper engaging part 323 is used to engage with the upper sensing part 213 to limit the upward movement stroke of the sliding frame 320, and the lower engaging part 324 is used to engage with the lower sensing part 214 to limit the downward movement stroke of the sliding frame 320.

[0055] This setting enables sensing and limiting of the vertical movement of the sliding frame 320, preventing the sliding frame 320 from exceeding its lifting limits.

[0056] Specifically, in this embodiment, both the upper sensing part 213 and the lower sensing part 214 can be U-shaped groove limit switches, and both the upper mating part 323 and the lower mating part 324 can be baffle structures. When the upper mating part 323 mates with the upper sensing part 213, the upper mating part 323 inserts into the U-shaped groove of the upper sensing part 213, triggering high and low level signals to feedback control the drive motor 220 to stop operating; similarly, when the lower mating part 324 mates with the lower sensing part 214, the lower mating part 324 inserts into the U-shaped groove of the lower sensing part 214, triggering high and low level signals to feedback control the drive motor 220 to stop operating.

[0057] Please continue to refer to Figure 2 In this embodiment, the lifting and fixing frame 210 is provided with a support handrail 215.

[0058] By setting a support handrail 215 on the lifting and fixing frame 210, a force application point is provided for the lifting and fixing frame 210, making it convenient to push the lifting and fixing frame 210 to move the exoskeleton robot rehabilitation training device of this embodiment as a whole.

[0059] Specifically, support handles 215 are provided on both sides of the lifting and fixing frame 210.

[0060] Please continue to refer to Figure 4 In this embodiment, the waist adjustment assembly 400 may further include a horizontal lead screw 440. Specifically, the horizontal lead screw 440 is rotatably mounted on the waist support 410, and the outer surface of the horizontal lead screw 440 is provided with a first thread 441 and a second thread 442 with opposite directions of rotation. The first armrest structure 420 includes a first adjusting block 421 and a first armrest 422 fixedly connected to the first adjusting block 421. The second armrest structure 430 includes a second adjusting block 431 and a second armrest 432 fixedly connected to the second adjusting block 431. The first adjusting block 421 is screwed onto the first thread 441, and the first adjusting block 421 is slidably connected to the waist support 410 in the horizontal direction. The second adjusting block 431 is screwed onto the second thread 442, and the second adjusting block 431 is slidably connected to the waist support 410 in the horizontal direction.

[0061] When it is necessary to adjust the distance between the first handrail structure 420 and the second handrail structure 430, the horizontal lead screw 440 can be rotated. Since the first adjusting block 421 of the first handrail structure 420 is screwed onto the first thread 441 of the horizontal lead screw 440, and the second adjusting block 431 of the second handrail structure 430 is screwed onto the second thread 442 of the horizontal lead screw 440, and both the first adjusting block 421 and the second adjusting block 431 are slidably connected to the waist support 410 in the horizontal direction, when the horizontal lead screw 440 is rotated, the first adjusting block 421 and the second adjusting block 431 will move closer to each other or further away from each other at the same time, thereby realizing the adjustment of the distance between the first handrail structure 420 and the second handrail structure 430.

[0062] This configuration of the lumbar adjustment component 400 enables the synchronous adjustment of the first armrest structure 420 and the second armrest structure 430, allowing the first armrest structure 420 and the second armrest structure 430 to move closer or further away simultaneously. This not only improves adjustment efficiency but also ensures symmetry during the adjustment process.

[0063] Please continue to refer to Figure 4 In this embodiment, an adjusting handwheel 450 is fixedly provided at one end of the horizontal lead screw 440.

[0064] This setup allows patients to directly apply rotational force to the horizontal lead screw 440 by adjusting the handwheel 450, improving ease of operation.

[0065] Please continue to refer to Figure 4 In this embodiment, the waist adjustment component 400 may further include a first limiting block 461 and a second limiting block 462, wherein the first limiting block 461 and the second limiting block 462 are both fixedly disposed on the waist support 410, and the first limiting block 461 and the second limiting block 462 are respectively disposed on both sides of the first adjustment block 421. The first limiting block 461 is used to limit and cooperate with the first side of the first adjustment block 421, and the second limiting block 462 is used to limit and cooperate with the second side of the second adjustment block 431.

