A lower limb exoskeleton rehabilitation training robot

Abstract

This utility model discloses a lower limb exoskeleton rehabilitation training robot, including a movable support, a left leg assembly, a right leg assembly, and a folding stool assembly. An armrest is provided on one side of the movable support. The folding stool assembly is located between the left and right leg assemblies. The folding stool assembly includes a seat cushion, a connecting arm, a support frame, and a drive component. The support frame is mounted on the movable support, and the seat cushion is located at one end of the connecting arm, extending to the side of the movable support away from the armrest. The other end of the connecting arm is rotatably connected to the support frame. The drive component is mounted on the support frame and drives the connecting arm to rotate relative to the support frame between a first position and a second position. In use, the lower limb exoskeleton rehabilitation training robot of this utility model allows the wheelchair to directly connect to the seat, enabling the patient to sit on the seat immediately after getting out of the wheelchair, improving efficiency and saving manpower.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton robots, specifically to a 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 provide hand-held or seated assistance for patients to wear the exoskeleton. For example, CN115804705B provides a detachable mobile lower limb exoskeleton device that assists patients with a folding seat structure, saving manpower. However, after a patient in a wheelchair moves to the lower limb exoskeleton rehabilitation training robot, they usually need to get out of the wheelchair and turn their back to sit on the seat, which also requires assistance from others, thus consuming manpower. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this utility model provides a lower limb exoskeleton rehabilitation training robot. The wheelchair can be directly connected to the stool, so that the patient can sit on the stool immediately after getting off the wheelchair, which improves efficiency and saves manpower.

[0005] The technical solution adopted by this utility model to solve its technical problem is: A 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. The folding stool assembly is positioned between the left and right leg assemblies. An armrest is provided on one side of the mobile support. The folding stool assembly includes a seat cushion, a connecting arm, a support frame, and a drive component. The support frame is mounted on the mobile support. The seat cushion is located at one end of the connecting arm and extends to the side of the mobile support away from the armrest. The other end of the connecting arm is rotatably connected to the support frame. The drive component is mounted on the support frame and drives the connecting arm to rotate relative to the support frame between a first position and a second position. When the connecting arm is in the first position, the seat cushion is horizontal. When the connecting arm is in the second position, the seat cushion is vertical, and the seat cushion in the second position is higher than the seat cushion in the first position.

[0006] As a further improvement to the above technical solution, the driving component includes an electric push rod, the fixed end of which is hinged to the support frame, and the driving end of which is hinged to the connecting arm.

[0007] As a further improvement to the above technical solution, the support frame includes a first support arm and a second support arm. Both ends of the first support arm are fixedly connected to the movable bracket. One end of the second support arm is fixedly connected to the middle of the first support arm, and the other end of the second support arm is hinged to the connecting arm. A hinge seat is provided on the first support arm, and the fixed end of the electric push rod is hinged to the hinge seat.

[0008] As a further improvement to the above technical solution, the support frame further includes a third support arm. A connecting block is provided on the second support arm. The connecting block is located on the side of the second support arm close to the connecting arm. One end of the third support arm is hinged to the connecting block, and the other end of the third support arm is hinged to the movable bracket.

[0009] As a further improvement to the above technical solution, the connecting arm includes an arc-shaped arm and a Z-shaped arm. The two ends of the arc-shaped arm are respectively connected to the seat cushion and the Z-shaped arm. The end of the Z-shaped arm is hinged to the drive end of the electric push rod. The vertical section of the Z-shaped arm is hinged to the end of the second support arm away from the first support arm.

[0010] As a further improvement to the above technical solution, both the left leg assembly and the right leg assembly include a hip joint assembly, a knee joint assembly, and a shoe assembly. The hip joint assembly includes a hip joint seat, a first drive motor mounted on the hip joint seat, and a thigh rod mounted on the output end of the first drive motor. The knee joint assembly includes a knee joint seat, a second drive motor mounted on the knee joint seat, and a lower leg rod mounted on the output end of the second drive motor. The knee joint seat is fixedly connected to the thigh rod. The shoe assembly includes an ankle joint seat and a shoe cover mounted on the ankle joint seat. The ankle joint seat is hinged to the lower leg rod.

[0011] As a further improvement to the above technical solution, the knee joint assembly also includes a calf guard, which is connected to the knee joint seat.

