CN113693897B - Exoskeleton rehabilitation training device - Google Patents

Abstract

The invention discloses exoskeleton rehabilitation training equipment, which comprises a trolley, an exoskeleton mechanism and a power output control mechanism, wherein the trolley comprises a left bracket and a right bracket, driving wheels are arranged on the side surfaces of the left bracket and the right bracket, a driving gear and a transmission gear which are meshed with each other are arranged on the left bracket and the right bracket, a cross rod, a cushion and a pedal are detachably arranged between the left bracket and the right bracket, power shafts are arranged in the middle parts of the two driving wheels, the driving gears are arranged outside the corresponding power shafts, the power output control mechanism comprises a power switching mechanism and two power transmission mechanisms, the power switching mechanism is used for controlling whether the power shafts and the driving gears rotate synchronously, and two ends of the power transmission mechanisms are respectively connected with the transmission gear and the exoskeleton mechanism so as to drive the exoskeleton mechanism to move. The invention has the advantages of helping patients to perform passive rehabilitation training, integrating the functions of a cart and rehabilitation training, enabling the exoskeleton to rotate through the wheels to realize driving without depending on a power supply, and the like.

Description

Exoskeleton rehabilitation training device

Technical Field

The invention belongs to the technical field of rehabilitation training equipment, and particularly relates to exoskeleton rehabilitation training equipment.

Background

Exoskeleton rehabilitation training devices such as rehabilitation carts are commonly used for rehabilitation training, and two types of existing rehabilitation carts are mainly used, namely a wheelchair cart, and the other type of exoskeleton is additionally arranged on the wheelchair cart. The first kind of wheelchair shallow generally need rely on patient's own motion ability that has each joint of low limbs when using, can't carry out passive rehabilitation training, and the second kind is because the exoskeleton adopts electromagnetic drive mode mostly, and whole exoskeleton is comparatively complicated and bulky, installs and dresses and use comparatively inconvenient, receives the restriction of battery capacity during rehabilitation training, can't carry out long-time training outdoor, and the footboard cushion is difficult for the dismouting.

Disclosure of Invention

The invention aims to solve the problems in the background technology, and provides exoskeleton rehabilitation training equipment which can help patients to perform passive rehabilitation training, integrates the functions of a cart and rehabilitation training, enables the exoskeleton to rotate through wheels to realize driving without depending on a power supply, is convenient and reliable to integrally wear and use, and facilitates disassembly and assembly of a pedal cushion.

In order to achieve the above object, the invention provides an exoskeleton rehabilitation training device, which comprises a cart, an exoskeleton mechanism and a power output control mechanism, wherein the exoskeleton mechanism and the power output control mechanism are arranged on the cart, the cart comprises a left bracket and a right bracket, the side surfaces of the left bracket and the right bracket are respectively provided with a driving wheel, the exoskeleton mechanism comprises a lower leg exoskeleton assembly and a thigh exoskeleton assembly, the left bracket and the right bracket are respectively provided with a driving gear and a transmission gear which are meshed, a cross rod, a pedal and a cushion are detachably arranged between the left bracket and the right bracket, the middle part of the driving wheel is provided with a power shaft, the driving gears are arranged outside the power shaft, the power output control mechanism comprises a power switching mechanism and two power transmission mechanisms, the power switching mechanism comprises a power output rod, a clutch device and an elbow clamp, the first end of the power output rod is connected with one of the driving gear side surfaces by a fixed sleeve, the first end of the clutch device is connected with the power output rod through a connecting sleeve, the second end of the clutch device is connected with the side surface of the other driving gear in an adapting way, the clutch device is arranged outside the power output rod, a cross rod, a pedal and a cushion is detachably arranged between the left bracket and the right bracket, the driving gear is provided with a power shaft, the power shaft is arranged at the middle part of the driving gear is arranged, the driving mechanism is arranged outside the power shaft, the power output rod is arranged outside the power output rod is arranged at the power output end is close to the power output end, the power output end is in a state of the power transmission device is in a state of the corresponding position between the first end and corresponding to the first end and the driving gear and the first end is in a state, and corresponding to the driving gear and is in a state with the driving gear and corresponding state, and between the driving device and has a stop spring and driving end, when the elbow clamp is switched to the second state, the second end of the elbow clamping moving clutch device moves in the direction away from the driving gear positioned on the same side until the second end is separated from the side surface of the driving gear positioned on the same side and the limiting block, so that the power shaft rotates independently, the first end of the power transmission mechanism is correspondingly connected with the side surface of the transmission gear, and the second end of the power transmission mechanism is connected with the connecting part between the lower leg exoskeleton assembly and the thigh exoskeleton assembly so as to drive the lower leg exoskeleton assembly and the thigh exoskeleton assembly to move.

