CN114681270B

CN114681270B - Lower limb exoskeleton for paraplegic hemiplegia patient

Info

Publication number: CN114681270B
Application number: CN202210375449.0A
Authority: CN
Inventors: 郝启圣
Original assignee: Inner Mongolia University of Technology
Current assignee: Inner Mongolia University of Technology
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2023-07-14
Anticipated expiration: 2042-04-11
Also published as: CN114681270A

Abstract

The invention relates to the technical field of lower limb exoskeleton, and discloses a lower limb exoskeleton for paraplegic hemiplegia patients, which comprises the following components: the outer wall of the upper outer plate is rotationally connected with a lower leg support plate, mounting holes are formed in the two sides of the lower leg support plate in a penetrating mode, the outer wall of the upper outer plate is connected with an upper limiting plate, and a buffer pad is attached to the inner wall of the upper outer plate. This paraplegia hemiplegia patient is with low limbs ectoskeleton, can utilize upper outer panel, shank extension board, go up limiting plate, push away the frame, the connecting cylinder, the foot rest, the guard plate, the back guard plate, first curb plate and second curb plate provide protection and support, utilize first motor and second motor to provide thrust and drive the device activity, be convenient for assist below the thigh paraplegia or low limbs hemiplegia patient because the inconvenient patient of shank removes, the volume is relatively less, the flexibility of device has been improved, conveniently deposit, transport and maintain, can be for the patient a be close to normal people's action experience, use experience has been optimized.

Description

Lower limb exoskeleton for paraplegic hemiplegia patient

Technical Field

The invention relates to the technical field of lower limb exoskeleton, in particular to a lower limb exoskeleton for paraplegic hemiplegia patients.

Background

Paraplegia, which is a type of paralysis, is caused by transverse lesions above expansion of spinal cord neck, is high paraplegia, paraplegia caused by spinal cord injury below third thoracic vertebra is double lower limb paraplegia, and acute stage of spinal cord injury, loss of sensation, movement, reflection and the like of limbs below an injured plane, loss of functions of bladder and anal sphincter, spinal shock, hemiplegia, which refers to movement disorder of upper and lower limbs, facial muscles and lower part of lingual muscles on the same side, is a common symptom of acute cerebrovascular disease.

Because of the inconvenience of legs of general patients with lower thigh paraplegia or lower limb hemiplegia, most of wheelchairs on the market are large in size and low in flexibility, and the patients cannot be experienced by a person close to normal when using the wheelchair, so that the wheelchair is poor in use experience.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a lower limb exoskeleton for paraplegic hemiplegia patients, which solves the problems mentioned in the background.

The invention provides the following technical scheme: a lower extremity exoskeleton for a paraplegic hemiplegia patient, comprising: the utility model provides a lower extreme plate, including the upper outer plate and rubber spacer sleeve, the outer wall rotation of upper outer plate is connected with the shank extension board, the installing port has been run through to the both sides of shank extension board, the outer wall connection of upper outer plate has the limiting plate, the inner wall laminating of upper outer plate has the blotter, one side of shank extension board is provided with pushes away the frame, the both sides homogeneous type of shank extension board is connected with the connecting cylinder, the foot rest has been cup jointed in the outer wall activity of connecting cylinder, the both sides of shank extension board are connected with preceding guard plate and back guard plate respectively, and preceding guard plate and back guard plate relative distribution, the inner wall of shank extension board is connected with first curb plate and second curb plate respectively, and first curb plate and second curb plate relative distribution, the outer surface connection of second curb plate has the inflator support, the inflator is installed to the inner wall of inflator support, the driven pneumatic cylinder is installed to the outer wall of upper limiting plate, one side of shank extension board is connected with the installing support, first motor and initiative pneumatic cylinder are installed respectively to the inner wall of installing support, the output of first motor has through the fixed connection, the outer wall that just rotates the connecting rod on the connecting rod is kept away from the connecting rod on the outer wall of first curb plate.