[0066] This design allows for the adjustment of the distance between the first handrail structure 420 and the second handrail structure 430. The first limiting block 461, in conjunction with the first side, limits the left side of the first adjusting block 421, while the second limiting block 462, in conjunction with the second side, limits the right side. This ensures that the movement path of the first adjusting block 421 lies between the first limiting block 461 and the second limiting block 462, thus achieving the purpose of limiting the first adjusting block 421. Since the first adjusting block 421 and the second adjusting block 431 move synchronously through the transmission of the horizontal lead screw 440, this design also indirectly limits the second adjusting block 431.

[0067] Please continue to refer to Figure 1 In this embodiment, the chassis assembly 100 may include a chassis bracket 110 and four casters 120 mounted on the chassis bracket 110. The chassis bracket 110 is provided with a U-shaped opening 111 for entry, and the four casters 120 are arranged in a rectangular pattern.

[0068] This configuration of the chassis assembly 100 not only provides good stability, but also allows the exoskeleton robot rehabilitation training device of this embodiment to have multiple movement modes such as rotation in place and forward and backward movement by utilizing the four universal wheels 120, further improving its flexibility of use.

[0069] It should be noted that, in this embodiment, the specific structure and wearing process of the exoskeleton rehabilitation component 500 can refer to the existing technology. Since this embodiment does not improve upon it, it will not be described in detail here.

[0070] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0071] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0072] In the above embodiments, descriptions of directions such as "up", "down", "left", "right", and "side" are all based on the accompanying drawings.

[0073] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An exoskeleton robot rehabilitation training device, characterized in that, The system includes a chassis assembly (100), a lifting column assembly (200), a flexible adjustment assembly (300), a lumbar adjustment assembly (400), and an exoskeleton rehabilitation assembly (500). The lifting column assembly (200) is installed on the chassis assembly (100), and the flexible adjustment assembly (300) is installed on the lifting end of the lifting column assembly (200). The flexible adjustment assembly (300) includes a floating member (310) that can move up and down. The lumbar adjustment assembly (400) includes a lumbar support (410) and a first handrail structure (420) and a second handrail structure (430) both disposed on the lumbar support (410). The lumbar support (410) is connected to the floating member (310). The distance between the first handrail structure (420) and the second handrail structure (430) is adjustable. The exoskeleton rehabilitation assembly (500) is installed on both the first handrail structure (420) and the second handrail structure (430).

2. The exoskeleton robot rehabilitation training device according to claim 1, characterized in that, The flexible adjustment assembly (300) further includes a sliding frame (320), a guide column (330), a baffle (340), and an elastic element (350). The sliding frame (320) is installed at the lifting end of the lifting column assembly (200). The sliding frame (320) includes an upper horizontal wall (321) and a lower horizontal wall (322) that are opposite to each other and spaced apart in the vertical direction. The upper end of the guide column (330) is fixedly connected to the upper horizontal wall (321), and the lower end of the guide column (330) is fixedly connected to the lower horizontal wall (322). The baffle (340) is sleeved on the guide column (330). The elastic element (350) is located between the baffle (340) and the lower horizontal wall (322). The floating element (310) is fixedly connected to the baffle (340).

3. The exoskeleton robot rehabilitation training device according to claim 2, characterized in that, The flexible adjustment component (300) further includes an adjusting nut (360), the guide post (330) includes an axially arranged optical axis section and a threaded section, the optical axis section is provided with a limit step; the elastic element (350) includes a helical spring, the helical spring is sleeved on the guide post (330), the baffle (340) is sleeved on the optical axis section, the adjusting nut (360) is screwed on the threaded section, the upper end of the helical spring abuts against the baffle (340), and the lower end of the helical spring abuts against the adjusting nut (360).