Preferably, the handrail components are arranged at the tops of the left bracket and the right bracket, each handrail component comprises a back plate connecting piece and a handrail connected with the back plate connecting piece, an exoskeleton connecting plate is arranged on the inner wall of one side of the back plate connecting piece, the top of the exoskeleton mechanism is connected with the exoskeleton connecting plate, and a back plate is detachably connected between the two back plate connecting pieces.

Preferably, the connecting block is installed at the top of the thigh exoskeleton assembly, a plurality of adjusting holes are formed in the back face of the connecting block, connecting holes are formed in the exoskeleton connecting plate, the exoskeleton connecting plate is fixedly connected with the back face of the connecting block through fasteners, and the fasteners are installed on the connecting holes and the adjusting holes.

Preferably, the backboard is provided with a binding belt, the backboard connecting piece and the handrail are mutually inserted, the front end of the handrail is bent upwards, the side surfaces of the backboard connecting piece are provided with a plurality of fastening holes, the backboard connecting piece and the handrail are connected by using the fastening connecting piece, and the fastening connecting piece is arranged on the corresponding fastening hole.

Preferably, the left bracket and the right bracket comprise fixed pipes, through holes are formed in the back surfaces of the fixed pipes, lifting rods and lifting control mechanisms are arranged in the fixed pipes, the lifting control mechanisms are screw rod sliding block mechanisms, driven gears are fixedly arranged on the outer sides of the bottoms of the screw rods on the screw rod sliding block mechanisms, lifting power gears are arranged on the back surfaces of the fixed pipes and meshed with the corresponding driven gears through the through holes, the bottoms of the lifting rods are arranged on sliding blocks on the lifting control mechanisms, the lifting power gears are connected with driving units arranged on the carts, and the driving units are electric driving units or manual driving units.

Preferably, a lifting rod locking mechanism is installed at the top of the fixed pipe, the lifting rod locking mechanism comprises a compression ring and a cam compression handle, the cam compression handle is installed on the compression ring, and the lifting rod penetrates through the compression ring.

Preferably, the front part and the rear part of the left bracket and the right bracket are respectively provided with a brake fixing pipe and a handle mounting pipe, the handle mounting pipe is provided with a brake assembly, one side of the brake fixing pipe, which is close to the driving wheel, is provided with a wheelchair brake, the brake assembly comprises a brake handle and a brake wire connected with the brake handle, the brake wire is connected with a spanner on the wheelchair brake, and the wheelchair brake is used for controlling the braking condition of the driving wheel.

Preferably, the power transmission mechanism comprises a first transmission rod and a second transmission rod, the first end of the first transmission rod is connected with the side face of the transmission gear on the same side, a slot is formed in the second end of the first transmission rod, the second transmission rod is rotatably installed in the slot through a connecting piece, two ends of the second transmission rod extend out of the slot, the first end of the second transmission rod is rotatably connected with a left support or a right support on the same side, a sliding groove is formed in the second end of the second transmission rod, a power connecting rod shaft extends outwards from the side face of a connecting part between the lower leg exoskeleton assembly and the thigh exoskeleton assembly, the power connecting rod shaft is installed in the sliding groove in a matched mode and moves along the sliding groove when the second transmission rod rotates, and the connecting positions of the two first transmission rods and the transmission gear form an included angle of 180 degrees.

Preferably, the second end side surface of the first transmission rod is provided with a plurality of connecting holes communicated with the slots, and the second transmission rod can move along the slots and is connected by connecting pieces after moving to the positions of the required connecting holes.

Preferably, the outer edge of the middle part of the clutch device is provided with an inclined guide opening which is narrowed in the direction close to the second end of the power output rod, and the mounting position of the elbow clamp is aligned with the inclined guide opening.

