CN112603760A - Exoskeleton device for rehabilitation training for assisting activities - Google Patents

Exoskeleton device for rehabilitation training for assisting activities Download PDF

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Publication number
CN112603760A
CN112603760A CN202011530727.2A CN202011530727A CN112603760A CN 112603760 A CN112603760 A CN 112603760A CN 202011530727 A CN202011530727 A CN 202011530727A CN 112603760 A CN112603760 A CN 112603760A
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China
Prior art keywords
groove
fixed
rod
support
transmission
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CN202011530727.2A
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Chinese (zh)
Inventor
赵子敬
黄振梅
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Individual
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Individual
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Priority to CN202011530727.2A priority Critical patent/CN112603760A/en
Publication of CN112603760A publication Critical patent/CN112603760A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H18/00—Winding webs
    • B65H18/08—Web-winding mechanisms
    • B65H18/10—Mechanisms in which power is applied to web-roll spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to an exoskeleton device for rehabilitation training for assisting activities, which comprises a waist frame, wherein fixing frames are fixed on two sides of the waist frame, a mounting frame is arranged at the bottom of each fixing frame, a screw rod groove is formed in the top of each mounting frame, a screw rod is connected to the inside of each screw rod groove in a threaded manner, the top of each screw rod penetrates through the inside of each fixing frame and extends to the outside, a guide rod groove is formed in the bottom of one side, close to the screw rod, of each fixing frame, and a guide rod is fixed on one side, corresponding to the guide rod groove, of each mounting. This exoskeleton device for rehabilitation training of auxiliary activities, when the motor drove thigh support and rotates, made thigh support patient thigh department, supplementary thigh lifts up, and thigh support drives shank support through first driving tooth and second driving tooth and rotates to the opposite direction simultaneously, makes shank support can drive patient shank simultaneously and carries out the bending, is convenient for make the shank bend when the patient lifts the leg, makes patient's walking more natural.

