CN106539666B - Seat-movable lower limb exoskeleton rehabilitation training device - Google Patents

Seat-movable lower limb exoskeleton rehabilitation training device Download PDF

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Publication number
CN106539666B
CN106539666B CN201510594960.XA CN201510594960A CN106539666B CN 106539666 B CN106539666 B CN 106539666B CN 201510594960 A CN201510594960 A CN 201510594960A CN 106539666 B CN106539666 B CN 106539666B
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seat
thigh
shank
adjusting
base
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CN106539666A (en
Inventor
周广雷
苗树文
高建国
郑建康
史振华
徐秀林
邹任玲
安美君
胡秀枋
赵展
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Shandong Jingdian Medical Instrument Technology Co Ltd
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Shandong Jingdian Medical Instrument Technology Co Ltd
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Abstract

A seat-movable lower limb exoskeleton rehabilitation training device mainly comprises a base, a seat front-back adjusting mechanism, a seat, a mechanical leg left-right adjusting mechanism, two mechanical leg fixing tables, two mechanical legs and a counterweight control box. Because the left and right adjusting mechanisms of the mechanical legs are arranged, the training requirements of trainees with different hip joint widths can be met by adjusting the width between the two mechanical legs; the structure is combined with a seat moving transmission mechanism, so that the seat is moved to the front end of the base before a patient is put on the device, and the occupation influence of mechanical legs when the patient goes up and down is overcome; as the thigh mechanism, the shank mechanism and the ankle joint mechanism of the two mechanical legs are respectively provided with the driving mechanism, the exercise training of single joint and the exercise of activity can be realized, and the coordinated exercise training of single leg and double mechanical legs can also be realized. The independent adjusting mechanisms of the hip joint, the knee joint and the ankle joint can realize the adjustment of the length of the thigh and the calf, and realize the personalized training.

Description

Seat-movable lower limb exoskeleton rehabilitation training device
Technical Field
The invention relates to a medical rehabilitation instrument, in particular to a lower limb exoskeleton rehabilitation training device with a movable seat.
Background
In China, the number of patients with limb dysfunction or disability is increasing due to factors such as accidents, diseases, body aging and the like every year, and clinical practice proves that scientific rehabilitation training can be performed on patients with lower limb movement dysfunction, so that the lost functions of limbs can be compensated and recovered, the self-care ability of the patients can be improved, and the life quality of the patients can be improved. A number of researchers and medical institutions have conducted relevant research on lower limb rehabilitation robots and have achieved valuable research results, and a commercial lower limb rehabilitation robot is Handy1 developed by MikeTopping, inc, 1987. Another rehabilitation robot that has successfully entered the market is the MANUS rehabilitation robot developed by Exact Dynamics, the Netherlands. The early developed rehabilitation robots are mainly single-degree-of-freedom, the representative products are the United states NUSTEP rehabilitation device and German THERA. vital intelligent rehabilitation training robot, the most representative of the sitting and lying type rehabilitation robot is the MOTIONMAKER developed by WORTEC corporation of Switzerland, the robot can realize 3-degree-of-freedom motion training and joint training, but the price is high. In China, the development of lower limb robots is still in the development stage.
The existing seat-movable lower limb exoskeleton rehabilitation training device product can adapt to patients with different heights, can be adjusted according to the lengths of thighs and shanks of the patients, but does not have the adjustment of hip joint spacing, cannot adapt to the patients with different weights, and is especially suitable for the patients with the obesity of modern body types. Meanwhile, the existing exoskeleton machine has large influence on leg occupation, and the patient is inconvenient to mount and dismount.
Disclosure of Invention
The invention aims to solve the problems and provides a novel seat-movable lower limb exoskeleton rehabilitation training device.
In order to achieve the purpose, the invention adopts the following technical scheme: a seat-movable lower extremity exoskeleton rehabilitation training device, comprising:
a base;
the seat front-back adjusting mechanism is erected on the base and can be adjusted front and back;
the seat is erected on the seat front-back adjusting mechanism and can move back and forth along the base under the adjustment of the seat front-back adjusting mechanism;
the mechanical leg left-right adjusting mechanism is erected on the base and can be adjusted left and right;
the mechanical leg fixing tables are respectively connected to the left side and the right side of the mechanical leg left-right adjusting mechanism, and can move left and right along the base under the adjustment of the mechanical leg left-right adjusting mechanism;
the two mechanical legs are respectively connected to the two mechanical leg fixing tables and can move left and right along with the mechanical leg fixing tables;
and the counterweight control box is fixed at the rear part of the base and internally provided with electrical equipment.
