Lower extremity rehabilitation exoskeleton robot

Abstract

The utility model discloses a lower limbs rehabilitation exoskeleton robot, include: base, mobile sliding seat, mobile sliding seat sliding installation is in the auxiliary handrail of auxiliary assembly, auxiliary assembly is installed on the base for adjusting the height of mobile sliding seat, training branch leg is set up on mobile sliding seat for assisting patient to carry out lower limbs rehabilitation training, training branch leg includes the connecting block of installation on mobile sliding seat, the lower end of connecting block rotatory mounting has telescopic drive arm no.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training technology, specifically a lower limb rehabilitation exoskeleton robot. Background Technology

[0002] Traditional rehabilitation training begins with hands-on guidance from a professional doctor, followed by repeated traction of the affected limb by the patient's healthy upper limb, their family members, or nurses. With the advancement of science and technology, medical robotics has developed rapidly, and rehabilitation robots represent a new application of robotics in rehabilitation medicine.

[0003] For example, the invention patent application with publication number CN112999022A discloses a lower limb exoskeleton rehabilitation training robot. This device is equipped with a non-powered hydraulic damper at the ankle joint, which achieves overall lightweighting while ensuring sufficient support for the ankle joint.

[0004] However, the device is difficult to adjust in height, and cannot be adjusted according to actual needs, making it difficult to meet the rehabilitation training needs of patients of different heights and narrowing the scope of application of the device. Utility Model Content

[0005] The purpose of this invention is to provide a lower limb rehabilitation exoskeleton robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A lower limb rehabilitation exoskeleton robot includes: a base and a movable slide, the movable slide being slidably mounted on an auxiliary armrest of an auxiliary component; an auxiliary component, mounted on the base, for adjusting the height of the movable slide; and a training leg, disposed on the movable slide, for assisting the patient in lower limb rehabilitation training; the training leg includes a connecting block mounted on the movable slide, a retractable drive arm rotatably mounted at the lower end of the connecting block, a retractable drive arm rotatably mounted at the lower end of the drive arm rotatably, an ankle plate rotatably mounted at the lower end of the drive arm rotatably, a footrest mounted on the ankle plate, and an ankle plate motor mounted on the drive arm rotatably for driving the ankle plate to rotate.

[0008] As a preferred embodiment, both drive arm one and drive arm two are composed of the same drive assembly. The drive assembly includes an upper drive block and a lower drive block. An adjusting screw is installed at the lower end of the upper drive block. The lower end of the adjusting screw is inserted into a slot in the upper half of the lower drive block. A limit nut is screwed onto the upper half of the adjusting screw, and a locking nut is screwed onto the lower half of the adjusting screw.

[0009] As a preferred embodiment, a guide rod is installed at the upper end of the lower drive block, and the upper end of the guide rod is slidably inserted into the upper drive block.

[0010] As a preferred embodiment, the upper drive block of the drive arm is rotatably connected to the connecting block via a drive shaft, and a drive motor is also installed on the connecting block, with the output end of the drive motor being drivenly connected to the drive shaft.

[0011] As a preferred embodiment, the upper drive block of the second drive arm is rotatably connected to the lower drive block of the first drive arm via the second drive shaft. The lower drive block of the first drive arm is also equipped with a second drive motor, and the output end of the second drive motor is drivenly connected to the shaft end of the second drive shaft.

[0012] As a preferred embodiment, each of the lower drive blocks is equipped with a pair of binding straps, and the corresponding binding straps are equipped with mutually cooperating Velcro straps.

[0013] As a preferred embodiment, a pair of belts are mounted on the movable slide, and the pair of belts are fitted with mutually cooperating Velcro straps.

[0014] As a preferred embodiment, the auxiliary component includes an auxiliary frame mounted on a base, an auxiliary rod slidably inserted into the auxiliary frame, an auxiliary handrail mounted on the auxiliary rod, an auxiliary electric cylinder mounted at the lower end of the auxiliary frame, the telescopic end of the auxiliary electric cylinder passing through the auxiliary frame and fixedly connected to the auxiliary handrail, and a locking bolt threaded onto the auxiliary frame, the end of the locking bolt abutting against the auxiliary rod.

[0015] Compared with existing technologies, the beneficial effects of this invention are as follows: By setting up a retractable drive arm one in conjunction with a retractable drive arm two, the length of the training leg can be adjusted, thus facilitating training for patients of different heights. The auxiliary components allow for adjustment of the height of the handrails, making it easier for patients of different heights to grip the handrails during training, thereby improving training safety. This invention has a reasonable structure, allowing for height adjustment of the device, facilitating lower limb rehabilitation training for patients of different heights, and better meeting user needs. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall three-dimensional structure of a lower limb rehabilitation exoskeleton robot;

[0017] Figure 2 A three-dimensional structural diagram of the auxiliary frame position of a lower limb rehabilitation exoskeleton robot;

[0018] Figure 3 A three-dimensional structural diagram of the movable slide position of a lower limb rehabilitation exoskeleton robot;

[0019] Figure 4 A first-person perspective stereoscopic structural diagram of the training leg of a lower limb rehabilitation exoskeleton robot;

[0020] Figure 5 This is a second-view stereoscopic structural diagram of the training leg of a lower limb rehabilitation exoskeleton robot.