4. The exoskeleton robot rehabilitation training device according to claim 3, characterized in that, The helical spring is a rectangular spring; and / or, one of the floating member (310) and the sliding frame (320) is fixedly provided with a first slider (371), and the other of the floating member (310) and the sliding frame (320) is fixedly provided with a first guide rail (372), the first guide rail (372) extends in the vertical direction, and the first slider (371) slides in cooperation with the first guide rail (372).

5. The exoskeleton robot rehabilitation training device according to claim 2, characterized in that, The lifting column assembly (200) includes a lifting fixing frame (210), a drive motor (220), a vertical lead screw (230), a lifting slider nut (240), a second guide rail (250), and a second slider (260). The lifting fixing frame (210) is mounted on the chassis assembly (100); the drive motor (220) is mounted on the lifting fixing frame (210); the vertical lead screw (230) is rotatably mounted on the lifting fixing frame (210) around a vertical axis and is driven by the drive motor (220); the lifting... The slider nut (240) is screwed into the vertical lead screw (230), and the sliding frame (320) is fixedly connected to the lifting slider nut (240); one of the second guide rail (250) and the second slider (260) is fixedly mounted on the sliding frame (320), and the other of the second guide rail (250) and the second slider (260) is fixedly mounted on the lifting frame (210). The second guide rail (250) extends in the vertical direction, and the second slider (260) slides into the second guide rail (250).

6. The exoskeleton robot rehabilitation training device according to claim 5, characterized in that, The lifting and fixing frame (210) is provided with an upper buffer block (211) and a lower buffer block (212) spaced apart in the vertical direction. The upper buffer block (211) is used to cooperate with the upper horizontal wall (321), and the lower buffer block (212) is used to cooperate with the lower horizontal wall (322). And / or, the lifting and fixing frame (210) is provided with an upper sensing part (213) and a lower sensing part (214) spaced apart in the vertical direction. The sliding frame (320) is provided with an upper mating part (323) and a lower mating part (324) spaced apart in the vertical direction. The upper mating part (323) is used to sense and cooperate with the upper sensing part (213) to limit the upward movement stroke of the sliding frame (320), and the lower mating part (324) is used to sense and cooperate with the lower sensing part (214) to limit the downward movement stroke of the sliding frame (320).

7. The exoskeleton robot rehabilitation training device according to claim 5, characterized in that, The lifting and fixing frame (210) is equipped with a support handrail (215).

8. The exoskeleton robot rehabilitation training device according to claim 1, characterized in that, The waist adjustment assembly (400) further includes a horizontal lead screw (440), which is rotatably mounted on the waist support (410). The outer surface of the horizontal lead screw (440) is provided with a first thread (441) and a second thread (442) with opposite directions of rotation. The first armrest structure (420) includes a first adjustment block (421) and a first armrest (422) fixedly connected to the first adjustment block (421). The second armrest structure (430) includes a second adjustment block (431) and a second armrest (432) fixedly connected to the second adjustment block (431). The first adjustment block (421) is helically assembled on the first thread (441), and the first adjustment block (421) is slidably connected to the waist support (410) in the horizontal direction. The second adjustment block (431) is helically assembled on the second thread (442), and the second adjustment block (431) is slidably connected to the waist support (410) in the horizontal direction.

9. The exoskeleton robot rehabilitation training device according to claim 8, characterized in that, One end of the horizontal lead screw (440) is fixedly provided with an adjusting handwheel (450); and / or, the waist adjustment assembly (400) further includes a first limiting block (461) and a second limiting block (462), the first limiting block (461) and the second limiting block (462) are both fixedly provided on the waist support (410), and the first limiting block (461) and the second limiting block (462) are respectively provided on both sides of the first adjusting block (421), the first limiting block (461) is used to limit and cooperate with the first side of the first adjusting block (421), and the second limiting block (462) is used to limit and cooperate with the second side of the second adjusting block (431).

10. The exoskeleton robot rehabilitation training device according to claim 1, characterized in that, The chassis assembly (100) includes a chassis bracket (110) and four casters (120) mounted on the chassis bracket (110). The chassis bracket (110) is provided with a U-shaped opening (111) for entry, and the four casters (120) are arranged in a rectangular pattern.

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