A lower limb exoskeleton rehabilitation training robot driven by a connecting rod

Abstract

The utility model discloses a connecting rod drive lower limbs exoskeleton rehabilitation training robot, including mobile support, left leg subassembly, right leg subassembly and folding stool subassembly, left leg subassembly and right leg subassembly mirror image setting are on mobile support, folding stool subassembly is set up in the middle of left leg subassembly and right leg subassembly, left leg subassembly and right leg subassembly all include hip joint seat, knee joint seat, connecting rod mechanism and foot fixed structure, hip joint seat fixed connection is in mobile support, be provided with drive motor, reduction gear set and eccentric wheel on hip joint seat, drive motor drives eccentric wheel rotation through reduction gear set. The utility model discloses through connecting rod drive and realize the drive of multiple joints to reduce the number of drive motor, reduce overall structure cost.

Description

Technical Field

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

[0002] For patients with lower limb movement disorders or elderly people with limited mobility, limb rehabilitation exercise training is essential to prevent muscle atrophy. Practice has shown that exercise therapy helps restore muscle function. In reality, due to functional impairments, patients cannot perform limb rehabilitation training independently and require assistance from medical staff, family members, or other personnel. This is a demanding task. In recent years, exoskeleton lower limb rehabilitation training robots have replaced this arduous task.

[0003] Existing lower limb exoskeleton rehabilitation training robots mostly use direct motor drive for joint actuation. Each joint requires a separate motor drive, resulting in complex control programs, a complex overall structure, and high cost. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this utility model provides a linkage-driven lower limb exoskeleton rehabilitation training robot, which drives multiple joints through linkage transmission, thereby reducing the number of drive motors and lowering the overall structural cost.

[0005] The technical solution adopted by this utility model to solve its technical problem is: A linkage-driven lower limb exoskeleton rehabilitation training robot includes a mobile support, a left leg assembly, a right leg assembly, and a folding stool assembly. The left and right leg assemblies are mirror images of each other on the mobile support, and the folding stool assembly is positioned between the left and right leg assemblies. Each left and right leg assembly includes a hip joint seat, a knee joint seat, a linkage mechanism, and a foot fixing structure. The hip joint seat is fixedly connected to the mobile support, and a drive motor, a reduction gear set, and an eccentric wheel are provided on the hip joint seat. The drive motor drives the eccentric wheel to rotate through the reduction gear set. The linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link. The first link and the second link are arranged side by side, and their lower ends are both hinged to the knee joint seat. One end of the third link and the fifth link are both hinged to the eccentric point on the eccentric wheel. The fourth link is a V-shaped rod, with one end hinged to the top of the second link and the other end hinged to the other end of the fifth link. The inflection point of the V-shaped rod is hinged to the top of the first link. A hinge shaft is provided on the hip joint seat, and the second link is hinged to the hinge shaft.

[0006] As a further improvement to the above technical solution, the reduction gear set includes a large gear and a small gear, the large gear and the small gear are meshed and connected, the small gear is mounted on the main shaft of the drive motor, the large gear is rotatably connected to the hip joint seat through a gear shaft, and the eccentric wheel is fixed on the gear shaft.

[0007] As a further improvement to the above technical solution, the large gear and the small gear are disposed on one side of the hip joint seat, and the gear shaft passes through the hip joint seat and is rotatably connected to it; the drive motor and the eccentric wheel are disposed on the other side of the hip joint seat, and the hip joint seat is provided with a clearance hole to avoid the main shaft of the drive motor.

[0008] As a further improvement to the above technical solution, a first protective cover and a second protective cover are respectively provided on both sides of the hip joint seat. The reduction gear set is located inside the first protective cover, and the drive motor and eccentric wheel are located inside the second protective cover. The second protective cover is provided with a clearance opening for the movement of the first connecting rod and the second connecting rod.

[0009] As a further improvement to the above technical solution, a knee joint baffle seat is provided on the knee joint seat, and a knee joint baffle is provided on the knee joint baffle seat.

[0010] As a further improvement to the above technical solution, a telescopic structure is connected between the foot fixing structure and the knee joint seat, and the telescopic structure is used to adjust the distance between the foot fixing structure and the knee joint seat.

[0011] As a further improvement to the above technical solution, the telescopic structure includes a first lower leg rod and a second lower leg rod. The second lower leg rod is slidably connected to the central hole of the first lower leg rod. Fasteners are provided on the second lower leg rod. The fastening bolts are used to fix or release the first lower leg rod and the second lower leg rod. The first lower leg rod is connected to the knee joint seat, and the second lower leg rod is connected to the foot fixing structure.

[0012] As a further improvement to the above technical solution, the foot fixing structure includes an ankle joint seat, an ankle hinge shaft, and a shoe cover. The ankle joint seat is hinged to the second lower leg rod through the ankle hinge shaft, and the shoe cover is disposed on the ankle joint seat.