The seat front-back adjusting mechanism comprises two guide rods, two guide rod C-shaped sliding blocks, two guide rod fixing tables and a screw rod transmission mechanism; the two guide rod C-shaped sliding blocks are symmetrically arranged at the front part of the base, the two guide rod fixing tables are symmetrically arranged at the middle part of the base, the two guide rods respectively penetrate through the corresponding guide rod C-shaped sliding blocks and the corresponding guide rod fixing tables to be arranged in parallel, and the screw rod transmission mechanism is arranged on the base between the two guide rods and is in transmission connection with the rear part of the seat; the front part of the seat is fixedly connected with the two guide rods, and the seat is driven by the screw rod transmission mechanism and guided by the two guide rods to move back and forth along the base.
The seat comprises a bracket, a seat board, a backrest and a backrest inclination angle adjusting mechanism; the bracket is arranged on the front and back adjusting mechanism of the seat, the seat board is connected on the bracket, the backrest inclination angle adjusting mechanism is arranged under the seat board and is in transmission connection with the backrest, and the backrest inclination angle adjusting mechanism is started to adjust the inclination angle of the backrest.
The left-right adjusting mechanism of the mechanical leg comprises a screw rod fixing table, a screw rod nut and a motor transmission mechanism; the lead screw fixed station is installed on the base, and the lead screw passes the lead screw fixed station setting, and lead screw nut about both ends are connected respectively about the lead screw, and motor drive mechanism installs on the lead screw fixed station and links to each other with the lead screw transmission, and lead screw nut is fixed continuous with two mechanical leg fixed stations about with respectively about, and starter motor drive mechanism drives the lead screw and rotates, realizes about two mechanical leg fixed stations the motion in opposite directions or back to two mechanical legs move about the drive in opposite directions or back to back.
The mechanical leg fixing table comprises a fixing table body, a sliding block is arranged on the lower portion of the fixing table body, a handrail is arranged on the upper portion of the fixing table body, a linear guide rail is arranged on the base, and the mechanical leg fixing table is connected with the linear guide rail in a sliding mode through the sliding block to achieve left-right movement.
The mechanical leg comprises a thigh mechanism, a shank mechanism and an ankle joint mechanism, the thigh mechanism is movably connected with the mechanical leg fixing table, the shank mechanism is movably connected with the thigh mechanism, and the ankle joint mechanism is movably connected with the shank mechanism.
The thigh mechanism comprises a thigh driving electric cylinder, a thigh connecting rod, a thigh push rod, a thigh sleeve, a leg support and a thigh length adjusting mechanism; the thigh driving electric cylinder is movably connected with the mechanical leg fixing table, the thigh connecting rod is in transmission connection with the thigh driving electric cylinder, the thigh push rod is fixedly connected with the thigh connecting rod and movably connected with the mechanical leg fixing table, the thigh sleeve is sleeved on the thigh push rod and is in adjustable connection with the thigh push rod through a thigh length adjusting mechanism, the length of a thigh is adjustable, and the leg support is arranged on the inner side of the thigh sleeve; the shank mechanism is movably connected with the thigh sleeve.
The shank mechanism comprises a shank driving electric cylinder, a knee joint connecting piece, a knee joint rotating shaft, a shank push rod, a shank sleeve and a shank length adjusting mechanism; the ankle joint mechanism is characterized in that a shank driving electric cylinder is mounted on a thigh mechanism, one end of a knee joint connecting piece is connected with the shank driving electric cylinder in a transmission mode, the other end of the knee joint connecting piece is movably connected to the front end of a shank sleeve through a knee joint rotating shaft, a shank push rod is rotatably connected with the shank sleeve through the knee joint rotating shaft, the shank sleeve is sleeved on the shank push rod and is adjustably connected with the shank push rod through a shank length adjusting mechanism, the shank length is adjustable, and the ankle joint mechanism is movably connected with.
