CN114028176A - Multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism - Google Patents
Multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism Download PDFInfo
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- CN114028176A CN114028176A CN202111543289.8A CN202111543289A CN114028176A CN 114028176 A CN114028176 A CN 114028176A CN 202111543289 A CN202111543289 A CN 202111543289A CN 114028176 A CN114028176 A CN 114028176A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 210000004394 hip joint Anatomy 0.000 claims abstract description 104
- 210000000629 knee joint Anatomy 0.000 claims abstract description 60
- 210000001699 lower leg Anatomy 0.000 claims abstract description 26
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 25
- 210000002683 foot Anatomy 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 210000001624 hip Anatomy 0.000 claims abstract description 14
- 210000000689 upper leg Anatomy 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 44
- 238000005096 rolling process Methods 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 206010019468 Hemiplegia Diseases 0.000 abstract description 2
- 206010061225 Limb injury Diseases 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 7
- 244000309466 calf Species 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010008132 Cerebral thrombosis Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010020772 Hypertension Diseases 0.000 description 1
- 201000001429 Intracranial Thrombosis Diseases 0.000 description 1
- 208000016285 Movement disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0244—Hip
-
- 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
- A61H1/0266—Foot
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- 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
-
- 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
- A61H2205/102—Knee
-
- 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
- A61H2205/12—Feet
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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)
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- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism which mainly comprises a lower limb shank part assembly, a hip joint transmission part assembly, a hip joint rear part assembly, a power supply and control system part, a waist adjusting guard plate, a hip joint output connecting plate, a thigh fixing part, a knee joint output connecting plate, a shank fixing part, an ankle joint output connecting plate, an ankle joint rehabilitation part assembly, a crutch and a foot fixing base, wherein the lower limb shank part assembly is connected with the hip joint rear part assembly through a power supply and control system part; the lower limbs of the patient are fixed in the mechanism, the size of the mechanism is suitable for rehabilitation training of most people, the practicability is high, and passive and active training of the patient can be realized; by controlling the positive and negative rotation of the motor, the adduction and abduction and the forward flexion and extension of the hip joint, the forward flexion and extension of the knee joint and the forward flexion, extension and inversion and eversion of the ankle joint can be realized, and the movement of the lower limbs with multiple degrees of freedom can be realized. The invention has strong practicability and good economical efficiency, and is suitable for rehabilitation exercise of stroke hemiplegia patients and limb injury patients.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism.
Background
According to the research report of the aged population in China, by the end of 2018, the total population of China is about 13.9008 billion, the population number of China aged 60 years and above is 2.495 billion and accounts for 18.0%, wherein the population aged 60 years and above needs to be recovered is 1.6658 billion and accounts for 11.9%, about 2 of 5 aged people need to be recovered and treated, and the total population number of the aged 2020 aged people is increased to 2.58 billion. The elasticity and toughness of bones of the aged of 60 years old and older are gradually reduced along with the age, which causes the flexibility of limbs to be continuously reduced, and causes much inconvenience in daily life; and symptoms such as hypertension, cerebral thrombosis, cerebral apoplexy and the like can also cause lower limb movement disorder. The traditional rehabilitation method has the problems of strong specialization, small quantity, high rehabilitation price, long period and the like of rehabilitation doctors, and the problems can be effectively solved by the invention. Patent CN113545965A describes an exoskeleton robot for assisting lower limb rehabilitation training, which comprises components such as waist, hip, thigh, shank, drive, etc., and has simple structure, small load, adjustable width of waist component and length of large and shank components to adapt to users of different statures, and a crutch and a waist support provide certain safety, and it can realize walking rehabilitation. Patent CN113440386A has introduced a wearable recovered ectoskeleton device of lower limbs, including control system, execution system and structure body, also can adjust the operation requirement that the size adapts to different patients, has effectively improved the suitability of whole device and patient, has reduced the influence to patient's recovered effect. Patent CN11332100A introduces a lower limb rehabilitation robot with multiple postures and multiple degrees of freedom, which comprises a supporting mechanism, a suspension mechanism arranged on the supporting mechanism and other structural components, wherein patients with different heights can perform rehabilitation training in three postures of sitting, lying and standing on a fixed platform, and the lower limb rehabilitation robot is simple in structure and easy to control. However, the existing lower limb rehabilitation device has a small number of degrees of freedom for rehabilitation, the posture rehabilitation is simple, only single passive rehabilitation can be realized, more humanized multi-posture active rehabilitation cannot be realized, and the comfort, safety and other aspects are yet to be enhanced.
