CN114366558A

CN114366558A - Detachable quick wearing lower limb rehabilitation exoskeleton system

Info

Publication number: CN114366558A
Application number: CN202111680048.8A
Authority: CN
Inventors: 谢龙汉; 刘有为; 刘彪; 黎朔宇; 张雨蒙
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-19

Abstract

The invention discloses a lower limb rehabilitation exoskeleton system capable of being worn separately and quickly, which comprises a hip-joint distance adjusting mechanism, a hip-knee-joint distance adjusting mechanism, a knee-ankle-joint distance adjusting mechanism, a hip-joint driving mechanism, a knee-joint driving mechanism, an ankle-joint driving mechanism and wearing equipment, wherein the hip-joint distance adjusting mechanism is connected with the hip-knee-joint distance adjusting mechanism; according to the symmetry of the human body, the hip-knee joint distance adjusting mechanism, the knee-ankle joint distance adjusting mechanism, the hip joint driving mechanism, the knee joint driving mechanism, the ankle joint driving mechanism and the wearing equipment are symmetrically arranged on the sagittal plane of the human body in space. The size of the lower limb rehabilitation exoskeleton is adjusted by the hip pitch adjusting mechanism, the hip-knee joint pitch adjusting mechanism and the knee-ankle joint pitch adjusting mechanism, the safety and the convenience of the size adjusting process are ensured by adopting the adjusting mode of the motor, and the multi-step simultaneous adjusting scheme can be rapidly adapted to the differences of the body sizes of different patients.

Description

Detachable quick wearing lower limb rehabilitation exoskeleton system

Technical Field

The invention relates to the field of lower limb rehabilitation medical equipment, in particular to a detachable and quickly-worn lower limb rehabilitation exoskeleton system.

Background

At present, the existing method for performing rehabilitation training on damaged lower limbs in China is that a lower limb rehabilitation therapist assists a patient to perform one-to-one lower limb exercise training, and the rehabilitation therapist has long working time, high strength, higher labor cost and low patient rehabilitation efficiency. And more patients need rehabilitation training, and the rehabilitation therapists are in short supply. In view of such circumstances, a medical device with rehabilitation training is particularly important for patients.

Yanspangjun et al in the Chinese utility model "a recovered ectoskeleton system of low limbs and master slaving adjustable joint" set up the waist of interconnect and dressed unit, hip joint unit, thigh pole unit, knee joint unit, shank pole unit, ankle joint unit and sole unit. Based on the structural arrangement of the main and driven adjustable joints, the lower limb rehabilitation exoskeleton system can better match rehabilitation people with different patient grades, but the lower limb rehabilitation exoskeleton system does not have the adjustment of the size of the whole system, so that the lower limb rehabilitation exoskeleton system cannot be matched with more patients in the use process, and the lower limb exoskeleton has poor applicability and safety.

In the "a wearable lower limb exoskeleton robot for rehabilitation" of chinese utility model patent, the lower limb exoskeleton robot that sets up has eleven degrees of freedom in total, possesses waist guiding mechanism, hip width guiding mechanism, thigh length guiding mechanism, shank length guiding mechanism, sole plate and various adapting unit. The multi-freedom structural design of the exoskeleton system has better consistency between joint motion and human motion in the rehabilitation training process, and the adjustment mechanisms of all parts ensure that the system can be suitable for patients with different body sizes, but the degree of freedom of the system is complex; the system is imperfect and lacks a wearing structure. The problem of low and discontinuous adjustment efficiency exists because the adjustment mechanism is manually adjusted in a segmented manner.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a detachable and quickly-worn lower limb rehabilitation exoskeleton system, which adjusts the size of a lower limb rehabilitation exoskeleton through a hip pitch adjusting mechanism, a hip-knee joint pitch adjusting mechanism and a knee-ankle joint pitch adjusting mechanism, adopts an adjusting mode of a motor, ensures the safety and convenience of the size adjusting process, and adjusts the size of a lower limb exoskeleton rehabilitation robot in a multi-dimensional manner, thereby realizing the requirements of different sizes of patients.

In addition, the present invention has developed a detachable wearing apparatus that allows a patient to wear it on a hospital bed (wearing it on the hospital bed, taking off the thigh wearing unit and the shank wearing unit from the exoskeleton system, putting on the patient, and then putting back the thigh wearing unit and the shank wearing unit on the exoskeleton system). Compared with the traditional method for enabling the patient to stand on the lower limb rehabilitation equipment for a long time to wear and adjust, the lower limb rehabilitation exoskeleton system allows the patient to lie on a sickbed in advance to wear, and meanwhile, the lower limb rehabilitation exoskeleton system can correspondingly and automatically adjust parameters such as hip distance and joint distance according to stored body type parameters of the patient, so that the standing time of the patient on the lower limb rehabilitation equipment is greatly shortened, the operation procedures of medical staff are reduced to a great extent, the experience feeling and comfort of the patient are improved, and meanwhile, a large amount of physical strength is reserved for lower limb rehabilitation training of the patient.