The ankle joint mechanism comprises an ankle joint stepping motor, a speed reduction and force enhancement mechanism and a pedal, the ankle joint stepping motor is installed on the outer side of the shank sleeve, the speed reduction and force enhancement mechanism is arranged in the shank sleeve and is in transmission connection with the ankle joint stepping motor, and the pedal is installed on the inner side of the shank sleeve and is in transmission connection with the speed reduction and force enhancement mechanism.
The seat locking mechanism comprises a fixed table, a gear, a rack and a handle, wherein the fixed table is arranged on the base, the gear and the rack are arranged in the fixed table in a matching way, and the handle is connected with the gear; a lock hole is arranged at a corresponding position on one guide rod in the front-back adjusting mechanism of the seat, a lock pin is arranged at the front end of the rack, the lock pin at the front end of the rack can be inserted into the lock hole on the guide rod to fix the guide rod by pulling the handle to rotate the gear, and therefore the seat is locked.
An ankle joint angle sensor is arranged at a movable connecting part of the ankle joint mechanism and the shank mechanism, a knee joint angle sensor is arranged at a movable connecting part of the shank mechanism and the thigh mechanism, pressure sensors are respectively arranged at two sides of the bottom of the pedal, mechanical leg movement limiting photoelectric sensors are respectively arranged on the bases beside the two mechanical leg fixing tables, and a seat movement limiting photoelectric sensor is arranged on the base beside the seat front and back adjusting mechanism.
The lower part of the bracket of the seat is movably connected with a pedal, the upper part of the bracket of the seat is provided with a magnet, the pedal turns upwards to be attracted with the magnet when not in use, and the pedal turns downwards to be used for pedaling when in use.
The electrical equipment comprises a power supply, a motor driving unit and a sensing transmitter, and the motion of the mechanical leg and the acquisition of a sensing signal are controlled.
Compared with the prior art, the invention has the following advantages:
1) the mechanical leg left-right adjusting mechanism is introduced into the structure, so that the training requirements of trainees with different hip joint widths are met, the discomfort caused by too wide or too narrow hip joints is avoided, the training intensity and safety of patients are ensured, and comfortable and personalized training is realized. Meanwhile, a seat moving transmission mechanism is introduced into the structure, so that the seat can move to the front ends of the mechanical legs under the control of the lower computer, the occupation influence of the mechanical legs when a patient goes up and down is overcome, and the rehabilitation training of the upper seat of the patient with lower limb dysfunction is greatly facilitated.
2) Thigh mechanisms, shank mechanisms and ankle joint mechanisms of the two mechanical legs are respectively provided with a driving mechanism, so that independent adjustment of hip joints, knee joints and ankle joints can be realized, single-joint exercise training is realized, joint synchronous motion can also be realized, the exercise of the activity degree of joints is realized, the speed is gradually increased by adopting a progressive mode during the exercise, the difficulty is increased, and the requirement of gradual rehabilitation training of a patient is met.
3) The advanced position space sensing technology is adopted at each joint part of the lower limb, wireless transmission of joint angle data is realized, the evaluation data is transmitted to the operation display in a wireless transmission mode, and the defect that the motion range is limited by using a complex mechanical structure is overcome.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a seat of the present invention;
fig. 3 and 4 are schematic structural views of the mechanical leg in the invention;
FIG. 5 is a schematic structural view of a base in the present invention;
FIG. 6 is a schematic view of the seat fore-aft adjustment mechanism of the present invention;
FIG. 7 and FIG. 8 are schematic views showing the installation state of the sensor according to the present invention;
FIG. 9 is a schematic structural diagram of a left-right adjusting mechanism of the mechanical leg according to the present invention;
fig. 10 is a state diagram of the mechanical leg and seat adjustment of the present invention.
Detailed Description
Referring to fig. 1, the seat-movable lower limb exoskeleton rehabilitation training device comprises a base 1, a seat front-back adjusting mechanism 2, a seat 3, a mechanical leg left-right adjusting mechanism 4, a mechanical leg fixing platform 5, a mechanical leg 6 and a counterweight control box 7.
Referring to fig. 5, the base 1 of the present invention includes a bottom plate 11, four casters 12 mounted below the bottom plate 11, two guide bar C-shaped sliders 22, two guide bar fixing platforms 23, a seat locking mechanism 8, a linear guide 54, and a screw fixing platform 41 mounted on the bottom plate 11.