Disclosure of Invention
In order to meet the comfort and safety of the rehabilitation patient in the rehabilitation process, the lower limb of the rehabilitation patient obtains a good rehabilitation effect. The invention provides a multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism comprises a lower limb and lower leg part assembly, a lower limb and upper leg part assembly, a hip joint transmission part assembly, a hip joint rear part assembly, a power supply and control system part, a waist adjusting protective plate, a hip joint output connecting plate, a thigh fixing part, a knee joint output connecting plate, a lower leg fixing part, an ankle joint rehabilitation part assembly and a crutch.
Preferably, the lower limb calf part assembly comprises a shell I, a knee joint rolling bearing, a knee joint output flange plate, a mechanical limiting block I, a knee joint reducer, a calf plate and a knee joint output motor, wherein the knee joint output motor is matched in the knee joint reducer and fixed on the knee joint reducer through screws, the knee joint reducer is fixed on the calf plate through bolts, power output by the motor is output to the knee joint output flange plate through the reducer, the knee joint rolling bearing is installed between the knee joint output flange plate and the knee joint reducer, the knee joint output flange plate is fixed with the mechanical limiting block I through screws, safety of a rehabilitation patient is guaranteed, and the shell I is fixed on the calf plate through screws to prevent dust. Similarly, the thigh part assembly and the lower leg part assembly in the lower limb are mounted on the same principle, and the difference is that the output torque of the motor is different.
Preferably, the hip joint transmission part assembly consists of a support shell, a hip joint fixing plate, a hip joint rear output shaft bearing and a bearing positioning end cover, wherein the hip joint rear output shaft bearing is installed at two sides of the support shell, the bearing positioning end cover is fixed outside a bearing hole of the support shell through a bolt, the support shell is fixed on the hip joint fixing plate through a screw, the hip joint fixing plate is fixed on the waist adjusting guard plate through a bolt, and the front and back positions of the hip joint transmission part assembly are adjusted through the fixed position of the bolt.
Preferably, the hip joint rear assembly comprises a shell III, a hip joint rear rolling bearing, a hip joint rear output flange plate, a mechanical limiting block III, a hip joint rear reducer, a mounting fixing plate, a hip joint rear output motor, an output transmission shaft, a first supporting fixing part and a second supporting fixing part, wherein the hip joint rear output motor is matched in the hip joint rear reducer and fixed on the hip joint rear reducer by screws, the hip joint rear reducer is fixed on the mounting fixing plate by bolts, the power output by the motor is output to the hip joint rear output flange plate through the reducer, the hip joint rear rolling bearing is mounted between the hip joint rear output flange plate and the hip joint rear reducer, the hip joint rear output flange plate is fixed with the mechanical limiting block III by screws, the safety of a rehabilitation patient is guaranteed, the output transmission shaft is fixed on the hip joint rear output flange plate by screws to transmit power, the three-purpose screw of shell is fixed on the shank board, prevents the dust, and the installation fixed plate is whole to be fixed on supporting mounting one through bolted connection, and supporting mounting fixes on supporting mounting two through bolted connection again, and supporting mounting two rethread bolted connection are on waist regulation backplate, through the front and back position of bolted connection's position regulation this part subassembly.
Optionally, the power supply and control system portion is configured to provide electrical power to the power system and the motor control system. The power supply and control system part comprises: display screen, switch, chargeable battery, start stop button, host computer treater, function button. Wherein:
the power switch is positioned on the side surface of the backpack shell and used for starting or closing a voltage system of the rehabilitation device;
the function button is positioned on the rear surface of the backpack shell and used for parameter setting;
the start-stop button is positioned on the rear surface of the backpack shell and used for starting or stopping the current rehabilitation exercise;
the display screen is positioned on the rear surface of the shell and used for setting rehabilitation parameters for a user;
and the upper computer processor is communicated with the motor control system or an external intelligent terminal in a wired mode.