In addition, the lower limb rehabilitation training device adopts a driving mode of the hip joint, the knee joint and the ankle joint to carry out lower limb rehabilitation training, the ankle joint is sleeved on the connecting mode of the patient's foot stamp and the foot plate through the cloth belt, so that the sole of the patient is directly contacted with the rehabilitation training treadmill, the dynamic foot bottom touch feeling close to the normal walking is provided for the patient, the lower limb rehabilitation training is closer to the real walking, and the effect of the lower limb rehabilitation training is improved.

In order to achieve the purpose, the invention provides a detachable lower limb rehabilitation exoskeleton system capable of being worn quickly, which comprises a hip distance adjusting mechanism and two pairs of lower limb exoskeleton subsystems symmetrically connected and arranged at two sides of the hip distance adjusting mechanism, wherein each pair of lower limb exoskeleton subsystems comprises wearing equipment and a hip joint driving mechanism, a hip knee joint distance adjusting mechanism, a knee joint driving mechanism, a knee ankle joint distance adjusting mechanism and an ankle joint driving mechanism which are connected in sequence,

the hip distance adjusting mechanism is used for adjusting the distance between the two lower limb exoskeleton subsystems so as to adapt to patients with different hip joint distances;

the hip joint driving mechanism is used for driving the hip-knee joint distance adjusting mechanism to rotate around a hip joint rotating shaft, and the hip joint rotating shaft is vertical to the sagittal plane and is close to the hip joint of the human body;

the hip-knee joint distance adjusting mechanism comprises a hip-knee joint distance adjusting mechanism unit body, a hip-knee joint distance linear motor and a thigh supporting tube, wherein the hip-knee joint distance adjusting mechanism unit body is connected with a hip joint driving mechanism, the hip-knee joint distance linear motor is fixedly arranged on the hip-knee joint distance adjusting mechanism unit body, the axis direction of a push rod of the hip-knee joint distance linear motor is parallel to the axis direction of the thigh supporting tube, the thigh supporting tube can perform linear translation motion relative to the hip-knee joint distance adjusting unit body along the axis of the thigh supporting tube, the free end parts of the thigh supporting tube and the push rod of the hip-knee joint distance linear motor are connected with the knee joint driving mechanism, and the hip-knee joint distance adjusting mechanism adjusts the distance between a hip joint rotating shaft and a knee joint rotating shaft through the linear motor so as to adapt to patients with different thigh lengths;

the knee joint driving mechanism is used for driving the knee-ankle joint distance adjusting mechanism to rotate around a knee joint rotating shaft, and the knee joint rotating shaft is vertical to the sagittal plane and is close to the knee joint of the human body;

the knee-ankle joint distance adjusting mechanism comprises a knee-ankle joint distance adjusting mechanism unit body connected with the knee joint driving mechanism, a knee-ankle joint distance linear motor and a lower leg supporting tube, wherein the knee-ankle joint distance linear motor and the lower leg supporting tube are arranged on the knee-ankle joint distance adjusting mechanism unit body;

the ankle joint driving mechanism is used for driving the ankle joint to rotate;

wearing equipment includes thigh wearing unit and shank wearing unit, and thigh wearing unit can be dismantled and connect on hip knee joint apart from adjustment mechanism, and shank wearing unit can be dismantled and connect on knee ankle joint apart from adjustment mechanism.

The relative distance of the lower limb exoskeleton subsystems on the left side and the right side in the direction of the human body coronal axis, the distance between the hip joint rotating shaft and the knee joint rotating shaft and the distance between the knee joint rotating shaft and the ankle joint rotating shaft can be automatically adjusted simultaneously or sequentially, so that the manual operation flow of medical personnel is reduced, and the convenience is increased.

Furthermore, the hip distance adjusting mechanism comprises a hip distance adjusting mechanism unit body, a left exoskeleton supporting shaft and a right exoskeleton supporting shaft, wherein the left exoskeleton supporting shaft and the right exoskeleton supporting shaft are arranged on the hip distance adjusting mechanism unit body, the left exoskeleton supporting shaft and the right exoskeleton supporting shaft can move in the opposite direction or in the opposite direction in the horizontal direction, and the left exoskeleton supporting shaft and the right exoskeleton supporting shaft are respectively connected with the two lower limb exoskeleton subsystems. The left end and the right end of the hip distance adjusting mechanism are respectively connected with the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem, so that the relative distance of the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem in the direction of the human body coronary axis can be automatically adjusted, and the adaptability to patients with different hip joint distances is realized.

Furthermore, the hip-knee joint distance adjusting mechanism further comprises a guide rail sliding block module and a thigh wearing object mounting part, the guide rail sliding block module is arranged on the hip-knee joint distance adjusting mechanism unit body, the thigh wearing object mounting part is connected with a sliding block in the guide rail sliding block module, and the thigh wearing unit is detachably connected with the thigh wearing object mounting part.

Furthermore, the hip joint driving mechanism comprises a hip joint driving mechanism unit body and a hip joint driving motor, the hip joint driving mechanism unit body is connected with the hip distance adjusting mechanism, the hip joint driving motor is arranged on the hip joint driving mechanism unit body, and the hip joint driving motor is rotatably connected with the hip joint distance adjusting mechanism unit body in the hip joint distance adjusting mechanism through a synchronous belt and a synchronous wheel.

