Modular lower limb walking floating lifting structure and rehabilitation training machine

Abstract

The application provides a modular lower limb walking floating lifting structure and a rehabilitation training machine. The floating lifting structure comprises a mounting plate, which is used for being connected to a main frame of the rehabilitation training machine; an exoskeleton connector, which is used for being connected to a lower limb exoskeleton; and an elastic element, a first end of which is fixed to the mounting plate and a second end of which is fixed to the exoskeleton connector. The elastic element can be elastically deformed in a vertical direction, so that the relative position of the exoskeleton connector in the vertical direction relative to the mounting plate is variable. The modular lower limb walking floating lifting structure provided by the application realizes a more compact layout design of the elastic element and even the whole floating lifting structure by clamping the elastic element between the mounting plate and the exoskeleton connector, and simultaneously facilitates compact design of the main frame of the rehabilitation training machine, thereby saving the occupied space of the whole rehabilitation training machine.

Description

Technical Field

[0001] This application relates to the field of rehabilitation medical technology, and in particular to a modular lower limb walking floating lifting structure and rehabilitation training machine. Background Technology

[0002] With the increasing demand in rehabilitation medicine, sports science, military industry, and elderly care, floating lifting technology, due to its key role in lower limb training equipment and exoskeletons, is expected to be widely applied in rehabilitation medicine, mobility aids, military, industry, and sports science. For example, in the field of rehabilitation medicine, against the backdrop of global aging and increasing rehabilitation needs (such as for stroke and spinal cord injury patients), floating lifting technology improves gait training effectiveness by precisely assisting joint movement (such as the Lokomat rehabilitation robot); in the military and industrial fields, the floating lifting design of exoskeletons enhances load-bearing capacity (such as ONYX provided by Lockheed Martin); in the field of sports science, equipment such as anti-gravity treadmills effectively reduce the risk of training-induced injuries. In the future, the trends of intelligence and lightweight design will drive the popularization of this technology in homes and affordable healthcare, making it a core solution for improving lower limb function.

[0003] Currently, lower limb training equipment in the rehabilitation industry mainly uses suspension ropes. This requires a high degree of coordination and complexity with the equipment, limiting the applicability of the entire rehabilitation training robot and making it difficult to easily omit the gantry frame and suspension ropes to achieve single-unit adaptation of lower limb training equipment. Existing technology also includes some devices that, while abandoning suspension ropes, employ a large main frame and corresponding floating lifting structure. Such a main frame and floating lifting structure span the entire width of the main frame, occupying a large space and making replacement and maintenance inconvenient. Utility Model Content

[0004] This application provides a modular lower limb walking floating lifting structure and rehabilitation training machine to solve the defects of existing floating lifting structures that occupy too much space and are inconvenient to replace and maintain, thereby achieving high integration and miniaturization, making it easier to popularize in homes and affordable healthcare.

[0005] According to a first aspect of this application, a modular lower limb walking floating lifting structure is provided, comprising: Mounting plate, used to connect to the main frame of the rehabilitation training machine; Exoskeleton connector for connecting to a lower limb exoskeleton; The elastic element has its first end fixed to the mounting plate and its second end fixed to the exoskeleton connector. The elastic element can elastically deform in the vertical direction, so that the vertical relative position of the exoskeleton connector with respect to the mounting plate can be changed.

[0006] According to the modular lower limb walking floating lifting structure provided in this application, the mounting plate is provided with a guide rail extending in the vertical direction, and the exoskeleton connector is provided with a slider facing the guide rail, the slider being slidably connected to the guide rail.

[0007] According to the modular lower limb walking floating lifting structure provided in this application, the exoskeleton connector includes a plate element and a connecting block. The connecting block and the plate element are fixedly connected. The plate element faces the mounting plate and is connected to the second end of the elastic element. The connecting block is used to connect to the lower limb exoskeleton.

[0008] According to the modular lower limb walking floating lifting structure provided in this application, the connection between the connecting block and the lower limb exoskeleton adopts the form of a bolt and a slot, wherein the cross-sectional shape of the bolt and the slot is non-rotationally symmetrical.

[0009] According to the modular lower limb walking floating lifting structure provided in this application, an upper limiting member is provided on the upper edge of the side of the mounting plate facing the plate element, and the upper limiting member is matched with the second end of the elastic element or the plate element for limiting.

[0010] According to the modular lower limb walking floating lifting structure provided in this application, a lower limiting member is provided on the lower edge of the side of the mounting plate facing the plate element to constrain the downward displacement of the plate element.