[0021] In the diagram: 1. Base; 2. Auxiliary components; 21. Auxiliary frame; 22. Auxiliary insert rod; 23. Auxiliary handrail; 24. Auxiliary electric cylinder; 25. Locking bolt; 3. Moving slide; 31. Waist belt; 4. Training support leg; 41. Connecting block; 42. Drive arm one; 420. Drive motor one; 421. Upper drive block; 422. Lower drive block; 423. Adjusting screw; 424. Limit nut; 425. Locking nut; 426. Binding strap; 427. Guide rod; 43. Drive arm two; 430. Drive motor two; 44. Ankle plate; 45. Foot support; 46. Ankle plate motor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example: Please refer to Figures 1-5 A lower limb rehabilitation exoskeleton robot includes: a base 1 and a movable slide 3, the movable slide 3 being slidably mounted on an auxiliary armrest 23 of an auxiliary component 2; the auxiliary component 2, mounted on the base 1, is used to adjust the height of the movable slide 3; a training leg 4, disposed on the movable slide 3, is used to assist the patient in lower limb rehabilitation training; the training leg 4 includes a connecting block 41 mounted on the movable slide 3, a retractable drive arm 42 rotatably mounted at the lower end of the connecting block 41, a retractable drive arm 43 rotatably mounted at the lower end of the drive arm 42, an ankle plate 44 rotatably mounted at the lower end of the drive arm 43, a footrest 45 mounted on the ankle plate 44, and an ankle plate motor 46 mounted on the drive arm 43 for driving the ankle plate 44 to rotate. By setting the ankle plate motor 46, it is convenient to drive the ankle plate 44 to rotate, thereby facilitating the movement of the patient's ankle position.

[0024] The working principle of this utility model is as follows: By setting up a retractable drive arm 42 in conjunction with a retractable drive arm 43, the length of the training support leg 4 can be adjusted, thus facilitating training for patients of different heights. The height of the auxiliary handrail 23 can be adjusted through the auxiliary component 2, making it convenient for patients of different heights to hold the auxiliary handrail 23 for training, thereby improving the safety of training.

[0025] As a further embodiment, both drive arm 1 42 and drive arm 2 43 are composed of the same drive assembly. The drive assembly includes an upper drive block 421 and a lower drive block 422. An adjusting screw 423 is installed at the lower end of the upper drive block 421, and the lower end of the adjusting screw 423 is inserted into a slot in the upper half of the lower drive block 422. A limit nut 424 is threaded onto the upper half of the adjusting screw 423, and a locking nut 425 is threaded onto the lower half of the adjusting screw 423. In this embodiment, a guide rod 427 is installed at the upper end of the lower drive block 422, and the upper end of the guide rod 427 is slidably inserted into the upper drive block 421. By setting the guide rod 427, the drive arm 1 42 and drive arm 2 43 can be limited, preventing the lower drive block 422 from rotating around the adjusting screw 423.

[0026] When it is necessary to adjust the length of drive arm 42 or drive arm 43, rotate the limit nut 424. When the limit nut 424 moves upward, then rotate the locking nut 425 to move upward. The limit nut 424 will clamp the lower drive block 422, and the adjustment work can be completed. At this time, the length of drive arm 42 or drive arm 43 can be shortened.

[0027] When the limiting nut 424 moves downward, the locking nut 425 is then rotated and moved downward, cooperating with the limiting nut 424 to clamp the lower drive block 422, thus completing the adjustment work. At this time, the length of drive arm one 42 or drive arm two 43 can be extended, thereby realizing the adjustment of the length of drive arm one 42 and drive arm two 43, which facilitates rehabilitation training for patients of different heights, expands the applicability of the device, and can better meet the needs of users.

[0028] As a further embodiment, the upper drive block 421 of the drive arm 42 is rotatably connected to the connecting block 41 via a drive shaft. A drive motor 420 is also installed on the connecting block 41, and the output end of the drive motor 420 is drivenly connected to the drive shaft.

[0029] By driving the upper drive block 421 to rotate via the drive motor 420, the drive arm 42 can be rotated, thereby assisting the patient in bending their thigh and thus performing rehabilitation training.

[0030] As a further embodiment, the upper drive block 421 of the second drive arm 43 is rotatably connected to the lower drive block 422 of the first drive arm 42 via the second drive shaft. The lower drive block 422 of the first drive arm 42 is also equipped with a second drive motor 430, and the output end of the second drive motor 430 is drivenly connected to the shaft end of the second drive shaft.

[0031] The second drive motor 430 drives the second drive shaft to rotate, thereby realizing the rotation of the second drive arm 43, which facilitates the bending of the patient's lower leg and enables lower limb rehabilitation training.

[0032] As a further embodiment, each of the lower drive blocks 422 is equipped with a pair of binding straps 426, and the corresponding binding straps 426 are equipped with mutually cooperating Velcro straps.

[0033] By using the binding strap 426 with Velcro, the training support leg 4 can be easily bound to the patient's leg, thus facilitating training.

