CN114288073A - Intelligent auxiliary enhancing device for limb muscle strength - Google Patents
Intelligent auxiliary enhancing device for limb muscle strength Download PDFInfo
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- CN114288073A CN114288073A CN202210031975.5A CN202210031975A CN114288073A CN 114288073 A CN114288073 A CN 114288073A CN 202210031975 A CN202210031975 A CN 202210031975A CN 114288073 A CN114288073 A CN 114288073A
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Abstract
The invention relates to the technical field of limb exoskeletons, in particular to an intelligent auxiliary enhancing device for limb muscle strength, which comprises a back supporting plate and a waist supporting plate, wherein the waist supporting plate is arranged at the lower end of the back supporting plate in a sliding way, the outer surface of the back supporting plate is detachably connected with a central controller, a cross bar adjusting component is fixedly connected with the outer surface of the upper side of the back supporting plate, two ends of the cross bar adjusting component are both connected with an upper limb auxiliary enhancing component, two sides of the waist supporting plate are connected with second connecting blocks, the outer surface of the waist supporting plate is provided with second adjusting holes, the free ends of the second connecting blocks are both connected with lower limb auxiliary enhancing components, and the upper limb auxiliary enhancing components and the lower limb auxiliary enhancing components are both connected with pressure sensors; by adopting the technical scheme of the invention, the problem that the exoskeleton supporting device in the prior art cannot effectively support the limbs of the patient can be solved, the working efficiency is improved, and the exoskeleton supporting device is suitable for the patient with inconvenient limbs.
Description
Technical Field
The invention relates to the technical field of limb auxiliary enhancement, in particular to an intelligent auxiliary enhancement device for limb muscle strength.
Background
Scientific training is a key way to enhance physique and muscle strength. However, the training always accompanies with injuries, and once training injuries occur, the training stops, the muscle strength is reduced and even the muscle atrophy is caused. Therefore, how to promote recovery from injury, maintain and improve muscle strength by personalized rehabilitation training is a research focus in recent years. Because the training injury occurs at different positions and the individual difference of the wounded exists, the rehabilitation training of the wounded is different. Therefore, there is a need for an intelligent auxiliary limb muscle strength enhancing device, which can realize personalized and intelligent rehabilitation training of different wounded persons, promote recovery of the wounded persons, and maintain and enhance the muscle strength.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an intelligent auxiliary limb muscle strength enhancing device, which can solve the problem that an exoskeleton supporting device in the prior art cannot effectively support the limb of a patient.
In order to achieve the purpose, the invention provides the following basic scheme: an intelligent auxiliary limb muscle strength enhancing device comprises a back supporting plate and a waist supporting plate, wherein the waist supporting plate is slidably arranged at the lower end of the back supporting plate in a penetrating manner, a first adjusting hole is formed in the back supporting plate, a bolt is fixedly connected to the outer surface of the waist supporting plate, the bolt is arranged on the inner side of the first adjusting hole, and the back supporting plate and the waist supporting plate are fixedly connected through a bolt nut;
the outer surface of the back supporting plate is detachably connected with a central controller, the top end of the back supporting plate is fixedly connected with first fixing belts which are symmetrically arranged, the bottom end of the back supporting plate is fixedly connected with second fixing belts which are symmetrically arranged, the first fixing belts and the second fixing belts are arranged in a matching way, the cross rod adjusting component is fixedly connected with the outer surface of the upper side of the back supporting plate, two ends of the cross rod adjusting component are both connected with upper limb auxiliary reinforcing components which are symmetrically arranged, each upper limb auxiliary reinforcing component comprises a first driving motor, a second driving motor, a third driving motor, a rotating supporting block, a large arm supporting component and a small arm supporting component, the first driving motor is fixedly connected with the cross rod adjusting component, the output end of the first driving motor penetrates through the cross rod adjusting component and is connected with the rotating supporting block, and the outer surface of the rotating supporting block far away from the cross rod adjusting component is fixedly connected with a first connecting block, the free end of the first connecting block is rotatably connected with the large arm supporting assembly, the second driving motor is fixedly connected to the outer surface of the large arm supporting assembly, the output end of the second driving motor penetrates through the large arm supporting assembly and is connected with the first connecting block, one end, far away from the first connecting block, of the large arm supporting assembly is rotatably connected with the small arm supporting assembly, the third driving motor is fixedly connected to the outer surface of the large arm supporting assembly, the third driving motor is arranged at the joint of the large arm supporting assembly and the small arm supporting assembly, the output end of the third driving motor penetrates through the large arm supporting assembly and is connected with the small arm supporting assembly, and the free end of the small arm supporting assembly is connected with the small arm fixing belt;
