CN111281739A

CN111281739A - Recovered ectoskeleton robot

Info

Publication number: CN111281739A
Application number: CN202010081237.2A
Authority: CN
Inventors: 曾勇; 彭小波
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2020-02-06
Filing date: 2020-02-06
Publication date: 2020-06-16

Abstract

The invention relates to the technical field of medical rehabilitation instruments, in particular to a rehabilitation exoskeleton robot which comprises thigh components, shank components and a waist fixing component, wherein the thigh components and the shank components are arranged on two sides of the waist fixing component and are connected with the waist fixing component, the thigh components and the shank components are connected through a four-bar mechanism, the waist fixing component is provided with a driving device, steering components are arranged on the thigh components and the shank components, and the driving device is connected with the steering components on the thigh components and the shank components through a transmission component. The invention uses the four-bar mechanism to realize higher movement compliance, is closer to the change condition of the instant center of the knee joint of the human body during movement, and adjusts the position of the driving device, so that the whole mass is balanced and the wearing is convenient.

Description

Recovered ectoskeleton robot

Technical Field

The invention relates to the technical field of medical rehabilitation instruments, in particular to a rehabilitation exoskeleton robot.

Background

In daily life, people who suffer from stroke and hemiplegia due to serious diseases or who suffer from reduced mobility due to age-related deterioration of their physical functions are increasing. The traditional apoplectic hemiplegia rehabilitation method is to carry out rehabilitation guidance and auxiliary training on patients through professional physiotherapists, the rehabilitation efficiency is not high and the process is slow, and one apoplectic or hemiplegia patient often requires two to three physiotherapists to carry out follow-up treatment, consumes a large amount of manpower, material resources and financial resources. And the exoskeleton robot is worn by the lower limbs to carry out auxiliary treatment, so that the workload of a physical therapist can be effectively reduced, the rehabilitation efficiency is improved, and the rehabilitation cost is reduced. The lower limb rehabilitation training robot for assisting in treatment is used for completing rehabilitation training required in clinical medical treatment with the help of the lower limb rehabilitation training robot, and providing feedback information to a patient and a medical doctor in time, so that the patient can recover the exercise capacity more quickly.

At present, most lower limb rehabilitation robots simplify a lower limb knee joint into a revolute pair, namely a degree of freedom. The instantaneous center (instantaneous rotation center) of the knee joint is the center of the hinge rotating shaft, so that the knee joint is constant in the whole gait cycle and cannot well simulate the instantaneous time-varying characteristics of the normal knee joint of a person. In the aspect of driving, most lower limb rehabilitation exoskeletons are driven by a motor or hydraulic pressure and are directly installed on corresponding driving joints through gear transmission, so that the local mass of the robot is increased, the inertia moment is increased, and the robot is not beneficial to targeted rehabilitation and wearing by patients. The bearing capacity of the lower limbs of the stroke patient is weaker than that of the normal person, and the degree of the mass and the volume of the stroke patient affects the daily life and movement of the stroke patient. In view of the above disadvantages, there is an urgent need for a light and handy lower limb exoskeleton robot which can be installed on a patient body, can perform high compliance lower limb rehabilitation exoskeleton with the same or similar motion with knee joints of lower limbs of a human body, has small knee joint rotation inertia moment, small volume and convenient wearing, and enables the patient to perform rehabilitation walking or provide daily assistance.

Disclosure of Invention

The invention aims to solve the problems that the gait cycle of the prior art is constant, the transient center time-varying characteristic and the overall mass of the knee joint of a normal person cannot be well simulated, and the wearing is not facilitated.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a recovered ectoskeleton robot, is including thigh subassembly, shank subassembly and the fixed subassembly of waist, and the both sides of the fixed subassembly of waist are located to thigh subassembly, shank subassembly, and thigh subassembly is connected with the fixed subassembly of waist, and wherein, thigh subassembly passes through four-bar linkage with the shank subassembly to be connected, and the fixed subassembly of waist is equipped with drive arrangement, is equipped with on thigh subassembly and the shank subassembly and turns to the subassembly, and drive arrangement passes through the transmission component and is connected with the subassembly that turns to on thigh subassembly and the shank subassembly.