Description

Exoskeleton device for rehabilitation training for assisting activities
Technical Field
The invention relates to the technical field of rehabilitation training, in particular to an exoskeleton device for rehabilitation training for assisting activities.
Background
An exoskeleton or powered exoskeleton is a machine device which is composed of a steel framework and can be worn by a person, the equipment can provide extra energy for four limbs to move, and in the process of rehabilitation training of a patient, the exoskeleton device for rehabilitation training is required to be used for assisting the patient to move.
The leg support of the existing exoskeleton device for rehabilitation training is a whole, when a patient needs to be assisted to lift legs, the thigh and the shank of the patient can only be lifted simultaneously, great inconvenience is caused to the walking of the patient, and the exoskeleton device for rehabilitation training assists in activities, so that the problems in the prior art are solved.
Disclosure of Invention
The invention aims to provide an exoskeleton device for rehabilitation training for assisting activities, which aims to solve the problems that the leg support of the existing exoskeleton device for rehabilitation training is a whole, and only thighs and shanks of a patient can be lifted simultaneously when the patient needs to be assisted to lift legs, so that great inconvenience is caused to the walking of the patient, and the use is inconvenient.
In order to achieve the purpose, the invention provides the following technical scheme: an exoskeleton device for rehabilitation training assisting activities comprises a waist frame, wherein fixing frames are fixed on two sides of the waist frame, a mounting frame is arranged at the bottom of each fixing frame, wherein,
the top of the mounting frame is provided with a screw rod groove, a screw rod is in threaded connection with the inside of the screw rod groove, the top of the screw rod penetrates through the inside of the mounting frame and extends to the outside, the bottom of one side, close to the screw rod, of the mounting frame is provided with a guide rod groove, one side, corresponding to the guide rod groove, of the mounting frame is fixedly provided with a guide rod, the inner side, close to the upper side, of the mounting frame is rotatably connected with a thigh support, the lower side, close to the thigh support, of the mounting frame is rotatably connected with a shank support, and the thigh support;
the utility model discloses a thigh support, including thigh support, shank support, installation mechanism, motor, first transmission gear, the bandage is all installed to thigh support and the inboard of shank support, bandage one end is passed through installation mechanism and thigh support, shank support fixed connection, the bandage other end passes through adjustment mechanism and thigh support, shank support fixed connection, the mounting bracket is close to thigh support top one side and installs the motor, the axle head and the thigh support fixed connection of motor, the bottom equidistance of thigh support is fixed with first transmission gear, the top equidistance of shank support is fixed with the second transmission gear.
Preferably, the inner side of the waist frame is fixed with a soft pad, and the soft pad is fixedly connected with the waist frame through gluing.
Preferably, the outer diameter of the guide rod is matched with the inner diameter of the guide rod groove, and the guide rod groove form a guide structure.
Preferably, the tooth pitch of the first transmission tooth is equal to that of the second transmission tooth, and the first transmission tooth is meshed with the second transmission tooth.
Preferably, an installation head is fixed to one end of the binding band, a mounting groove is formed in one side, corresponding to the installation head, of the thigh support and the shank support, fixing block grooves are formed in two sides, located in the mounting groove, of the installation head, fixing grooves are formed in the inner sides, corresponding to the fixing block grooves, of the thigh support and the shank support, fixing grooves are formed in two sides, located outside the mounting groove, of the installation head, pressing rod grooves are formed in two sides, located outside the mounting groove, of the installation head, the pressing rod grooves are communicated with the fixing block grooves through connecting grooves, fixing blocks are arranged inside the fixing block grooves, first springs are fixed inside the pressing rod grooves, pressing rods are fixed to the tops of the.
Preferably, the external dimension of the fixing block is matched with the internal dimension of the fixing groove, and the fixing block and the fixing groove form a clamping structure.
Preferably, the pressure lever is elastically connected with the mounting head through a first spring.