The invention has the beneficial effects that: according to the invention, the exoskeleton mechanism is detachably arranged on the trolley, the power switching mechanism is arranged for controlling whether the power shaft and the driving gear keep synchronous rotation, two ends of the power transmission mechanism are respectively connected with the driving gear and the exoskeleton mechanism to drive the exoskeleton mechanism to move, the exoskeleton mechanism is driven to move through the rotation of the wheels to help a patient to perform passive rehabilitation training, the trolley and the rehabilitation training function are integrated, the trolley use mode and the rehabilitation training use mode can be switched through the power switching mechanism, and the exoskeleton mechanism can be used outdoors for a long time without depending on a power supply; by arranging the lifting control mechanism, the use requirements of users with different heights can be met; the distance between the left exoskeleton mechanism and the right exoskeleton mechanism can be changed by adjusting the installation position of the exoskeleton connecting plate relative to the adjusting holes on the connecting block, so that the requirements of users with different waist sizes for wearing the exoskeleton are met; the cross bars, the pedals and the seat cushion are detachably arranged between the left bracket and the right bracket, so that the pedals and the seat cushion are convenient to disassemble and assemble, and a large space can be provided for the exoskeleton mechanism to move after the pedals and the seat cushion are disassembled; the whole wearing is convenient and reliable.

The features and advantages of the present invention will be described in detail by way of example with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic overall construction of an embodiment;

FIG. 2 is a schematic overall construction of an embodiment;

FIG. 3 is a left side view of an embodiment;

FIG. 4 is a schematic illustration of a cart construction according to an embodiment;

FIG. 5 is a schematic diagram of a power take-off control mechanism of an embodiment;

FIG. 6 is a schematic diagram of the power switching mechanism of one embodiment in a split configuration;

FIG. 7 is a schematic view of a lifting adjustment mechanism of an embodiment;

FIG. 8 is a partial schematic view of an embodiment;

FIG. 9 is a partially disassembled schematic illustration of one embodiment.

In the figure: 1-left stand, 2-right stand, 3-exoskeleton mechanism, 4-power transmission mechanism, 5-power shaft, 6-back plate connector, 7-wheelchair brake, 8-clutch device, 9-lift adjustment mechanism, 11-drive wheel, 12-crossbar, 13-drive gear, 14-drive gear, 15-lift lever locking mechanism, 31-thigh exoskeleton assembly, 32-calf exoskeleton assembly, 33-power link shaft, 34-connection block, 41-first transmission lever, 42-second transmission lever, 51-circlip, 52-spring, 53-stopper, 60-armrest, 61-exoskeleton connection plate, 62-back plate, 70-spanner, 71-brake assembly, 80-tilt guide port, 81-power output lever, 82-connection sleeve, 83-toggle clamp, 91-turn handle, 92-handle mount, 93-rocker handle shaft, 94-lift power gear, 95-lift control mechanism, 96-lift lever, 340-hole, 410-slot, 411-connection hole, 421-chute, 950-driven gear.