the two sides of the waist supporting plate are connected with second connecting blocks which are symmetrically arranged, second adjusting holes which are symmetrically arranged are formed in the outer surface of the waist supporting plate, the waist supporting plate and the second connecting blocks are fixedly connected through bolts and nuts, the bolts are matched with the second adjusting holes, the free ends of the second connecting blocks are connected with lower limb auxiliary reinforcing components, each lower limb auxiliary reinforcing component comprises a fourth driving motor, a fifth driving motor, a thigh supporting component and a shank supporting component, the thigh supporting component is rotatably connected with the second connecting blocks, the fourth driving motor and the fifth driving motor are fixedly connected to the outer surface of the thigh supporting component, the output end of the fourth driving motor is connected with the second connecting blocks, one end, far away from the second connecting blocks, of the thigh supporting component is rotatably connected with the shank supporting component, and the fifth driving motor is arranged at the joint of the thigh supporting component and the shank supporting component, the output end of the fifth driving motor is connected with a shank support assembly, and the free end of the shank support assembly is connected with a shank fixing band;
the upper arm supporting assembly, the lower arm supporting assembly, the thigh supporting assembly and the shank supporting assembly are all connected with pressure sensors, the pressure sensors are all arranged on one side close to a human body limb, and the first driving motor, the second driving motor, the third driving motor, the fourth driving motor, the fifth driving motor and the pressure sensors are all communicated with a central controller through wires.
The principle and the effect of the scheme are as follows: when needing to carry out the auxiliary stay to patient's limbs, place the back backup pad at patient's back, mutually support first fixed band and second fixed band, make the back backup pad fix at patient's back, then it is fixed with forearm fixed band and patient forearm, then place the waist backup pad at patient's waist, it is fixed with patient's shank with the shank fixed band, pressure sensor detects limbs forearm support dynamics respectively, the forearm support dynamics, thigh support dynamics and shank support dynamics, pressure sensor detects and obtains everywhere support dynamics and contrasts with predetermined numerical value in central controller, central controller is according to the first driving motor of contrast numerical control, the second driving motor, the third driving motor, fourth driving motor and fifth driving motor, realize the auxiliary stay to patient's limbs.
Further, horizontal pole adjusting part includes first horizontal pole, second horizontal pole, adjusting sleeve and threaded rod, threaded rod fixed connection is at first horizontal pole surface, one side at the second horizontal pole is all worn to establish by first horizontal pole and threaded rod, the through-hole has been seted up to second horizontal pole surface, the inboard of through-hole is located to the adjusting sleeve, the second horizontal pole rotates with the adjusting sleeve to be connected, adjusting sleeve and threaded rod threaded connection.
Adopt above-mentioned scheme, rotate adjusting sleeve, can adjust the relative position between first horizontal pole and the second horizontal pole, can be applicable to the patient of different sizes with this device.
Further, the big arm supporting component comprises a first big arm supporting block and a second big arm supporting block, the second big arm supporting block is slidably arranged on one side of the first big arm supporting block in a penetrating mode, first limiting holes evenly distributed along a straight line are formed in the outer surface of the second big arm supporting block, the first big arm supporting block is in threaded connection with a first fixing bolt, and the first limiting holes are matched with the first fixing bolt.
By adopting the scheme, the relative position between the first large arm supporting block and the second large arm supporting block can be adjusted, and the device is suitable for patients with different body types.
Furthermore, the forearm support assembly comprises a first forearm support block and a second forearm support block, the outer surface of the second forearm support block is fixedly connected with symmetrical forearm sliding rods, the forearm sliding rods are all arranged on one side of the first forearm support block in a penetrating mode, and the outer surface of the first forearm support block is connected with a limiting assembly for fixing the forearm sliding rod.