Furthermore, the hip joint driving mechanism also comprises a hip joint angle encoder and a hip joint torque sensor which are arranged on a hip joint rotating shaft in the hip joint driving mechanism.

Furthermore, the knee joint driving mechanism comprises a knee joint driving mechanism unit body and a knee joint driving motor, the knee joint driving mechanism unit body is connected with a thigh supporting pipe and a hip-knee joint distance linear motor push rod in the hip-knee joint distance adjusting mechanism, the knee joint driving motor is arranged on the knee joint driving mechanism unit body, and the knee joint driving motor is used for driving the knee-ankle joint distance adjusting mechanism to rotate.

Further, ankle joint actuating mechanism includes ankle joint actuating mechanism unit body, ankle joint driving motor, ankle joint mounting, reset assembly is pressed to foot winding cloth and ankle joint, ankle joint actuating mechanism unit body is connected with knee ankle joint apart from adjustment mechanism, ankle joint driving motor fixes on ankle joint actuating mechanism unit body, reset assembly is pressed to the ankle joint and is connected with ankle joint driving motor, the reset assembly is pressed to the ankle joint mounting and ankle joint and is connected, foot winding cloth sets up on the ankle joint mounting, reset assembly is pressed to the ankle joint is used for packing up or putting down the ankle joint mounting. The ankle joint fixing piece in the ankle joint driving mechanism is wound with the cloth strips of the foot part, so that the sole of the patient can touch the ground when the patient carries out rehabilitation training. When the ankle joint mounting was in the flat state of putting down, can half surround patient's ankle joint part and be located the top of sole, the sole and the heel of patient are closely twined respectively to foot winding cloth, guarantee patient ankle joint driven steadiness simultaneously for the patient sole can touch to the ground, improves rehabilitation training's authenticity and recovered effect.

Further, the thigh is dressed the unit and all includes that reset assembly is pressed to general spring, dress the thing support arm, spring button quick assembly disassembly subassembly, locking knob and limbs envelope board, reset assembly is pressed to the spring and hip knee joint apart from adjustment mechanism or knee ankle joint apart from adjustment mechanism to be connected, dress the thing support arm and spring press reset assembly to be connected and dress the thing support arm and can rotate, spring button quick assembly disassembly subassembly slides and sets up on dressing the thing support arm, the locking knob is used for with spring button quick assembly disassembly subassembly locking on dressing the thing support arm, limbs envelope board can dismantle with spring button quick assembly disassembly subassembly and be connected.

Compared with the prior art, the invention has at least the following beneficial effects:

(1) the invention provides a lower limb rehabilitation exoskeleton system capable of being worn separately and quickly. The whole device has the advantage that the relative distance of the lower limb exoskeleton subsystems on the left side and the right side in the direction of the human body coronal axis can be automatically adjusted through the hip distance adjusting mechanism so as to adapt to patients with different hip joint pitches. The distance between the hip joint rotating shaft and the knee joint rotating shaft is automatically adjusted through the hip-knee joint distance adjusting mechanism so as to adapt to patients with different thigh lengths. The distance between the knee joint rotating shaft and the ankle joint rotating shaft is automatically adjusted through the knee-ankle joint distance adjusting mechanism so as to adapt to patients with different leg lengths.

(2) The relative distance of the lower limb exoskeleton subsystems on the left side and the right side in the direction of the human body coronal axis, the distance between the hip joint rotating shaft and the knee joint rotating shaft and the distance between the knee joint rotating shaft and the ankle joint rotating shaft can be automatically adjusted simultaneously or sequentially, so that the manual operation flow of medical personnel is reduced, and the convenience is increased.

(3) The ankle joint fixing piece in the ankle joint driving mechanism is wound with the cloth strips of the foot part, so that the sole of the patient can touch the ground when the patient carries out rehabilitation training. When ankle joint mounting was in two kinds of states down of keeping flat, can semi-surround patient's ankle joint part and be located the top of sole, fixed foot winding cloth closely twines patient's sole and heel respectively, guarantees patient ankle joint driven steadiness simultaneously for the patient sole can touch to the ground, improves rehabilitation training's authenticity and recovered effect.

(4) The automatic adjustment function, the ankle joint driving mechanism, the thigh wearing unit and the shank wearing unit enable a patient to be quickly connected with and separated from the lower limb exoskeleton subsystems on the left side and the right side, reduce the preparation time and the separation time of the patient and improve the experience of the patient.

Drawings

Fig. 1 is a schematic overall structural diagram of a detachable and quickly wearable lower limb rehabilitation exoskeleton system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a human coordinate system according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a lower extremity exoskeleton subsystem according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a hip distance adjusting mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a hip-knee joint distance adjusting mechanism according to an embodiment of the present invention.

FIG. 6 is a schematic structural diagram of a knee-ankle joint distance adjustment mechanism provided by an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a hip joint driving mechanism according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a knee joint driving mechanism according to an embodiment of the present invention.