In the scheme, thigh components and shank components matched with two legs are arranged on two sides of the waist fixing component, and the shank components, the thigh components and the waist fixing component are sequentially connected and fixed on a user body during use. Thigh subassembly and shank subassembly pass through four-bar linkage and are connected, and four-bar linkage realizes that thigh bone and shank bone relative motion's instantaneous center is changeable, realizes higher motion compliance, more follows close to the change condition of human knee joint instantaneous center when the motion. In the aspect of power, the driving device of the waist fixing component provides power for the transmission component, the driving device is arranged at the waist position of a user, and compared with the traditional scheme of combining the motor and the knee joint, the whole mass distribution is more balanced, the mass of the knee joint position is reduced, the burden of the user is lightened, and the rotational inertia of the lower limbs is reduced. The transmission component transmits power to the thigh component and the shank component, the power direction of the transmission component is adjusted by the aid of the steering components arranged on the thigh component and the shank component, and the transmission component is matched with the four-bar mechanism to achieve transmission and driving processes with higher motion compliance.

In one embodiment, the four-bar mechanism is composed of a thigh bone provided with the thigh component, a lower leg bone provided with the lower leg component, a straight connecting bar and a curved connecting bar, wherein two ends of the straight connecting bar and the curved connecting bar are respectively in rotary connection with the thigh bone and the lower leg bone.

The both ends of bent connecting rod and straight connecting rod rotate respectively and connect thigh bone, shank, structurally simulate knee position structure, bent connecting rod and straight connecting rod are mutually supported, total three degrees of freedom in the sagittal plane, bent connecting rod and straight connecting rod have the support and rotate the effect, compare with the scheme of simplifying low limbs knee joint into a revolute pair during the rotation, the relative rotation and the removal of rotation prompt center of thigh bone and shank in the sagittal plane of better simulation knee joint have better motion compliance.

Preferably, the steering assembly is provided with an extension wheel set arranged on the femur and the calf, a flexion wheel set arranged on the femur and the calf, and a steering part arranged on the calf, and the transmission component is connected with the extension wheel set, the flexion wheel set and the steering part.

The transmission component transmits power to the extension wheel set and the flexion wheel set on the thigh bone and the calf bone under the driving of the driving device, and the transmission component is matched with the extension wheel set and the flexion wheel set to realize extension or flexion of the knee joint by adjusting the driving direction of the driving device.

Preferably, the extension wheel set is provided with a steering component B arranged on the femur and a steering component C arranged on the calf, and the flexion wheel set is provided with a steering component F arranged on the femur and a steering component G arranged on the calf; the transmission member passes through the driving device, the steering member B and the steering member C, then passes through the steering part to the steering member G and the steering member F to return to the driving device.

The transmission member is connected with the driving device, passes through the driving device, the steering member B and the steering member C, then passes through the steering part to reach the steering member G and the steering member F to return to the driving device, a cycle is formed, the power direction of transmission of the transmission member is adjusted by adjusting the rotation direction of the driving device, and the replacement of the extension state and the flexion state is realized.

Preferably, the femur is also provided with a steering component A with positioning and direction-dividing functions, and the steering component A is connected with the transmission component.

The transmission component returns to the driving device after passing through the extension wheel set and the flexion wheel set by the driving device, the steering component A on the femur can isolate the transmission components in two directions, and a positioning point is provided by the steering component A to realize the steering of the transmission component.

Preferably, the extension wheel set further comprises a steering component D arranged on the shank and matched with the steering component C, and the transmission component sequentially passes through the steering component B, the steering component C and the steering component D on the extension wheel set.

The steering components on the extension wheel set are matched with each other to adjust the direction of the transmission component, the power transmission direction of the transmission component between the steering components is adjusted by adjusting the direction of the transmission component, and the relative flexion or extension of the femur and the calf is realized by adjusting the power transmission direction. The arrangement of the steering component D can increase the power transmission change direction of the transmission component, so that the buckling and stretching process has better compliance and larger action angle.