[0011] According to the modular lower limb walking floating lifting structure provided in this application, the upper limiting member and / or the lower limiting member are elastic deformation elements.

[0012] According to the modular lower limb walking floating lifting structure provided in this application, the elastic element is a helical spring, leaf spring, gas spring, nonlinear spring, shape memory alloy or damper.

[0013] According to the modular lower limb walking floating lifting structure provided in this application, the elastic deformation stroke limit of the elastic element is no more than 5cm, and the ultimate load of the elastic element is designed to be 300N.

[0014] According to a second aspect of this application, a rehabilitation training machine is also provided, including a main frame, a lower limb exoskeleton, and a modular lower limb walking floating lifting structure as described in the first aspect of this application. The main frame is movably connected to the modular lower limb walking floating lifting structure, and the modular lower limb walking floating lifting structure is fixedly connected to the lower limb exoskeleton.

[0015] The modular lower limb walking floating lifting structure provided in this application achieves a more compact layout design for the elastic elements and the overall floating lifting structure by clamping the elastic elements between the mounting plate and the exoskeleton connector, thereby saving space. Furthermore, through the integrated design of the modular lower limb walking floating lifting structure, the lower limb exoskeleton can be raised and lowered relative to the main frame. Users can adjust the height of the modular lower limb walking floating lifting structure on the main frame to achieve different training modes according to their rehabilitation training needs. This simplified approach to implementing different training modes is simple, efficient, and easy for users to use and maintain. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a perspective view of the modular lower limb walking floating lifting structure provided in this application.

[0018] Figure 2 yes Figure 1 The diagram shows a three-dimensional representation of a modular lower limb walking floating lifting structure, with at least a portion of the exoskeleton connector omitted.

[0019] Figure 3 This is a three-dimensional view of the rehabilitation training machine provided in this application.

[0020] Figure label: 1. Cover plate; 2. Slider; 3. Oil inlet; 4. Guide rail; 5. Mounting plate; 6. Safety base plate; 7. Elastic element; 7-1. First end of elastic element; 7-2. Second end of elastic element; 8. Exoskeleton connector; 8-1. Plate element; 8-2. Connecting block; 9. Upper limiting component; 10. Lower limiting component; 100. Modular lower limb walking floating lifting structure; 200. Main frame; 300. Lower limb exoskeleton. Detailed Implementation

[0021] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0022] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application 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. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections, wherein a fixed connection can include an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0024] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0025] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0026] The following is combined with Figures 1 to 3 This application describes a modular lower limb walking floating lifting structure and a rehabilitation training machine.

[0027] Figure 1 This is a perspective view of the modular lower limb walking floating lifting structure 100 (hereinafter referred to as the "floating lifting structure") provided in this application, as shown below. Figure 1 As shown, the floating lifting structure includes a mounting plate 5, an exoskeleton connector 8, and an elastic element 7. The exoskeleton connector 8 includes a plate element 8-1 and a connecting block 8-2, which are fixedly connected to the plate element 8-1. In this embodiment, the elastic element 7 is a gas spring. Of course, in other embodiments, other forms of elastic elements 7, such as coil springs, leaf springs, nonlinear springs, shape memory alloys, dampers, or the like, are also applicable.

[0028] Figure 2 yes Figure 1 The diagram shows a modular lower limb walking floating lifting structure, omitting a portion of the exoskeleton connector 8, as shown. Figure 2 As shown, the first end 7-1 of the elastic element is connected (e.g., hinged or fixed) to the mounting plate 5, while the second end 7-2 of the elastic element is connected (e.g., hinged or fixed) to the plate element 8-1, thereby housing the elastic element 7 between the mounting plate 5 and the plate element 8-1. In particular, during walking, the center of gravity of the human body reciprocates within a certain range in the forward and backward direction. With the elastic element 7 hinged to the mounting plate 5 / plate element 8-1, the elastic element 7 can further cushion / adapt to a portion of the reciprocating motion in the forward and backward direction. Through the above-described clamping layout design, the floating lifting structure presents an approximate plate / block structure, making the disassembly / installation of the main frame 200 of the rehabilitation training machine and the lower limb exoskeleton 300 quite convenient. Compared to the floating lifting structures of the prior art, the floating lifting structure of this application achieves a smaller size, especially in its width dimension.

[0029] The connection between the connecting block 8-2 and the lower limb exoskeleton 300 adopts a plug-and-slot fit, and the cross-sectional shape of the plug and slot is non-rotationally symmetric. As is well known, the human body inevitably exhibits swaying during walking. However, thanks to the non-rotationally symmetric cross-sectional plug-in connection, when the user wears the lower limb exoskeleton 300 for gait training, the swaying phenomenon will not be transmitted to the main frame 200 of the rehabilitation training machine. In fact, the swaying phenomenon is even suppressed to a certain extent.

