CN112932890A - Lower limb assistance flexible exoskeleton rehabilitation device - Google Patents

Lower limb assistance flexible exoskeleton rehabilitation device Download PDF

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Publication number
CN112932890A
CN112932890A CN202110041686.9A CN202110041686A CN112932890A CN 112932890 A CN112932890 A CN 112932890A CN 202110041686 A CN202110041686 A CN 202110041686A CN 112932890 A CN112932890 A CN 112932890A
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CN
China
Prior art keywords
fixing
lower limb
fixedly arranged
user
rehabilitation device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110041686.9A
Other languages
Chinese (zh)
Inventor
孙殿珉
马昕
段星光
赵洪华
肖伟
刘昊
胡渊源
赵开宇
赵红卫
成金玲
张跃忠
刘爱芹
巩相峰
范晓华
王超
郭振华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jinan Xinben Information Technology Co ltd
Original Assignee
Jinan Xinben Information Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jinan Xinben Information Technology Co ltd filed Critical Jinan Xinben Information Technology Co ltd
Priority to CN202110041686.9A priority Critical patent/CN112932890A/en
Publication of CN112932890A publication Critical patent/CN112932890A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H23/00Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H7/00Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628Pelvis
    • A61H2201/1633Seat
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2230/00Measuring physical parameters of the user
    • A61H2230/04Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
    • A61H2230/045Heartbeat characteristics, e.g. E.G.C., blood pressure modulation used as a control parameter for the apparatus
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2230/00Measuring physical parameters of the user
    • A61H2230/20Blood composition characteristics
    • A61H2230/201Blood composition characteristics used as a control parameter for the apparatus

Abstract

The invention discloses lower limb assistance flexible exoskeleton rehabilitation equipment, which belongs to the technical field of medical instruments and comprises a seat, wherein a backrest is fixedly arranged on the back surface of the interior of the seat, a cushion pad is fixedly arranged at the bottom of the interior of the seat, a groove is formed in the cushion pad, a turntable is fixedly arranged in the middle of the bottom of the seat, and the bottom of the turntable is rotatably connected with a lifting column; the device assists the feet of a user to rotate and bend through the rotation of the fixing plate A around the rotating shaft A, assists the shanks of the user to rotate and bend through the rotation of the fixing plate B around the rotating shaft B, assists the shanks of the user to carry out lifting training through the movement of the shanks in the sliding rail of the fixing cylinder A, and assists the thighs of the user to carry out exercise training through the rotation of the fixing plate C around the rotating shaft C, so that comprehensive rehabilitation auxiliary training is carried out on the lower limbs of the user, and the training and rehabilitation effects are improved.

Description

Lower limb assistance flexible exoskeleton rehabilitation device
Technical Field
The invention relates to the technical field of medical instruments, in particular to lower limb assistance flexible exoskeleton rehabilitation equipment.
Background
The lower limb comprises one of the components of a human body, including buttocks, perineum, thighs, knees, lower legs and feet, the lower limb easily damages bones in daily life, and the natural recovery period of the bones is long; therefore, equipment is required to assist the lower limb skeleton to carry out rehabilitation training, so that the skeleton rehabilitation time is reduced, and the rehabilitation efficiency is improved; the existing lower limb skeleton rehabilitation equipment has poor fixity on all parts of the lower limb, cannot perform auxiliary exercise on the foot, the calf, the thigh and the whole body of the lower limb at the same time, and has poor auxiliary exercise effect; the invention provides a lower limb assistance flexible exoskeleton rehabilitation device which solves the problems.
Disclosure of Invention
The invention aims to solve the problems that the existing lower limb skeleton rehabilitation equipment has poor fixation on all parts of the lower limb, cannot assist in exercising feet, shanks, thighs and the whole body of the lower limb simultaneously and has poor assisting and exercising effects.
In order to achieve the purpose, the invention adopts the following technical scheme:
a lower limb assistance flexible exoskeleton rehabilitation device comprises a seat, wherein a backrest is fixedly arranged on the back face of the seat, a cushion pad is fixedly arranged at the bottom of the seat, a groove is formed in the cushion pad, a turntable is fixedly arranged in the middle of the bottom of the seat, a lifting column is rotatably connected to the bottom of the turntable, a supporting bottom plate is fixedly arranged at the tail end of the lifting column, rotating shafts C are fixedly arranged on the left side and the right side of the front portion of the seat, a fixing plate C is rotatably connected to the outer portion of the rotating shaft C, a fixing cylinder B is fixedly arranged at the top of the fixing plate C, a rotating shaft B is fixedly arranged at the tail end of the fixing plate C, a fixing plate B is rotatably connected to the outer portion of the rotating shaft B, a sliding rail is arranged in the middle of the top of the fixing plate B, a fixing cylinder A, the outer part of the rotating shaft A is rotatably connected with a fixing plate A.