Preferably, the waist fixing component is provided with a fixing plate and a support frame, the support frame is fixedly connected with the fixing plate, and the fixing plate is provided with a waist fixing bandage; the driving device is fixedly connected with the fixing plate, the driving end of the driving device is connected with the gear A, the support frame is connected with the gear B through the gear shaft, the gear shaft is further provided with a driving wheel connected with the driving member, and the support frame is further provided with a steering member H for steering the driving member.

The fixed plate is matched with the waist of a patient, the waist fixing bandage is used for connecting the waist fixing assembly with the patient, the driving device is arranged on the fixed plate, the driving device drives the transmission member through the transmission wheel and changes the direction of the transmission member through the steering member H arranged on the support frame, and the transmission member enters the steering assembly and returns to the driving device through the change of the direction of the steering member H.

Preferably, the steering components of the flexion wheel set and the extension wheel set are pulleys, the transmission components are wire components, the transmission components are provided with two groups, the extension wheel set and the flexion wheel set are arranged on different planes, the transmission wheels are ratchet pulleys, the ratchet pulleys are provided with two groups and are respectively in one-to-one correspondence with the two groups of wire components, and the rotation directions of the two groups of ratchet pulleys are opposite.

The steering components of the buckling wheel set and the extending wheel set are pulleys, the transmission components are line components, power transmission is realized in a line transmission mode, the two groups of transmission components are mutually matched to carry out the buckling process and the extending process, one group of transmission components is mainly responsible for the buckling process, the other group of transmission components is mainly responsible for the extending process, and a larger movable angle can be realized compared with a single group of transmission components.

Preferably, the steering components of the flexion wheel set and the extension wheel set are gears, the transmission components are chain components, the transmission components are provided with two groups, the transmission wheels are ratchet gears, the ratchet gears are provided with two groups and are respectively in one-to-one correspondence with the two groups of chain components, and the rotation directions of the two groups of ratchet pulleys are opposite.

Preferably, the ratchet pulley is provided with a pawl disc, a pawl, a pulley outer ring, a sheet-shaped expansion spring and a pulley inner ring, the sheet-shaped expansion spring is connected with the pulley outer ring and the pulley inner ring, the pawl is rotatably connected with the pawl disc, an elastic part is arranged between the pawl and the pawl disc, a groove body matched with the pawl disc and the pulley inner ring is arranged on the pulley outer ring, and a limiting tooth matched with the pawl is arranged on the groove body matched with the pawl disc on the pulley outer ring.

The ratchet pulleys have the characteristic of unidirectional rotation, and the two ratchet pulleys are mutually matched and respectively matched with the two groups of transmission components and respectively correspond to the buckling process and the stretching process.

Preferably, the thigh component is provided with a thigh fixing bandage and a thigh connecting rod, the thigh connecting rod is connected with the supporting frame and the thigh bone, and the thigh fixing bandage is connected with the thigh bone; the shank component is provided with a shank fixing bandage connected with the shank, and is also provided with a shank connecting rod connected with the shank, and the shank connecting rod is connected with a pedal.

Preferably, the support frame is provided with a first connecting rod and a second connecting rod, the first connecting rod is connected with the fixing plate, the gear B is arranged on the first connecting rod, the steering component H is arranged on the second connecting rod, the second connecting rod is detachably connected with the thigh connecting rod, and the second connecting rod is provided with a plurality of limiting holes connected with the thigh connecting rod; the thigh bone is detachably connected with the thigh connecting rod, and a plurality of limiting holes connected with the thigh connecting rod are formed in the thigh bone; the shank is provided with a sliding groove, and the shank connecting rod is connected with the sliding groove.