Preferably, the outer wall fixedly connected with motor mounting bracket of shank extension board, and the second motor is installed to motor mounting bracket's inner wall, and motor mounting bracket's inner wall rotation is connected with the second threaded rod, and the equal fixedly connected with gear of output of second motor and the one end of second threaded rod, and the second motor passes through the gear and is connected with the transmission of second threaded rod.

Preferably, the outer wall of foot rest is connected with the ring gear, and the laminating of foot rest bottom has the slipmat, and the outer wall of ring gear is connected with the outer wall meshing of second threaded rod, the internally mounted of connecting cylinder has the buffering cotton.

Preferably, the outer wall fixedly connected with fixed block of shank extension board, and the output fixed connection of one side and driven pneumatic cylinder of fixed block, and the outer wall of shank extension board runs through and has seted up the sliding port, and shank extension board passes through sliding port and last limiting plate sliding connection.

Preferably, the push rod is installed to the output of initiative pneumatic cylinder, and the outer wall fixed sleeve of push rod has threaded block, and one side fixedly connected with connecting block of shank extension board, and one side of connecting block and the one end rotation connection that first motor was kept away from to first threaded rod, and the inner wall of threaded block is provided with first internal thread, and the outer wall of first threaded rod is provided with first external screw thread, and threaded block passes through first internal thread and first external screw thread and first threaded rod threaded connection, and the outer wall activity of first threaded rod has cup jointed hold-down spring, and one side swing joint that first motor was kept away from to hold-down spring's one end and threaded block, and the other end and the connecting block of hold-down spring are close to one side swing joint of first threaded rod.

Preferably, the inner surface of the front protection plate, the inner surface of the rear protection plate, the inner surface of the first side plate and the inner surface of the second side plate are all provided with first rubber air bags, the inner wall of the cushion pad is provided with second rubber air bags, and the edge of the cushion pad is provided with a cutting-preventing ring.

Preferably, the outer wall of blotter, one side of preceding guard plate, one side of back guard plate, one side of first curb plate, one side of second curb plate and the output of inflator all install the air duct, second rubber gasbag and inflator are all linked together with first rubber gasbag through the air duct, install the catheter between initiative pneumatic cylinder and the driven pneumatic cylinder.

Preferably, the outer wall activity of hold-down spring has cup jointed a protection section of thick bamboo, and one side fixed connection of one end and installing support of a protection section of thick bamboo, and one side fixed connection of the other end and the connecting block of a protection section of thick bamboo, the screw thread piece is located the inside of a protection section of thick bamboo, one side fixedly connected with crashproof board of shank extension board, motor mounting bracket, second motor, second threaded rod and gear all are located between crashproof board and the shank extension board.

Preferably, the inside of inflator is provided with the piston rod, and the one end of piston rod is connected with the piston, and the outer wall of piston and the inner wall sliding connection of inflator, and the one end fixedly connected with third threaded rod of piston is kept away from to the piston rod, and the one end fixedly connected with slide bar of piston rod is kept away from to the third threaded rod, and the one end fixedly connected with of slide bar kept away from the third threaded rod twists the piece, and twists the outer wall of piece and be provided with the antiskid line.

Preferably, the inflator is close to the one end fixedly connected with screw thread section of thick bamboo of turning round the piece, and the inner wall of screw thread section of thick bamboo is provided with the second internal thread, the outer wall of third threaded rod is provided with the second external thread, and screw thread section of thick bamboo passes through second internal thread and second external thread and third threaded rod threaded connection, the inner wall of inflator support rotates and is connected with spacing section of thick bamboo, the outer wall of slide bar is provided with spacing, and the both ends of spacing section of thick bamboo run through and have seted up spacing hole, and the shape size of spacing hole and the shape size homoenergetic of slide bar match, and the inner wall of spacing hole and the outer wall sliding connection of slide bar, and the scroll spring is installed to the outer wall of spacing section of thick bamboo, and the outer wall of spacing section of thick bamboo is provided with the collar, and one side fixed connection of scroll spring, and the inner wall fixed connection of scroll spring and inflator support, and the outer wall of inflator install first check valve, and install the second check valve between and the air duct.