[0030] In this embodiment, the connecting block 8-2 is formed in the shape of a square tube. This design aims to facilitate the forming process of the connecting block 8-2. Of course, the connecting block 8-2 of this application is not limited to the above-described structure; other geometric shapes are also applicable.

[0031] The elastic element 7 is elastically deformable at least in the vertical direction, making the vertical relative position of the plate element 8-1 with respect to the mounting plate 5 variable. In other words, the elastic element 7 acts as a damping buffer between the main frame 200 and the lower limb exoskeleton 300. It is well known that during walking, the human body's center of gravity undergoes a reciprocating motion within a certain range in the vertical direction, and the presence of the elastic element 7 effectively buffers / accommodates this reciprocating motion.

[0032] Based on the aforementioned swaying and reciprocating motion, it can be inferred that the lower limb exoskeleton 300 moves synchronously with the human lower limbs. Various movements / phenomena of the human body are inevitably transmitted to the main frame 200. Reciprocating motion can be buffered / adapted by the elastic element 7 through elastic deformation, while swaying needs to be suppressed. To further suppress relative motion in other dimensions and constrain it as much as possible to retain only the approximately vertical motion dimension so that it can be buffered / adapted by the elastic element 7, the floating lifting structure can be designed such that the mounting plate 5 is provided with a guide rail 4 extending in the vertical direction, and the exoskeleton connector 8, especially the plate element 8-1, is equipped with a slider 2 facing the guide rail 4. The slider 2 can slide along the guide rail 4. Through the cooperation of the slider 2 and the guide rail 4, other motion dimensions, including swaying, are further suppressed, transformed into or retained only the vertical motion dimension.

[0033] Furthermore, considering the sliding / rolling fit between the slider 2 and the guide rail 4, an oil inlet 3 is provided at the center of the guide rail 4 to ensure its service life. The lubricating oil / grease injected through the oil inlet 3 then forms an oil film on the interface between the slider 2 and the guide rail 4 to protect the interface between the two.

[0034] Back Figure 2 An upper limiting member 9 is provided on the upper edge of the side of the mounting plate 5 facing the plate element 8-1. This can be, but is not limited to, a limiting strip. When the exoskeleton connector, especially the plate element 8-1, moves upward with the human body, the upper limiting member 9 acts as a stop, thereby limiting the maximum upward stroke of the plate element 8-1 and preventing it from exceeding the range of the floating lifting structure. Similarly, a lower limiting member 10 is provided on the lower edge of the side of the mounting plate 5 facing the plate element 8-1. In this embodiment, a limiting strip can also be selected. When the exoskeleton connector, especially the plate element 8-1, moves downward with the human body, the lower limiting member 10 acts as a stop, thereby limiting the maximum downward stroke of the plate element 8-1 and preventing it from exceeding the range of the floating lifting structure. Moreover, the upper limiting member 9 and the lower limiting member 10 are elastic deformation elements, which also prevents the upper / lower edge of the plate element 8-1 from rigidly colliding with the mounting plate 5 (especially its cover plate 1, which will be described in detail below), thereby effectively reducing the operating noise of the floating lifting structure.

[0035] In the floating lifting structure, the elastic element 7 does not act as a structural support; that is, in various training modes of the rehabilitation training machine, at least a portion of the user's weight or the vertically upward reaction force is not borne by the elastic element 7. Under this design concept, the ultimate load of the elastic element 7 is designed to be 300N. Furthermore, as mentioned above, in a walking posture, the center of gravity of the human body undergoes reciprocating motion in the vertical direction. To ensure that the stroke of such reciprocating motion does not exceed the ultimate stroke of the elastic element 7, the elastic deformation stroke of the elastic element 7 is designed to be no more than 5cm. Otherwise, if the ultimate stroke is designed to be too small, the reciprocating motion of the center of gravity of the human body will easily exceed the limit, and the elastic element 7 will enter the plastic deformation stage and fail, which would cause unnecessary damage to the floating lifting structure.

[0036] In addition, in order to form the floating lifting structure into a relatively closed component, a cover plate 1 is provided on its top. In this way, the space between the mounting plate 5 and the plate element 8-1 is covered by the cover plate 1 above and partially covered by the guide rail 4 and the slider 2 on both sides, which ultimately makes it difficult for dust from the outside environment to enter the space between the mounting plate 5 and the plate element 8-1.