Compared with the prior art, the invention has the following characteristics:

according to the scheme, the thigh bone and the shank bone are connected through the four-bar mechanism, and the motion instant center track of the mechanism is the same as the motion instant center track of the human knee joint by determining the rod parameters of the four-bar mechanism, so that the high compliance of a man-machine system is achieved, the problem of low motion compliance of the exoskeleton and the human knee joint due to the fact that the knee joint is a revolute pair in the prior art is solved, and the recovery efficiency and the correction effect of a patient are improved. The drive motor and the knee joint can be separated by adopting the transmission of the linear component, and meanwhile, the drive torque can be transmitted to the rotary joint, so that the quality of the knee joint is reduced, the three problems of large size and mass of the knee joint, large rotation inertia and the like in the prior art are solved, the requirements of the lower limb exoskeleton light weight design are met, and the wearing is convenient.

Drawings

Fig. 1 is a schematic view of the overall structure in the embodiment of the present invention.

Fig. 2 is a schematic view of the overall structure in the embodiment of the present invention.

Fig. 3 is a schematic view of the thigh assembly and lower leg assembly in an embodiment of the invention.

Fig. 4 is a cross-sectional view of AC-AC shown in fig. 3.

Fig. 5 is a schematic view of the overall structure in the embodiment of the present invention.

Figure 6 is a schematic view of a waist attachment assembly in an embodiment of the present invention.

Fig. 7 is a schematic diagram of an exploded structure of the driving wheel in the embodiment of the invention.

Fig. 8 is a schematic view of the internal structure of the transmission wheel in the embodiment of the invention.

Detailed Description

The drawings are for illustration purposes only and are not to be construed as limiting the invention; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the invention.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

The first embodiment is as follows:

as shown in fig. 1 and 2, the rehabilitation exoskeleton robot provided by the invention comprises a thigh component, a shank component and a waist fixing component, wherein the thigh component and the shank component are connected, and are arranged on two sides of the waist fixing component. The thigh assembly is provided with a thigh bone 11, a thigh fixing bandage 12 and a thigh connecting rod 9, the thigh bone 11 is made in a bionic mode according to the shape of the thigh bone 11 of a user, the thigh fixing bandage 12 is arranged on the upper portion of the thigh bone 11, the shape of the thigh fixing bandage 12 is matched with the shape of the thigh of the user, the thigh fixing bandage 12 can be fixedly bound on the thigh of the user, and the thigh bone 11 is fixedly connected with the thigh of the user. Thigh connecting rod 9 is connected with thigh bone 11's upper portion, be equipped with the spacing hole of a plurality of being connected with thigh connecting rod 9 on the thigh bone 11, also be equipped with on the thigh connecting rod 9 with spacing hole complex spacing hole on the thigh bone 11, adjust the cooperation in the spacing hole of difference through spacing parts such as round pin axle, then adjust the length that thigh connecting rod 9 stretches out thigh bone 11, realize being connected with dismantling of thigh connecting rod 9 and thigh bone 11, can carry out the adaptability according to user's physical dimension and adjust.

As shown in fig. 2, the lower leg assembly is provided with a lower leg fixing strap 27 connected with the lower leg bone 24, and the lower leg fixing strap 27 can be fixedly tied on the lower leg of the user to realize the fixed connection of the lower leg bone 24 and the lower leg of the user. The lower leg assembly is also provided with a lower leg link 25 connected to the lower leg bone 24. The shank connecting rod 25 is detachably connected with the shank 24, the shank connecting rod 25 and the shank 24 are provided with limiting holes, the limiting holes are connected through limiting parts such as a pin shaft, the extending length of the shank connecting rod 25 relative to the shank 24 can be adjusted, and the shank connecting rod can be adjusted adaptively according to the body size of a user. The shank connecting rod 25 is connected with a pedal 26, the pedal 26 is rotatably connected with the shank connecting rod 25 through a pin shaft, when a user uses the device, the pedal 26 and the shank connecting rod 25 can rotate relatively in a buckling process and an extending process in a matching manner with the action process of the user, and smoothness in the moving process is improved.