[0012] As a further improvement to the above technical solution, the hip joint seat is provided with an elastic connector, the movable bracket is provided with a mounting base, and the hip joint seat is mounted on the mounting base through the elastic connector.

[0013] As a further improvement to the above technical solution, the movable support includes a support body and casters disposed at the bottom of the support body.

[0014] As a further improvement to the above technical solution, a hand rest is provided on the main body of the bracket, the handrail is provided on the hand rest, an electrical control box is provided on the hand rest, and the electrical control box is provided with an operation panel, an emergency stop switch and a switch button.

[0015] The beneficial effects of this utility model are as follows: Since the armrests and the seat are respectively set on both sides of the movable support, when using the lower limb exoskeleton rehabilitation training robot, the armrests held by the patient during training are in front, that is, the wheelchair can directly connect with the seat cushion. After getting off the wheelchair, the patient can sit on the seat cushion of the folding stool without turning around. Then the drive unit drives the seat cushion to move upward to the second position. At this time, the seat cushion will provide support for the patient's buttocks, assisting the patient to change from a sitting position to a standing position, thereby facilitating rehabilitation training. This not only improves efficiency but also saves manpower. 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 the present invention; Figure 2 This is a schematic diagram showing the changing states of the folding stool component in this utility model; Figure 3 This is a structural schematic diagram of the right leg component in this utility model; Figure 4 This is a schematic diagram of the structure of the movable support in this utility model; Figure 5 This is a structural schematic diagram of the right leg component in this utility model.

[0018] Reference numerals: 100, movable support; 101, support body; 102, caster wheel; 103, mounting base; 104, hand rest; 105, armrest; 106, second hinge seat; 200, right leg assembly; 201, elastic connector; 202, hip joint seat; 203, first drive motor; 204, thigh bar; 205, knee joint seat; 206, second drive motor; 207, calf guard; 208, calf bar; 209, shoe cover; 210, ankle joint seat; 211, ankle hinge shaft; 300, left leg assembly; 400. Folding stool assembly; 401. Seat cushion; 402. Arc arm; 403. Z-shaped arm; 404. Electric push rod; 405. First hinge shaft; 406. Second hinge shaft; 407. First hinge seat; 408. First support arm; 409. Locking sleeve; 410. Second support arm; 411. Third hinge shaft; 412. Connecting block; 413. Fourth hinge shaft; 414. Third support arm; 415. Fifth hinge shaft; 500. Electrical control box; 501. Switch button; 502. Operation panel; 503. Emergency stop switch. 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 screw connections, bolt connections, pin connections, key connections, adhesive connections, mortise and tenon connections, welding, riveting, etc., as needed. For detachable connections, screw connections, bolt connections, threaded connections, snap-fit ​​connections, mortise and tenon connections, Velcro connections, etc., can be used as needed. The various technical features in this utility model can be combined interactively without contradicting each other.

[0020] Reference Figure 1 An embodiment of this utility model provides a 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. The folding stool assembly 400 is located between the left leg assembly 300 and the right leg assembly 200. A handrail 105 is provided on one side of the movable support 100.

[0021] Reference Figure 3 The folding stool assembly 400 includes a seat cushion 401, a connecting arm, a support frame, and a driving component. The support frame is mounted on a movable support 100. The seat cushion 401 is located at one end of the connecting arm and extends to the side of the movable support 100 away from the armrest 105. The other end of the connecting arm is rotatably connected to the support frame. The driving component is mounted on the support frame and drives the connecting arm to rotate relative to the support frame between a first position and a second position. When the connecting arm is in the first position, the seat cushion 401 is in a horizontal state. When the connecting arm is in the second position, the seat cushion 401 is in a vertical state, and the seat cushion 401 in the second position is higher than the seat cushion 401 in the first position.

[0022] It can be understood that, since the armrests 105 and the seat are respectively located on both sides of the movable support 100, when using the lower limb exoskeleton rehabilitation training robot, the armrests 105 that the patient holds during training are located in front, meaning the wheelchair can directly connect with the seat cushion 401. (Refer to...) Figure 2Initially, the seat cushion is horizontal. After the patient gets off the wheelchair and sits on the seat cushion 401, they put on the left leg assembly 300 and right leg assembly 200. Then, the drive unit moves the seat cushion upward to a second position, where it is vertical. During this process, the seat cushion 401 provides support to the patient's buttocks to assist the patient in changing from a sitting to a standing position. When the patient is standing, the seat cushion 401 is located behind the patient's buttocks, and the patient straddles the connecting arm, which does not affect subsequent rehabilitation training. This lower limb exoskeleton rehabilitation training robot of this embodiment improves efficiency and saves manpower.