Detailed Description

Embodiment 1 referring to fig. 1 to 9, the present embodiment provides an exoskeleton rehabilitation training device, which comprises a cart, an exoskeleton mechanism 3 mounted on the cart, and a power output control mechanism, wherein the cart comprises a left bracket 1 and a right bracket 2 which are symmetrically arranged left and right, a cushion and a pedal are detachably mounted between the left bracket 1 and the right bracket 2, supporting wheels are mounted at the front ends of the left bracket 1 and the right bracket 2, driving wheels 11 are mounted on the side surfaces of the left bracket 1 and the right bracket 2, the exoskeleton mechanism 3 comprises a shank exoskeleton assembly 32 and a thigh exoskeleton assembly 31, driving gears 13 and transmission gears 14 which are meshed are mounted on the left bracket 1 and the right bracket 2, a cross rod 12 is detachably mounted between the left bracket 1 and the right bracket 2, a power shaft 5 is mounted at the middle parts of the two driving wheels 11, the driving gears 13 are mounted outside the power shaft 5 on the same side, the power output control mechanism comprises a power switching mechanism and two power transmission mechanisms 4, the power switching mechanism comprises a power output rod 81, a clutch device 8 and an elbow clamp 83, a first end of the power output rod 81 is connected with the side surface of a driving gear 13 positioned at the left side by a fixed sleeve, a connecting sleeve 82 is arranged at the first end of the clutch device 8, a first connecting part and a second connecting part which is connected with the first connecting part in a adapting way are respectively arranged at the second end of the clutch device 8 and the side surface of the driving gear 13 positioned at the right side, the clutch device 8 is arranged outside a power shaft 5 which is close to the second end of the power output rod 81, a spring retainer ring 51, a spring 52 and a limiting block 53 are arranged outside the power shaft 5 which is close to the second end of the power output rod 81, one end of the limiting block 53 which is close to the clutch device 8 extends out of the second connecting part when being arranged in the second connecting part, a spring mounting hole is arranged at the first end of the clutch device 8, the two ends of the spring 52 are respectively connected with the spring retainer 51 and the inner wall of the spring mounting hole, the second end of the clutch device 8 is provided with a limiting hole which is matched with the limiting block 53, one end, close to the power output rod 81, of the connecting sleeve 82 is provided with a plug-in port which is matched with the power output rod 81, the power output rod 81 is plugged with the plug-in port and connected with the connecting sleeve which can axially move along the power output rod 81, the elbow clamp 83 is arranged on the cross rod 12 and aligned with the clutch device 8, when the elbow clamp 83 is in a first state, the second end of the clutch device 8 is clamped with the side face of the driving gear 13 positioned on the same side, the limiting block 53 so that the power shaft 5 and the driving gear 13 can synchronously rotate, when the elbow clamp 83 is switched to a second state, the elbow clamp 83 drives the second end of the clutch device 8 to move towards the direction away from the driving gear 13 positioned on the same side until the driving gear 13 positioned on the same side, and the limiting block 53 are separated from the driving gear 13, so that the shaft 5 can independently rotate, the first ends of the two power transmission mechanisms 4 are respectively connected with the side faces of the two transmission gears 14, and the second ends of the power transmission mechanism 4 are respectively connected with the sides of the thigh exoskeleton assembly 32 and the thigh exoskeleton assembly 31, and the thigh exoskeleton assembly 32 is driven by the thigh exoskeleton assembly 31.

Wherein the first connecting part and the second connecting part comprise, but are not limited to, a meshed double-ratchet structure or a clip clamping groove, a rolling bearing is arranged between the power shaft 5 and the driving gear 13, the left bracket 1 and the right bracket 2 have the same structure and comprise a fixed pipe, a fixed shaft sleeve, a brake fixed pipe, a main support pipe and a front support pipe, the lower end of the fixed pipe is connected with the fixed shaft sleeve, the two ends of the brake fixed pipe are respectively connected with the bottom surface of the main support pipe and the front surface of the fixed pipe, the two ends of the main support pipe are respectively connected with the back surface of the front support pipe and the front surface of the fixed pipe, a support wheel is arranged on the front support pipe, an upper shaft sleeve and a lower shaft sleeve are arranged on the front surface of the side surface of the fixed shaft sleeve, a rotating shaft is arranged in the middle of the upper shaft sleeve, one end of the rotating shaft is connected with the driving gear 14, the power shaft 5 passes through the lower shaft sleeve, rolling bearings are arranged between the power shaft 5 and the shaft sleeve and between the upper shaft sleeve and the rotating shaft, gaps are reserved between the power shaft 5 and the end parts of the power output rod 81, a baffle cover is arranged outside the driving gear and the driving gear, the baffle cover is arranged on the fixed shaft sleeve, the section of the inner wall of the limiting hole is in a polygonal shape, the polygonal shape comprises, but is not limited to, a regular pentagon, a regular hexagon, a regular seven deformation and a regular eight deformation, two ends of the pedal are detachably and washable with the bottom surface of the main supporting tube through a connecting tube and a plurality of connecting screws, cushion mounting tubes are connected with the inner walls of two sides of the fixed tube, mounting sleeves are arranged on two sides of the cushion, the mounting sleeves are sleeved with the cushion mounting tubes, and two ends of the cross rod 12 are mounted on the back surface of the fixed tube through screws and the shaft sleeve.

The handrail subassembly is all installed at the top of left socle 1, right branch frame 2, handrail subassembly includes backplate connecting piece 6, the handrail 60 that links to each other with backplate connecting piece 6, exoskeleton connecting plate 61 is installed to one side inner wall of backplate connecting piece 6, exoskeleton mechanism 3 top links to each other with exoskeleton connecting plate 61, can dismantle between two backplate connecting pieces 6 and be connected with backplate 62, two backplate connecting piece 6 backs all are equipped with the draw-in groove, the both ends of backplate are equipped with the buckle, buckle and draw-in groove adaptation joint, handrail 60 makes things convenient for putting of user's arm, backplate 62 can supply user back to rely on, backplate 62 whole easy dismounting.