Preferably, state the bandage other end and be fixed with the receiver, receiver and thigh support, shank support fixed connection, the groove of accomodating has been seted up to the inside of receiver, the receiver is close to one side of accomodating the groove and has been seted up the opening, the inside rotation of accomodating the groove is connected with the winding rod, the transmission groove has been seted up to the one end of winding rod, the inside of transmission groove is provided with the transmission piece, one side that the groove was accomodate in keeping away from to the transmission piece is fixed with the transfer line, one section cover that the transfer line is located the transmission groove has the second spring, the tooth's socket has been seted up to the tip that the receiver is close to the transfer line, the one end that the transfer line is located the tooth's socket is.
Preferably, the pitch of the gear is equal to the pitch of the tooth socket, and the gear is meshed with the tooth socket.
Compared with the prior art, the invention has the beneficial effects that:
1. this exoskeleton device for rehabilitation training of auxiliary activities, when the motor drove thigh support and rotates, made thigh support patient thigh department, supplementary thigh lifts up, and thigh support drives shank support through first driving tooth and second driving tooth and rotates to the opposite direction simultaneously, makes shank support can drive patient shank simultaneously and carries out the bending, is convenient for make the shank bend when the patient lifts the leg, makes patient's walking more natural.
2. This ectoskeleton device for rehabilitation training of auxiliary activity rotates the lead screw, makes lead screw and mounting bracket produce relative rotation through the guide arm, makes the lead screw drive thigh support and shank support through the mounting bracket and goes up and down, leads to the lift of thigh support and shank support through the guide structure that guide arm and guide bar groove constitute simultaneously, is convenient for adjust the height of thigh support and shank support according to patient's shank length, makes the junction of thigh support and shank support laminate mutually with patient's knee department.
3. This exoskeleton device for rehabilitation training of auxiliary activity, the installation head drives the bandage and bypasses patient's shank, press both sides depression bar simultaneously, make the depression bar drive the inside that the fixed block got into the fixed block groove, first spring compression simultaneously, later make installation head tip get into the inside of mounting groove, after installation head tip supports the mounting groove inner, loosen the depression bar, first spring promotes the inside that the fixed block got into the fixed slot, make installation head and thigh support through the fixed block, shank support fixed connection, be convenient for with thigh support, shank support and patient's shank fixed connection.
4. This exoskeleton device for rehabilitation training of auxiliary activities, when needing to enclose the length to the bandage according to patient's shank leg, make the knob drive the gear shift out inside the tooth's socket, the second spring compression simultaneously, later rotate the knob, make the knob pass through the transfer line and drive the winding bar rotation with the transmission piece, it is taut to carry out the rolling to bandage one end, make the bandage hug closely patient's shank, later make inside the gear gets into the tooth's socket, it shifts out the tooth's socket easily to avoid the gear to rotate through the second spring, avoid the winding bar to rotate through the gear, fix the rolling state of bandage, be convenient for enclose the length to the bandage according to patient's shank leg and adjust.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the thigh support and the shank support of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 2B;
FIG. 5 is an enlarged view of a portion of the structure of FIG. 2 at C according to the present invention.
In the figure: 1. a waist frame; 2. a soft cushion; 3. a fixed mount; 4. a mounting frame; 5. a screw rod groove; 6. a screw rod; 7. a guide bar groove; 8. a guide bar; 9. a thigh support; 10. a shank support; 11. binding bands; 12. a motor; 13. a first drive tooth; 14. a second gear; 15. a storage box; 16. a mounting head; 17. mounting grooves; 18. a fixed block groove; 19. fixing grooves; 20. a pressure bar groove; 21. connecting grooves; 22. a fixed block; 23. a first spring; 24. a pressure lever; 25. a connecting rod; 26. a receiving groove; 27. an opening; 28. winding the rod; 29. a transmission groove; 30. a transmission block; 31. a transmission rod; 32. a second spring; 33. a tooth socket; 34. a gear; 35. a knob.