In this scheme, the width is less than both sides width in the middle of the recess, just the inside of recess evenly is provided with the arch.
In this scheme, the center of back rolls to embed and has massage ball, massage ball is provided with a plurality of altogether, is circle evenly distributed.
In this scheme, two liang of supporting uses of a fixed section of thick bamboo A and a fixed section of thick bamboo B, just fixedly connected with connecting band between the fixed section of thick bamboo A, between the fixed section of thick bamboo B.
In this scheme, a fixed band is fixedly arranged on the outside of the fixed cylinder A and the fixed cylinder B, and a clamping block is fixedly arranged above the fixed band on one side.
In the scheme, the shape and the size of the clamping block are the same as those of the clamping groove of the fixing belt on the other side, and the clamping block is magnetically clamped with the clamping groove.
In this scheme, a fixed cylinder A is provided with the massage post with a fixed cylinder B's inside, just the massage post is provided with a plurality of altogether, and the equivalent divide into three rows of equidistant, even settings.
In this scheme, fixed plate A is "L" form, fixed plate A's the fixed fastening area that is provided with in top both sides, just fixed plate A has seted up the fixed slot.
In this scheme, the fixed slot rear side is circular-arc, just the equidistant massage column cap that evenly is provided with in inside of fixed slot.
In the scheme, the fixing cylinder A, the fixing cylinder B, the fastening belt, the connecting belt and the fixing belt are made of high-elasticity and high-flexibility flexible materials.
In this scheme, can also set up resilience mechanism in pivot B16 to can set up resilience mechanism's angle and dynamics.
Compared with the prior art, the invention provides lower limb assistance flexible exoskeleton rehabilitation equipment, which has the following beneficial effects:
1. according to the lower limb assistance flexible exoskeleton rehabilitation equipment, the massage columns are used for massaging the positions of the thighs and the shanks from different directions, the massage columns are used for massaging the foot bottom plate, the blood circulation of the thighs, the shanks and the soles is promoted, and the overall activity of the lower limbs is improved.
2. This flexible ectoskeleton rehabilitation equipment of low limbs helping hand, it rotates to revolute axle A through fixed plate A, the assistant user foot rotates, crooked training, it rotates to revolute axle B through fixed plate B, the assistant user's shank rotates, crooked training, the shank of supplementary use of removal in the slide rail through fixed cylinder A promotes the training, it rotates to revolute axle C through fixed plate C, the assistant user thigh portion carries out the motion training, carry out comprehensive rehabilitation training with this to user's low limbs, promote training and recovered effect.
Drawings
Fig. 1 is a schematic structural diagram of a lower limb assistance flexible exoskeleton rehabilitation device provided by the invention;
fig. 2 is a schematic structural view of another state of the lower limb assistance flexible exoskeleton rehabilitation device provided by the invention;
fig. 3 is a schematic view of another perspective structure of the lower limb assistance flexible exoskeleton rehabilitation device according to another state of the present invention;
fig. 4 is a schematic sectional structure view of a part B of a fixing plate of a lower limb assistance flexible exoskeleton rehabilitation device provided by the invention.
In the figure: the massage chair comprises a seat 1, a backrest 2, massage balls 3, a cushion 4, a groove 401, a lifting column 5, a supporting bottom plate 6, a fixing cylinder A7, a massage column 8, a fixing plate A9, a fixing groove 901, a massage column head 10, a fastening belt 11, a rotating shaft A12, a connecting belt 13, a clamping block 14, a fixing plate B15, a sliding rail 1501, a rotating shaft B16, a fixing cylinder B17, a fixing plate C18, a rotating shaft C19, a rotating shaft C20 bulge, a rotating disc 21 and a fixing belt.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Fig. 1 to 4 are schematic structural views respectively showing a lower limb assistance flexible exoskeleton rehabilitation device provided by the invention at different viewing angles.