[0013] As a further improvement to the above technical solution, the folding stool assembly includes a seat cushion and a support arm, the support arm being hinged to the movable bracket, and the seat cushion being fixedly connected to the support arm.

[0014] As a further improvement to the above technical solution, the mobile support is provided with a hand rest, the hand rest is provided with a handrail and an electrical control box, the electrical control box is provided with an operation panel, an emergency stop switch and a switch button, and the electrical control box is electrically connected to the drive motor.

[0015] The beneficial effects of this utility model are as follows: A linkage mechanism is set between the hip joint seat and the knee joint seat. When the drive motor drives the eccentric wheel to rotate through the reduction gear set, it drives the third and fifth linkages to rotate. Under the limitation of the fourth linkage and the hinge shaft, the first and second linkages are driven to rotate. The first and second linkages are both hinged to the knee joint seat, thereby driving the knee joint seat to move under the action of gravity and inertia. In this way, it is only necessary to control the drive motor to drive the eccentric wheel to rotate 360° to achieve the effect of controlling the hip and knee joints to move in a predetermined trajectory with a single drive motor, thereby reducing the overall structural cost. It is especially suitable for rehabilitation training scenarios such as home, personal, and community health centers. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is an assembly diagram of an embodiment of the present utility model; Figure 2 yes Figure 1 Side view; Figure 3 yes Figure 1 A three-dimensional view of the right leg component in one direction; Figure 4 yes Figure 1 A three-dimensional view of the right leg component from another direction; Figure 5 yes Figure 1 Schematic diagram of the structure of the mobile support frame; Figure 6 yes Figure 1 A magnified view of a portion of point A in the middle.

[0018] Reference numerals: 100, movable support; 101, support body; 102, hand rest; 103, handrail; 104, electrical control box; 105, operation panel; 106, switch button; 107, emergency stop switch; 108, caster wheel; 200, right leg assembly; 201, hip joint seat; 202, drive motor; 203, pinion; 204, gear; 205, knee joint seat; 206, linkage mechanism; 2061, first linkage; 2062, second linkage; 2063, third linkage; 2064, [missing information - likely a number or designation] Four-bar linkage; 2065, Fifth link; 2066, Hinge shaft; 207, Knee joint guard; 208, Shoe cover; 209, First lower leg bar; 210, Second lower leg bar; 211, Fastening bolt; 212, Ankle joint seat; 213, Ankle joint hinge seat; 214, Ankle hinge shaft; 215, Eccentric wheel; 216, Knee joint guard seat; 217, First guard; 218, Second guard; 219, Clearance opening; 300, Left leg assembly; 400, Folding stool assembly; 401, Seat cushion; 402, Support arm. Detailed Implementation

[0019] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / connections involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. For example, fixed connections / fixed installations can use bolt connections, bolt connections, pin connections, key connections, adhesive connections, mortise and tenon connections, welding, riveting, etc., as needed. For detachable connections, bolt connections, bolt connections, threaded connections, snap-fit ​​connections, mortise and tenon connections, Velcro connections, etc., as needed. The various technical features in this utility model can be combined interactively without contradicting each other.

[0020] Reference Figure 1 and Figure 2 This utility model provides a linkage-driven lower limb exoskeleton rehabilitation training robot, including a movable support 100, a left leg assembly 300, a right leg assembly 200, and a folding stool assembly 400. The left leg assembly 300 and the right leg assembly 200 are mirror images of each other on the movable support 100, corresponding to the patient's left and right legs respectively. The folding stool assembly 400 is located between the left leg assembly 300 and the right leg assembly 200. The folding stool assembly 400 includes a seat cushion 401 and a support arm 402. The seat cushion 401 is connected to the support arm 402, and the support arm 402 is hinged to the movable support 100 for easy folding. The seat cushion 401 can rotate to a horizontal or vertical position. When the seat cushion 401 is rotated to a horizontal position, it is convenient for the patient to sit on the seat cushion 401.

[0021] Since the left leg assembly 300 and the right leg assembly 200 are mirror images, meaning they have the same structure, taking the right leg assembly 200 as an example, refer to... Figure 3 and Figure 4Each right leg assembly 200 includes a hip joint seat 201, a knee joint seat 205, a linkage mechanism 206, and a foot fixing structure. The hip joint seat 201 is fixedly connected to the movable bracket 100. The hip joint seat 201 is equipped with a drive motor 202, a reduction gear set, and an eccentric wheel 215. The knee joint seat 205 is connected to the eccentric wheel 215 through the linkage mechanism 206. The foot fixing structure is connected to the knee joint seat 205. The drive motor 202 drives the eccentric wheel 215 to rotate through the reduction gear set, thereby driving the linkage structure to move, so as to realize the linkage of the hip and knee joints along a predetermined trajectory.