Compared with the prior art, the invention has the following beneficial effects:

1. this paraplegia hemiplegia patient is with low limbs ectoskeleton, can utilize upper outer panel, shank extension board, go up limiting plate, push away the frame, the connecting cylinder, the foot rest, the guard plate, the back guard plate, first curb plate and second curb plate provide protection and support, utilize first motor and second motor to provide thrust and drive the device activity, be convenient for assist below the thigh paraplegia or low limbs hemiplegia patient because the inconvenient patient of shank removes, the volume is relatively less, the flexibility of device has been improved, conveniently deposit, transport and maintain, can be for the patient a be close to normal people's action experience, use experience has been optimized.

2. This paraplegia hemiplegia patient is with low limbs ectoskeleton, through last limiting plate that sets up, the foot rest, driven pneumatic cylinder, the installing support, first motor, the initiative pneumatic cylinder, first threaded rod, the connecting rod, the motor mounting bracket, the second motor, the second threaded rod, gear and ring gear, can simulate joint position and control respectively between planking and the shank extension board and rotate between shank extension board and the foot rest, utilize hydraulic drive and screw drive to combine together, be convenient for improve thrust, can accomplish real-time spacing, avoid the device to damage suddenly and form the strain to the patient, the security and the bearing performance of device have been improved.

3. This paraplegia hemiplegia patient is with low limbs ectoskeleton, through rubber spacer sleeve, blotter, first rubber gasbag and the second rubber gasbag that sets up, can be through filling the gap between device and the human body to first rubber gasbag and the inside packing gas of second rubber gasbag, improved travelling comfort and laminating degree, the patient of the different body types of device adaptation of being convenient for has improved application scope, utilizes rubber spacer sleeve, first rubber gasbag and second rubber gasbag to further increase frictional force simultaneously, has improved the stability of device, has avoided the device to drop.

4. This paraplegia hemiplegia patient is with low limbs ectoskeleton, through the inflator that sets up, the air duct, the piston rod, the piston, the third threaded rod, the slide bar, the torsion piece, the screw thread section of thick bamboo, spacing, the scroll spring, first check valve and second check valve, can utilize the inside shrink of piston at the inflator and the inside inflation of first rubber gasbag and second rubber gasbag of the one-way conductivity of first check valve and second check valve, be convenient for simultaneously accomplish the back at the inside inflation of first rubber gasbag and second rubber gasbag, utilize the trend extrusion third threaded rod of scroll spring shrink, the inside gas of first rubber gasbag and second rubber gasbag keeps full, form the supplement to the inside atmospheric pressure of first rubber gasbag and second rubber gasbag after the shrinkage of recognition.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic diagram of an explosive structure according to the present invention;

FIG. 3 is a schematic view of the structure of the slide bar of the present invention;

FIG. 4 is a schematic view of an explosive structure inside the inflator according to the present invention;

FIG. 5 is a schematic view of a connection structure between a second threaded rod and a toothed ring according to the present invention

FIG. 6 is a schematic view of an explosive structure inside a tripod according to the present invention;

FIG. 7 is a schematic diagram of the connection structure of the driven hydraulic cylinder and the driving hydraulic cylinder according to the present invention;

FIG. 8 is a schematic view of the exterior explosion configuration of the first threaded rod of the present invention;

FIG. 9 is a schematic view of the structure of the present invention at the position of the cartridge holder;

FIG. 10 is a schematic view of the connection structure of the upper outer plate and the lower leg support plate of the present invention;

FIG. 11 is a schematic view showing the internal structure of the cushion of the present invention;

fig. 12 is an enlarged view of fig. 1 at a in accordance with the present invention.