[0023] In this embodiment, refer to Figure 4 The mobile support 100 includes a support body 101 and a caster wheel 102 disposed at the bottom of the support body 101. The caster wheel 102 has a self-locking function to facilitate the movement of the robot.

[0024] In this embodiment, refer to Figure 3 and Figure 4 The connecting arm includes an arc-shaped arm 402 and a Z-shaped arm 403, with both ends of the arc-shaped arm 402 connected to the seat cushion 401 and the Z-shaped arm 403, respectively. The driving component includes an electric push rod 404, the driving end of which is hinged to the end of the Z-shaped arm 403 away from the seat cushion via a first hinge shaft 405. The support frame includes a first support arm 408, a second support arm 410, and a third support arm 414. Both ends of the first support arm 408 are fixedly connected to the support body 101 via locking sleeves 409. A first hinge seat 407 is provided on the first support arm 408, and the fixed end of the electric push rod 404 is hinged to the hinge seat via a second hinge shaft 406. One end of the second support arm 410 is fixedly connected to the middle of the first support arm 408, and the other end of the second support arm 410 is hinged to the vertical section of the connecting arm through a third hinge shaft 411. A connecting block 412 is provided on the second support arm 410, and the connecting block 412 is located on the side of the second support arm 410 close to the connecting arm. One end of the third support arm 414 is hinged to the connecting block 412 through a fourth hinge shaft 413, and the other end of the third support arm 414 is hinged to the second hinge seat 106 provided on the bracket body 101 through a fifth hinge shaft 415.

[0025] With the above configuration, extending the electric push rod 404 can rotate the connecting arm downwards to a first position, causing the seat cushion 401 to rotate to a horizontal state. Extending the electric push rod 404 can also rotate the connecting arm upwards to a second position, causing the seat cushion 401 to rotate to a vertical state. It can be understood that, depending on the actual situation, the electric push rod 404 can also rotate the connecting arm between the first and second positions, causing the seat cushion to be in an inclined state.

[0026] Preferably, the axes of the arc-shaped arm 402, the Z-shaped arm 403, the electric push rod 404, the second support arm 410, and the third support arm 414 are on the same vertical plane to reduce the width and facilitate the patient's straddling position.

[0027] In this embodiment, since the left leg assembly 300 and the right leg assembly 200 are mirror images, i.e., they have the same structure, taking the right leg assembly 200 as an example, refer to... Figure 5 The right leg assembly 200 includes a hip joint assembly, a knee joint assembly, and a shoe assembly. The hip joint assembly includes a hip joint seat 202, a first drive motor 203, and a thigh rod 204. The first drive motor 203 is mounted on the hip joint seat 202, and the thigh rod 204 is located at the output end of the first drive motor 203. The first drive motor 203 is used to drive the thigh rod 204 to rotate. The knee joint assembly includes a knee joint seat 205, a lower leg guard 207, a second drive motor 206, and a lower leg rod 208. The knee joint seat 205 is fixedly connected to the thigh rod 204. Next, a second drive motor 206 is mounted on the knee joint seat 205, and a lower leg rod 208 is mounted on the output end of the second drive motor 206. The second drive motor 206 drives the lower leg rod 208 to rotate. A lower leg baffle 207 is connected to the knee joint seat 205 and has a strap groove through which a strap passes to effectively fix the patient's lower leg to the exoskeleton. The shoe assembly includes an ankle joint seat 210 and a shoe cover 209 mounted on the ankle joint seat 210. The ankle joint seat 210 is hinged to the lower leg rod 208 via an ankle hinge shaft 211. It can be understood that by driving the thigh rod 204 to rotate via the first drive motor 203 and driving the lower leg rod 208 to rotate via the second drive motor 206, assistance is provided for the patient to perform lower limb training.