As shown in fig. 1 and 2, in this embodiment, the thigh component is connected with the waist fixing component, the waist fixing component is provided with a fixing plate 1 and a support frame, the support frame is fixedly connected with the fixing plate 1, a waist fixing band 3 is arranged on the fixing plate 1, the waist fixing band 3 is fixedly connected with the waist of the user, the support frame is provided with a first connecting rod 13 and a second connecting rod 14, the first connecting rod 13 is fixedly connected with the second connecting rod 14, the first connecting rod 13 is connected with the fixing plate 1, the second connecting rod 14 is detachably connected with the thigh connecting rod 9, a plurality of limiting holes connected with the thigh connecting rod 9 are arranged on the second connecting rod 14, and the structure of the rehabilitation exoskeleton robot is adaptively adjusted by adjusting the connection of the thigh connecting rod 9 and different limiting holes.

As shown in fig. 1, 3 and 4, in the present embodiment, the thigh component and the lower leg component are connected by a four-bar mechanism, the four-bar mechanism is composed of a thigh bone 11, a lower leg bone 24, a straight link 15 and a curved link 16, and both ends of the straight link 15 and the curved link 16 are respectively connected with the thigh bone 11 and the lower leg bone 24 in a rotating manner. The curved connecting rod 16 is an arc-shaped structure, holes are arranged at two ends of the curved connecting rod 16, and the curved connecting rod 16 is rotatably connected with the thigh bone 11 and the lower leg bone 24 through the holes at the two ends. Compared with a revolute pair hinge mechanism in the prior art, the four-bar mechanism can better conform to the time-varying characteristic of the instantaneous center of the knee joint in the actual motion process of a human body, and achieves good human-computer interaction compliance.

The thigh assembly and the lower leg assembly are provided with a steering assembly, and the steering assembly is provided with an extension wheel set arranged on the thigh bone 11 and the lower leg bone 24, a flexion wheel set arranged on the thigh bone 11 and the lower leg bone 24 and a steering part 21 arranged on the lower leg bone 24. The waist fixing component is provided with a driving device 2, the driving device 2 is a motor, the driving device 2 is fixedly connected with the fixing plate 1, and the driving device 2 is connected with the steering components on the thigh component and the shank component through a transmission component 28.

As shown in fig. 1 and 2, in the present embodiment, the extension wheel set is provided with a steering member B17 provided on the femur 11 and a steering member C18 provided on the femur 24, and the flexion wheel set is provided with a steering member F20 provided on the femur 11 and a steering member G19 provided on the femur 24. The transmission member 28 starts from the driving device 2, sequentially passes through the steering member B17 and the steering member C18, then is steered by the steering part 21 to the steering member G19 and the steering member F20, and then returns to the driving device 2, so as to form a loop. The steering component B17 and the steering component F20 are arranged on two sides of the lower part of the femur 11, the steering component C18 and the steering component G19 are arranged on two sides of the upper part of the shank 24, the steering part 21 is arranged on the shank 24 below the steering component C18 and the steering component G19, and the limiting and the steering effects on the transmission component are realized through the steering components.

As shown in fig. 1 and 2, in the present embodiment, the driving end of the driving device 2 is connected to a gear a4, a gear B6 is connected to the supporting frame through a gear shaft 8, a gear B6 is provided on the first link 13, a steering member H10 is provided on the second link 14 through a coupling 7, and the steering member H10 is used for changing the direction of the transmission member 28. The gear A4 and the gear B6 are meshed to form a gear set, and the gear set has a speed reduction effect. The gear shaft 8 is also provided with a transmission wheel 5 connected with a transmission member 28, the driving device 2 drives the transmission wheel 5 to rotate, the transmission wheel 5 drives the transmission member 28 to act, power is transmitted to the extension wheel set and the buckling wheel set, and the buckling process and the extension process of the rehabilitation exoskeleton robot are achieved.