In the figure: 1. an upper outer plate; 2. a rubber spacer; 3. a shank support plate; 4. a mounting port; 5. an upper limit plate; 6. a cushion pad; 7. pushing a frame; 8. a connecting cylinder; 9. a foot rest; 10. a protection plate; 11. a rear protection plate; 12. a first side plate; 13. a second side plate; 14. a inflator support; 15. an air cylinder; 16. a driven hydraulic cylinder; 17. a mounting bracket; 18. a first motor; 19. an active hydraulic cylinder; 20. a first threaded rod; 21. a connecting rod; 22. a motor mounting rack; 23. a second motor; 24. a second threaded rod; 25. a gear; 26. a toothed ring; 27. an anti-slip pad; 28. a fixed block; 29. a sliding port; 30. a push rod; 31. a screw block; 32. a connecting block; 33. a compression spring; 34. a first rubber bladder; 35. a second rubber bladder; 36. a cutting prevention ring; 37. an air duct; 38. a catheter; 39. a protective cylinder; 40. an anti-collision plate; 41. a piston rod; 42. a piston; 43. a third threaded rod; 44. a slide bar; 45. twisting blocks; 46. a thread cylinder; 47. a limiting cylinder; 48. a limit bar; 49. a spiral spring; 50. a first one-way valve; 51. and a second one-way valve.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-12, a lower extremity exoskeleton for a paraplegic hemiplegia patient, comprising: the upper outer plate 1 and the rubber isolation sleeve 2, the outer wall of the upper outer plate 1 is rotationally connected with a shank support plate 3, two sides of the shank support plate 3 are penetrated and provided with mounting openings 4, the outer wall of the upper outer plate 1 is connected with an upper limit plate 5, the inner wall of the upper outer plate 1 is attached with a cushion pad 6, one side of the shank support plate 3 is provided with a pushing frame 7, two sides of the shank support plate 3 are uniformly connected with a connecting cylinder 8, the outer wall of the connecting cylinder 8 is movably sleeved with a foot rest 9, two sides of the shank support plate 3 are respectively connected with a front protection plate 10 and a rear protection plate 11, the front protection plate 10 and the rear protection plate 11 are relatively distributed, the inner wall of the shank support plate 3 is respectively connected with a first side plate 12 and a second side plate 13, the outer surface of the second side plate 13 is connected with an air cylinder support 14, the inner wall of the air cylinder support 14 is provided with an air cylinder 15, the outer wall of the upper limit plate 5 is provided with a driven hydraulic cylinder 16, one side of the lower leg support plate 3 is connected with a mounting bracket 17, a first motor 18 and a driving hydraulic cylinder 19 are respectively mounted on the inner wall of the mounting bracket 17, the output end of the first motor 18 is fixedly connected with a first threaded rod 20 through a coupler, the outer wall of the upper limit plate 5 is rotationally connected with a connecting rod 21, one end of the connecting rod 21 far away from the upper limit plate 5 is rotationally connected with the outer wall of the upper outer plate 1, the lower leg support plate 3, the upper limit plate 5, the pushing frame 7, a connecting cylinder 8, a foot rest 9, a protection plate 10, a rear protection plate 11, a first side plate 12 and a second side plate 13 are used for providing protection and support, the first motor 18 and the second motor 23 are used for providing thrust to drive a device to move, so that the movement of patients with lower leg paralysis or lower limb hemiplegia due to leg inconvenience is facilitated, the size is relatively small, the flexibility of the device is improved, the device is convenient to store, transportation and maintenance can provide a patient with a similar action experience to normal people, and the use experience is optimized.

Wherein; the outer wall fixedly connected with motor mounting bracket 22 of shank extension board 3, and the second motor 23 is installed to the inner wall of motor mounting bracket 22, and the inner wall rotation of motor mounting bracket 22 is connected with second threaded rod 24, and the equal fixedly connected with gear 25 of the output of second motor 23 and the one end of second threaded rod 24, and second motor 23 passes through gear 25 and is connected with the transmission of second threaded rod 24, through last limiting plate 5 that sets up, foot rest 9, slave cylinder 16, installing support 17, first motor 18, master cylinder 19, first threaded rod 20, connecting rod 21, motor mounting bracket 22, second motor 23, second threaded rod 24, gear 25 and ring gear 26, can simulate and rotate between joint position control upper outer board 1 and the shank extension board 3, utilize hydraulic drive and screw drive to combine together, be convenient for accomplish real-time spacing when improving thrust.

Wherein; the outer wall of foot rest 9 is connected with ring gear 26, and the laminating of foot rest 9 bottom has slipmat 27, and the outer wall of ring gear 26 is connected with the outer wall meshing of second threaded rod 24, and the internally mounted of connecting cylinder 8 has the buffering cotton to the control foot rest 9 rotates.