Referring to fig. 2 and 6, the seat front-rear adjusting mechanism 2 of the present invention is mounted on the base 1 and can be adjusted front and rear. The guide rod C-shaped sliding block type screw driver comprises two guide rods 21, two guide rod C-shaped sliding blocks 22, two guide rod fixing tables 23 and a screw rod transmission mechanism 24; the two guide rod C-shaped sliding blocks are symmetrically arranged at the front part of the base, the two guide rod fixing tables are symmetrically arranged at the middle part of the base, the two guide rods respectively penetrate through the corresponding guide rod C-shaped sliding blocks and the corresponding guide rod fixing tables to be arranged in parallel, and the screw rod transmission mechanism is arranged on the base between the two guide rods and is in transmission connection with the rear part of the seat; the front part of the seat is fixedly connected with the two guide rods, and the seat is driven by the screw rod transmission mechanism and guided by the two guide rods to move back and forth along the base.
Referring to fig. 2 and 6, the seat 3 of the present invention is mounted on the seat front-back adjusting mechanism 2 and can move back and forth along the base under the adjustment of the seat front-back adjusting mechanism; it comprises a bracket 31, a seat board 32, a backrest 33 and a backrest inclination angle adjusting mechanism 34; the bracket is arranged on the front and back adjusting mechanism of the seat, the seat board is connected on the bracket, the backrest inclination angle adjusting mechanism is arranged under the seat board and is in transmission connection with the backrest, and the backrest inclination angle adjusting mechanism is started to adjust the inclination angle of the backrest. A foot pedal 35 is movably connected to the lower portion of a bracket 31 of the seat, a magnet 36 is mounted to the upper portion of the bracket of the seat, the foot pedal is attracted to the magnet when not in use and is turned upward and used for pedaling when being used. A front wheel 37 is also connected to the lower portion of the seat bracket 31.
Referring to fig. 9, the left-right adjusting mechanism 4 of the mechanical leg of the present invention is mounted on the base and can be adjusted left and right. The device comprises a screw rod fixing table 41, a screw rod 42, a screw rod nut 43 and a motor transmission mechanism 44; lead screw fixed station 41 is installed on the base, and lead screw 42 passes the lead screw fixed station setting, and lead screw nut 43 about the both ends are connected respectively about the lead screw, and motor drive mechanism 44 is installed on lead screw fixed station 41 and links to each other with the transmission of lead screw 42, and lead screw nut is fixed continuous with two mechanical leg fixed stations about with respectively about, starts motor drive mechanism and drives the lead screw and rotate, realizes the motion of two mechanical leg fixed stations about in opposite directions or back to two mechanical leg move about the drive is in opposite directions or back to back. Two states are adjusted by the mechanical leg left-right adjusting mechanism 4, wherein the hip joint distance is adjusted to the widest state in fig. 10A, the seat is moved to the forefront end to be convenient for a patient to get on the seat, and the hip joint distance is adjusted to the narrowest state in fig. 10B, and the chair is retracted to the original position.
Referring to fig. 9, the two mechanical leg fixing platforms 5 of the present invention are respectively connected to the left and right sides of the mechanical leg left and right adjusting mechanism, and can move left and right along the base under the adjustment of the mechanical leg left and right adjusting mechanism. The mechanical leg fixing table comprises a fixing table body 51, wherein a sliding block 52 is arranged at the lower part of the fixing table body, an armrest 53 is arranged at the upper part of the fixing table body, a linear guide rail 54 is arranged on a base, and the mechanical leg fixing table is connected with the linear guide rail through the sliding block in a sliding manner to realize left-right movement.
Referring to fig. 3 and 4, the two mechanical legs 6 of the present invention are respectively connected to the two mechanical leg fixing tables 5 and can move left and right along with the mechanical leg fixing tables. The leg mechanism comprises a thigh mechanism 61, a shank mechanism 62 and an ankle joint mechanism 63, wherein the thigh mechanism 61 is movably connected with the mechanical leg fixing table 5, the shank mechanism 62 is movably connected with the thigh mechanism 61, and the ankle joint mechanism 63 is movably connected with the shank mechanism 62.