Fig. 9 is a schematic structural view of an ankle driving mechanism provided in an embodiment of the present invention.

Fig. 10 is a schematic view of a wearable device.

Fig. 11 is a schematic view of a universal spring push reset assembly.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a detachable and quickly wearable lower limb rehabilitation exoskeleton system, comprising: a hip-knee joint distance adjusting mechanism 1, a hip-knee joint distance adjusting mechanism 2, a knee-ankle joint distance adjusting mechanism 3, a hip joint driving mechanism 4, a knee joint driving mechanism 5, an ankle joint driving mechanism 6 and a wearing device 7. For convenience of explanation, the hip-knee joint distance adjusting mechanism 2 as shown in fig. 5, the knee-ankle joint distance adjusting mechanism 3 as shown in fig. 6, the hip joint driving mechanism 4 as shown in fig. 7, the knee joint driving mechanism 5 as shown in fig. 8, the ankle joint driving mechanism 6 as shown in fig. 9, and the wearable device 7 as shown in fig. 10 are combined to be regarded as the lower extremity exoskeleton subsystems 8 and 9 as shown in fig. 3, one in the left and right, and are mirror-symmetrical about the sagittal plane. The human body coordinate system is schematically shown in fig. 2. The detachable lower limb rehabilitation exoskeleton system capable of being worn quickly provided by the invention can be regarded as comprising a hip distance adjusting mechanism, a left lower limb exoskeleton subsystem and a right lower limb exoskeleton subsystem as shown in fig. 4.

In some embodiments of the present invention, as shown in fig. 1, the hip pitch adjustment mechanism 1 is located in the middle of the lower limb rehabilitation exoskeleton system, and two ends of the hip pitch adjustment mechanism are respectively connected with the hip joint driving mechanisms 4 in the two lower limb exoskeleton subsystems. The hip joint driving mechanisms 4 on the two sides are respectively connected with the corresponding hip-knee joint distance adjusting mechanisms 2, the hip joint driving mechanisms 4 can drive the hip-knee joint distance adjusting mechanisms 2 to rotate within a preset angle range, and the hip joint rotating shafts are perpendicular to the sagittal plane and close to the hip joints of the human body. The hip-knee joint distance adjusting mechanisms 2 on the two sides are respectively connected with corresponding knee joint driving mechanisms 5. The knee joint driving mechanisms 5 on the two sides are respectively connected with the corresponding knee-ankle joint distance adjusting mechanisms 3, the knee joint driving mechanisms 5 can drive the knee-ankle joint distance adjusting mechanisms 3 to rotate within a preset angle range, and the knee joint rotating shaft is perpendicular to the sagittal plane and is close to the knee joint of the human body. The knee-ankle joint distance adjusting mechanisms 3 on both sides are respectively connected with corresponding ankle joint driving mechanisms 6. The wearing device 7 comprises thigh wearing units and shank wearing units, wherein the two sides of the thigh wearing units are 2 respectively, the thigh wearing units are detachably mounted on the hip-knee joint distance adjusting mechanism 2, and the shank wearing units are detachably mounted on the knee-ankle joint distance adjusting mechanism 3.

In some of the embodiments of the present invention, the thigh wearing unit and the lower leg wearing unit have the same structure, and the specific difference between them is that the size of the portion wrapping the thigh and the lower leg of the human body is different. Wearing equipment 7 is the detachable thing of wearing, adopts the low temperature to mould according to human thigh and shank appearance and forms, can lock through the hasp, can carry out convenient dismouting between interface and the ectoskeleton that its is connected.

In some embodiments of the invention, the wearable device 7 can be quickly separated from and connected to the system via a dovetail.

The left end and the right end of the hip distance adjusting mechanism 1 are respectively connected with the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem, and the relative distance of the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem in the direction of the human body coronal axis can be automatically adjusted through the hip distance driving motors 1-7, so that the system can adapt to patients with different hip joint distances. In some embodiments of the present invention, referring to fig. 2 and 4, the hip pitch adjustment mechanism 1 comprises a hip pitch adjustment mechanism unit body 1-1, a left exoskeleton support shaft 1-2, a right exoskeleton support shaft 1-3, a limit bearing set 1-4, a drive rack 1-5, a drive gear 1-6 and a hip pitch drive motor 1-7. The hip pitch adjustment mechanism unit body 1-1 is fixedly installed, is mirror-symmetrical about a sagittal plane of a human body, and is regarded as a frame component in the embodiment of the invention. The left exoskeleton support shaft 1-2 and the right exoskeleton support shaft 1-3 are respectively installed on the left side and the right side of the hip pitch adjusting mechanism unit body 1-1, the axes of the left exoskeleton support shaft 1-2 and the right exoskeleton support shaft 1-3 are perpendicular to a sagittal plane, and the left exoskeleton support shaft 1-2 and the right exoskeleton support shaft 1-3 can translate along the axes on the axes. The left exoskeleton supporting shaft 1-2 and the right exoskeleton supporting shaft 1-3 are respectively fixed with 1 driving rack 1-5, and the tooth surfaces of the 2 driving racks 1-5 are opposite and are just meshed with the driving gears 1-6. The axes of the driving gears 1-6 are intersected with the axes of the left exoskeleton supporting shaft 1-2 and the right exoskeleton supporting shaft 1-3, and the axes of the driving gears 1-6 are positioned in a sagittal plane. The hip pitch driving motor 1-7 is arranged on the hip pitch adjusting mechanism unit body 1-1, and the driving gear 1-6 can rotate under the driving of the hip pitch driving motor 1-7. The limiting bearing sets 1-4 are fixedly arranged in the hip pitch adjusting mechanism unit body 1-1, the surfaces of the bearings are in contact with the left exoskeleton supporting shaft 1-2 and the right exoskeleton supporting shaft 1-3, and the friction resistance of the limiting bearing sets 1-4 to the horizontal movement of the left exoskeleton supporting shaft 1-2 and the right exoskeleton supporting shaft 1-3 on the axes can be reduced by utilizing the characteristic that the bearings can rotate around the axes.