[0037] According to the second aspect of this application, such as Figure 3 As shown, this application also provides a rehabilitation training machine, including a main frame 200, a lower limb exoskeleton 300, and a modular lower limb walking floating lifting structure 100 as described above. The main frame 200 and the modular lower limb walking floating lifting structure 100 are movably connected. For example, the main frame 200 has an actuation track on its facade facing the lower limb exoskeleton 300, in which a lifting actuator is provided. The mounting plate 5 of the modular lower limb walking floating lifting structure 100 is connected to the lifting actuator, allowing the modular lower limb walking floating lifting structure 100 to move along the actuation track. The connecting block 8-2 of the modular lower limb walking floating lifting structure 100 is fixedly connected to the lower limb exoskeleton 300.

[0038] The rehabilitation training machine offers weight-reduction training, weightless training, and weight-increasing training modes. In weight-reduction or weightless training modes, the lifting actuator raises the modular lower limb walking floating lifting structure 100, lifting both the lower limb exoskeleton 300 and the user, to the point where the user is partially or even completely suspended. In this mode, the user can perform gait training without their legs bearing any part or all of their weight, allowing them to walk on the treadmill belt. In weight-increasing training mode, the lifting actuator lowers the modular lower limb walking floating lifting structure 100, pressing both the lower limb exoskeleton 300 and the user downwards. In this mode, the user's legs not only bear their full weight but also the downward pressure applied by the lifting actuator, thus strengthening the user's lower limbs.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A modular lower limb walking floating lifting structure (100), characterized in that, include: Mounting plate (5) is used to connect to the main frame (200) of the rehabilitation training machine. Exoskeleton connector (8) for connecting to a lower limb exoskeleton (300); The elastic element (7) has its first end (7-1) fixed to the mounting plate (5) and its second end (7-2) fixed to the exoskeleton connector (8). The elastic element (7) can be elastically deformed in the vertical direction, so that the vertical relative position of the exoskeleton connector (8) with respect to the mounting plate (5) is variable.

2. Modular lower limb walking floating lifting structure (100) according to claim 1, characterized in that, The mounting plate (5) is provided with a guide rail (4) extending in the vertical direction, and the exoskeleton connector (8) is provided with a slider (2) facing the guide rail (4), and the slider (2) is slidably connected to the guide rail (4).

3. The modular lower extremity ambulatory floating lift structure (100) according to claim 1, characterized in that, The exoskeleton connector (8) includes a plate element (8-1) and a connecting block (8-2), the connecting block (8-2) and the plate element (8-1) are fixedly connected, the plate element (8-1) faces the mounting plate (5) and is connected to the second end (7-2) of the elastic element (7), and the connecting block (8-2) is used to connect to the lower limb exoskeleton (300).

4. The modular lower limb walking floating lifting structure (100) according to claim 3, characterized in that, The connection between the connecting block (8-2) and the lower limb exoskeleton (300) is in the form of a plug and a slot, wherein the cross-sectional shape of the plug and the slot is non-rotationally symmetrical.

5. The modular lower extremity ambulatory floating lift structure (100) according to claim 3, characterized in that, The mounting plate (5) has an upper limiting member (9) on the upper edge of the side facing the plate element (8-1), and the upper limiting member (9) is engaged with the second end (7-2) of the elastic element (7) or the plate element (8-1).

6. The modular lower extremity ambulatory floating lift structure (100) according to claim 3, characterized in that, The mounting plate (5) has a lower limiting member (10) on the lower edge of the side facing the plate element (8-1) to constrain the downward displacement of the plate element (8-1).

7. The modular lower limb walking floating lifting structure (100) according to claim 5 or 6, characterized in that, The upper limiting member (9) and / or the lower limiting member (10) are elastic deformation elements.

8. The modular lower limb walking floating lifting structure (100) according to claim 1, characterized in that, The elastic element (7) is a helical spring, leaf spring, gas spring, nonlinear spring, shape memory alloy, or damper.

9. Modular lower limb walking floating lifting structure (100) according to claim 8, characterized in that, The elastic deformation stroke limit of the elastic element (7) is no greater than 5cm, and the ultimate load of the elastic element (7) is designed to be 300N.

10. A rehabilitation training machine characterized by, It includes a main frame (200), a lower limb exoskeleton (300), and a modular lower limb walking floating lifting structure (100) according to any one of claims 1-9, wherein the main frame (200) is movably connected to the modular lower limb walking floating lifting structure (100), and the modular lower limb walking floating lifting structure (100) is fixedly connected to the lower limb exoskeleton (300).

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