The thigh mechanism 61 includes a thigh driving electric cylinder 611, a thigh link 612, a thigh push rod 613, a thigh sleeve 614, a leg rest 615, and a thigh length adjusting mechanism 616; the thigh driving electric cylinder is movably connected with the mechanical leg fixing table, the thigh connecting rod is in transmission connection with the thigh driving electric cylinder, the thigh push rod is fixedly connected with the thigh connecting rod and movably connected with the mechanical leg fixing table, the thigh sleeve is sleeved on the thigh push rod and is in adjustable connection with the thigh push rod through a thigh length adjusting mechanism, the length of a thigh is adjustable, and the leg support is arranged on the inner side of the thigh sleeve; the shank mechanism is movably connected with the thigh sleeve.
The lower leg mechanism 62 includes a lower leg driving electric cylinder 621, a knee joint connector 622, a knee joint rotation shaft 623, a lower leg push rod 624, a lower leg sleeve 625, and a lower leg length adjustment mechanism 626. The shank driving electric cylinder is installed on a thigh sleeve of the thigh mechanism, one end of the knee joint connecting piece is connected with the shank driving electric cylinder in a transmission mode, the other end of the knee joint connecting piece is movably connected to the front end of the thigh sleeve through a knee joint rotating shaft, a shank push rod is rotatably connected with the thigh sleeve through the knee joint rotating shaft, the shank sleeve is sleeved on the shank push rod and is adjustably connected with the shank push rod through a shank length adjusting mechanism, the shank length is adjustable, and the ankle joint mechanism is movably connected with the shank sleeve.
The ankle joint mechanism 63 comprises an ankle joint stepping motor 631, a deceleration force-increasing mechanism 632 and a pedal 633, the ankle joint stepping motor is installed on the outer side of the shank sleeve, the deceleration force-increasing mechanism is arranged in the shank sleeve and is in transmission connection with the ankle joint stepping motor, and the pedal is installed on the inner side of the shank sleeve and is in transmission connection with the deceleration force-increasing mechanism.
The counterweight control box 7 is fixed at the rear part of the base, and is internally provided with electrical equipment, including a power supply, a motor driving unit, a sensing transmitter and the like.
With reference to fig. 2, 5 and 6, the present invention further includes a seat locking mechanism 8, wherein the seat locking mechanism 8 includes a fixed platform 81, a gear 82, a rack 83 and a handle 84, the fixed platform is mounted on the base, the gear and the rack are disposed in the fixed platform in a matching manner, and the handle is connected with the gear; a lock hole is arranged at a corresponding position on one guide rod in the front-back adjusting mechanism of the seat, a lock pin is arranged at the front end of the rack, the lock pin at the front end of the rack can be inserted into the lock hole on the guide rod to fix the guide rod by pulling the handle to rotate the gear, and therefore the seat is locked.
Referring to fig. 7 and 8, the invention is provided with an ankle joint angle sensor 91 at the movable connecting part of the ankle joint mechanism and the shank mechanism, a knee joint angle sensor 92 at the movable connecting part of the shank mechanism and the thigh mechanism, pressure sensors 93 and 94 at two sides of the bottom of the pedal, mechanical leg movement limiting photoelectric sensors 95 and 96 at the bases beside the two mechanical leg fixing tables, and seat movement limiting photoelectric sensors 97 and 98 at the bases beside the seat front and back adjusting mechanism. The ankle joint angle sensor 91 is concentrically fitted to the ankle joint rotation shaft to measure the movement angle of the ankle joint part during rotation. The knee angle sensor 92 is concentrically fitted to the knee joint rotation shaft and is used to measure the angle between the thigh and calf parts of the mechanical leg during movement. The pressure sensors 93, 94 are used to measure the patient's plantar pressure during the training. The mechanical leg moves the spacing photoelectric sensor 95, 96 and installs in two extreme position departments that the base corresponds the mechanical leg fixed station and removes, and a little boss of rear side installation on the fixed plate of fixed station, when the fixed plate moved to widest and narrowest position, little boss and photoelectric sensor just corresponded on, and distance department is within the default between, and the sensor signals, fixed plate driving motor stall, and fixed plate stop motion reaches the effect of restriction mechanical leg fixed station moving range. Similarly, the seat moving limiting photoelectric sensors 97 and 98 are arranged at the two limit positions of the bottom plate corresponding to the seat moving, a small boss is arranged on the supporting side of the table and the chair, when the seat moves to the two limit positions, the small boss and the photoelectric sensor just correspond to each other, the distance between the small boss and the photoelectric sensor is within the preset value, the sensor sends a signal, the seat moves to drive the motor to stop rotating, the seat stops moving, and the effect of limiting the moving range of the seat is achieved.