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: an exoskeleton device for rehabilitation training of auxiliary activities comprises a waist frame 1, soft pads 2, a fixing frame 3, a mounting frame 4, a screw rod groove 5, a screw rod 6, a guide rod groove 7, a guide rod 8, a thigh support 9, a shank support 10, a binding band 11, a motor 12, a first transmission tooth 13, a second transmission tooth 14, a storage box 15, a mounting head 16, a mounting groove 17, a fixing block groove 18, a fixing groove 19, a pressing rod groove 20, a connecting groove 21, a fixing block 22, a first spring 23, a pressing rod 24, a connecting rod 25, a storage groove 26, an opening 27, a winding rod 28, a transmission groove 29, a transmission block 30, a transmission rod 31, a second spring 32, a tooth groove 33, a gear 34 and a knob 35, wherein the fixing frame 3 is fixed on two sides of the waist frame 1, the soft pads 2 are fixed on the inner side of the waist frame 1, the soft pads 2 are fixedly connected with the waist frame 1 through gluing, the mounting frame, wherein the content of the first and second substances,
the top of the mounting frame 4 is provided with a screw rod groove 5, the screw rod 6 is in threaded connection with the inside of the screw rod groove 5, the top of the screw rod 6 penetrates through the inside of the mounting frame 3 and extends to the outside, the bottom of one side of the mounting frame 3, which is close to the screw rod 6, is provided with a guide rod groove 7, one side of the mounting frame 4, which corresponds to the guide rod groove 7, is fixed with a guide rod 8, the outer diameter of the guide rod 8 is matched with the inner diameter of the guide rod groove 7, the guide rod 8 and the guide rod groove 7 form a guide structure, when the heights of the thigh support 9 and the shank support 10 need to be adjusted, the screw rod 6 is rotated, the screw rod 6 and the mounting frame 4 are relatively rotated through the guide rod 8, the screw rod 6 drives the thigh support 9 and the shank support 10 to be lifted through the mounting frame 4, and the lifting of the thigh support 9 and the shank support 10 is guided through the guide structure formed by the, the joint of the thigh support 9 and the shank support 10 is attached to the knee of the patient, the inner side of the mounting frame 4 close to the upper part is rotatably connected with the thigh support 9, the lower part of the mounting frame 4 close to the thigh support 9 is rotatably connected with the shank support 10, and the thigh support 9 and the shank support 10 are rotatably connected with the mounting frame 4 close to the upper part;
the inner sides of the thigh support 9 and the shank support 10 are both provided with a bandage 11, one end of the bandage 11 is fixedly connected with the thigh support 9 and the shank support 10 through an installation mechanism, the other end of the bandage 11 is fixedly connected with the thigh support 9 and the shank support 10 through an adjustment mechanism, one side of the installation frame 4, which is close to the upper side of the thigh support 9, is provided with a motor 12, the shaft end of the motor 12 is fixedly connected with the thigh support 9, the bottom of the thigh support 9 is equidistantly fixed with first transmission teeth 13, the tooth pitch of the first transmission teeth 13 is equal to that of the second transmission teeth 14, the first transmission teeth 13 are meshed with the second transmission teeth 14, when the motor 12 drives the thigh support 9 to rotate, the thigh support 9 supports the thigh of a patient to assist the lifting of the thigh, and meanwhile, the thigh support 9 drives the shank support 10 to rotate in the opposite direction through the first transmission teeth 13 and the second transmission, the shank support 10 can simultaneously drive the shank of the patient to bend, so that the shank of the patient can be bent when the patient lifts the leg, the patient can walk more naturally, and the second transmission teeth 14 are fixed on the top of the shank support 10 at equal intervals;
an installation head 16 is fixed at one end of the binding band 11, a mounting groove 17 is formed in one side of the thigh support 9 corresponding to the installation head 16, fixing block grooves 18 are formed in two sides of the installation head 16 located in the mounting groove 17, fixing grooves 19 are formed in the inner sides of the thigh support 9 corresponding to the fixing block grooves 18 of the shank support 10, pressing rod grooves 20 are formed in two sides of the installation head 16 located outside the mounting groove 17, the pressing rod grooves 20 are communicated with the fixing block grooves 18 through the connecting grooves 21, fixing blocks 22 are arranged inside the fixing block grooves 18, first springs 23 are fixed inside the pressing rod grooves 20, pressing rods 24 are fixed at the tops of the first springs 23, and the pressing rods 24 are fixedly connected with the fixing blocks 22 through connecting rods 25;