Under the drive of the hip pitch drive motors 1-7, the rotary motion of the drive gears 1-6 is converted into the linear motion of the two drive racks 1-5, and then the translation motion of the left exoskeleton support shaft 1-2 and the right exoskeleton support shaft 1-3 along the axes of the exoskeleton support shafts is realized. Therefore, the hip distance adjusting mechanism 1 can realize coaxial synchronous equidistant telescopic motion of the left exoskeleton supporting shaft 1-2 and the right exoskeleton supporting shaft 1-3, the hip distance adjusting mechanism 1 always keeps mirror symmetry about a sagittal plane, and further, when the tail ends of the left exoskeleton supporting shaft 1-2 and the right exoskeleton supporting shaft 1-3 are respectively connected with the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem, the hip distance adjusting mechanism can adjust the relative distance of the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem in the direction of the coronal axis of a human body and simultaneously keep the left lower limb exoskeleton subsystem and the right lower limb exoskeleton subsystem in mirror symmetry about the sagittal plane of the human body, so that the adaptability to patients with different hip joint distances is realized.

In the invention, the hip-knee joint distance adjusting mechanism 2 adjusts the distance between the hip joint rotating shaft and the knee joint rotating shaft through a linear motor so as to adapt to patients with different thigh lengths.

In some embodiments of the present invention, referring to fig. 5, the hip-knee joint distance adjusting mechanism 2 includes a hip-knee joint distance adjusting mechanism unit 2-1, a hip-knee joint distance linear motor 2-2, a thigh support tube 2-3, a thigh wearing article mounting member 2-4, and a rail slider module 2-5. One end of the hip-knee joint distance adjusting mechanism unit body 2-1 is connected with the hip joint driving mechanism 4, the hip-knee joint distance linear motor 2-2, the thigh supporting tube 2-3 and the guide rail sliding block module 2-5 are arranged on the hip-knee joint distance adjusting mechanism unit body 2-1, the axial line of a push rod of the hip-knee joint distance linear motor 2-2, the axial line of the thigh supporting tube 2-3 and the length direction of a guide rail in the guide rail sliding block module 2-5 are parallel to each other, and the thigh supporting tube 2-3 can perform linear translation motion along the self axial line relative to the hip-knee joint distance adjusting unit body 2-1. The slide block in the guide rail slide block module 2-5 is connected with one end of a thigh wearing article mounting part 2-4, and the other end of the thigh wearing article mounting part 2-4, a thigh supporting tube 2-3 and a push rod of a hip-knee joint distance linear motor 2-2 are all connected with the knee joint driving mechanism 5.

The thigh supporting tube 2-3 is a hollow tube, which not only connects the hip-knee joint distance adjusting mechanism unit body 2-1 and the knee joint driving mechanism 5, but also allows and protects the electric circuit between the two, thereby improving the simplicity and cleanliness of the whole system. The thigh wearing article mounts 2-4 are connected with thigh wearing units in the wearing apparatus 7.

In the invention, the knee-ankle joint distance adjusting mechanism 3 can adjust the distance between the knee joint rotating shaft and the ankle joint rotating shaft so as to adapt to patients with different leg lengths. Under the drive of the hip-knee joint distance linear motor 2-2, a push rod of the hip-knee joint distance linear motor 2-2 extends or retracts, the distance between the hip joint driving mechanism 4 and the knee joint driving mechanism 5 can be changed, the thigh support tube 2-3 and the thigh wearing object mounting part 2-4 slide along with the push rod, and the adjustment of the distance between the hip joint rotating shaft and the knee joint rotating shaft is realized so as to adapt to patients with different thigh lengths. The hip-knee joint distance linear motor 2-2 and the thigh supporting tube 2-3 keep the distance between the hip joint rotating shaft and the knee joint rotating shaft at all times, and bear the force and moment in all directions generated when the patient carries out lower limb rehabilitation training.