Adopt above-mentioned technical scheme, can adjust the relative position between first forearm supporting shoe and the second forearm supporting shoe, can be applicable to the patient of different sizes with this device.
Furthermore, the thigh supporting component comprises a first thigh supporting block and a second thigh supporting block, the second thigh supporting block is slidably arranged on one side of the first thigh supporting block in a penetrating mode, second limiting holes evenly distributed along a straight line are formed in the outer surface of the second thigh supporting block, a second fixing bolt is connected to the first thigh supporting block in a threaded mode, and the second limiting holes are matched with the second fixing bolt.
By adopting the technical scheme, the relative position between the first thigh supporting block and the second thigh supporting block can be adjusted, and the device can be suitable for patients with different body types.
Furthermore, the shank support assembly comprises a first shank support block and a second shank support block, shank sliding rods which are symmetrically arranged are fixedly connected to the outer surface of the second shank support block, the shank sliding rods are all arranged on one side of the first shank support block in a penetrating mode, and a limiting assembly for fixing the shank sliding rods is connected to the outer surface of the first shank support block.
By adopting the technical scheme, the relative position between the first shank supporting block and the second shank supporting block can be adjusted, and the device can be suitable for patients with different body types.
Further, the limiting assembly comprises a pressing block, two clamping blocks and a spring, the two clamping blocks are connected to the inner sides of the first shank supporting block and the first forearm supporting block in a sliding mode, the spring is arranged between the two clamping blocks, a plurality of clamping grooves which are evenly distributed along the axial direction are formed in the outer surfaces of the forearm sliding rod and the shank sliding rod, the clamping grooves are all in the motion track of the clamping blocks, the clamping blocks are arranged in a matched mode with the clamping grooves, the pressing block penetrates through one side of the first shank supporting block and one side of the first shank supporting block in a sliding mode, and the pressing block is arranged in a matched mode with the two clamping blocks.
By adopting the technical scheme, the pressing block is pressed by hands, the bottom end of the pressing block can extrude the two sliding blocks to enable the two sliding blocks to move in opposite directions and close to each other, the spring is compressed, the clamping blocks are not clamped with the clamping grooves at the moment, and the relative positions between the first shank supporting block and the second shank supporting block and between the first small arm supporting block and the second small arm supporting block can be adjusted; when the pressing block is loosened, the spring can be restored to a natural state, the two clamping blocks move away from each other in opposite directions under the action of the spring, the pressing block is reset, the clamping blocks are clamped with the clamping grooves again, and the sliding rod is fixed at the current position.
Compared with the prior art, the invention has the beneficial effects that:
1. the device is simple to wear and convenient to operate, and can be used only by fixing the upper limb muscle intelligent auxiliary enhancement device with the upper limb of a patient and then fixedly connecting the lower limb muscle intelligent auxiliary enhancement device with the lower limb of the patient;
2. the sizes of the shoulder width, the crotch width, the arms and the legs can be adjusted, the device is suitable for most people, and the adjustment is convenient and quick;
3. through the cooperation of each driving motor and central controller, can effectively realize carrying out the daily activity to the support of patient's limbs, the inconvenient patient of supplementary health.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent auxiliary enhancing device for limb muscle strength according to the present invention;
FIG. 2 is a schematic structural diagram of a limb muscle strength intelligent auxiliary enhancement device of the invention;
FIG. 3 is a schematic view of a cross bar adjustment assembly according to the present invention;
FIG. 4 is a schematic view of the construction of the big arm support assembly and the small arm support assembly of the present invention;
FIG. 5 is a schematic view of the thigh support assembly and lower leg support assembly of the present invention;
FIG. 6 is an enlarged view taken at A in FIG. 5 according to the present invention;
FIG. 7 is a cross-sectional view of a first calf support block of the invention;
FIG. 8 is a diagram illustrating a fixture block structure according to the present invention;
FIG. 9 is a schematic flow chart of the intelligent assistance enhancement of the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
reference numerals in the drawings of the specification include: 1 back support plate, 2 waist support plate, 3 first adjusting hole, 4 central controller, 5 first fixing band, 6 second fixing band, 7 cross bar adjusting component, 8 first driving motor, 9 second driving motor, 10 third driving motor, 11 rotating support block, 12 big arm support component, 13 small arm support component, 14 first connecting block, 15 small arm fixing band, 16 first cross bar, 17 second cross bar, 18 adjusting sleeve, 19 threaded rod, 20 first big arm support block, 21 second big arm support block, 22 first limiting hole, 23 first fixing bolt, 24 first small arm support block, 25 second small arm support block, 26 small arm sliding rod, 27 second connecting block, 28 fourth driving motor, 29 fifth driving motor, 30 thigh support component, 31 calf support component, 32 second adjusting hole, 33 first thigh support block, 34 second thigh support block, 35 second limiting hole, 36 second fixing bolts, 37 first shank supporting blocks, 38 second shank supporting blocks, 39 shank sliding rods, 40 pressing blocks, 41 clamping blocks, 42 springs, 43 clamping grooves and 44 shank fixing belts.