the external size of the fixing block 22 is matched with the internal size of the fixing groove 19, and the fixing block 22 and the fixing groove 19 form a clamping structure, the press rod 24 is elastically connected with the mounting head 16 through the first spring 23, when the thigh support 9 and the shank support 10 are fixedly connected with the leg of the patient through the bandage 11, the mounting head 16 drives the bandage 11 to bypass the leg of the patient, meanwhile, the pressing rods 24 at the two sides are pressed, so that the fixing blocks 22 are driven by the pressing rods 24 to enter the fixing block grooves 18, while the first spring 23 is compressed, and thereafter the end of the mounting head 16 is caused to enter the interior of the mounting groove 17, when the end of the mounting head 16 is abutted against the inner end of the mounting groove 17, the pressing rod 24 is released, the first spring 23 pushes the fixing block 22 into the inside of the fixing groove 19, the mounting head 16 is fixedly connected with the thigh support 9 and the shank support 10 through the fixing block 22, so that the thigh support 9 and the shank support 10 are conveniently and fixedly connected with the leg of the patient;
a storage box 15 is fixed to the other end of the binding band 11, the storage box 15 is fixedly connected with the thigh support 9 and the shank support 10, a storage groove 26 is formed in the storage box 15, an opening 27 is formed in one side, close to the storage groove 26, of the storage box 15, a winding rod 28 is rotatably connected to the inside of the storage groove 26, a transmission groove 29 is formed in one end of the winding rod 28, a transmission block 30 is arranged in the transmission groove 29, a transmission rod 31 is fixed to one side, far away from the storage groove 26, of the transmission block 30, a second spring 32 is sleeved on one section, located in the transmission groove 29, of the transmission rod 31, a tooth groove 33 is formed in the end, close to the transmission rod 31, of the transmission rod 31, a gear 34 is fixed to one end, located in the tooth groove 33, and a knob 35 is fixed to the outer side;
the pitch of the gear 34 is equal to the pitch of the tooth grooves 33, the gear 34 is meshed with the tooth grooves 33, when the length of the bandage 11 needs to be adjusted according to the leg circumference of a patient, the knob 35 drives the gear 34 to move out of the tooth grooves 33, meanwhile, the second spring 32 compresses, the knob 35 rotates, the knob 35 drives the winding rod 28 to rotate through the transmission rod 31 and the transmission block 30, one end of the bandage 11 is wound and tensioned, the bandage 11 is tightly attached to the leg of the patient, the gear 34 enters the tooth grooves 33, the gear 34 is prevented from easily moving out of the tooth grooves 33 through the second spring 32, the winding rod 28 is prevented from rotating through the gear 34, the winding state of the bandage 11 is fixed, and the length of the bandage 11 is convenient to adjust according to the leg circumference of the patient.
The working principle is as follows: when the exoskeleton device for rehabilitation training with auxiliary activities is used, firstly, a waist frame 1 is installed on the waist of a patient, then an installation head 16 drives a binding belt 11 to bypass the leg of the patient, simultaneously, two side pressure rods 24 are pressed, the pressure rods 24 drive a fixing block 22 to enter the inside of a fixing block groove 18, simultaneously, a first spring 23 is compressed, then, the end part of the installation head 16 enters the inside of a mounting groove 17, after the end part of the installation head 16 abuts against the inner end of the mounting groove 17, the pressure rods 24 are loosened, the first spring 23 pushes the fixing block 22 to enter the inside of a fixing groove 19, the installation head 16 is fixedly connected with a thigh support 9 and a shank support 10 through the fixing block 22, so that the thigh support 9 and the shank support 10 are fixedly connected with the leg of the patient, then, a knob 35 drives a gear 34 to move out of a tooth groove 33, simultaneously, a second spring 32 is compressed, then, the knob, carry out the rolling to bandage 11 one end taut, make bandage 11 hug closely patient's shank, later make gear 34 get into inside tooth's socket 33, inside second spring 32 avoided gear 34 to shift out tooth's socket 33 easily, avoid rolling pole 28 to rotate through gear 34, fix bandage 11's rolling state, be convenient for enclose the length to bandage 11 according to patient's shank, when motor 12 drives thigh support 9 and rotates, make thigh support 9 support patient thigh department, supplementary thigh lifts up, thigh support 9 drives shank support 10 through first driving tooth 13 and second driving tooth 14 and rotates to the opposite direction simultaneously, make shank support 10 can drive patient's shank simultaneously and bend, be convenient for make the shank bend when the patient lifts up the leg, make patient's walking more natural.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims (9)