In some embodiments of the present invention, as shown in fig. 6, the knee-ankle joint distance adjusting mechanism 3 includes a knee-ankle joint distance adjusting mechanism unit body 3-1, a knee-ankle joint distance linear motor 3-2, and a lower leg support tube 3-3. One end of the knee-ankle joint distance adjusting mechanism unit body 3-1 is connected with the knee joint driving mechanism 5, the knee-ankle joint distance linear motor 3-2 and the lower leg supporting tube 3-3 are arranged on the knee-ankle joint distance adjusting mechanism unit body 3-1, the axis of a push rod of the knee-ankle joint distance linear motor 3-2 is parallel to the axis direction of the lower leg supporting tube 3-3, and the lower leg supporting tube 3-3 can perform linear translation motion relative to the knee-ankle joint distance adjusting mechanism unit body 3-1 along the axis of the lower leg supporting tube 3-3. The push rod of the knee-ankle joint distance linear motor 3-2 and the shank support tube 3-3 are both connected with the ankle joint driving mechanism 6.

The lower leg supporting tube 3-3 is a hollow tube, which not only connects the knee-ankle joint distance adjusting mechanism unit body 3-1 and the ankle joint driving mechanism 6, but also allows and protects an electric circuit between the two, thereby improving the simplicity and cleanliness of the whole system. The knee-ankle joint distance adjusting mechanism unit body 3-1 is connected with a lower leg wearing unit in the wearing device 7.

Under the drive of the knee-ankle joint distance linear motor 3-2, a push rod of the knee-ankle joint distance linear motor 3-2 extends or retracts, so that the distance between the knee joint driving mechanism 5 and the ankle joint driving mechanism 6 can be changed, and the crus supporting tube 3-3 also slides along with the knee joint driving mechanism, thereby realizing the adjustment of the distance between the knee joint rotating shaft and the ankle joint rotating shaft so as to adapt to patients with different crus lengths. The knee-ankle joint distance linear motor 3-2 and the crus supporting tube 3-3 keep the distance between the hip joint rotating shaft and the knee joint rotating shaft at all times, and bear the force and moment in all directions generated when the patient carries out lower limb rehabilitation training.

In some embodiments of the present invention, as shown in fig. 7, the hip joint driving mechanism 4 comprises a hip joint driving mechanism unit 4-1, a hip joint driving motor 4-2, a hip joint driving synchronous wheel set 4-3, a hip joint driving synchronous belt 4-4, a hip joint synchronous belt pretensioner 4-5, a hip joint angle encoder 4-6 and a hip joint torque sensor 4-7.

The hip joint synchronous belt pretensioner 4-5 is arranged on the hip joint driving mechanism unit body 4-1, the hip joint driving motor 4-2 is arranged on the hip joint synchronous belt pretensioner 4-5, and the hip joint synchronous belt pretensioner 4-5 can enable the hip joint driving motor 4-2 to move linearly relative to the hip joint driving mechanism unit body 4-1 and is fixed on the hip joint driving mechanism unit body 4-1. The hip joint driving motor 4-2 is connected with the hip-knee joint distance adjusting mechanism 2 through a hip joint driving synchronous wheel group 4-3 and a hip joint driving synchronous belt 4-4, so that the hip-knee joint distance adjusting mechanism 2 can rotate around the hip joint driving mechanism unit body 4-1 in a certain angle range relatively, and the rotation axis at the moment is a hip joint rotation axis which is vertical to the sagittal plane of a human body and is positioned in the hip joint driving mechanism unit body 4-1. The hip joint rotating shaft is provided with a hip joint angle encoder 4-6 and a hip joint torque sensor 4-7 which are coaxial with the hip joint rotating shaft and respectively detect the angle and the torque when the hip-knee joint distance adjusting mechanism 2 rotates.

And adjusting the hip joint synchronous belt pretensioner 4-5 to enable the hip joint driving motor 4-2 to linearly move in the hip joint driving mechanism unit body 4-1, adjusting the distance between the axis of the hip joint driving motor 4-2 and the hip joint rotating shaft to a proper distance, enabling the hip joint driving synchronous belt 4-4 to be in a tight state, and ensuring the transmission quality between the hip joint driving motor 4-2 and the hip-knee joint distance adjusting mechanism 2. After the distance between the axis of the hip joint driving motor 4-2 and the hip joint rotating shaft is adjusted to a proper distance, the hip joint synchronous belt pretensioner 4-5 can relatively fix the hip joint driving motor 4-2 on the hip joint driving mechanism unit body 4-1 so as to keep the transmission reliability of the hip joint driving synchronous belt 4-4. Under the drive of a hip joint driving motor 4-2, the hip joint driving synchronous belt 4-4 drives the hip joint distance adjusting mechanism 2 to rotate around a hip joint rotating shaft within a certain angle range, and the thigh part of the patient is connected with the hip joint distance adjusting mechanism 2 through a thigh wearing unit in the wearing device 7 so as to drive the thigh of the patient to recover the lower limbs. The hip joint angle encoders 4-6 and the hip joint torque sensors 4-7 respectively detect the angle value and the torque value of the thigh part of the patient in the lower limb rehabilitation training, so that the lower limb rehabilitation training of the patient is in a scientific state.

