Multi-posture lower extremity exoskeleton rehabilitation training device

Abstract

The utility model discloses a kind of multi-posture lower limbs exoskeleton rehabilitation training devices, including bed-chair conversion mechanism, double scissor lifting mechanism, hip plate support mechanism, flexible lower limbs exoskeleton mechanism and power device.Bed-chair conversion mechanism is matched with tripod through electric push rod, realizes the conversion of lying, sitting posture and standing posture;Double scissor lifting mechanism adopts scissor structure and electric push rod to realize lifting, bottom is equipped with trundle;Hip plate support mechanism is matched with support rod by spring shaft, provides stable support under different postures;Flexible lower limbs exoskeleton mechanism includes hip joint and knee joint structure, hip joint is driven in parallel by Bowden cable and spring, knee joint is driven by electric push rod.The device is also provided with control handle, integrated rocker, OLED display, voice control and STM32 single-chip microcomputer, to facilitate patient flexible control.The utility model can realize the switching of multiple rehabilitation postures, improve rehabilitation training effect.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training equipment technology, specifically to a multi-posture lower limb exoskeleton rehabilitation training device. Background Technology

[0002] For patients with impaired or incomplete lower limb function, the inability to walk like a normal person can have a significant impact on their physical and mental health, making rehabilitation training crucial. Currently, there are two main methods for leg rehabilitation training for these patients: one involves wearing an upright lower limb exoskeleton, which, driven by modules or other actuation structures, propels the legs to perform walking or stepping movements, thus meeting the body's need for leg exercise; the other involves installing a rehabilitation device at the bedside while the patient is lying down to assist in leg extension, flexion, and lifting movements.

[0003] Current rehabilitation devices can only perform rehabilitation training in one posture (lying down, sitting, or standing), resulting in generally limited rehabilitation effects and minimal benefits for patients. Therefore, it is necessary to develop a multi-posture lower limb exoskeleton rehabilitation training device to address these issues. Utility Model Content

[0004] The purpose of this invention is to provide a multi-posture lower limb exoskeleton rehabilitation training device that allows for flexible posture adjustment.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A multi-posture lower limb exoskeleton rehabilitation training device includes a bed-chair conversion mechanism, a double scissor lift mechanism, a hip support mechanism, and a flexible lower limb exoskeleton mechanism.

[0007] Specifically, the bed-chair conversion mechanism includes an upper bed board, a lower bed board, a first electric actuator, a second electric actuator, a third electric actuator, a tripod, a limiting plate, and an intermediate shaft; the first electric actuator is hinged to the upper bed board, one end of the upper bed board and one end of the lower bed board are rotatably connected to the intermediate shaft, and one end of the tripod is hinged to the intermediate shaft; the intermediate shaft is fixedly installed at one end of the limiting plate, and the top surface of the tripod abuts against the bottom surface of the lower bed board.

[0008] Specifically, the double scissor lift mechanism includes a base, a fourth electric push rod is provided between the bases, the rear end of the fourth electric push rod is fixed on the shaft between the bases, and the front end of the fourth electric push rod is connected to the scissor mechanism through a first connecting shaft; the two ends of the first connecting shaft are mounted on connecting plates and can slide back and forth in the base groove; the bottom of the double scissor lift mechanism is provided with casters, and a power unit is installed at the bottom of the base.

[0009] Specifically, the buttock support mechanism includes a buttock plate, a support rod, a slider, a spring shaft, and a second connecting shaft; the buttock plate is hinged to the back support shaft, the support rod is hinged to the front end of the buttock plate, the slider slides in the groove of the support rod, the spring shaft is hinged to the slider, and the spring shaft moves in the groove of the second connecting shaft.

[0010] Specifically, the flexible lower limb exoskeleton includes a hip joint structure and a knee joint structure.

[0011] Specifically, the hip joint structure includes a lumbar connecting plate, Bowden rope, flange shaft, angular contact ball bearing, end cap, thigh fixation plate, spring, upper thigh plate, and spring connector; the upper thigh plate and the lumbar connecting plate are connected by the flange shaft, and the angular contact ball bearing is sleeved on the flange shaft; the end cap is located on the left side of the angular contact ball bearing; the upper thigh plate has a Bowden rope fixing anchor point on the front side, which is hinged to the Bowden rope by bolts, and the rear side is hinged to the spring connector for easy spring installation; the thigh fixation plate is fixedly connected to the upper thigh plate by bolts.