[0028] Furthermore, the hip joint seat 202 is provided with an elastic connector 201, and the support body 101 is provided with a mounting base 103. The hip joint seat 202 is mounted on the mounting base 103 via the elastic connector 201. In this embodiment, a hand support pad 104 is provided on the main body 101 of the support frame, and an armrest 105 is provided on the hand support pad 104. The hand support pad 104 has a strap mounting hole near the human body for installing a waist strap, which can help fix the patient's upper limbs to ensure safety. An electrical control box 500 is provided on the hand support pad 104. The electrical control box 500 is provided with an operation panel 502, an emergency stop switch 503, and a switch button 501. The electrical control box 500 is electrically connected to the first drive motor 203 and the second drive motor 206. With the above configuration, the patient can place their arm on the hand support pad 104 and hold the armrest 105 to support their body, and easily operate the switch button 501, the emergency stop switch 503, and the operation panel 502. The electrical control box 500 transmits control signals to the first drive motor 203, the second drive motor 206, and the electric push rod 404 to control the start and stop of the lower limb assistance, the speed, and the position change of the seat cushion 401.

[0029] 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 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, the folding stool assembly is positioned between the left leg assembly and the right leg assembly, and a handrail is provided on one side of the movable support, characterized in that: The folding stool assembly includes a seat cushion, a connecting arm, a support frame, and a drive component. The support frame is mounted on a movable support. The seat cushion is located at one end of the connecting arm and extends to the side of the movable support away from the armrest. The other end of the connecting arm is rotatably connected to the support frame. The drive component is mounted on the support frame and drives the connecting arm to rotate relative to the support frame between a first position and a second position. When the connecting arm is in the first position, the seat cushion is in a horizontal state. When the connecting arm is in the second position, the seat cushion is in a vertical state, and the seat cushion in the second position is higher than the seat cushion in the first position.

2. The lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: The driving component includes an electric push rod, the fixed end of which is hinged to the support frame, and the driving end of which is hinged to the connecting arm.

3. The lower limb exoskeleton rehabilitation training robot according to claim 2, characterized in that: The support frame includes a first support arm and a second support arm. Both ends of the first support arm are fixedly connected to the movable bracket. One end of the second support arm is fixedly connected to the middle of the first support arm, and the other end of the second support arm is hinged to the connecting arm. A hinge seat is provided on the first support arm, and the fixed end of the electric push rod is hinged to the hinge seat.

4. The lower limb exoskeleton rehabilitation training robot according to claim 3, characterized in that: The support frame further includes a third support arm. A connecting block is provided on the second support arm. The connecting block is located on the side of the second support arm close to the connecting arm. One end of the third support arm is hinged to the connecting block, and the other end of the third support arm is hinged to the movable bracket.

5. The lower limb exoskeleton rehabilitation training robot according to claim 3, characterized in that: The connecting arm includes an arc-shaped arm and a Z-shaped arm. The two ends of the arc-shaped arm are connected to the seat cushion and the Z-shaped arm, respectively. The end of the Z-shaped arm is hinged to the drive end of the electric push rod. The vertical section of the Z-shaped arm is hinged to the end of the second support arm away from the first support arm.

6. The lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: Both the left and right leg assemblies include a hip joint assembly, a knee joint assembly, and a shoe assembly. The hip joint assembly includes a hip joint seat, a first drive motor mounted on the hip joint seat, and a thigh rod mounted on the output end of the first drive motor. The knee joint assembly includes a knee joint seat, a second drive motor mounted on the knee joint seat, and a lower leg rod mounted on the output end of the second drive motor. The knee joint seat is fixedly connected to the thigh rod. The shoe assembly includes an ankle joint seat and a shoe cover mounted on the ankle joint seat. The ankle joint seat is hinged to the lower leg rod.

7. The lower limb exoskeleton rehabilitation training robot according to claim 6, characterized in that: The knee joint assembly also includes a calf guard that is connected to the knee joint seat.

8. The lower limb exoskeleton rehabilitation training robot according to claim 6, characterized in that: The hip joint seat is provided with an elastic connector, and the movable bracket is provided with a mounting base. The hip joint seat is mounted on the mounting base through the elastic connector.

9. The lower limb exoskeleton rehabilitation training robot according to claim 1, characterized in that: The movable support includes a support body and casters located at the bottom of the support body.

10. A lower limb exoskeleton rehabilitation training robot according to claim 9, characterized in that: The main body of the support is provided with a hand rest, the handrail is provided on the hand rest, the hand rest is provided with an electrical control box, and the electrical control box is provided with an operation panel, an emergency stop switch and a switch button.

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