Preferably, the ankle joint rehabilitation part assembly consists of an electric push rod support, an electric push rod I, an electric push rod II, a connecting piece I, a connecting piece II, a connecting piece fixing plate, a foot supporting plate, a cross shaft connecting piece, a foot connecting piece and an ankle joint output connecting plate, wherein the electric push rod support is connected to the lower leg plate through a screw, the upper ends of the electric push rod I and the electric push rod II are connected with the electric push rod support through a ball pair, and the lower ends of the electric push rod I and the electric push rod II are respectively fixed to the connecting piece I and the connecting piece II through bolt connection; the first connecting piece and the second connecting piece are fixedly connected with the rear sides of the connecting piece fixing plate and the foot connecting piece through bolts, the cross shaft and the cross shaft connecting piece are connected to the front side of the foot connecting piece, the lower side of the cross shaft connecting piece is fixedly connected with the lower end of the foot supporting plate through screws, a bearing is supported by rotation between the cross shaft and the cross shaft connecting piece, the upper side of the cross shaft connecting piece is fixedly connected with the ankle joint output connecting plate through bolts, the ankle joint output connecting plate is connected to the calf plate through bolts, and the position of the ankle joint output connecting plate is adjusted through the fixed position of the bolts, so that the length and the size are adjusted.
Preferably, the multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism is a serial and special-shaped parallel mechanism, the multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism can drive an output transmission shaft to rotate by controlling the forward rotation and the reverse rotation of an output motor at the rear part of a hip joint, and the adduction and abduction of the hip joint are completed by the left-right swing of a hip joint output connecting plate; the hip joint is stretched and bent by controlling the forward rotation and the reverse rotation of a hip joint output motor, transmitting the rotation to a hip joint output flange plate through the speed reduction of a speed reducer and swinging the hip joint output connecting plate back and forth; the knee joint output motor is controlled to rotate forwards and reversely, then the rotation speed is reduced by the speed reducer and transmitted to the knee joint output flange plate, and the knee joint is stretched and bent by the front and back swing of the knee joint output connecting plate; thereby achieving the purpose of rehabilitation of hip joints and knee joints of lower limbs. The foot rehabilitation component part is matched to enable the foot supporting plate to swing back and forth and turn left and right to complete the extension/flexion movement and the inversion/eversion movement of the ankle joint; thereby achieving the purpose of ankle joint rehabilitation.
The invention has the advantages that the structure is more in line with ergonomics, the size is suitable for the rehabilitation training of most people, the hip joint and the knee joint adopt a series connection structure, the ankle joint adopts a special-shaped parallel mechanism, the rehabilitation training of single limb and five degrees of freedom is realized, the practicability is stronger, the passive and active training of a patient can be realized, the problems of time and labor waste in the traditional rehabilitation process are solved, the safety of the patient is ensured by adopting mechanical limit and electrical self-locking, the training of the patient is more comfortable, and the early rehabilitation of the patient is facilitated.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic overall structure diagram of a multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism.
In the figure: 1-lower limb shank part component, 2-lower limb thigh part component, 3-hip joint transmission part component, 4-hip joint rear part component, 5-power supply and control system part, 6-ankle joint rehabilitation part component, 7-crutch, 8-shank fixing part, 9-knee joint output connecting plate, 10-thigh fixing part, 11-hip joint output connecting plate and 12-waist adjusting guard plate.
Figure 2 is a schematic view of the construction of the lower leg portion assembly of the present invention.
In the figure: 101-shell I, 102-knee joint rolling bearing, 103-knee joint output flange plate, 104-mechanical limiting block I, 105-knee joint reducer, 106-calf plate and 107-knee joint output motor.
Fig. 3 is a schematic view of the construction of the hip drive assembly of the present invention.
In the figure: 301-support shell, 302-hip joint fixing plate, 303-bearing positioning end cover and 304-hip joint rear output shaft bearing.
Figure 4 is a schematic view of the construction of the posterior hip joint assembly of the present invention.
In the figure: 401-a third shell, 402-a hip joint rear output motor, 403-an installation fixing plate, 404-a hip joint rear output flange plate, 405-a third mechanical limiting block, 406-a second support fixing piece, 407-a hip joint rear speed reducer, 408-a first support fixing piece and 409-an output transmission shaft.
Fig. 5 is a schematic diagram of the structure of the power supply and control system portion of the present invention.