In some embodiments of the present invention, as shown in fig. 8, the knee joint driving mechanism 5 includes a knee joint driving mechanism unit body 5-1, a knee joint driving motor 5-2, a knee joint driving synchronous pulley group 5-3, a knee joint driving synchronous pulley 5-4, a knee joint synchronous pulley pretensioner 5-5, a knee joint angle encoder 5-6 and a knee joint torque sensor 5-7.

The knee joint driving motor 5-2 is relatively fixed on the knee joint driving mechanism unit body 5-1, the knee joint driving motor 5-2 is connected with the knee-ankle joint distance adjusting mechanism 3 through a knee joint driving synchronous wheel set 5-3 and a knee joint driving synchronous belt 5-4, so that the knee-ankle joint distance adjusting mechanism 3 can rotate relatively around the knee joint driving mechanism unit body 5-1 within a certain angle range, and the rotating axis at the moment is a knee joint rotating shaft which is perpendicular to the sagittal plane of a human body and is positioned in the knee joint driving mechanism unit body 5-1. The knee joint rotating shaft is provided with a knee joint angle encoder 5-6 and a knee joint torque sensor 5-7 which are coaxial with the knee joint rotating shaft and respectively detect the angle and the torque when the knee-ankle joint distance adjusting mechanism 3 rotates. The 2 groups of knee joint synchronous belt pretensioners 5-5 respectively press the knee joint driving synchronous belts 5-4 from two sides, so that the pretightening state of the knee joint driving synchronous belts 5-4 is in a proper level.

And adjusting the knee joint synchronous belt pretensioner 5-5, and increasing or reducing the pressure on the knee joint driving synchronous belt 5-4 to enable the knee joint driving synchronous belt to be in a proper pretightening state. So as to maintain the reliability of the transmission of the knee joint driving synchronous belt 5-4. Under the drive of a knee joint drive motor 5-2, the knee joint drive synchronous belt 5-4 is used for transmission, so that the knee-ankle joint distance adjusting mechanism 3 rotates around an ankle joint rotating shaft within a certain angle range, the lower leg part of a patient is connected with the knee-ankle joint distance adjusting mechanism through a lower leg wearing unit in the wearing device 7, and the lower leg of the patient is driven to recover the lower limbs. The knee joint angle encoders 5-6 and the knee joint torque sensors 5-7 respectively detect the angle value and the torque value of the lower leg part of the patient in the lower limb rehabilitation training, so that the lower limb rehabilitation training of the patient is in a scientific state.

In some embodiments of the present invention, as shown in FIG. 9, the ankle driving mechanism 6 includes an ankle driving mechanism unit body 6-1, an ankle driving motor 6-2, an ankle fixing member 6-3, a foot wrapping cloth 6-4, and an ankle pressing and restoring member 6-5.

The ankle joint driving mechanism unit body 6-1 is connected with the knee-ankle joint distance adjusting mechanism 3, the ankle joint driving motor 6-2 is fixedly installed on the ankle joint driving mechanism unit body 6-1, and a rotating shaft of the ankle joint driving motor 6-2 is perpendicular to the sagittal plane of a human body and is connected with the ankle joint pressing and resetting component 6-5. The ankle joint pressing reduction component 6-5 is further connected with the ankle joint fixing component 6-3. The ankle joint fixing piece 6-3 is provided with a row of hole grooves for fixing the foot winding cloth strips 6-4. The ankle joint pressing reset component 6-5 is provided with a spring pressing lock, and after a pressing button is pressed down, the ankle joint fixing component 6-3 can be turned between an upward folding state and a horizontal laying state. After the button is released, the ankle fixing piece 6-3 can be fixed in two states of being folded upwards or horizontally laid down.

In some embodiments of the present invention, the ankle fixing member 6-3 is designed in a 'C' shape to be able to half-surround the ankle portion of the patient in a horizontally laid down state, and the foot wrapping cloth 6-4 wraps the foot plate and the heel of the patient with the ankle fixing member, respectively, thereby achieving the connection of the ankle driving mechanism 6 with the ankle of the patient. Because the rotating shaft of the ankle joint driving motor 6-2 is vertical to the sagittal plane of the human body, the rotating shaft of the ankle joint of the human body is almost vertical to the sagittal plane of the human body, and the two rotating shafts are almost on the same straight line, the invention can realize the driving of the rotation of the ankle joint of the human body.

As shown in fig. 9, the ankle pressing and restoring member 6-5 has one end connected to an ankle driving motor 6-2 for driving the ankle and the other end connected to an ankle fixing member 6-3. The ankle joint pressing reset component 6-5 comprises an ankle joint motor output unit body 6-5-1, a pressing spring 6-5-2, a pressing button 6-5-3 and a turnover positioning key 6-5-4. The ankle fixing piece 6-3 can be turned over between two states of being folded upwards and horizontally put down by pressing the press button 6-5-3; after the button 6-5-3 is released, the ankle fixing piece 6-3 can be fixed in two states of being folded upwards or being horizontally laid down.