[0022] In a specific embodiment, refer to Figure 3 The linkage mechanism 206 includes a first link 2061, a second link 2062, a third link 2063, a fourth link 2064, and a fifth link 2065. The first link 2061 and the second link 2062 are arranged side by side, and their lower ends are hinged to the knee joint seat 205. One end of the third link 2063 and the fifth link 2065 are hinged to the eccentric rod provided at the eccentric point on the eccentric wheel 215. The fourth link 2064 is a V-shaped link. One end of the V-shaped link is hinged to the top of the second link 2062, and the other end of the V-shaped link is hinged to the other end of the fifth link 2065. The inflection point of the V-shaped link is hinged to the top of the first link 2061. The hip joint seat 201 is provided with a hinge shaft 2066. The second link 2062 is hinged to the hinge shaft 2066. With the above structural configuration, when the drive motor 202 drives the eccentric wheel 215 to rotate, it drives the third link 2063 and the fifth link 2065 to rotate. Under the limitation of the fourth link 2064 and the hinge shaft 2066, it drives the first link 2061 and the second link 2062 to rotate. The first link 2061 and the second link 2062 are both hinged to the knee joint seat 205, thereby driving the knee joint seat 205 to move under the action of gravity and inertia. In this way, it is only necessary to control the drive motor 202 to drive the eccentric wheel 215 to rotate 360°, which can drive the first link 2061, the second link 2062 and the knee joint seat 205 to move, so as to drive the patient's hip joint and knee joint to move together according to the preset trajectory to form a corresponding gait. This can help patients strengthen leg muscle strength, improve functional activity ability, and promote muscle retraining for people with weak leg muscles, pain or fear of falling, and promote muscle recovery for patients with weak leg muscles. It is applicable to postoperative recovery, injury rehabilitation, neurological rehabilitation, and improvement of chronic diseases that restrict physical activity.

[0023] In this embodiment, refer to Figure 3The reduction gear set includes a large gear 204 and a small gear 203, which are meshed together. The small gear 203 is mounted on the main shaft of the drive motor 202. The large gear 204 is rotatably connected to the hip joint seat 201 via a gear shaft, and the eccentric wheel 215 is fixed to the gear shaft. The drive motor 202 drives the small gear 203 to rotate, which in turn drives the large gear 204 to rotate, thereby driving the eccentric wheel 215 to rotate.

[0024] Furthermore, the large gear 204 and the small gear 203 are disposed on one side of the hip joint seat 201, and the gear shaft passes through the hip joint seat 201 and is rotatably connected to it; the drive motor 202 and the eccentric wheel 215 are disposed on the other side of the hip joint seat 201, and the hip joint seat 201 is provided with a clearance hole to avoid the main shaft of the drive motor 202. This arrangement allows for the installation of the drive motor 202, the reduction gear set, and the eccentric wheel 215, resulting in a reasonable layout, small footprint, and stable and reliable structure.

[0025] Preferred, refer to Figure 6 The hip joint seat 201 is provided with a first protective cover 217 and a second protective cover 218 on both sides. The reduction gear set is located inside the first protective cover 217, and the drive motor 202 and the eccentric wheel 215 are located inside the second protective cover 218. The second protective cover 218 is provided with a clearance opening 219 for the movement of the first connecting rod 2061 and the second connecting rod 2062. The first protective cover 217 and the second protective cover 218 protect the reduction gear set, the drive motor 202, the eccentric wheel 215, the third connecting rod 2063, the fourth connecting rod 2064, the fifth connecting rod 2065, and the hinge shaft 2066.

[0026] In this embodiment, refer to Figure 3 and Figure 4 The knee joint seat 205 is provided with a knee joint baffle seat 216, and the knee joint baffle seat 216 is provided with a knee joint baffle 207. The knee joint baffle 207 is provided with a strap groove, and the strap passes through the strap groove to effectively fix the patient's lower leg to the exoskeleton.

[0027] In this embodiment, refer to Figure 3 and Figure 4A telescopic structure connects the foot fixing structure and the knee joint seat 205. The telescopic structure is used to adjust the distance between the foot fixing structure and the knee joint seat 205. Specifically, the telescopic structure includes a first lower leg rod 209 and a second lower leg rod 210. The first lower leg rod 209 is connected to the knee joint seat 205, and the second lower leg rod 210 is connected to the foot fixing structure. The second lower leg rod 210 is slidably connected in the central hole of the first lower leg rod 209. A fastener is provided on the second lower leg rod 210, including a fastening bolt 211. The first lower leg rod 209 has a fixing hole, and the second lower leg rod 210 has multiple adjustment holes. After adjusting the position between the first lower leg rod 209 and the second lower leg rod 210, the fastening bolt 211 passes through the fixing hole and the corresponding adjustment hole, and the locking nut can be used to fix the first lower leg rod 209 and the second lower leg rod 210. The fastening bolt 211 is removed to release the fixation.