Referring to fig. 1-4, the invention discloses a lower limb assistance flexible exoskeleton rehabilitation device, which comprises a seat 1, wherein a backrest 2 is fixedly arranged on the back surface inside the seat 1, a cushion pad 4 is fixedly arranged at the bottom inside the seat 1, a groove 401 is formed in the cushion pad 4, a turntable 21 is fixedly arranged in the middle of the bottom of the seat 1, a lifting column 5 is rotatably connected to the bottom of the turntable 21, a supporting bottom plate 6 is fixedly arranged at the tail end of the lifting column 5, rotating shafts C19 are fixedly arranged on the left and right sides of the front part of the seat 1, a fixing plate C18 is rotatably connected to the outer part of the rotating shaft C19, a fixing cylinder B17 is fixedly arranged at the top of the fixing plate C18, a rotating shaft B16 is fixedly arranged at the tail end of the fixing plate C18, a fixing plate B15 is rotatably connected to the outer part of the rotating shaft B16, a sliding rail 1501 is arranged in the middle of the top of the fixing, the outer part of the rotating shaft A12 is rotatably connected with a fixed plate A9.
The device of the present invention may be used alone or in combination with a bone rehabilitation machine. In the process of independent use, the device can be independently worn in a user or a patient, the user sits on the seat 1, the shape of the groove 401 is matched with the hip, the hip of the user is massaged through the bulges 20, the back of the user is massaged through the massage balls 3, the comfort of the user is improved, and the bone rehabilitation training of the user is facilitated; secondly, the user places the thigh in the fixed cylinder B17, places the shank in the fixed cylinder A7, through fixed cylinder B17 and the fixed band 22 magnetism joint of the fixed cylinder A7 outside, fix two fixed cylinders A7 and fixed cylinder B17 in user's thigh and shank outside respectively, promote fixed cylinder B17, the elasticity between the fixed cylinder A7 through connecting band 13, make it can all carry out good fixed to the user of different sizes, later place the foot in fixed slot 901 again, fix the foot through fastening band 11. When the skeleton rehabilitation machine is used in a combined mode, the skeleton rehabilitation machine can be used in cooperation with other devices in the machine after a user wears the skeleton rehabilitation machine, and human body information of the user can be acquired independently among the devices and linkage control can be carried out. For example, in the using process, the lower limb assistance flexible exoskeleton rehabilitation device can control massage or rehabilitation actions, if an additional arm joint assistance device is arranged in the machine, the device can also control massage, and the rehabilitation of a user can be more smooth and comfortable by the linkage mode, so that the user experience is improved. The invention is not limited to a specific use scenario, but any technology the same as or similar to the technical solution of the invention will fall into the protection scope of the invention.
It should be noted that the end of the fixed plate C18 is fixedly provided with a rotating shaft B16, and the outer part of the rotating shaft B16 is rotatably connected with a fixed plate B15. A resilient mechanism may also be provided in pivot B16, and the angle and force of the resilient mechanism may be set. By setting the angle of the rebounding mechanism, a user with limited lower limb angle, namely a user with limited knee bending, can adapt to the device more easily when using the device. And the strength of the force is set in the rebounding mechanism, so that the user can exercise the leg muscles of the user according to the self state, and the situation that the user cannot exercise and recover due to insufficient muscle strength is avoided. It is worth mentioning that, rebound mechanism's direction can set up according to the demand, that is to say, can change rebound mechanism's resilience direction, can be toward interior also can be toward outwards carrying out the resilience. Through the change of direction, can adapt to different users' demand.
According to the embodiment of the invention, the width of the middle of the groove 401 is smaller than the widths of the two sides, and the protrusions 20 are uniformly arranged inside the groove 401.
According to the embodiment of the invention, the massage balls 3 are embedded in the center of the backrest 2 in a rolling manner, and a plurality of massage balls 3 are uniformly distributed in a circular shape.
It should be noted that, the massage balls in the invention may further include a vibration motor, and one vibration motor may be provided, and the vibration motor may be connected to each massage ball through a connection device, so that each massage ball may vibrate, and the massage experience of the user may be improved through vibration. The vibration motor is switched on and off in a wireless or wired mode, and it is worth mentioning that the wireless mode can be started by sending signals through a mobile phone or other controllers.
It should be noted that, the massage device can also detect the body state of the user and judge whether the state of the user needs to be massaged, and if the user needs to be massaged, the massage device sends an opening signal to enable the vibration motor to be opened, so that the massage ball is driven to vibrate, and the massage effect is achieved. The specific method comprises the following steps: acquiring body state information of a user; judging whether the user is in a waking state; if the user is in the waking state, judging whether the body state information of the user is in a preset state threshold range; and if the current state is within the preset state threshold range, sending an opening signal to the vibration motor. It will be appreciated that the massage may be performed while the user is awake, may cause injury to the user if the user is in a coma or sleep state, and that the intensity of the massage is preferably self-regulated and controlled by the user during use.