The connecting block 34 is installed at thigh ectoskeleton subassembly 31 top, and the back of connecting block 34 is equipped with a plurality of regulation holes 340, is equipped with the connecting hole on the ectoskeleton connecting plate 61, links to each other with fastening screw fixed between the back of ectoskeleton connecting plate 61 and connecting block 34, and fastening screw installs on being in the connecting hole and the regulation hole 340 of same straight line, adjusts the relative distance of two thigh ectoskeleton subassemblies 31 according to the waist size of ectoskeleton wearing personnel to better satisfy different user's wearing demand.

Install the bandage on the backplate 62, peg graft each other between backplate connecting piece 6 and the handrail 60, the front end of handrail 60 is crooked upwards, and backplate connecting piece 6's side all is equipped with a plurality of fastening holes, links to each other with the screw between backplate connecting piece and the handrail, and the screw is installed on corresponding fastening hole, and the bandage can avoid user's health to lean forward, and the easy dismounting of handrail 60, and can adjust the length that handrail 60 stretches out backplate connecting piece 6 part according to user's arm length to better satisfy user's user demand.

The lifting power gear 94 is installed at the back of the fixed shaft sleeve through the shaft sleeve, the through holes are formed in the back of the fixed pipes of the left support 1 and the right support 2, the lifting rod 96 and the lifting control mechanism 95 are installed in the fixed pipes, the lifting control mechanism is a screw rod sliding block mechanism, the driven gear 950 is fixedly installed on the outer side of the bottom of the screw rod on the screw rod sliding block mechanism, the lifting power gear 94 penetrates through the through holes to be meshed with the corresponding driven gear 950, the bottom of the lifting rod 96 is installed on the sliding block on the lifting control mechanism 95, the top of the lifting rod 96 is spliced with the lower end of the backboard connecting piece 6, the lifting power gear 94 is connected with a driving unit installed on a cart, the driving unit is a manual driving unit, the manual driving unit comprises a lifting adjusting mechanism 9, the lifting adjusting mechanism 9 comprises a lifting power shaft, a rotating handle 91 and a handle seat 92, the upper end of the handle seat 92 is slidably installed on the cross rod 12, the rotating handle 91 is installed on the handle seat 92 through the rotating handle 93, the rocking handle 93 and the lifting power shaft is connected with the lifting power shaft through a gear transmission mechanism, the driving gear and the driven gear 950, the driving gear is connected with the rocking handle 93 through the driving gear, the lifting power shaft and the lifting power shaft 93 through the driving gear, the lifting power shaft is connected with the lifting handle 1 and the lifting handle 2 through the lifting adjusting mechanism, the lifting adjusting mechanism is further two ends of the lifting power shaft 60 are connected with the lifting power shaft and the lifting adjusting mechanism, and the lifting power mechanism is different from the lifting and the lifting power 1 and the lifting handle 2.

The lifter locking mechanism 15 is installed at the top of the fixed pipe, and the lifter locking mechanism 15 includes a clamp ring and a cam compression handle, and the cam compression handle is installed on the clamp ring, and the lifter 96 passes through the clamp ring, and the lifter locking mechanism 15 is convenient to operate, prevents loosening of the lifter 96, and makes the heights of the armrest 60, the exoskeleton mechanism 3, and the backboard 62 remain substantially unchanged.

The front and rear parts of the left bracket 1 and the right bracket 2 are respectively provided with a brake fixing pipe and a handle mounting pipe, a brake assembly 71 is arranged on the handle mounting pipe, one side of the brake fixing pipe, which is close to the driving wheel 11, is provided with a wheelchair brake 7, the brake assembly 71 comprises a brake handle and a brake cable connected with the brake handle, the brake cable is connected with a spanner 70 on the wheelchair brake 7, the wheelchair brake 7 is used for controlling the braking condition of the driving wheel 11, and a person on the cart or a person pushing the cart can brake the cart by arranging the wheelchair brake 7 and the brake assembly 71.