In the figure: 501-start-stop button, 502-power switch, 503-display screen, 504-rechargeable storage battery, 505-function button and 12-waist adjusting guard plate.
Fig. 6 is a schematic structural view of an ankle rehabilitation section assembly of the present invention.
In the figure: 601-electric push rod bracket, 602-electric push rod I, 603-connecting piece I, 604-connecting piece fixing plate, 605-foot supporting plate, 606-cross shaft, 607-cross shaft connecting piece, 608-foot connecting piece, 609-ankle joint output connecting plate, 610-connecting piece II and 611-electric push rod II.
Detailed Description
As shown in fig. 1 to 5, the invention provides a multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism, which mainly comprises a lower limb and lower leg part assembly 1, a lower limb and upper leg part assembly 2, a hip joint transmission part assembly 3, a hip joint rear part assembly 4, a power supply and control system part 5, an ankle joint rehabilitation part assembly 6, a crutch 7, a lower leg fixing piece 8, a knee joint output connecting plate 9, a thigh fixing piece 10, a hip joint output connecting plate 11 and a waist adjusting protective plate 12.
In one embodiment of the invention, the lower limb lower leg part assembly 1 is composed of a shell I101, a knee joint rolling bearing 102, a knee joint output flange 103, a mechanical stopper I104, a knee joint reducer 105, a lower leg plate 106 and a knee joint output motor 107, wherein the knee joint output motor 107 is matched in the knee joint reducer 105 and fixed on the knee joint reducer 105 by screws, the knee joint reducer 105 is fixed on the lower leg plate 106 by bolts, the power output by the motor is output to the knee joint output flange 103 through the reducer, the knee joint rolling bearing 102 is installed between the knee joint output flange 103 and the knee joint reducer 105, the mechanical stopper I104 is fixed on the knee joint output flange 103 by screws, the safety of a rehabilitation patient is guaranteed, and the shell I101 is fixed on the lower leg plate 106 by screws to prevent dust. Similarly, the thigh part assembly 2 in the lower limb is mounted on the same principle as the lower leg part assembly 1, except that the output torque of the motor is different.
In an embodiment of the present invention, the hip joint transmission part assembly 3 is composed of a support housing 301, a hip joint fixing plate 302, a bearing positioning end cover 303, and a hip joint rear output shaft bearing 304, wherein the hip joint rear output shaft bearing 304 is installed at two side positions of the support housing 301, the bearing positioning end cover 303 is fixed outside a bearing hole of the support housing 301 through a bolt, the support housing 301 is fixed on the hip joint fixing plate 302 through a bolt, the hip joint fixing plate 302 is fixed on the waist adjusting guard plate 12 through a bolt, and the front and back positions of the part assembly 3 are adjusted through the fixed position of the bolt.
In a specific embodiment of the invention, the hip joint rear assembly 4 is composed of a shell three 401, a hip joint rear output motor 402, a mounting fixing plate 403, a hip joint rear output flange 404, a mechanical stopper three 405, a supporting fixing piece two 406, a hip joint rear reducer 407, a supporting fixing piece one 408 and an output transmission shaft 409, wherein the hip joint rear output motor 402 is matched in the hip joint rear reducer 407 and fixed on the hip joint rear reducer 407 by screws, the hip joint rear reducer 407 is fixed on the mounting fixing plate 403 by bolts, the power output by the motor is output to the hip joint rear output flange 404 through the reducer, a hip joint rear rolling bearing is installed between the hip joint rear output flange 404 and the hip joint rear reducer 407, the hip joint rear output flange 404 is fixed with the mechanical stopper three 405 by screws, the safety of a rehabilitation patient is guaranteed, an output transmission shaft 409 is fixed on an output flange 404 at the rear part of a hip joint through screws to transmit power, a third shell 401 is fixed on an installation fixing plate 403 through screws to prevent dust, the installation fixing plate 403 is integrally fixed on a first support fixing piece 408 through bolt connection, the first support fixing piece 408 is fixed on a second support fixing piece 406 through bolt connection, the second support fixing piece 406 is fixed on a waist adjusting guard plate 12 through bolts, and the front and back positions of the components are adjusted through the positions fixed through the bolts.