As shown in fig. 7 and 8, the transmission wheel 5 is a ratchet pulley, the ratchet pulley is provided with a pawl disc 51, a pawl 56, a pulley outer ring 52, a sheet-shaped expansion spring 54 and a pulley inner ring 53, the sheet-shaped expansion spring 54 is connected with the pulley outer ring 52 and the pulley inner ring 53, the pawl 56 is rotatably connected with a pawl groove 55 formed in the pawl disc 51, an elastic member is arranged between the pawl 56 and the pawl disc 51, a groove body matched with the pawl disc 51 and the pulley inner ring 53 is formed in the pulley outer ring 52, and a limit tooth 57 matched with the pawl 56 is arranged in the groove body matched with the pawl disc 51 in the pulley outer ring 52. The pulley outer ring 52 can only rotate in one direction relative to the pulley inner ring 53 under the matching of the pawls 56 and the pawl disc 51, the pulley outer ring 52 is fixedly connected with the transmission member 28, and the transmission member 28 is driven to move when the pulley outer ring 52 rotates.

As shown in fig. 1 and 6, in the present embodiment, the ratchet pulleys are provided in two sets, and the transmission member 28 is provided in two sets. A set of drive members 28 are connected to the extension wheel sets for driving the extension wheel sets. The other set of transmission members 28 is connected to the buckling wheel sets for driving the buckling wheel sets. The extension wheel set and the flexion wheel set are arranged on different planes, so that the two groups of transmission components 28 can be prevented from interfering with each other, and the fluency of the movement is ensured.

The ratchet pulleys correspond to the transmission members 28 one by one, one group of ratchet pulleys is matched with one group of transmission members 28 to drive a buckling wheel set, the other group of ratchet pulleys is matched with the other group of transmission members 28 to drive an extending wheel set, and the rotation directions of the two groups of ratchet pulleys are opposite. In the buckling process, the ratchet pulley responsible for buckling drives the transmission component 28 responsible for buckling to transmit power, and the transmission component 28 responsible for buckling drives the buckling wheel set to realize the buckling process; during the stretching process, the ratchet pulley responsible for stretching drives the transmission component 28 responsible for stretching to transmit power, and the transmission component 28 responsible for stretching drives the stretching wheel set to realize the stretching process. The tracks traversed by the transmission members 28 responsible for the flexion and extension processes are the same, and the two sets of transmission members 28 move in synchronism.

The two groups of ratchet pulleys 5 respectively correspond to one group of transmission components 28 and the rotation directions of the two groups of ratchet pulleys 5 are opposite, when one group of ratchet pulleys 5 rotates actively, the other group of ratchet pulleys 5 necessarily rotates in a driven manner, for example, when the ratchet pulley 5 matched with the extension wheel group drives the transmission component 28 matched with the extension wheel group to be tensioned, the ratchet pulley 5 matched with the buckling wheel group and the transmission component 28 are loosened, the pawl 56 of the ratchet pulley 5 matched with the buckling wheel group is pressed in the pawl groove 55 on the disk of the pawl 56 by the outer ring of the pulley, at the moment, the outer ring and the inner ring can rotate relatively and provide telescopic counter force by using the sheet-shaped telescopic spring 54, and the transmission component 28 matched with the buckling wheel group is ensured to keep a certain pre-tightening force in a tensioning state and is not separated from.

The steering member B17, the steering member C18, the steering member F20, the steering member G19 and the steering member H10 are pulleys, the steering portion 21 may be a pulley or a column-shaped member, the transmission member 28 is a wire member, and the wire member may be a haliotis discus hannai or other linear structure. Two limiting grooves are arranged on the steering member B17, the steering member C18, the steering member F20, the steering member G19 and the steering member H10 and respectively correspond to the two groups of transmission members 28, so that the two groups of transmission members 28 are ensured not to interfere with each other when working.

In this embodiment, a steering member a23 with positioning and direction-dividing functions is further disposed on the femur 11, the steering member a23 is connected to the transmission member 28, the steering member a23 is a pulley, and the purpose of the steering member a23 is to provide a fixed steering point of the transmission member 28, so as to better change the direction of the transmission member 28 and better realize the flexion and extension processes. Of course, the function of the rehabilitation exoskeleton robot can be completely realized without the steering member A23.