[0028] In this embodiment, refer to Figure 3 and Figure 4 The foot fixation structure includes an ankle joint seat 212, an ankle joint hinge seat 213, an ankle hinge shaft 214, and a shoe cover 208. The shoe cover 208 is mounted on the ankle joint seat 212, and the ankle joint hinge seat 213 is mounted on the ankle joint seat 212. The ankle joint seat 212 is hinged to the second lower leg bar 210 via the ankle hinge shaft 214. This allows adjustment of the angle of the shoe cover 208 relative to the second lower leg bar 210, facilitating foot movement for the patient.

[0029] In this embodiment, refer to Figure 5 The mobile support 100 includes a support body 101 and casters 108 at the bottom of the support body 101. A hand rest 102 is provided on the support body 101, with strap mounting holes near the body for attaching a lumbar strap. The lumbar strap helps to secure the patient's upper limbs for safety. A handrail 103 and an electrical control box 104 are provided on the hand rest 102. The electrical control box 104 includes an operation panel 105, an emergency stop switch 107, and a switch button 106. The electrical control box 104 is electrically connected to the drive motor 202. With this configuration, the patient can place their arm on the hand rest 102 for body support and easily operate the switch button 106, emergency stop switch 107, and operation panel 105. The control box 104 transmits control signals to the drive motor 202 to control the start, stop, and speed of training.

[0030] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A linkage-driven lower limb exoskeleton rehabilitation training robot, comprising a movable support, a left leg assembly, a right leg assembly, and a folding stool assembly, wherein the left leg assembly and the right leg assembly are mirror images of each other on the movable support, and the folding stool assembly is positioned between the left leg assembly and the right leg assembly, characterized in that: Both the left leg assembly and the right leg assembly include a hip joint seat, a knee joint seat, a linkage mechanism, and a foot fixing structure. The hip joint seat is fixedly connected to the movable bracket. The hip joint seat is provided with a drive motor, a reduction gear set, and an eccentric wheel. The drive motor drives the eccentric wheel to rotate through the reduction gear set. The linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link. The first link and the second link are arranged side by side, and their lower ends are both hinged to the knee joint seat. One end of the third link and the fifth link are both hinged to the eccentric point on the eccentric wheel. The fourth link is a V-shaped rod, with one end hinged to the top of the second link and the other end hinged to the other end of the fifth link. The inflection point of the V-shaped rod is hinged to the top of the first link. A hinge shaft is provided on the hip joint seat, and the second link is hinged to the hinge shaft.

2. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: The reduction gear set includes a large gear and a small gear, the large gear and the small gear are meshed together, the small gear is mounted on the main shaft of the drive motor, the large gear is rotatably connected to the hip joint seat through a gear shaft, and the eccentric wheel is fixed on the gear shaft.

3. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 2, characterized in that: The large gear and small gear are located on one side of the hip joint seat, and the gear shaft passes through the hip joint seat and is rotatably connected to it; the drive motor and eccentric wheel are located on the other side of the hip joint seat, and the hip joint seat is provided with a clearance hole to avoid the main shaft of the drive motor.

4. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 3, characterized in that: The hip joint seat is provided with a first protective cover and a second protective cover on both sides respectively. The reduction gear set is located inside the first protective cover, and the drive motor and eccentric wheel are located inside the second protective cover. The second protective cover is provided with a clearance opening for the movement of the first connecting rod and the second connecting rod.

5. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: The knee joint seat is provided with a knee joint baffle seat, and the knee joint baffle seat is provided with a knee joint baffle.

6. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: A telescopic structure is connected between the foot fixing structure and the knee joint seat, and the telescopic structure is used to adjust the distance between the foot fixing structure and the knee joint seat.

7. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 6, characterized in that: The telescopic structure includes a first lower leg rod and a second lower leg rod. The second lower leg rod is slidably connected to the central hole of the first lower leg rod. Fasteners are provided on the second lower leg rod for fixing or releasing the first lower leg rod and the second lower leg rod. The first lower leg rod is connected to the knee joint seat, and the second lower leg rod is connected to the foot fixing structure.

8. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 7, characterized in that: The foot fixing structure includes an ankle joint seat, an ankle hinge shaft, and a shoe cover. The ankle joint seat is hinged to the second lower leg rod via the ankle hinge shaft, and the shoe cover is mounted on the ankle joint seat.

9. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: The folding stool assembly includes a seat cushion and a support arm, the support arm being hinged to the movable bracket, and the seat cushion being fixedly connected to the support arm.

10. The linkage-driven lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: The movable support is equipped with a hand rest, a handrail and an electrical control box, and an operation panel, an emergency stop switch and a switch button. The electrical control box is electrically connected to the drive motor.

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