Example (b):
as shown in fig. 1 to 9, an intelligent auxiliary limb muscle strength enhancing device comprises a back support plate 1 and a waist support plate 2, wherein the waist support plate 2 is slidably arranged at the lower end of the back support plate 1, the back support plate 1 is provided with a first adjusting hole 3, the outer surface of the waist support plate 2 is fixedly connected with a bolt, the bolt is arranged at the inner side of the first adjusting hole 3, the back support plate 1 and the waist support plate 2 are fixedly connected through a bolt and a nut, the relative position between the back support plate 1 and the waist support plate 2 can be adjusted, and the device is suitable for patients with different heights;
the outer surface of the back supporting plate 1 is detachably connected with a central controller 4, a power supply, a limb preset supporting force value and an intelligent processor are arranged in the central controller 4, the top end of the back supporting plate 1 is fixedly connected with first fixing bands 5 which are symmetrically arranged, the bottom end of the back supporting plate 1 is fixedly connected with second fixing bands 6 which are symmetrically arranged, the free ends of the first fixing bands 5 are connected with buckles, the first fixing bands 5 and the second fixing bands 6 are mutually matched through the buckles, the back supporting plate 1 can be tightly attached to the back of a user, and the cross rod adjusting assembly 7 is fixedly connected to the outer surface of the upper side of the back supporting plate 1;
the cross bar adjusting component 7 comprises a first cross bar 16, a second cross bar 17, an adjusting sleeve 18 and a threaded rod 19, the threaded rod 19 is fixedly connected to the outer surface of the first cross bar 16, the first cross bar 16 and the threaded rod 19 are arranged on one side of the second cross bar 17 in a penetrating mode, a through hole is formed in the outer surface of the second cross bar 17, the adjusting sleeve 18 is arranged on the inner side of the through hole, the second cross bar 17 is rotatably connected with the adjusting sleeve 18, the adjusting sleeve 18 is in threaded connection with the threaded rod 19, and anti-skid stripes are arranged on the outer surface of the adjusting sleeve 18 and can increase friction force;
the two ends of the cross bar adjusting component 7 are connected with upper limb auxiliary reinforcing components which are symmetrically arranged, each upper limb auxiliary reinforcing component comprises a first driving motor 8, a second driving motor 9, a third driving motor 10, a rotating supporting block 11, a large arm supporting component 12 and a small arm supporting component 13, pressure sensors are bonded on the inner sides of the large arm supporting component 12 and the small arm supporting component 13, the first driving motors 8 are fixedly connected with the cross bar adjusting component 7, the output end of each first driving motor 8 penetrates through the cross bar adjusting component 7 and is connected with the corresponding rotating supporting block 11, each first driving motor 8 can drive the corresponding rotating supporting block 11 to rotate, the outer surface, far away from the cross bar adjusting component 7, of the corresponding rotating supporting block 11 is fixedly connected with a first connecting block 14, each first connecting block 14 is L-shaped, the right end of each first connecting block 14 is rotatably connected with the corresponding large arm supporting component 12, the second driving motors 9 are fixedly connected to the outer surface of the corresponding large arm supporting component 12, the output end of a second driving motor 9 penetrates through a large arm supporting component 12 and is connected with a first connecting block 14, the second driving motor 9 can drive the large arm supporting component 12 to rotate, the right end of the large arm supporting component 12 is rotatably connected with a small arm supporting component 13, a third driving motor 10 is fixedly connected to the outer surface of the large arm supporting component 12, the third driving motor 10 is arranged at the joint of the large arm supporting component 12 and the small arm supporting component 13, the output end of the third driving motor 10 penetrates through the large arm supporting component 12 and is connected with the small arm supporting component 13, the third driving motor 10 can drive the small arm supporting component 13 to rotate, the outer surface of the small arm supporting component 13 is fixedly connected with a small arm fixing band 15, and the first driving motor 8, the second driving motor 9, the third driving motor 10 and a pressure sensor are electrically connected with a central controller 4 through wires; the large arm supporting assembly 12 comprises a first large arm supporting block 20 and a second large arm supporting block 21, the second