Wherein; the outer wall fixedly connected with fixed block 28 of shank extension board 3, and one side of fixed block 28 and the output fixed connection of slave cylinder 16, and the outer wall of shank extension board 3 runs through and has seted up slide opening 29, and shank extension board 3 passes through slide opening 29 and last limiting plate 5 sliding connection to go up limiting plate 5 and remove at shank extension board 3 edge.

Wherein; the push rod 30 is installed to the output of initiative pneumatic cylinder 19, and the fixed threaded block 31 that has cup jointed of outer wall of push rod 30, and one side fixedly connected with connecting block 32 of shank extension board 3, and one side of connecting block 32 is kept away from the one end rotation of first motor 18 with first threaded rod 20 and is connected, and the inner wall of threaded block 31 is provided with first internal thread, and the outer wall of first threaded rod 20 is provided with first external screw thread, and threaded block 31 passes through first internal thread and first external screw thread and first threaded rod 20 threaded connection, and the outer wall activity of first threaded rod 20 cup joints hold-down spring 33, and one side swing joint of holding-down spring 33 is kept away from to threaded block 31 and one side swing joint of first threaded rod 18 is kept away from to the other end of hold-down spring 33 and connecting block 32, so that become the rotatory kinetic energy of first motor 18 and drive force of initiative pneumatic cylinder 19.

Wherein; the first rubber air bag 34 is installed on the inner surface of the front protection plate 10, the inner surface of the rear protection plate 11, the inner surface of the first side plate 12 and the inner surface of the second side plate 13, the second rubber air bag 35 is installed on the inner wall of the cushion pad 6, the cutting-resistant ring 36 is arranged on the edge of the cushion pad 6, gaps between the device and a human body can be filled by filling air into the first rubber air bag 34 and the second rubber air bag 35 through the arranged rubber isolation sleeve 2, the cushion pad 6, the first rubber air bag 34 and the second rubber air bag 35, comfort and fit are improved, the device is convenient for patients with different sizes, application range is improved, friction force is further increased by utilizing the rubber isolation sleeve 2, the first rubber air bag 34 and the second rubber air bag 35, stability of the device is improved, and falling of the device is avoided.

Wherein; an air duct 37 is installed on the outer wall of the cushion pad 6, on one side of the front protection plate 10, on one side of the rear protection plate 11, on one side of the first side plate 12, on one side of the second side plate 13 and at the output end of the air cylinder 15, the second rubber air bag 35 and the air cylinder 15 are communicated with the first rubber air bag 34 through the air duct 37, and a liquid guide tube 38 is installed between the driving hydraulic cylinder 19 and the driven hydraulic cylinder 16 so that gas can be transmitted through the air duct 37 and transmission liquid can be transmitted through the liquid guide tube 38.

Wherein; the outer wall activity of hold-down spring 33 has cup jointed protection section of thick bamboo 39, and the one end of protection section of thick bamboo 39 and one side fixed connection of installing support 17, and the other end of protection section of thick bamboo 39 and one side fixed connection of connecting block 32, screw thread piece 31 is located the inside of protection section of thick bamboo 39, one side fixedly connected with anticollision board 40 of shank extension board 3, motor mounting bracket 22, second motor 23, second threaded rod 24 and gear 25 all are located between anticollision board 40 and shank extension board 3, so that utilize protection section of thick bamboo 39 and anticollision board 40 to protect first threaded rod 20 and second threaded rod 24 respectively.

Wherein; the inside of inflator 15 is provided with piston rod 41, and the one end of piston rod 41 is connected with piston 42, and the outer wall of piston 42 and the inner wall sliding connection of inflator 15, and the one end fixedly connected with third threaded rod 43 of piston rod 41 keep away from piston 42, and the one end fixedly connected with slide bar 44 of piston rod 41 is kept away from to third threaded rod 43, and the one end fixedly connected with torsion block 45 of slide bar 44 keep away from third threaded rod 43, and the outer wall of torsion block 45 is provided with anti-skidding line to the activity pumping of improvement torsion block 45 control piston 42 in inflator 15 inside.