The power transmission mechanism 4 comprises a first transmission rod 41 and a second transmission rod 42, wherein the first end of the first transmission rod 41 is connected with the side surface of a transmission gear 14 on the same side, the second end of the first transmission rod 41 is provided with a slot 410, the second transmission rod 42 is rotatably arranged in the slot 410 through a pin shaft, two ends of the second transmission rod 42 extend out of the slot 410, the first end of the second transmission rod 42 is rotatably connected with the left bracket 1 or the right bracket 2 on the same side, the second end of the second transmission rod 42 is provided with a sliding groove 421, the side surface of a connecting part between the lower leg exoskeleton assembly 32 and the thigh exoskeleton assembly 31 extends outwards to form a power connecting rod shaft 33, the power connecting rod shaft 33 is cooperatively arranged in the sliding groove 421 and moves along the sliding groove 421 when the second transmission rod 42 rotates, the connecting positions of the two first transmission rods 41 and the transmission gear 14 are mutually 180 DEG, a baffle is arranged at the upper end of a main support pipe, the second transmission rod 42 is arranged between the baffle and a connecting part between the lower leg exoskeleton assembly 32 and the thigh exoskeleton assembly 31, the power transmission mechanism has good overall transmission stability, the driving gear 13 can be converted into a driving gear 3, and the power can be prevented from moving alternately by the driving gear 3 and the power connecting rod 33, and the power connecting rod can be prevented from moving alternately.

The second end side of the first transmission rod 41 is provided with three connecting holes 411 communicated with the slot 410, the second transmission rod 42 can move along the slot 410 and is connected by a pin shaft after moving to the position of the required connecting hole 411, and the adjusting of the exoskeleton movement amplitude is realized by adjusting the connecting position of the second transmission rod 42 in the slot 410.

The middle part outer edge of clutch 8 is equipped with along being close to the slope guiding mouth 80 that the second end direction of power take off pole 81 narrowed, and the mounted position and the slope guiding mouth 80 of elbow clamp align, and clutch 8 and adapter sleeve 82 are installed in the protection axle sleeve, are equipped with the through-hole that supplies the expansion end of elbow clamp to pass on the protection axle sleeve, and the operation of elbow clamp is comparatively convenient, stretches out through the elbow clamp and withstands slope guiding mouth 80 and can drive clutch 8 and remove.

Embodiment 2 the other than the driving unit being an electric driving unit including a motor, the output end of the motor being connected to the lifting power gear, the rest of the structure being the same as that of embodiment 1.

The working process of the invention comprises the following steps:

when the exoskeleton rehabilitation training device is used as a common wheelchair trolley, the movable end of the elbow clamp extends out of the inclined guide opening 80 of the clutch device 8 by breaking the elbow clamp, and moves along the inclined surface of the inclined guide opening 80 to enable the clutch device 8 and the connecting sleeve 82 to synchronously move leftwards, after the clutch device 8 moves leftwards, the clutch device 8 is separated from the driving gear 13 positioned on the right side of the clutch device 8, a limiting hole at the right end of the clutch device 8 is separated from the limiting block 53 on the power shaft 5, the spring 52 is in a compressed state, the driving wheel 11 only drives the power shaft 5 to rotate after rotating, and the driving gear 13 and the power output rod 81 cannot be driven to rotate after the clutch device 8 is separated from the driving gear 13, so that the driving gear 13 basically keeps a static state and is used as a common wheelchair;

when a patient needs to perform rehabilitation training on a cart, the movable end of the elbow clamp is recovered and separated from the inclined guide opening 80 of the clutch device 8 through reverse wrenching, the spring 52 elastically resets and pushes the clutch device 8 to move rightwards until the limit block 53 is reinserted into the limit hole, the first connecting part at the right end of the clutch device 8 is clamped with the second connecting part of the right driving gear 13 again, so that the power shaft 5, the power output rod 81 and the right driving gear 11 are connected together, when the right driving wheel 11 rotates, the power shaft 5 rotates to drive the clutch device 8 and the connecting sleeve 82 to synchronously rotate, the clutch device 8 rotates to drive the right driving gear 13 to synchronously drive the connecting sleeve 82 to rotate to drive the power output rod 81, the power output rod 81 rotates to drive the left driving gear 13 to rotate, the two driving gears 14 rotate to drive the first driving rod 41 to drive the second driving rod 42 to rotate, the second driving rod 42 to drive the second driving gear 42 to rotate, the second driving rod 42 to drive the upper thigh bone 31 to alternately move with the upper thigh bone 32, and the lower thigh bone 32 is connected with the thigh bone 32, and the thigh bone 32 is driven by the upper thigh bone 32 is driven by the outer thigh bone 32, and the thigh bone 32 is driven by the upper thigh bone 32 is driven by the lower thigh bone 32;