Example two:

the present embodiment is similar to the first embodiment, except that in the present embodiment, the transmission wheel 5 is a ratchet gear, the steering member B17, the steering member C18, the steering member F20, the steering member G19 and the steering member H10 are all gears, the transmission member 28 is a chain member, two sets of transmission members 28 are provided, the transmission wheel 5 is a ratchet gear, two ratchet gears are provided and respectively correspond to two sets of chain members one by one, and the rotation directions of the two sets of ratchet pulleys are opposite. The chain component is a chain, and the stretching process and the buckling process of the rehabilitation exoskeleton robot are realized through the matching of the chain and the gear.

The steering component A23 is a gear, the steering component A23 is matched with a chain, and the steering component A23 provides a steering point of the transmission component 28, changes the trend of the transmission component 28 and better realizes the buckling process and the stretching process. The chain member transmission can also realize the buckling process and the stretching process, but has the disadvantage of being heavy compared with the wire member transmission.

Example three:

as shown in fig. 5, this embodiment is similar to the first embodiment, except that in this embodiment, the extension wheel set further includes a steering member D22 disposed on the calf 24 and engaged with the steering member C18, the steering member D22 is a pulley, and the transmission member 28 passes through the steering member B17, the steering member C18 and the steering member D22 in sequence on the extension wheel set. The steering component D22 provides a fulcrum for changing the direction of the transmission component 28, and changes the direction of the force transmitted by the transmission component 28, so as to change the distribution direction of the force on the extension wheel set during the extension process, and better realize the flexion process and the extension process.

Example four:

as shown in fig. 5, the present embodiment is similar to the embodiment, except that the extendable wheel set further includes a steering member D22 disposed on the lower leg 24 and engaged with the steering member C18, the steering member D22 is a gear, and the transmission member 28 passes through the steering member B17, the steering member C18 and the steering member D22 in sequence on the extendable wheel set. The steering member D22 provides a fulcrum to change the direction of the drive member 28 to better effect the flexion and extension processes by changing the direction of the force transmitted by the drive member 28.

Example five:

the embodiment is similar to the first embodiment, except that in the first embodiment, the thigh fixing band 12 and the lower leg fixing band 27 are provided with a band and a fixing seat, the band is fixedly connected with the fixing seat, the fixing seat is provided with a through hole, groove bodies matched with the fixing seat are arranged on the thigh bone 11 and the lower leg bone 24, the thigh connecting rod 9 is inserted into the fixing seat through the through hole to fix the thigh fixing band 12, and the lower leg connecting rod 25 is inserted into the fixing seat through the through hole to fix the lower leg fixing band 27.

Example six:

the present embodiment is similar to the first embodiment, except that in the present embodiment, a group of ratchet pulleys is provided, a group of transmission members 28 is provided, the flexion wheel group and the extension wheel group are provided on the same plane, and the ratchet pulleys and the transmission members 28 are used for driving the flexion wheel group and the extension wheel group. In the buckling process, the ratchet pulley drives the transmission component 28 to transmit power, and the transmission component 28 drives the buckling wheel set to realize the buckling process; during the stretching process, the ratchet pulley reversely drives the transmission component 28 to transmit power, and the transmission component 28 drives the stretching wheel set to realize the stretching process. One set of drive members 28 can also effect both flexion and extension, except that the degree of flexion and extension is limited compared to two sets of drive members 28 engaged.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The rehabilitation exoskeleton robot is characterized in that the thigh component and the shank component are connected through a four-bar mechanism, the waist fixing component is provided with a driving device, steering components are arranged on the thigh component and the shank component, and the driving device is connected with the steering components on the thigh component and the shank component through a transmission component.

2. The rehabilitation exoskeleton robot as claimed in claim 1, wherein the four-bar mechanism is composed of a thigh bone provided on the thigh component, a shank bone provided on the shank component, a straight link and a curved link, and the two ends of the straight link and the curved link are rotatably connected with the thigh bone and the shank bone respectively.