large arm supporting block 21 is slidably arranged on the right end face of the first large arm supporting block 20 in a penetrating mode, first limiting holes 22 evenly distributed along a straight line are formed in the outer surface of the second large arm supporting block 21, a first fixing bolt 23 is connected to the first large arm supporting block 20 in a threaded mode, the first limiting holes 22 are matched with the first fixing bolt 23, the small arm supporting assembly 13 comprises a first small arm supporting block 24 and a second small arm supporting block 25, small arm sliding rods 26 symmetrically arranged are fixedly connected to the outer surface of the second small arm supporting block 25, the small arm sliding rods 26 are all arranged on the right end face of the first small arm supporting block 24 in a penetrating mode, and the outer surface of the first small arm supporting block 24 is connected with a limiting assembly for fixing the small arm sliding rods 26;
the two sides of the waist supporting plate 2 are connected with second connecting blocks 27 which are symmetrically arranged, the second connecting blocks 27 are L-shaped, the outer surface of the waist supporting plate 2 is provided with second adjusting holes 32 which are symmetrically arranged, the waist supporting plate 2 and the second connecting blocks 27 are fixedly connected through bolts and nuts, wherein the bolts pass through the second adjusting holes 32, the free ends of the second connecting blocks 27 are connected with lower limb auxiliary reinforcing components, each lower limb auxiliary reinforcing component comprises a fourth driving motor 28, a fifth driving motor 29, a thigh supporting component 30 and a shank supporting component 31, pressure sensors are bonded on the inner sides of the thigh supporting component 30 and the shank supporting component 31, the left end of the thigh supporting component 30 is rotatably connected with the second connecting blocks 27, the fourth driving motor 28 and the fifth driving motor 29 are fixedly connected on the outer surface of the thigh supporting component 30, the output end of the fourth driving motor 28 passes through the thigh supporting component 30 and is connected with the second connecting blocks 27, the right end of the thigh supporting component 30 is rotatably connected with the calf supporting component 31, the fifth driving motor 29 is arranged at the joint of the thigh supporting component 30 and the calf supporting component 31, the output end of the fifth driving motor 29 penetrates through the thigh supporting component 30 and is connected with the calf supporting component 31, the free end of the calf supporting component 31 is fixedly connected with a calf fixing band 44, and the fourth driving motor 28, the fifth driving motor 29 and the pressure sensor are all communicated with the central controller 4 through leads;
the thigh supporting component 30 comprises a first thigh supporting block 33 and a second thigh supporting block 34, the second thigh supporting block 34 is arranged on the left side of the first thigh supporting block 33 in a sliding mode, a second limiting hole 35 which is uniformly distributed along a straight line is formed in the outer surface of the second thigh supporting block 34, a second fixing bolt 36 is connected to the first thigh supporting block 33 in a threaded mode, the second limiting hole 35 is matched with the second fixing bolt 36, the shank supporting component 31 comprises a first shank supporting block 37 and a second shank supporting block 38, shank sliding rods 39 which are symmetrically arranged are fixedly connected to the outer surface of the second shank supporting block 38, the shank sliding rods 39 are arranged on the left side of the first shank support in a penetrating mode, and a limiting component for fixing the shank sliding rods 39 is connected to the outer surface of the first shank supporting block 37;
spacing subassembly includes according to briquetting 40, fixture block 41 and spring 42, fixture block 41 is equipped with two, two equal sliding connection of fixture block 41 are in the inboard of first shank supporting shoe 37 and first forearm supporting shoe 24, spring 42 locates between two fixture blocks 41, isosceles trapezoid's through-hole has been seted up to the bottom of pressing briquetting 40, a plurality of draw-in grooves 43 along axial evenly distributed have all been seted up to shank slide bar 39 and forearm slide bar 26 surface, draw-in groove 43 is all in fixture block 41's movement track, fixture block 41 sets up with draw-in groove 43 cooperation, press briquetting 40 to slide and wear to establish in one side of first shank supporting shoe 37 and first forearm supporting shoe 24, press briquetting 40 and two fixture block 41 cooperations to set up, fixture block 41 is the wedge setting with the surface that the through-hole that presses briquetting 40 bottom contacted.