in the use process of the cart, a user can place hands on the handrails 60, the bending part at the front end of the handrails 60 can be used for the user to grasp, the back of the user depends on the back plate 62, when the height of the handrails 60, the exoskeleton mechanism 3 and the back plate 62 needs to be adjusted, the hand rotates the rotating handle 91, the rotating handle 91 rotates to drive the rotating handle shaft 93 to rotate, the rotating handle shaft 93 can drive the lifting power shaft to rotate through the gear transmission mechanism and enable the handle seat 92 to horizontally move along the cross rod 12, the lifting power shaft rotates to drive the lifting power gears 94 at two ends to rotate, the lifting power gears 94 rotate to drive the driven gears 950 to rotate, the driven gears 950 rotate to drive the screw on the screw slider mechanism to rotate, the screw rotates to drive the slider on the screw slider mechanism to move up and down along the screw, the lifting rod 96 moves to drive the back plate 62, the handrails 60 and the exoskeleton mechanism 3 to keep synchronous movement after the movement, the back plate 62, the handrails 60 and the exoskeleton mechanism 3 move upwards when the rotating handle 91 rotates clockwise, and the back plate 62, the handrails 60 and the exoskeleton mechanism 3 move downwards when the rotating handle 91 rotates anticlockwise;

when the distance between the left and right exoskeleton mechanisms 3 needs to be adjusted, the connecting block 34 at the top of the thigh exoskeleton assembly 31 is moved left and right so that the exoskeleton connecting plate 61 can be aligned with the rest of the adjusting holes 340 on the connecting block 34, and the left and right thigh exoskeleton assemblies 31 are tightly screwed by fastening screws after the adjustment is completed, so that the distance between the left and right thigh exoskeleton assemblies 31 is adjusted, and the wearing requirements of wearers with different waist sizes are met;

when the pushing car is required to be stopped, a user on the pushing car can directly break the wrench 70 on the wheelchair brake 7 so that the brake pad can be contacted with the driving wheel 11 to achieve the braking purpose, a person pushing the pushing car can grasp the brake handle, and after the pushing car is grasped tightly, the wrench 70 on the wheelchair brake 7 can be driven to rotate through the brake cable so that the brake pad can be contacted with the driving wheel 11 to achieve the braking purpose.

The elbow clamps, the wheelchair brake, the brake assembly and the exoskeleton mechanism in the above embodiment are all from the market, the same side in the above embodiment refers to being located at the left side or the right side of the cart at the same time, the above embodiment is illustrative of the present invention, not limiting the present invention, and any simple transformed solution of the present invention falls into the protection scope of the present invention.

Claims (10)

1. The utility model provides an ectoskeleton rehabilitation training device, includes the shallow, installs the ectoskeleton mechanism on the shallow, and the shallow includes left socle, right branch frame, and the drive wheel is all installed to the side of left socle and right branch frame, and ectoskeleton mechanism includes shank ectoskeleton subassembly, thigh ectoskeleton subassembly, its characterized in that: the power output control mechanism comprises a power output rod, a clutch device and an elbow clamp, wherein a first end of the power output rod is connected with one side surface of one driving gear by a fixed sleeve, a first end of the clutch device is connected with the power output rod by a connecting sleeve, a second end of the clutch device is connected with the other side surface of the other driving gear in an adaptive manner, the clutch device is arranged outside the power shaft close to the second end of the power output rod, a spring retainer ring, a spring and a limiting block are arranged outside the power shaft near the second end of the power output rod, two ends of the spring are respectively connected with the spring retainer ring and the first end of the clutch device, the second end of the clutch device is provided with a limiting hole which is matched with the limiting block, the elbow clamp is arranged on the cross rod and is aligned with the clutch device, when the elbow clamp is in a first state, the second end of the clutch device is connected with the side surface of the driving gear positioned at the same side and the limiting block, so that the power shaft and the driving gear can keep synchronous rotation, when the elbow clamp is switched to a second state, the second end of the elbow clamp is moved in the direction away from the driving gear positioned at the same side until the second end is separated from the side surface of the driving gear positioned at the same side and the limiting block, so that the power shaft can independently rotate, the first end of the power transmission mechanism is correspondingly connected with the side surface of the driving gear, the second end of the power transmission mechanism is connected with the connecting part between the lower leg exoskeleton assembly and the thigh exoskeleton assembly to drive the lower leg exoskeleton assembly and the thigh exoskeleton assembly to move.