It can be understood that, when determining the user status, the determination may be performed by an external device, or may be performed in the apparatus of the present invention. If the judgment is carried out in the device, the human body biological characteristic sensor arranged in the device is used for acquiring the human body information, and then whether the vibration massage can be carried out or not is judged according to the human body information. The human body biological characteristic sensor can be an infrared blood oxygen sensor, a pulse sensor, a vibration sensor and the like. The human body biological characteristic sensor can transmit the human body data to local or other equipment after collecting the human body data, and the human body state is calculated and judged through the data.
It should be noted that, a plurality of massage balls 3 may be provided, or the massage balls may be arranged asymmetrically, that is, they are not evenly distributed in a circle, and those skilled in the art may perform corresponding arrangement according to actual needs. For example, the massage balls may be arranged in a trapezoidal shape, and a larger number of the massage balls may be arranged near the waist, and a smaller number of the massage balls may be arranged upward.
According to the embodiment of the invention, the fixed cylinders A7 and the fixed cylinders B17 are matched pairwise, and the connecting belts 13 are fixedly connected between the fixed cylinders A7 and between the fixed cylinders B17. The fixing cylinder a7 fixes the lower leg, and the fixing cylinder B17 fixes the upper leg.
According to the embodiment of the invention, the fixing belt 22 is fixedly arranged on the outer sides of the fixing cylinder A7 and the fixing cylinder B17, and the fixture block 14 is fixedly arranged above the fixing belt 22 on one side.
According to the embodiment of the present invention, the shape and size of the clamping block 14 are the same as those of the clamping groove of the other side fixing band 22, and the clamping block 14 is magnetically clamped with the clamping groove.
When the fixing device is used, a user places thighs in the fixing cylinder B17 and shanks in the fixing cylinder A7, the fixing cylinder B17 is magnetically clamped with the fixing belt 22 on the outer side of the fixing cylinder A7, the fixing cylinders A7 and the fixing cylinder B17 are fixed to the outsides of the thighs and the shanks of the user respectively, and the elasticity between the fixing cylinder B17 and the fixing cylinder A7 is lifted through the connecting belt 13, so that the fixing device can be well fixed to users of different body types.
According to the embodiment of the invention, the massage columns 8 are arranged inside the fixed cylinder A7 and the fixed cylinder B17, and the massage columns 8 are arranged in a plurality of rows which are equally divided into three rows and are equally spaced and evenly arranged.
According to the embodiment of the invention, the fixing plate a9 is in an "L" shape, the fastening belts 11 are fixedly arranged on two sides of the top of the fixing plate a9, and the fixing groove 901 is formed in the fixing plate a 9.
According to the embodiment of the present invention, the rear side of the fixing groove 901 is arc-shaped, and the massage posts 10 are uniformly arranged in the fixing groove 901 at equal intervals.
According to the embodiment of the invention, the fixing cylinder A7, the fixing cylinder B17, the fastening belt 11, the connecting belt 13 and the fixing belt 22 are made of high-elasticity and high-flexibility flexible materials.
In order to better describe the technical scheme of the invention, the following detailed description explains the specific use mode of the invention.
According to the technical scheme, firstly, the lower limb assistance flexible exoskeleton rehabilitation device is correctly installed and connected, a user sits on the seat 1, the shape of the groove 401 is matched with the hip, the hip of the user is massaged through the protrusions 20, the back of the user is massaged through the massage balls 3, the comfort of the user is improved, and the lower limb assistance flexible exoskeleton rehabilitation device is beneficial for bone rehabilitation training of the user; secondly, a user places thighs in a fixing cylinder B17, places shanks in a fixing cylinder A7, magnetically clamps the fixing cylinder B17 with a fixing belt 22 on the outer side of a fixing cylinder A7, fixes two fixing cylinders A7 and a fixing cylinder B17 outside the thighs and the shanks of the user respectively, lifts elasticity between the fixing cylinder B17 and the fixing cylinder A7 through a connecting belt 13, enables the fixing cylinder B17 and the fixing cylinder A7 to be well fixed for users of different body types, then places feet in a fixing groove 901, and fixes the feet through a fastening belt 11; then, different parts of thighs and shanks are massaged from different directions through the massage columns 8, and the foot bottom plate is massaged through the massage column heads 10, so that blood circulation of the thighs, the shanks and the soles is promoted, and the overall activity of lower limbs is improved; finally, the fixing plate A9 rotates around the rotating shaft A12 to assist the feet of the user to rotate and bend, the fixing plate B15 rotates around the rotating shaft B16 to assist the shanks of the user to rotate and bend, the shanks of the user used in an assisting mode through movement in the sliding rails 1501 of the fixing cylinder A7 are lifted and trained, and the fixing plate C18 rotates around the rotating shaft C19 to assist the thighs of the user to perform exercise training, so that comprehensive rehabilitation assisting training is performed on the lower limbs of the user, and training and rehabilitation effects are improved; the seat 1 is driven to rotate through the turntable 21, the height of the seat is changed through the lifting column 5, and the usability of the seat is improved.