[0012] Specifically, the knee joint structure includes a fifth electric push rod, an upper thigh plate, and a lower calf plate; the upper end of the fifth electric push rod is connected to the upper thigh plate, and the lower end is connected to the lower calf plate.

[0013] Specifically, it includes a control handle for controlling the device, the control handle comprising a joystick, an OLED display module, buttons, a button module, a joystick module, a voice control module, and an STM32 microcontroller.

[0014] The beneficial effects of this utility model are as follows:

[0015] This application utilizes a bed-chair conversion mechanism, a double-scissor lift mechanism, and a hip support mechanism to enable patients to switch between lying, sitting, and standing positions. This design allows patients to easily switch between these positions according to their rehabilitation needs, greatly facilitating their daily activities and rehabilitation training. It effectively improves the outcome of patient rehabilitation training.

[0016] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of a multi-posture lower limb exoskeleton rehabilitation training device according to an embodiment of the present invention;

[0018] Figure 2 This is a structural diagram of a bed-chair conversion structure according to an embodiment of the present invention;

[0019] Figure 3 This is a structural diagram of a double scissor lift mechanism according to an embodiment of the present invention;

[0020] Figure 4 This is a structural diagram of a hip plate support mechanism according to an embodiment of the present invention;

[0021] Figure 5 This is a structural diagram of a hip joint structure according to an embodiment of the present invention;

[0022] Figure 6 This is a structural diagram of a knee joint structure according to an embodiment of the present invention;

[0023] Figure 7 This is a structural diagram of a control handle according to an embodiment of the present invention.

[0024] Reference numerals: 1. Bed-chair conversion mechanism; 2. Double scissor lift mechanism; 3. Hip support mechanism; 4. Flexible lower limb exoskeleton mechanism; 101. Upper bed board; 102. Lower bed board; 103. First electric actuator; 104. Second electric actuator; 105. Third electric actuator; 106. Tripod; 107. Limiting plate; 108. Intermediate shaft; 201. Base; 202. Fourth electric actuator; 203. First connecting shaft; 204. Scissor mechanism; 205. Connecting plate; 206. Casters; 207. Power unit 301. Hip plate; 302. Support rod; 303. Slider; 304. Spring shaft; 305. Second connecting shaft; 401. Waist connecting plate; 402. Bowden rope; 403. Flange shaft; 404. Angular contact ball bearing; 405. End cap; 406. Thigh fixing plate; 407. Spring; 408. Upper thigh plate; 409. Lower calf plate; 410. Fifth electric actuator; 411. Spring connector; 5. Control handle; 501. Joystick; 502. OLED display module; 503. Button. Detailed Implementation

[0025] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0029] Please see Figure 1 This utility model discloses a multi-posture lower limb exoskeleton rehabilitation training device, including a bed-chair conversion mechanism 1, a double scissor lifting mechanism 2, a hip support mechanism 3, and a flexible lower limb exoskeleton mechanism 4.

[0030] For details, see Figures 1-2The bed-chair conversion mechanism 1 includes an upper bed board 101, a lower bed board 102, a first electric actuator 103, a second electric actuator 104, a third electric actuator 105, a tripod 106, a limiting plate 107, and an intermediate shaft 108. The first electric actuator 103 is hinged to the upper bed board 101. One end of the upper bed board 101 and one end of the lower bed board 102 are rotatably connected to the intermediate shaft 108. One end of the tripod 106 is hinged to the intermediate shaft 108. The intermediate shaft 108 is fixedly mounted at one end of the limiting plate 107, and the top surface of the tripod 106 abuts against the bottom surface of the lower bed board 102. The first electric actuator 103 can push the upper bed board 101, and the pushing speed and angle of the upper bed board 101 can be controlled, allowing the upper bed board 101 to form various angles suitable for the rehabilitation patient. The second electric actuator 104 and the third electric actuator 105 push the tripod 106, which in turn drives the lower bed board 102 to rotate, enabling the rehabilitation patient to change from a sitting to a standing position. The limiting plate 107 controls the travel of the lower bed board 102, preventing the rehabilitation patient from being injured due to excessive rotation of the lower bed board. When changing from a lying to a standing position, the first electric actuator 103 pushes the upper bed board 101 to stand upright, and then the second electric actuator 104 and the third electric actuator 105 retract backward, causing the lower bed board 102 to rotate downward, eventually reaching a vertical position. The bed-chair conversion mechanism is equipped with a gyroscope, which detects angles and communicates with a microcontroller to achieve precise control of the electric actuators. This enables the conversion between bed, chair, and standing postures.