In an embodiment of the present invention, the ankle joint rehabilitation part assembly 6 comprises an electric putter support 601, an electric putter one 602, a first connecting piece 603, a connecting piece fixing plate 604, a foot supporting plate 605, a cross 606, a cross 607, a foot connecting piece 608, an ankle joint output connecting plate 609, a second connecting piece 610, and a second electric putter 611, wherein the electric putter support 601 is connected to the knee joint output connecting plate 9 through screws, the upper ends of the electric putter one 602 and the electric putter two 611 are connected to the electric putter support 601 through a ball pair, and the lower ends are respectively fixed to the first connecting piece 603 and the second connecting piece 610 through bolt connections; the first connecting piece 603 and the second connecting piece 610 are fixed at the rear side of the connecting piece fixing plate 604 and the foot connecting piece 608 through bolt connection, the cross shaft 606 and the cross shaft connecting piece 607 are connected at the front side of the foot connecting piece 608, the lower side of the cross shaft connecting piece is fixed at the lower end of the foot supporting plate 605 through screw connection, wherein the rotation between the cross shaft 606 and the cross shaft connecting piece 607 is supported by a bearing, the upper side of the cross shaft connecting piece 607 is fixed with an ankle joint output connecting plate 609 through bolt connection, the ankle joint output connecting plate 609 is connected to the calf plate 106 through bolt connection, and the position of the ankle joint output connecting plate 609 is adjusted through the bolt fixed position, so that the length size is adjusted.
In a specific embodiment of the invention, the output transmission shaft 409 can be driven to rotate by controlling the positive rotation and the negative rotation of the output motor 402 at the rear part of the hip joint, and the adduction and abduction of the hip joint are completed by the left-right swing of the hip joint output connecting plate 11; the hip joint is stretched and bent by controlling the forward rotation and the reverse rotation of a hip joint output motor, transmitting the rotation to a hip joint output flange plate through the speed reduction of a speed reducer and swinging the hip joint output connecting plate 11 back and forth; the knee joint is stretched and flexed by controlling the positive rotation and the negative rotation of the knee joint output motor 107, then transmitting the signals to the knee joint output flange plate 103 through the speed reduction of the speed reducer and swinging the knee joint output connecting plate 9 back and forth; thereby achieving the purpose of rehabilitation of hip joints and knee joints of lower limbs.
In a specific example of the invention, the synchronous extension or asynchronous extension of the electric push rod one 602 and the electric push rod two 611 is controlled to drive the first connecting piece 604 and the second connecting piece 610 to rotate in a matching way, two ends of the first connecting piece 604 and the second connecting piece 610 are respectively fixed on the lower ends of the electric push rod one 602 and the electric push rod two 611, the connecting piece fixing plate 604 and the foot connecting piece 608 through bolt connection, the other end of the foot connecting piece 608 is connected with the cross axle 606 and the cross axle connecting piece 607, the foot supporting plate 605 swings back and forth and turns left and right through the structural matching, and the extension/flexion movement and the inversion/eversion movement of the ankle joint are completed; thereby achieving the purpose of ankle joint rehabilitation.
The invention realizes the rehabilitation training of patients with hemiplegia or lower limb injury, has more comfortable sensation in the rehabilitation training process, achieves good rehabilitation effect and is beneficial to the early rehabilitation of the patients.
Claims (6)
1. A multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism is characterized in that a lower limb shank part component consists of a shell I, a knee joint rolling bearing, a knee joint output flange plate, a mechanical limit block I, a knee joint reducer, a shank plate and a knee joint output motor, wherein the knee joint output motor is matched in the knee joint reducer and fixed on the knee joint reducer by screws, the knee joint reducer is fixed on the shank plate by bolts, power output by the motor is output to the knee joint output flange plate through the reducer, the knee joint rolling bearing is installed between the knee joint output flange plate and the knee joint reducer, the knee joint output flange plate is fixed with the mechanical limit block I by screws, the safety of a rehabilitation patient is guaranteed, and the shell is fixed on the shank plate by screws to prevent dust; similarly, the thigh part assembly and the lower leg part assembly in the lower limb are mounted on the same principle, and the difference is that the output torque of the motor is different.