Wherein; the screw thread cylinder 46 is fixedly connected to one end of the air cylinder 15 close to the torsion block 45, the second internal thread is arranged on the inner wall of the screw thread cylinder 46, the second external thread is arranged on the outer wall of the third threaded rod 43, the screw thread cylinder 46 is in threaded connection with the third threaded rod 43 through the second internal thread and the second external thread, the inner wall of the air cylinder bracket 14 is rotationally connected with the limit cylinder 47, the outer wall of the slide bar 44 is provided with the limit bar 48, two ends of the limit cylinder 47 are penetrated and provided with limit holes, the shape and the size of the limit holes are mutually matched with the shape and the size of the slide bar 44, the inner wall of the limit hole is in sliding connection with the outer wall of the slide bar 44, the scroll spring 49 is arranged on the outer wall of the limit cylinder 47, the outer wall of the limit cylinder 47 is provided with a mounting ring, one end of the scroll spring 49 is fixedly connected with one side of the mounting ring, the other end of the scroll spring 49 is fixedly connected with the inner wall of the air cylinder bracket 14, the first one-way valve 50 is arranged on the outer wall of the air cylinder 15, the second one-way valve 51 is arranged between the air cylinder 15 and the air duct 37, the third threaded rod 43, the sliding rod 44, the torsion block 45, the threaded cylinder 46, the limiting cylinder 47, the limiting strip 48, the spiral spring 49, the first one-way valve 50 and the second one-way valve 51 are arranged through the air cylinder 15, the air duct 37, the piston rod 41, the piston 42, the third threaded rod 43, the sliding rod 44, the torsion block 45, the threaded cylinder 46, the limiting cylinder 47, the limiting strip 48, the spiral spring 49, the first one-way valve 50 and the second one-way valve 51, the shrinkage of the piston 42 in the air cylinder 15 and the one-way conductivity of the first one-way valve 50 and the second one-way valve 51 can be utilized to inflate the first rubber air bag 34 and the second rubber air bag 35, the third threaded rod 43 is squeezed by the trend of shrinkage of the spiral spring 49 after the inflation of the first rubber air bag 34 and the second rubber air bag 35 is completed, the air pressure inside the first rubber air bag 34 and the second rubber air bag 35 after the checking and the shrinking are supplemented.