3. The rehabilitation exoskeleton robot as claimed in claim 2, wherein the steering assembly is provided with an extension wheel set disposed on the femur and the calf bone, a flexion wheel set disposed on the femur and the calf bone, and a steering portion disposed on the calf bone, and the transmission member is connected with the extension wheel set, the flexion wheel set and the steering portion.

4. The rehabilitation exoskeleton robot as claimed in claim 3, wherein the extension wheel set is provided with a steering member B provided on the femur and a steering member C provided on the femur, and the flexion wheel set is provided with a steering member F provided on the femur and a steering member G provided on the femur; the transmission member passes through the driving device, the steering member B and the steering member C, then passes through the steering part to the steering member G and the steering member F and returns to the driving device.

5. The rehabilitation exoskeleton robot as claimed in claim 4, wherein a steering member A with positioning and direction-dividing functions is further arranged on the femur, and the steering member A is connected with the transmission member.

6. The rehabilitation exoskeleton robot of claim 4, wherein the extension wheel set further comprises a steering member D arranged on the leg bone and matched with the steering member C, and the transmission member passes through the steering member B, the steering member C and the steering member D on the extension wheel set in sequence.

7. The rehabilitation exoskeleton robot as claimed in claim 6, wherein the waist fixing assembly is provided with a fixing plate and a supporting frame, the supporting frame is fixedly connected with the fixing plate, and a waist fixing strap is arranged on the fixing plate; the driving device is fixedly connected with the fixing plate, the driving end of the driving device is connected with the gear A, the support frame is connected with the gear B through the gear shaft, the gear shaft is further provided with a driving wheel connected with the transmission member, and the support frame is further provided with a steering member H for steering the transmission member.

8. The rehabilitation exoskeleton robot as claimed in claim 7, wherein the steering members of the flexion and extension wheel sets are pulleys, the transmission members are wire members, the transmission members are provided in two sets, the extension and flexion wheel sets are disposed on different planes, the transmission wheels are ratchet pulleys, the ratchet pulleys are provided in two sets and respectively correspond to the two sets of wire members one by one, and the rotation directions of the ratchet pulleys are opposite.

9. The rehabilitation exoskeleton robot as claimed in claim 7, wherein the steering members of the flexion and extension wheel sets are gears, the transmission members are chain members, the transmission members are provided in two sets, the transmission wheels are ratchet gears, the ratchet gears are provided in two sets and respectively correspond to the two sets of chain members, and the two sets of ratchet pulleys rotate in opposite directions.

10. The rehabilitation exoskeleton robot as claimed in claim 8, wherein the ratchet pulley is provided with a pawl disc, a pawl, a pulley outer ring, a sheet-shaped expansion spring and a pulley inner ring, the sheet-shaped expansion spring is connected with the pulley outer ring and the pulley inner ring, the pawl is rotatably connected with the pawl disc, an elastic part is arranged between the pawl and the pawl disc, a groove body matched with the pawl disc and the pulley inner ring is arranged on the pulley outer ring, and a limit tooth matched with the pawl is arranged on the groove body matched with the pawl disc on the pulley outer ring.

11. The rehabilitation exoskeleton robot of claim 9, wherein the thigh assembly is provided with a thigh securing strap and a thigh link, the thigh link being connected to the support frame and the thigh bone, the thigh securing strap being connected to the thigh bone; the shank component is provided with a shank fixing bandage connected with a shank, and is also provided with a shank connecting rod connected with the shank, and the shank connecting rod is connected with a pedal.

12. The rehabilitation exoskeleton robot as claimed in claim 11, wherein the support frame is provided with a first link and a second link, the first link is connected with the fixing plate, the gear B is arranged on the first link, the steering member H is arranged on the second link, the second link is detachably connected with the thigh link, and the second link is provided with a plurality of limiting holes connected with the thigh link; the thigh bone is detachably connected with the thigh connecting rod, and a plurality of limiting holes connected with the thigh connecting rod are formed in the thigh bone; the shank is provided with a sliding groove, and the shank connecting rod is connected with the sliding groove.