2. The multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism as claimed in claim 1, wherein the hip joint transmission part assembly is composed of a support shell, a hip joint fixing plate, hip joint rear output shaft bearings and bearing positioning end covers, wherein the hip joint rear output shaft bearings are installed at two sides of the support shell, the bearing positioning end covers are fixed outside bearing holes of the support shell through bolts, the support shell is fixed on the hip joint fixing plate through screws, the hip joint fixing plate is fixed on a waist adjusting protection plate through bolts, and the front and back positions of the hip joint transmission part assembly are adjusted through the positions fixed through the bolts.
3. The multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism as claimed in claim 1, wherein the hip joint rear assembly is composed of a shell III, a hip joint rear rolling bearing, a hip joint rear output flange plate, a mechanical stopper III, a hip joint rear reducer, a mounting fixing plate, a hip joint rear output motor, an output transmission shaft, a first supporting fixing part and a second supporting fixing part, wherein the hip joint rear output motor is matched in the hip joint rear reducer and fixed on the hip joint rear reducer by screws, the hip joint rear reducer is fixed on the mounting fixing plate by bolts, power output by the motor is output to the hip joint rear output flange plate through the reducer, the hip joint rear rolling bearing is mounted between the hip joint rear output flange plate and the hip joint rear reducer, the mechanical stopper III is fixed on the hip joint rear output flange plate by screws, the safety of a rehabilitation patient is guaranteed, the output transmission shaft is fixed on the output flange plate at the rear part of the hip joint through screws to transmit power, the shell is fixed on the lower leg plate through three-purpose screws to prevent dust, the whole installation fixing plate is fixed on the first supporting fixing piece through bolt connection, the supporting fixing piece is fixed on the second supporting fixing piece through bolt connection again, the second supporting fixing piece is fixed on the waist adjusting protective plate through bolts, and the front position and the rear position of the assembly are adjusted through the positions fixed by the bolts.
4. The multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism of claim 1, wherein the power supply and control system part is used for supplying electric energy to the power system and the motor control system; the power supply and control system part comprises: the device comprises a display screen, a power switch, a rechargeable storage battery, a start-stop button, an upper computer processor and a function button; wherein: the power switch is positioned on the side surface of the backpack shell and used for starting or closing a voltage system of the rehabilitation device; the function button is positioned on the rear surface of the backpack shell and used for parameter setting; the start-stop button is positioned on the rear surface of the backpack shell and used for starting or stopping the current rehabilitation exercise; the display screen is positioned on the rear surface of the shell and used for setting rehabilitation parameters for a user; the upper computer processor is communicated with the motor control system or an external intelligent terminal in a wired mode.
5. The multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism as claimed in claim 1, wherein the output transmission shaft can be driven to rotate by controlling the forward rotation and the reverse rotation of the output motor at the rear part of the hip joint, and the adduction and the abduction of the hip joint are completed by the left-right swing of the hip joint output connecting plate; the hip joint is stretched and bent by controlling the forward rotation and the reverse rotation of a hip joint output motor, transmitting the rotation to a hip joint output flange plate through the speed reduction of a speed reducer and swinging the hip joint output connecting plate back and forth; the knee joint output motor is controlled to rotate forwards and reversely, then the rotation speed is reduced by the speed reducer and transmitted to the knee joint output flange plate, and the knee joint is stretched and bent by the front and back swing of the knee joint output connecting plate; thereby achieving the purpose of rehabilitation of hip joints and knee joints of lower limbs.
6. The multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism as claimed in claim 1, wherein the first connecting piece and the second connecting piece can be driven to rotate in a matched manner by controlling synchronous extension or asynchronous extension of the first electric push rod and the second electric push rod, two ends of the first connecting piece and the second connecting piece are respectively fixed to the lower ends of the first electric push rod and the second electric push rod and a connecting piece fixing plate and a foot connecting piece through bolt connection, the other end of the foot connecting piece is connected with a cross shaft and a cross shaft connecting piece, and the structures are matched to enable a foot supporting plate to swing back and forth and turn left and right to complete extension/flexion movement and inversion/eversion movement of ankle joints; thereby achieving the purpose of ankle joint rehabilitation; the ankle joint output connecting plates of the foot part and the ankle joint rehabilitation component are connected to the lower leg plate through bolts, and the positions of the ankle joint output connecting plates are adjusted through the positions fixed by the bolts, so that the length and the size are adjusted.
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