When the device is worn, firstly, the rubber isolation sleeve 2 is sleeved at the thigh position, then the leg of paraplegia is penetrated into the device, the foot rest 9 is stepped on by the sole, the torsion block 45 is twisted, the torsion block 45 drives the piston rod 41, the piston 42, the third threaded rod 43 and the slide bar 44 to synchronously rotate, the piston 42 is driven to slide outwards due to the guiding position of the internal thread of the threaded cylinder 46 to the third threaded rod 43, the first one-way valve 50 is opened when the piston 42 slides outwards, the second one-way valve 51 is closed, gas is sucked into the air cylinder 15 from the outside, meanwhile, the slide bar 44 rotates to stir the limiting cylinder 47 to rotate on the inner wall of the air cylinder bracket 14, the scroll spring 49 is driven to shrink for energy storage when the limiting cylinder 47 rotates, when the piston 42 slides to the tail end of the position, the torsion block 45 is released, the shrunk scroll spring 49 is reset, and the scroll spring 49 is driven to reversely rotate when reset, the limiting cylinder 47 drives the sliding rod 44 to synchronously rotate when rotating reversely, the internal thread of the threaded cylinder 46 guides the third threaded rod 43, the piston 42 is driven to slide inwards, the first one-way valve 50 is closed when the piston 42 slides inwards, the second one-way valve 51 is opened, gas in the inflator 15 can be pushed into the first rubber air bag 34 and the second rubber air bag 35 through the gas guide pipe 37, the gas in the first rubber air bag 34 and the second rubber air bag 35 can be gradually filled and expanded to be attached to a human body by frequent actions, after the gas in the first rubber air bag 34 and the second rubber air bag 35 is gradually filled and expanded, after the internal and external air pressure of the air cylinder 15 is balanced by twisting the torsion block 45 once, some gas is reserved in the air cylinder 15, the third threaded rod 43 is extruded by the trend of shrinkage of the scroll spring 49, the gas in the first rubber air bag 34 and the second rubber air bag 35 is ensured to be kept full, when the device is used, the first threaded rod 20 is driven to rotate positively and negatively by the positive and negative rotation of the first motor 18, the threaded block 31 is driven to move positively and negatively by the positive and negative rotation of the first threaded rod 20, the push rod 30 is driven to stretch and contract, the flow direction of liquid in the driving hydraulic cylinder 19 is controlled, the stretching of the driven hydraulic cylinder 16 is controlled, the upper limiting plate 5 is driven to move away from the fixed block 28 when the driven hydraulic cylinder 16 stretches, the upper limiting plate 5 is driven to expand between the upper outer plate 1 and the lower leg support plate 3 through the connecting rod 21, the knee joint is controlled to expand, the upper limiting plate 5 is driven to move close to the fixed block 28 when the driven hydraulic cylinder 16 contracts, the knee joint is controlled to close by the upper limiting plate 5 through the connecting rod 21, the positive and negative rotation of the second motor 23 drives the second threaded rod 24 to rotate reversely synchronously by the gear 25, the foot rest 9 is driven by the meshed toothed ring 26 when the second threaded rod 24 rotates, and the foot rest 9 is driven to move by the foot rest 9.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A lower extremity exoskeleton for a paraplegic patient, comprising: the utility model provides a hydraulic cylinder (16) of pneumatic cylinder (5) is installed to outer panel (1) and rubber spacer sleeve (2), the outer wall rotation of going up planking (1) is connected with shank extension board (3), install mouth (4) have been run through to the both sides of shank extension board (3), the outer wall connection of going up planking (1) has last limiting plate (5), the inner wall laminating of going up planking (1) has blotter (6), one side of shank extension board (3) is provided with pushing away frame (7), the both sides homogeneity formula of shank extension board (3) is connected with connecting cylinder (8), foot rest (9) have been cup jointed in the outer wall activity of connecting cylinder (8), the both sides of shank extension board (3) are connected with preceding guard plate (10) and back guard plate (11) respectively, and preceding guard plate (10) and back guard plate (11) relative distribution, the inner wall of shank extension board (3) is connected with first curb plate (12) and second curb plate (13) respectively, and first curb plate (12) and second curb plate (13) relative distribution, the surface of second curb plate (13) is connected with connecting cylinder (9), cylinder (14) are installed to the outer wall (14) of holding up plate (3), pneumatic cylinder (16) is installed to one side (16), the inner wall of the mounting bracket (17) is respectively provided with a first motor (18) and a driving hydraulic cylinder (19), the output end of the first motor (18) is fixedly connected with a first threaded rod (20) through a coupler, the outer wall of the upper limiting plate (5) is rotationally connected with a connecting rod (21), and one end, far away from the upper limiting plate (5), of the connecting rod (21) is rotationally connected with the outer wall of the upper outer plate (1);

the outer wall of the shank support plate (3) is fixedly connected with a motor mounting frame (22), a second motor (23) is mounted on the inner wall of the motor mounting frame (22), a second threaded rod (24) is rotatably connected to the inner wall of the motor mounting frame (22), a gear (25) is fixedly connected to the output end of the second motor (23) and one end of the second threaded rod (24), and the second motor (23) is in transmission connection with the second threaded rod (24) through the gear (25);

the outer wall of the foot rest (9) is connected with a toothed ring (26), the bottom of the foot rest (9) is attached with an anti-slip pad (27), the outer wall of the toothed ring (26) is connected with the outer wall of the second threaded rod (24) in a meshed manner, and buffer cotton is arranged in the connecting cylinder (8);

the outer wall of the shank support plate (3) is fixedly connected with a fixed block (28), one side of the fixed block (28) is fixedly connected with the output end of the driven hydraulic cylinder (16), a sliding opening (29) is formed in the outer wall of the shank support plate (3) in a penetrating mode, and the shank support plate (3) is in sliding connection with the upper limiting plate (5) through the sliding opening (29);