The specific implementation process is as follows:
when the limbs of a patient need to be supported in an auxiliary mode, the back supporting plate 1 is placed on the back of the patient, the free ends of the first fixing band 5 and the second fixing band 6 are pulled to the front of the chest and matched with each other through a buckle, the back supporting plate 1 is attached to the back of the patient tightly, the adjusting sleeve 18 is rotated, the relative position between the first cross rod 16 and the second cross rod 17 is adjusted, the device is matched with the shoulder width of the patient, the relative position between the first large arm supporting block 20 and the second large arm supporting block 21 is adjusted, the device is matched with the length of the large arm of the patient, the pressing block 40 is pressed by hands to adjust the relative position between the first small arm supporting block 24 and the second small arm supporting block 25, the device is matched with the length of the small arm of the patient, and then the small arm fixing band 15 is fixed with the small arm of the patient;
then, the waist supporting plate 2 is placed on the waist of the patient, the relative positions between the waist supporting plate 2 and the back supporting plate 1 and between the connecting block and the waist supporting plate 2 are adjusted through bolts and nuts, so that the device is matched with the crotch width and the height of the patient, the relative positions between the first thigh supporting block 33 and the second thigh supporting block 34 are adjusted, the device is matched with the thigh length of the patient, the pressing block 40 is pressed by hands to adjust the relative positions between the first shank supporting block 37 and the second shank supporting block 38, so that the device is matched with the shank length of the patient, after the size is adjusted, the shank fixing band 44 is fixed with the shank of the patient, and the whole auxiliary reinforcing device is worn;
in the process of using the intelligent auxiliary reinforcing device, the pressure sensors bonded by the upper arm supporting component 12, the lower arm supporting component 13, the thigh supporting component 30 and the lower leg supporting component 31 respectively detect the supporting force at the upper arm, the supporting force at the lower arm, the supporting force at the thigh and the supporting force at the lower leg, the supporting forces at all positions and the supporting force preset in the central controller 4 are compared, analyzed and stored, the central controller 4 respectively controls the operation of the first driving motor 8, the second driving motor 9, the third driving motor 10, the fourth driving motor 28 and the fifth driving motor 29 according to the comparison data, the auxiliary supporting of each limb of a patient is realized, medical personnel analyze the actual force bearing condition of the limb of the patient according to the stored data, and customize a treatment scheme according to the condition.