According to the lower limb assistance flexible exoskeleton rehabilitation equipment, the massage columns are used for massaging the feeding parts of the thighs and the shanks from different directions, the massage columns are used for massaging the foot bottom plate, the blood circulation of the thighs, the shanks and the soles is promoted, and the overall activity of the lower limbs is improved.
According to the lower limb assistance flexible exoskeleton rehabilitation equipment, the feet of a user are assisted to rotate and bend through the rotation of the fixing plate A around the rotating shaft A, the legs of the user are assisted to rotate and bend through the rotation of the fixing plate B around the rotating shaft B, the legs used for assisting in moving in the sliding rail of the fixing cylinder A are assisted to carry out lifting training, and the thighs of the user are assisted to carry out motion training through the rotation of the fixing plate C around the rotating shaft C, so that the lower limbs of the user are comprehensively assisted to carry out rehabilitation training, and the training and rehabilitation effects are improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a lower limb assistance flexible exoskeleton rehabilitation device, which comprises a seat (1) and is characterized in that a backrest (2) is fixedly arranged on the back of the seat (1), a cushion pad (4) is fixedly arranged at the bottom of the seat (1), a groove (401) is formed in the cushion pad (4), a turntable (21) is fixedly arranged in the middle of the bottom of the seat (1), a lifting column (5) is rotatably connected to the bottom of the turntable (21), a supporting bottom plate (6) is fixedly arranged at the tail end of the lifting column (5), rotating shafts C (19) are fixedly arranged at the left side and the right side of the front part of the seat (1), a fixing plate C (18) is rotatably connected to the outside of the rotating shafts C (19), a fixing cylinder B (17) is fixedly arranged at the top of the fixing plate C (18), and a rotating shaft B (16) is fixedly arranged at the tail end of, the outside of pivot B (16) is rotated and is connected with fixed plate B (15), be provided with slide rail (1501) in the middle of the top of fixed plate B (15), the inside sliding connection of slide rail (1501) has a fixed section of thick bamboo A (7), the terminal middle part fixed mounting of fixed plate B (15) has pivot A (12), the outside of pivot A (12) is rotated and is connected with fixed plate A (9).
2. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein the width of the middle of the groove (401) is smaller than that of the two sides, and the inside of the groove (401) is uniformly provided with the protrusions (20).
3. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein a plurality of massage balls (3) are embedded in the center of the backrest (2) in a rolling manner and are uniformly distributed in a circular shape, and the massage balls (3) are arranged in a plurality.
4. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein the fixed cylinders A (7) and the fixed cylinders B (17) are matched in pairs, and connecting belts (13) are fixedly connected between the fixed cylinders A (7) and between the fixed cylinders B (17).
5. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 4, wherein fixing belts (22) are fixedly arranged on the outer sides of the fixing cylinder A (7) and the fixing cylinder B (17), and a clamping block (14) is fixedly arranged above the fixing belt (22) on one side.
6. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 5, wherein the shape and size of the clamping block (14) are the same as those of the clamping groove of the other side fixing belt (22), and the clamping block (14) is magnetically clamped with the clamping groove.
7. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein massage columns (8) are arranged inside the fixed cylinder A (7) and the fixed cylinder B (17), and the massage columns (8) are arranged in a plurality of rows, and are equally divided into three rows which are equally spaced and evenly arranged.
8. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein the fixing plate A (9) is L-shaped, fastening belts (11) are fixedly arranged on two sides of the top of the fixing plate A (9), and fixing grooves (901) are formed in the fixing plate A (9).
9. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein the rear side of the fixing groove (901) is arc-shaped, and the inside of the fixing groove (901) is uniformly provided with massage column heads (10) at equal intervals.
10. The lower limb assistance flexible exoskeleton rehabilitation device according to claim 1, wherein the fixing cylinder A (7), the fixing cylinder B (17), the fastening belt (11), the connecting belt (13) and the fixing belt (22) are made of high-elasticity and high-flexibility flexible materials.
CN202110041686.9A 2021-01-13 2021-01-13 Lower limb assistance flexible exoskeleton rehabilitation device Pending CN112932890A (en)

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