the output end of the driving hydraulic cylinder (19) is provided with a push rod (30), the outer wall of the push rod (30) is fixedly sleeved with a threaded block (31), one side of the lower leg support plate (3) is fixedly connected with a connecting block (32), one side of the connecting block (32) is rotatably connected with one end of the first threaded rod (20) far away from the first motor (18), the inner wall of the threaded block (31) is provided with first internal threads, the outer wall of the first threaded rod (20) is provided with first external threads, the threaded block (31) is in threaded connection with the first threaded rod (20) through the first internal threads and the first external threads, the outer wall of the first threaded rod (20) is movably sleeved with a compression spring (33), one end of the compression spring (33) is movably connected with one side of the threaded block (31) far away from the first motor (18), and the other end of the compression spring (33) is movably connected with one side of the connecting block (32) near the first threaded rod (20);

the inner surfaces of the front protection plate (10), the rear protection plate (11), the first side plate (12) and the second side plate (13) are respectively provided with a first rubber air bag (34), the inner wall of the cushion pad (6) is provided with a second rubber air bag (35), and the edge of the cushion pad (6) is provided with a cutting-preventing ring (36);

the outer wall of blotter (6), one side of preceding guard plate (10), one side of back guard plate (11), one side of first curb plate (12), one side of second curb plate (13) and the output of inflator (15) all install air duct (37), second rubber gasbag (35) and inflator (15) all are linked together with first rubber gasbag (34) through air duct (37), install catheter (38) between initiative pneumatic cylinder (19) and slave pneumatic cylinder (16).

2. The lower limb exoskeleton of claim 1, wherein the outer wall of the compression spring (33) is movably sleeved with a protective cylinder (39), one end of the protective cylinder (39) is fixedly connected with one side of the mounting bracket (17), the other end of the protective cylinder (39) is fixedly connected with one side of the connecting block (32), the threaded block (31) is positioned in the protective cylinder (39), one side of the lower leg support plate (3) is fixedly connected with an anti-collision plate (40), and the motor mounting frame (22), the second motor (23), the second threaded rod (24) and the gear (25) are all positioned between the anti-collision plate (40) and the lower leg support plate (3).

3. The lower limb exoskeleton of claim 1, wherein a piston rod (41) is disposed in the inflator (15), one end of the piston rod (41) is connected with a piston (42), the outer wall of the piston (42) is slidably connected with the inner wall of the inflator (15), one end of the piston rod (41) away from the piston (42) is fixedly connected with a third threaded rod (43), one end of the third threaded rod (43) away from the piston rod (41) is fixedly connected with a sliding rod (44), one end of the sliding rod (44) away from the third threaded rod (43) is fixedly connected with a torsion block (45), and the outer wall of the torsion block (45) is provided with anti-skid patterns.

4. The lower limb exoskeleton of claim 3, wherein one end of the inflator (15) close to the torsion block (45) is fixedly connected with a threaded cylinder (46), the inner wall of the threaded cylinder (46) is provided with a second internal thread, the outer wall of the third threaded rod (43) is provided with a second external thread, the threaded cylinder (46) is in threaded connection with the third threaded rod (43) through the second internal thread and the second external thread, the inner wall of the inflator bracket (14) is rotatably connected with a limiting cylinder (47), the outer wall of the sliding rod (44) is provided with a limiting bar (48), and two ends of the limiting cylinder (47) are provided with limiting holes in a penetrating way, and the shape size of the limit hole and the shape size of the slide bar (44) are mutually matched, the inner wall of the limit hole is in sliding connection with the outer wall of the slide bar (44), the spiral spring (49) is arranged on the outer wall of the limit cylinder (47), the mounting ring is arranged on the outer wall of the limit cylinder (47), one end of the spiral spring (49) is fixedly connected with one side of the mounting ring, the other end of the spiral spring (49) is fixedly connected with the inner wall of the air cylinder bracket (14), the outer wall of the air cylinder (15) is provided with the first one-way valve (50), and the second one-way valve (51) is arranged between the air cylinder (15) and the air guide pipe (37).