[0034] As a further solution, a pair of waist belts 31 are installed on the movable slide 3, and the pair of waist belts 31 are fitted with mutually cooperating Velcro. By setting the waist belts 31 with Velcro, it is easy to bind the movable slide 3 to the patient's waist, facilitating training.

[0035] As a further embodiment, the auxiliary component 2 includes an auxiliary frame 21 mounted on the base 1, an auxiliary rod 22 slidably inserted on the auxiliary frame 21, an auxiliary handrail 23 mounted on the auxiliary rod 22, an auxiliary electric cylinder 24 mounted at the lower end of the auxiliary frame 21, the telescopic end of the auxiliary electric cylinder 24 passing through the auxiliary frame 21 and fixedly connected to the auxiliary handrail 23, and a locking bolt 25 threadedly screwed onto the auxiliary frame 21, the end of the locking bolt 25 abutting against the auxiliary rod 22.

[0036] The working principle of the auxiliary component 2 is as follows: when the height of the auxiliary handrail 23 needs to be adjusted, the locking bolt 25 is loosened, the auxiliary electric cylinder 24 extends, and pushes the auxiliary handrail 23 to move, thereby realizing the adjustment of the height of the auxiliary handrail. After the adjustment is completed, the locking bolt 25 is turned so that its end abuts against the auxiliary plug rod 22, and the fixing work is completed, which makes it convenient for patients of different heights to carry out lower limb rehabilitation training.

[0037] In this utility model, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of the structural relationship between the various components or elements of this utility model and do not specifically refer to any component or element in this utility model. They should not be construed as limiting this utility model.

Claims

1. A lower limb rehabilitation exoskeleton robot, characterized in that, include: The base (1) and the movable slide (3) are slidably mounted on the auxiliary armrest (23) of the auxiliary component (2); Auxiliary component (2), mounted on base (1), is used to adjust the height of the movable slide (3); The training support leg (4) is set on the movable slide (3) to assist the patient in lower limb rehabilitation training; The training support leg (4) includes a connecting block (41) mounted on a movable slide (3). A retractable drive arm (42) is rotatably mounted on the lower end of the connecting block (41). A retractable drive arm (43) is rotatably mounted on the lower end of the drive arm (42). An ankle plate (44) is rotatably mounted on the lower end of the drive arm (43). A footrest (45) is mounted on the ankle plate (44). An ankle plate motor (46) for driving the ankle plate (44) to rotate is also mounted on the drive arm (43).

2. The lower limb rehabilitation exoskeleton robot according to claim 1, characterized in that: Both drive arm one (42) and drive arm two (43) are composed of the same drive assembly. The drive assembly includes an upper drive block (421) and a lower drive block (422). An adjusting screw (423) is installed at the lower end of the upper drive block (421). The lower end of the adjusting screw (423) is inserted into the slot of the upper half of the lower drive block (422). A limit nut (424) is screwed onto the upper half of the adjusting screw (423), and a locking nut (425) is screwed onto the lower half of the adjusting screw (423).

3. The lower limb rehabilitation exoskeleton robot according to claim 2, characterized in that: The upper end of the lower drive block (422) is equipped with a guide rod (427), and the upper end of the guide rod (427) is slidably inserted into the upper drive block (421).

4. The lower limb rehabilitation exoskeleton robot according to claim 3, characterized in that: The upper drive block (421) of the drive arm (42) is rotatably connected to the connecting block (41) via the drive shaft. The connecting block (41) is also equipped with a drive motor (420), and the output end of the drive motor (420) is driven connected to the drive shaft.

5. The lower limb rehabilitation exoskeleton robot according to claim 4, characterized in that: The upper drive block (421) of the second drive arm (43) is rotatably connected to the lower drive block (422) of the first drive arm (42) via the second drive shaft. The lower drive block (422) of the first drive arm (42) is also equipped with a second drive motor (430), and the output end of the second drive motor (430) is driven connected to the shaft end of the second drive shaft.

6. The lower limb rehabilitation exoskeleton robot according to claim 5, characterized in that: Each of the lower drive blocks (422) is equipped with a pair of binding straps (426), and the corresponding binding straps (426) are equipped with mutually cooperating Velcro.

7. A lower limb rehabilitation exoskeleton robot according to claim 6, characterized in that: A pair of belts (31) are installed on the movable slide (3), and the pair of belts (31) are fitted with Velcro straps that cooperate with each other.

8. The lower limb rehabilitation exoskeleton robot according to claim 7, characterized in that: The auxiliary component (2) includes an auxiliary frame (21) mounted on a base (1), an auxiliary rod (22) slidably inserted on the auxiliary frame (21), an auxiliary handrail (23) mounted on the auxiliary rod (22), an auxiliary electric cylinder (24) mounted at the lower end of the auxiliary frame (21), the telescopic end of the auxiliary electric cylinder (24) passing through the auxiliary frame (21) and fixedly connected to the auxiliary handrail (23), and a locking bolt (25) threaded on the auxiliary frame (21), the end of the locking bolt (25) abutting against the auxiliary rod (22).

Images