The device also comprises a display, and the display is used for machine setting, and realizes the functions of human-computer interaction game training and the like.
The robot of the invention can realize the lower limb movement training function, the lower limb evaluation function and the interesting game interaction function, wherein the passive training comprises the double-leg alternate walking simulation training, the double-leg synchronous simulation squat standing, stretching and bending training and the single-joint movement training, and can meet the requirements of patients with different joint diseases.
The synchronous flexion and extension function of simulating squatting and standing is realized by adjusting the movement of the left mechanical leg motor set and the right mechanical leg motor set, and the training time can be selected. Before training, adjusting the hip joint distance to be widest, unlocking the seat, moving the seat to the foremost end, putting down the pedal plate, controlling the seat to return to the original position after a patient sits on the seat and steps on the pedal plate, locking the seat, fixing shanks and thighs, and respectively stepping on the left pedal and the right pedal by the left foot and the right foot; when training, the interesting sound effect and the picture background effect are matched, so that the interest of the patient in training can be increased, and the optimal training effect can be achieved. The training can adopt progressive mode to improve speed gradually according to patient's characteristics, increases the degree of difficulty, realizes the requirement of patient's rehabilitation training gradually.
Can also realize the single-joint movement of the knee joint and the ankle joint according to the needs of the patient, can also realize the synchronous movement of the knee joint of the left leg and the right leg, and the synchronous movement of the ankle joint, and can realize the exercise of the activity degree of the joint.

Claims (11)

1. A seat-movable lower extremity exoskeleton rehabilitation training device, comprising:
a base;
the seat front-back adjusting mechanism is erected on the base and can be adjusted front and back;
the seat is erected on the seat front-back adjusting mechanism and can move back and forth along the base under the adjustment of the seat front-back adjusting mechanism;
the mechanical leg left-right adjusting mechanism is erected on the base and can be adjusted left and right;
the mechanical leg fixing tables are respectively connected to the left side and the right side of the mechanical leg left-right adjusting mechanism, and can move left and right along the base under the adjustment of the mechanical leg left-right adjusting mechanism;
the two mechanical legs are respectively connected to the two mechanical leg fixing tables and can move left and right along with the mechanical leg fixing tables;
the counterweight control box is fixed at the rear part of the base and internally provided with electric equipment;
the seat front-back adjusting mechanism comprises two guide rods, two guide rod C-shaped sliding blocks, two guide rod fixing tables and a screw rod transmission mechanism; the two guide rod C-shaped sliding blocks are symmetrically arranged at the front part of the base, the two guide rod fixing tables are symmetrically arranged at the middle part of the base, the two guide rods respectively penetrate through the corresponding guide rod C-shaped sliding blocks and the corresponding guide rod fixing tables to be arranged in parallel, and the screw rod transmission mechanism is arranged on the base between the two guide rods and is in transmission connection with the rear part of the seat; the front part of the seat is fixedly connected with the two guide rods, and the seat is driven by the screw rod transmission mechanism and guided by the two guide rods to move back and forth along the base;
the left-right adjusting mechanism of the mechanical leg comprises a screw rod fixing table, a screw rod nut and a motor transmission mechanism; the lead screw fixed station is installed on the base, and the lead screw passes the lead screw fixed station setting, and lead screw nut about both ends are connected respectively about the lead screw, and motor drive mechanism installs on the lead screw fixed station and links to each other with the lead screw transmission, and lead screw nut is fixed continuous with two mechanical leg fixed stations about with respectively about, and starter motor drive mechanism drives the lead screw and rotates, realizes about two mechanical leg fixed stations the motion in opposite directions or back to two mechanical legs move about the drive in opposite directions or back to back.
2. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: the seat comprises a bracket, a seat board, a backrest and a backrest inclination angle adjusting mechanism; the bracket is arranged on the front and back adjusting mechanism of the seat, the seat board is connected on the bracket, the backrest inclination angle adjusting mechanism is arranged under the seat board and is in transmission connection with the backrest, and the backrest inclination angle adjusting mechanism is started to adjust the inclination angle of the backrest.
3. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: the mechanical leg fixing table comprises a fixing table body, a sliding block is arranged on the lower portion of the fixing table body, a handrail is arranged on the upper portion of the fixing table body, a linear guide rail is arranged on the base, and the mechanical leg fixing table is connected with the linear guide rail in a sliding mode through the sliding block to achieve left-right movement.
4. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: the mechanical leg comprises a thigh mechanism, a shank mechanism and an ankle joint mechanism, the thigh mechanism is movably connected with the mechanical leg fixing table, the shank mechanism is movably connected with the thigh mechanism, and the ankle joint mechanism is movably connected with the shank mechanism.
5. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 4, wherein: the thigh mechanism comprises a thigh driving electric cylinder, a thigh connecting rod, a thigh push rod, a thigh sleeve, a leg support and a thigh length adjusting mechanism; the thigh driving electric cylinder is movably connected with the mechanical leg fixing table, the thigh connecting rod is in transmission connection with the thigh driving electric cylinder, the thigh push rod is fixedly connected with the thigh connecting rod and movably connected with the mechanical leg fixing table, the thigh sleeve is sleeved on the thigh push rod and is in adjustable connection with the thigh push rod through a thigh length adjusting mechanism, the length of a thigh is adjustable, and the leg support is arranged on the inner side of the thigh sleeve; the shank mechanism is movably connected with the thigh sleeve.
6. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 4, wherein: the shank mechanism comprises a shank driving electric cylinder, a knee joint connecting piece, a knee joint rotating shaft, a shank push rod, a shank sleeve and a shank length adjusting mechanism; the ankle joint mechanism is characterized in that a shank driving electric cylinder is mounted on a thigh mechanism, one end of a knee joint connecting piece is connected with the shank driving electric cylinder in a transmission mode, the other end of the knee joint connecting piece is movably connected to the front end of a shank sleeve through a knee joint rotating shaft, a shank push rod is rotatably connected with the shank sleeve through the knee joint rotating shaft, the shank sleeve is sleeved on the shank push rod and is adjustably connected with the shank push rod through a shank length adjusting mechanism, the shank length is adjustable, and the ankle joint mechanism is movably connected with.
7. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 4, wherein: the ankle joint mechanism comprises an ankle joint stepping motor, a speed reduction and force enhancement mechanism and a pedal, the ankle joint stepping motor is installed on the outer side of the shank sleeve, the speed reduction and force enhancement mechanism is arranged in the shank sleeve and is in transmission connection with the ankle joint stepping motor, and the pedal is installed on the inner side of the shank sleeve and is in transmission connection with the speed reduction and force enhancement mechanism.
8. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: the seat locking mechanism comprises a fixed table, a gear, a rack and a handle, wherein the fixed table is arranged on the base, the gear and the rack are arranged in the fixed table in a matching way, and the handle is connected with the gear; a lock hole is arranged at a corresponding position on one guide rod in the front-back adjusting mechanism of the seat, a lock pin is arranged at the front end of the rack, the lock pin at the front end of the rack can be inserted into the lock hole on the guide rod to fix the guide rod by pulling the handle to rotate the gear, and therefore the seat is locked.
9. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: an ankle joint angle sensor is arranged at a movable connecting part of the ankle joint mechanism and the shank mechanism, a knee joint angle sensor is arranged at a movable connecting part of the shank mechanism and the thigh mechanism, pressure sensors are respectively arranged at two sides of the bottom of the pedal, mechanical leg movement limiting photoelectric sensors are respectively arranged on the bases beside the two mechanical leg fixing tables, and a seat movement limiting photoelectric sensor is arranged on the base beside the seat front and back adjusting mechanism.
10. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: the lower part of the bracket of the seat is movably connected with a pedal, the upper part of the bracket of the seat is provided with a magnet, the pedal turns upwards to be attracted with the magnet when not in use, and the pedal turns downwards to be used for pedaling when in use.
11. The chair-movable lower extremity exoskeleton rehabilitation training device of claim 1, wherein: the electrical equipment comprises a power supply, a motor driving unit and a sensing transmitter.
CN201510594960.XA 2015-09-17 2015-09-17 Seat-movable lower limb exoskeleton rehabilitation training device Active CN106539666B (en)

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