[0031] For details, see Figure 3 The double scissor lift mechanism 2 includes a base 201. A fourth electric actuator 202 is provided between the bases 201. The rear end of the fourth electric actuator 202 is fixed to the shaft between the bases 201, and the front end of the fourth electric actuator 202 is connected to the scissor mechanism 204 through a first connecting shaft 203. The two ends of the first connecting shaft 203 are mounted on connecting plates 205 and can slide back and forth within the grooves of the bases 201. A power device 207 is installed at the bottom of the base 201. The angle between the connecting plates of the scissor mechanism 204 is changed by extending and retracting the fourth electric actuator 202, causing the entire platform to rise or fall. The bottom of the double scissor lift mechanism 2 is equipped with casters 206 for easy movement by the rehabilitation patient. The double scissor mechanism 204 can amplify the stroke, allowing the fourth electric actuator 202 to achieve a higher lifting height of the exoskeleton with a shorter stroke. Furthermore, the scissor mechanism 204 is relatively small in size and has a compact structure when retracted. The same scissor lift mechanism 204 is used on both sides. By controlling the extension speed of the fourth electric push rod 202 to be the same, the scissor lift mechanism 204 on both sides rises and falls synchronously, thereby obtaining greater lifting power and enhancing stability.

[0032] Specifically, the power unit 206 is driven by an L298N motor and is equipped with relays and PWM to control the lifting speed of the electric actuator.

[0033] For details, see Figure 4 The buttock support mechanism 3 includes a buttock plate 301, a support rod 302, a slider 303, a spring shaft 304, and a second connecting shaft 305. The buttock plate 301 is hinged to the back support shaft, the support rod 302 is hinged to the front end of the buttock plate 301, the slider 303 slides in the groove of the support rod 302, the spring shaft 304 is hinged to the slider 303, and the spring shaft 304 moves in the groove of the second connecting shaft 305. In a reclining or sitting position, the buttock plate 301 remains horizontal under the action of the buttock plate push rod motor. The buttock plate 301 pushes the second connecting shaft 305 forward. After the second connecting shaft 305 compresses the spring of the spring shaft 304 to its limit position, the spring shaft 304 extends from the front end of the support rod 302, providing a fixed support function. When changing from a sitting to a standing position, the buttock plate 301 rotates counterclockwise, causing the support rod 302 to retract. The support rods 302 are installed on both sides of the hip push rod motor. They provide support and stability when the person is lying down or sitting. When the person is standing, the support rods 302 retract to avoid interference with the hip board push rod motor and the back board push rod motor, making the structure compact, beautiful and practical.

[0034] Specifically, the flexible lower limb exoskeleton 4 includes a hip joint structure and a knee joint structure.

[0035] For details, see Figure 5 The hip joint structure includes a lumbar connecting plate 401, a Bowden rope 402, a flange shaft 403, an angular contact ball bearing 404, an end cap 405, a thigh fixation plate 406, a spring 407, an upper thigh plate 408, and a spring connector 411. The upper thigh plate 408 and the lumbar connecting plate 401 are connected by the flange shaft 403, on which the angular contact ball bearing 404 is fitted to reduce friction. The end cap 405 is located on the left side of the angular contact ball bearing 404 to prevent it from falling off. The upper thigh plate 408 has a Bowden rope 402 fixing anchor point on its front side, which is hinged to the Bowden rope 402 by bolts. Its rear side is hinged to the spring connector 411 for easy installation of the spring 407. The thigh fixation plate 406 is fixedly connected to the upper thigh plate 408 by bolts. In this application, the Bowden rope 402 and the spring 407 are installed parallel to each other on the outer side of the thigh to simulate the work of the adductor magnus and semitendinosus muscles. Structurally, the spring 407 can compensate for the shortcomings of the Bowden rope 402, which only pulls and does not compress, and can also store and release energy during the gait cycle to help rehabilitation patients walk.