The above description is only an embodiment of the present invention, and the common general knowledge of the known specific structures and characteristics in the scheme is not described too much, it should be noted that, for those skilled in the art, it can make several variations and modifications without departing from the structure of the present invention, and these should be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. The utility model provides an intelligent supplementary reinforcing apparatus of limbs muscle power, includes back backup pad (1) and waist backup pad (2), its characterized in that: the waist supporting plate (2) is slidably arranged at the lower end of the back supporting plate (1) in a penetrating mode, a first adjusting hole (3) is formed in the back supporting plate (1), a bolt is fixedly connected to the outer surface of the waist supporting plate (2), the bolt is arranged on the inner side of the first adjusting hole (3), and the back supporting plate (1) and the waist supporting plate (2) are fixedly connected through a bolt nut;
the outer surface of the back support plate (1) is detachably connected with a central controller (4), the top end of the back support plate (1) is fixedly connected with first fixing bands (5) which are symmetrically arranged, the bottom end of the back support plate (1) is fixedly connected with second fixing bands (6) which are symmetrically arranged, the first fixing bands (5) and the second fixing bands (6) are arranged in a matching manner, the cross rod adjusting component (7) is fixedly connected with the outer surface of the upper side of the back support plate (1), two ends of the cross rod adjusting component (7) are both connected with upper limb auxiliary reinforcing components which are symmetrically arranged, each upper limb auxiliary reinforcing component comprises a first driving motor (8), a second driving motor (9), a third driving motor (10), a rotating supporting block (11), a large limb supporting component (12) and a small limb supporting component (13), the first driving motor (8) is fixedly connected with the cross rod adjusting component (7), the output end of the first driving motor (8) penetrates through the cross bar adjusting component (7) and is connected with the rotating supporting block (11), the outer surface of the rotating supporting block (11) far away from the cross bar adjusting component (7) is fixedly connected with a first connecting block (14), the free end of the first connecting block (14) is rotatably connected with the large arm supporting component (12), the second driving motor (9) is fixedly connected with the outer surface of the large arm supporting component (12), the output end of the second driving motor (9) penetrates through the large arm supporting component (12) and is connected with the first connecting block (14), one end of the large arm supporting component (12) far away from the first connecting block (14) is rotatably connected with the small arm supporting component (13), the third driving motor (10) is fixedly connected with the outer surface of the large arm supporting component (12), and the third driving motor (10) is arranged at the joint of the large arm supporting component (12) and the small arm supporting component (13), the output end of the third driving motor (10) penetrates through the large arm supporting assembly (12) and is connected with the small arm supporting assembly (13), and the free end of the small arm supporting assembly (13) is connected with a small arm fixing belt (15);
the waist support plate (2) is connected with second connecting blocks (27) symmetrically arranged on two sides, second adjusting holes (32) symmetrically arranged on the outer surface of the waist support plate (2) are formed in the outer surface of the waist support plate (2), the waist support plate (2) is fixedly connected with the second connecting blocks (27) through bolts and nuts, the bolts are matched with the second adjusting holes (32) and are arranged, the free ends of the second connecting blocks (27) are connected with lower limb auxiliary reinforcing components, each lower limb auxiliary reinforcing component comprises a fourth driving motor (28), a fifth driving motor (29), a thigh supporting component (30) and a shank supporting component (31), the thigh supporting component (30) is rotatably connected with the second connecting blocks (27), the fourth driving motor (28) and the fifth driving motor (29) are fixedly connected to the outer surface of the thigh supporting component (30), and the output end of the fourth driving motor (28) is connected with the second connecting blocks (27), one end, far away from the second connecting block (27), of the thigh supporting component (30) is rotatably connected with the shank supporting component (31), the fifth driving motor (29) is arranged at the joint of the thigh supporting component (30) and the shank supporting component (31), the output end of the fifth driving motor (29) is connected with the shank supporting component (31), and the free end of the shank supporting component (31) is connected with a shank fixing strap (44);
big arm supporting component (12) forearm supporting component (13) thigh supporting component (30) with shank supporting component (31) all are connected with pressure sensor, pressure sensor all sets up the one side of being close to human limbs, first driving motor (8) second driving motor (9) third driving motor (10) fourth driving motor (28), fifth driving motor (29) and pressure sensor all has central controller (4) through the wire intercommunication.
2. The intelligent auxiliary limb muscle strength enhancing device as claimed in claim 1, wherein: horizontal pole adjusting part (7) include first horizontal pole (16), second horizontal pole (17), adjusting sleeve (18) and threaded rod (19), threaded rod (19) fixed connection is at first horizontal pole (16) surface, one side at second horizontal pole (17) is all worn to establish in first horizontal pole (16) and threaded rod (19), the through-hole has been seted up to second horizontal pole (17) surface, the inboard of through-hole is located in adjusting sleeve (18), second horizontal pole (17) are rotated with adjusting sleeve (18) and are connected, adjusting sleeve (18) and threaded rod (19) threaded connection.