1. An exoskeleton device for rehabilitation training assisting activities comprises a waist frame (1), and is characterized in that: the two sides of the waist frame (1) are fixed with fixed frames (3), the bottom of the fixed frame (3) is provided with a mounting frame (4), wherein,
the top of the mounting rack (4) is provided with a screw rod groove (5), the inner thread of the screw rod groove (5) is connected with a screw rod (6), the top of the screw rod (6) penetrates through the inside of the mounting rack (3) and extends to the outer side, the bottom of one side, close to the screw rod (6), of the mounting rack (3) is provided with a guide rod groove (7), one side, corresponding to the guide rod groove (7), of the mounting rack (4) is fixed with a guide rod (8), the inner side, close to the upper side, of the mounting rack (4) is rotatably connected with a thigh support (9), the lower side, close to the thigh support (9), of the mounting rack (4) is rotatably connected with a shank support (10), and the upper sides of the thigh support (9) and the shank support (;
bandage (11) are all installed with the inboard of shank support (10) in thigh support (9), installation mechanism and thigh support (9), shank support (10) fixed connection are passed through to bandage (11) one end, bandage (11) other end passes through adjustment mechanism and thigh support (9), shank support (10) fixed connection, mounting bracket (4) are close to thigh support (9) top one side and install motor (12), the axle head and thigh support (9) fixed connection of motor (12), the bottom equidistance of thigh support (9) is fixed with first transmission tooth (13), the top equidistance of shank support (10) is fixed with second transmission tooth (14).
2. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 1, wherein: the inside of waist frame (1) is fixed with cushion (2), cushion (2) are through veneer and waist frame (1) fixed connection.
3. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 1, wherein: the outer diameter of the guide rod (8) is matched with the inner diameter of the guide rod groove (7), and the guide rod (8) and the guide rod groove (7) form a guide structure.
4. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 1, wherein: the tooth pitch of the first transmission teeth (13) is equal to that of the second transmission teeth (14), and the first transmission teeth (13) are meshed with the second transmission teeth (14).
5. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 1, wherein: the installation mechanism comprises an installation head (16), an installation groove (17), a fixed block groove (18), a fixed groove (19), a pressure rod groove (20), a connecting groove (21), a fixed block (22), a first spring (23), a pressure rod (24) and a connecting rod (25), wherein the installation head (16) is fixed at one end of the binding band (11), the installation groove (17) is respectively formed in one side of the thigh support (9) corresponding to the installation head (16) and one side of the shank support (10) corresponding to the installation head (16), the fixed block grooves (18) are formed in two sides of the installation head (16) positioned in the installation groove (17), the fixed grooves (19) are respectively formed in the inner sides of the thigh support (9) and the shank support (10) corresponding to the fixed block grooves (18), the pressure rod grooves (20) are formed in two sides of the installation head (16) positioned outside the installation groove (17), and the pressure rod, the inner part of the fixed block groove (18) is provided with a fixed block (22), the inner part of the pressure rod groove (20) is fixed with a first spring (23), the top of the first spring (23) is fixed with a pressure rod (24), and the pressure rod (24) is fixedly connected with the fixed block (22) through a connecting rod (25).
6. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 5, wherein: the external dimension of the fixing block (22) is matched with the internal dimension of the fixing groove (19), and the fixing block (22) and the fixing groove (19) form a clamping structure.
7. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 5, wherein: the pressure lever (24) is elastically connected with the mounting head (16) through a first spring (23).
8. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 1, wherein: the adjusting mechanism comprises a storage box (15), a storage groove (26), an opening (27), a winding rod (28), a transmission groove (29), a transmission block (30), a transmission rod (31), a second spring (32), a tooth groove (33), a gear (34) and a knob (35), wherein the storage box (15) is fixed at the other end of the binding band (11), the storage box (15) is fixedly connected with a thigh support (9) and a shank support (10), the storage groove (26) is formed in the storage box (15), the opening (27) is formed in one side, close to the storage groove (26), of the storage box (15), the winding rod (28) is rotatably connected in the storage groove (26), the transmission groove (29) is formed in one end of the winding rod (28), the transmission block (30) is arranged in the transmission groove (29), the transmission rod (31) is fixed on one side, far away from the storage groove (26), of the transmission block (30), one section cover that transfer line (31) are located drive groove (29) has second spring (32), tooth's socket (33) have been seted up to receiver (15) tip near transfer line (31), one end that transfer line (31) are located tooth's socket (33) is fixed with gear (34), the outside that gear (34) are close to tooth's socket (33) is fixed with knob (35).
9. An active-assisting exoskeleton device for rehabilitation training as claimed in claim 8, wherein: the pitch of the gear (34) is equal to the pitch of the tooth grooves (33), and the gear (34) is meshed with the tooth grooves (33).
CN202011530727.2A 2020-12-22 2020-12-22 Exoskeleton device for rehabilitation training for assisting activities Withdrawn CN112603760A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011530727.2A CN112603760A (en) 2020-12-22 2020-12-22 Exoskeleton device for rehabilitation training for assisting activities

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011530727.2A CN112603760A (en) 2020-12-22 2020-12-22 Exoskeleton device for rehabilitation training for assisting activities

Publications (1)

Publication Number Publication Date
CN112603760A true CN112603760A (en) 2021-04-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011530727.2A Withdrawn CN112603760A (en) 2020-12-22 2020-12-22 Exoskeleton device for rehabilitation training for assisting activities

Country Status (1)

Country Link
CN (1) CN112603760A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114191266A (en) * 2021-12-24 2022-03-18 青岛理工大学 Hip stress supporting device of rehabilitation exoskeleton robot
CN114366558A (en) * 2021-12-31 2022-04-19 华南理工大学 Detachable quick wearing lower limb rehabilitation exoskeleton system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114191266A (en) * 2021-12-24 2022-03-18 青岛理工大学 Hip stress supporting device of rehabilitation exoskeleton robot
CN114191266B (en) * 2021-12-24 2023-09-22 青岛理工大学 Hip stress supporting device of rehabilitation exoskeleton robot
CN114366558A (en) * 2021-12-31 2022-04-19 华南理工大学 Detachable quick wearing lower limb rehabilitation exoskeleton system

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Application publication date: 20210406