[0036] For details, see Figure 6 The knee joint structure includes a fifth electric push rod 410, an upper thigh plate 408, and a lower calf plate 409. The upper end of the fifth electric push rod 410 is connected to the upper thigh plate 408, and the lower end is connected to the lower calf plate 409. The flexion / extension freedom of the knee joint in the sagittal plane is realized by the extension and contraction of the fifth electric push rod 410.

[0037] For details, see Figure 7 The multi-posture lower limb exoskeleton rehabilitation training device disclosed in this application also includes a control handle 5 for control. The control handle includes a joystick 501, an OLED display module 502, buttons 503, a button module, a joystick module, a voice control module, and an STM32 microcontroller. By operating the control handle to send signals to the power device, the direction and speed of the bed-chair can be controlled to meet the needs of the elderly to change from a lying position to a standing position or from a standing position to a lying position; it can also control the direction and speed of the leg mechanical structure to meet the needs of the patient's daily activities.

[0038] The OLED display module can show the current operating status of the device and the angle of leg movement, which can intuitively present the data to the patient so that the patient can use the device more conveniently.

[0039] This application simplifies the control of the chair bed through a voice control module, providing a new control method for elderly people with limited mobility or poor eyesight.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A multi-posture lower limb exoskeleton rehabilitation training device, characterized in that, The device includes a bed-chair conversion mechanism, a double scissor lift mechanism, a hip support mechanism, a flexible lower limb exoskeleton mechanism, and a power unit. The bed-chair conversion mechanism includes an upper bed board, a lower bed board, a first electric actuator, a second electric actuator, a third electric actuator, a tripod, a limiting plate, and an intermediate shaft. The first electric actuator is hinged to the upper bed board, and one end of the upper bed board and one end of the lower bed board are rotatably connected to the intermediate shaft. One end of the tripod is hinged to the intermediate shaft. The intermediate shaft is fixedly installed at one end of the limiting plate, and the top surface of the tripod abuts against the bottom surface of the lower bed board. A gyroscope is installed inside the bed-chair conversion mechanism. The double scissor lift mechanism includes a base, a fourth electric push rod is provided between the bases, the rear end of the fourth electric push rod is fixed on the shaft between the bases, and the front end of the fourth electric push rod is connected to the scissor mechanism through a first connecting shaft; the two ends of the first connecting shaft are mounted on connecting plates and can slide back and forth in the base groove; the bottom of the double scissor lift mechanism is provided with casters, and a power device is installed at the bottom of the base; The hip plate support mechanism includes a hip plate, a support rod, a slider, a spring shaft, and a second connecting shaft; the hip plate is hinged to the back support shaft, the support rod is hinged to the front end of the hip plate, the slider slides in the groove of the support rod, the spring shaft is hinged to the slider, and the spring shaft moves in the groove of the second connecting shaft; the flexible lower limb exoskeleton mechanism includes a hip joint structure and a knee joint structure.

2. The multi-posture lower limb exoskeleton rehabilitation training device as described in claim 1, characterized in that, The hip joint structure includes a lumbar connecting plate, Bowden rope, flange shaft, angular contact ball bearing, end cap, thigh fixation plate, spring, upper thigh plate, and spring connector. The upper thigh plate and lumbar connecting plate are connected by a flange shaft, on which an angular contact ball bearing is fitted. The end cap is located on the left side of the angular contact ball bearing. The upper thigh plate has a Bowden rope fixing anchor point on its front side, which is hinged to the Bowden rope by bolts, and is hinged to the spring connector on its rear side for easy spring installation. The thigh fixation plate is fixedly connected to the upper thigh plate by bolts.

3. The multi-posture lower limb exoskeleton rehabilitation training device as described in claim 1, characterized in that, The knee joint structure includes a fifth electric push rod, an upper thigh plate, and a lower calf plate; the upper end of the fifth electric push rod is connected to the upper thigh plate, and the lower end is connected to the lower calf plate.

4. The multi-posture lower limb exoskeleton rehabilitation training device as described in claim 1, characterized in that, The device includes a control handle for controlling the device, the control handle comprising a joystick, an OLED display module, buttons, a button module, a joystick module, a voice control module, and an STM32 microcontroller.

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