3. The intelligent auxiliary limb muscle strength enhancing device as claimed in claim 1, wherein: the large arm supporting component (12) comprises a first large arm supporting block (20) and a second large arm supporting block (21), the second large arm supporting block (21) penetrates through one side of the first large arm supporting block (20) in a sliding mode, first limiting holes (22) which are evenly distributed along a straight line are formed in the outer surface of the second large arm supporting block (21), the first large arm supporting block (20) is connected with a first fixing bolt (23) in a threaded mode, and the first limiting holes (22) are matched with the first fixing bolt (23) in a matched mode.
4. The intelligent auxiliary limb muscle strength enhancing device as claimed in claim 1, wherein: the forearm support assembly (13) comprises a first forearm support block (24) and a second forearm support block (25), the outer surface of the second forearm support block (25) is fixedly connected with forearm sliding rods (26) which are symmetrically arranged, the forearm sliding rods (26) are all arranged on one side of the first forearm support block (24) in a penetrating mode, and the outer surface of the first forearm support block (24) is connected with a limiting assembly for fixing the forearm sliding rods (26).
5. The intelligent auxiliary limb muscle strength enhancing device as claimed in claim 1, wherein: the thigh supporting component (30) comprises a first thigh supporting block (33) and a second thigh supporting block (34), the second thigh supporting block (34) penetrates through one side of the first thigh supporting block (33) in a sliding mode, second limiting holes (35) which are uniformly distributed along a straight line are formed in the outer surface of the second thigh supporting block (34), the first thigh supporting block (33) is in threaded connection with a second fixing bolt (36), and the second limiting holes (35) are matched with the second fixing bolt (36).
6. The intelligent auxiliary limb muscle strength enhancing device as claimed in claim 1, wherein: the calf support assembly (31) comprises a first calf support block (37) and a second calf support block (38), calf sliding rods (39) which are symmetrically arranged are fixedly connected to the outer surface of the second calf support block (38), the calf sliding rods (39) are all arranged on one side of the first calf support block (37) in a penetrating mode, and a limiting assembly for fixing the calf sliding rods (39) is connected to the outer surface of the first calf support block (37).
7. The intelligent auxiliary limb muscle strength enhancing device as claimed in any one of claims 1 to 6, wherein: the limiting assembly comprises a pressing block (40), clamping blocks (41) and a spring (42), the clamping blocks (41) are arranged in two pieces, the two clamping blocks (41) are connected to the inner sides of the first shank supporting block (37) and the first forearm supporting block (24) in a sliding mode, the spring (42) is arranged between the two clamping blocks (41), a plurality of clamping grooves (43) which are evenly distributed along the axial direction are formed in the outer surfaces of the forearm sliding rod (26) and the shank sliding rod (39), the clamping grooves (43) are in the motion track of the clamping blocks (41), the clamping blocks (41) are arranged in a matched mode with the clamping grooves (43), the pressing block (40) penetrates through the first shank supporting block (37) and the one side of the first forearm supporting block (24) in a sliding mode, and the pressing block (40) is arranged in a matched mode with the two clamping blocks (41).
Priority Applications (1)
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| CN107874981A (en) * | 2017-12-21 | 2018-04-06 | 天津工业大学 | A kind of wearable exoskeleton-type lower limb ambulation training healing robot |
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| CN208926953U (en) * | 2018-02-13 | 2019-06-04 | 中山市沃倍特智能医疗机器人股份有限公司 | The ectoskeleton structure of intelligent exoskeleton robot |
| CN210525089U (en) * | 2019-09-30 | 2020-05-15 | 重庆理工大学 | Upper limb assistance exoskeleton device with adjustable back |
| WO2021120515A1 (en) * | 2019-12-20 | 2021-06-24 | 北京大艾机器人科技有限公司 | Length-adjustable lower limb structure, and exoskeleton robot using same |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107874981A (en) * | 2017-12-21 | 2018-04-06 | 天津工业大学 | A kind of wearable exoskeleton-type lower limb ambulation training healing robot |
| CN208926953U (en) * | 2018-02-13 | 2019-06-04 | 中山市沃倍特智能医疗机器人股份有限公司 | The ectoskeleton structure of intelligent exoskeleton robot |
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| CN210525089U (en) * | 2019-09-30 | 2020-05-15 | 重庆理工大学 | Upper limb assistance exoskeleton device with adjustable back |
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