2. The exoskeleton rehabilitation training device of claim 1 wherein: the handrail assembly is installed at the top of left socle, right branch frame, the handrail assembly includes backplate connecting piece, the handrail that links to each other with the backplate connecting piece, the exoskeleton connecting plate is installed to one side inner wall of backplate connecting piece, exoskeleton mechanism top links to each other with the exoskeleton connecting plate, two can dismantle between the backplate connecting piece and be connected with the backplate.

3. The exoskeleton rehabilitation training device of claim 2 wherein: the thigh exoskeleton assembly is characterized in that a connecting block is arranged at the top of the thigh exoskeleton assembly, a plurality of adjusting holes are formed in the back face of the connecting block, connecting holes are formed in the exoskeleton connecting plate, the exoskeleton connecting plate is fixedly connected with the back face of the connecting block through fasteners, and the fasteners are arranged on the connecting holes and the adjusting holes.

4. The exoskeleton rehabilitation training device of claim 2 wherein: install the bandage on the backplate, peg graft each other between backplate connecting piece and the handrail, the front end of handrail is crooked upwards, the side of backplate connecting piece all is equipped with a plurality of fastening holes, link to each other with fastening connection piece between backplate connecting piece and the handrail, fastening connection piece installs on corresponding fastening hole.

5. The exoskeleton rehabilitation training device of claim 1 wherein: the left support and the right support comprise a fixed pipe, a through hole is formed in the back of the fixed pipe, a lifting rod and a lifting control mechanism are installed in the fixed pipe, the lifting control mechanism is a screw rod sliding block mechanism, a driven gear is fixedly installed on the outer side of the bottom of a screw rod on the screw rod sliding block mechanism, a lifting power gear is installed on the back of the fixed pipe and penetrates through the through hole to be meshed with the corresponding driven gear, the bottom of the lifting rod is installed on a sliding block on the lifting control mechanism, the lifting power gear is connected with a driving unit installed on a cart, and the driving unit is an electric driving unit or a manual driving unit.

6. The exoskeleton rehabilitation training device of claim 5 wherein: the lifting rod locking mechanism is installed at the top of the fixed pipe and comprises a compression ring and a cam compression handle, the cam compression handle is installed on the compression ring, and the lifting rod penetrates through the compression ring.

7. The exoskeleton rehabilitation training device of claim 1 wherein: the wheelchair brake comprises a left bracket, a right bracket, a handle, a brake fixing pipe, a handle mounting pipe, a brake assembly and a wheelchair brake, wherein the front part and the rear part of the left bracket and the right bracket are respectively provided with the brake fixing pipe and the handle mounting pipe, the brake assembly is arranged on one side, close to a driving wheel, of the brake fixing pipe, the brake assembly comprises a brake handle and a brake wire connected with the brake handle, the brake wire is connected with a spanner on the wheelchair brake, and the wheelchair brake is used for controlling the braking condition of the driving wheel.

8. The exoskeleton rehabilitation training device of claim 1 wherein: the power transmission mechanism comprises a first transmission rod and a second transmission rod, wherein the first end of the first transmission rod is connected with the side face of a transmission gear on the same side, a slot is formed in the second end of the first transmission rod, a connecting piece is rotatably arranged in the slot, two ends of the second transmission rod extend out of the slot, the first end of the second transmission rod is rotatably connected with a left support or a right support on the same side, a sliding groove is formed in the second end of the second transmission rod, a power connecting rod shaft extends outwards from the side face of a connecting part between the lower leg exoskeleton assembly and the thigh exoskeleton assembly, the power connecting rod shaft is mounted in the sliding groove in a matched mode and moves along the sliding groove when the second transmission rod rotates, and the connecting positions of the two first transmission rods and the transmission gear form an included angle of 180 degrees.

9. The exoskeleton rehabilitation training device of claim 8 wherein: the second end side face of the first transmission rod is provided with a plurality of connecting holes communicated with the slots, and the second transmission rod can move along the slots and is connected by connecting pieces after moving to the positions of the required connecting holes.

10. The exoskeleton rehabilitation training device of claim 1 wherein: the outer edge in middle part of clutch is equipped with the slope guiding mouth that narrows along keeping away from the power take off pole second end direction, the mounted position and the slope guiding mouth alignment of elbow clamp.