The ankle joint motor output unit body 6-5-1 is connected with the ankle joint driving motor 6-2, the ankle joint motor output unit body 6-5-1 is designed with a first inner hole which is circular, the axis of the first inner hole is perpendicular to the rotation axis of the ankle joint driving motor 6-2, a first key groove is formed in the inner wall of the first inner hole, and the turnover positioning key 6-5-4 can slide in the first key groove. The pressing button 6-5-3 is coaxially installed with the first inner hole of the ankle joint motor output unit body 6-5-1 and can move along the axis of the first inner hole of the ankle joint motor output unit body 6-5-1, a second key groove is formed in the pressing button 6-5-3, and the turnover positioning key 6-5-4 is installed in the second key groove of the pressing button 6-5-3. The ankle joint fixing piece 6-3 is provided with a second inner hole which is coaxially arranged with the press button 6-5-3 and allows the press button 6-5-3 to rotate relatively and move along the axis, the second inner hole of the ankle joint fixing piece 6-3 is provided with two mutually perpendicular third key grooves which are respectively folded upwards and horizontally put down, and the turnover positioning key 6-5-4 can slide in the two third key grooves. The pressing button 6-5-3 penetrates through the pressing spring 6-5-2, one end of the pressing spring 6-5-2 is propped against the ankle joint motor output unit body 6-5-1, and the other end of the pressing spring is propped against the stepped surface of the pressing button 6-5-3.

The push button 6-5-3 is pressed, and the push button 6-5-3 carries the turnover positioning key 6-5-4 to simultaneously move in the third key groove of the second inner hole of the ankle joint fixing piece 6-3 and the first key groove of the first inner hole of the ankle joint motor output unit body 6-5-1. When the turnover positioning key 6-5-4 is completely withdrawn from the third key groove of the second inner hole on the ankle joint fixing piece 6-3, the ankle joint fixing piece 6-3 can rotate around the pressing button 6-5-3, the pressing spring 6-5-2 is in a compressed state, and the turnover positioning key 6-5-4 is still positioned in the first key groove of the first inner hole of the ankle joint motor output unit body 6-5-1. When the ankle fixing piece 6-3 is rotated, when the other third key groove of the second inner hole of the ankle fixing piece 6-3 is aligned with the turnover positioning key 6-5-4, the pressing button 6-5-3 is released, the pressing button 6-5-3 and the turnover positioning key 6-5-4 perform reverse axis movement under the elastic force of the pressing spring 6-5-2, the turnover positioning key 6-5-4 enters the other third key groove of the second inner hole of the ankle fixing piece 6-3 until the reset of the pressing spring 6-5-2 is completed, and at the moment, the ankle fixing piece 6-3 cannot rotate around the pressing button 6-5-3 under the connection of the turnover positioning key 6-5-4. Therefore, the ankle fixing piece 6-3 can be switched and locked in two states of being folded upwards or horizontally laid down.

The lower limbs of the patient are driven to perform rehabilitation training through the mutually coordinated rotary motion among the hip joint driving mechanism, the knee joint driving mechanism and the ankle joint driving mechanism.

In some embodiments of the present invention, referring to fig. 10, the wearing device 7 includes a thigh wearing unit 7-7 and a lower leg wearing unit 7-8 for functionally fixing a thigh and a lower leg of a patient, respectively, and structurally mounting the thigh wearing unit and the lower leg wearing unit on the hip-knee joint distance adjusting mechanism 2 and the knee-ankle joint distance adjusting mechanism 3, respectively. The thigh wearing unit 7-7 and the shank wearing unit 7-8 both comprise a universal spring pressing reset component 7-1, a wearing object supporting arm 7-2, a locking knob 7-3, a spring button quick assembly and disassembly component 7-4, a limb enveloping plate 7-5 and an elastic band 7-6.

The thigh wearing unit 7-7 and the shank wearing unit 7-8 are respectively arranged on the hip-knee joint distance adjusting mechanism 2 and the knee-ankle joint distance adjusting mechanism 3 through corresponding universal spring pressing reset components 7-1. The wearing object supporting arm 7-2 is connected with the universal spring pressing reset component 7-1, the wearing object supporting arm 7-2 is provided with a third inner hole, and the axis of the third inner hole is parallel to the linear moving direction of the push rod of the hip-knee joint distance adjusting mechanism 2 by the linear motor 2-2. The universal spring pressing reset component 7-1 is provided with a reset button, when the reset button is pressed, the wearable object supporting arm 7-2 can rotate around the axis of the third inner hole, the rotation range is 90 degrees, and the wearable object supporting arm 7-2 can be switched between a supporting state and a retracting state. When the reset button is reset, the clothing support arm 7-2 can be fixed in the support state or the retracted state. When the supporting arm 7-2 of the wearing article is in a supporting state, the main function is to support the thigh and the shank of the patient, and the motion of the exoskeleton subsystems of the left and right lower limbs is transmitted to the lower limbs of the patient, so that the lower limb rehabilitation training is completed. When the supporting arm 7-2 of the wearing article is in a retracted state, the vacated space is convenient for a patient to enter or exit from the lower limb exoskeleton subsystems on the left side and the right side. The wearing article supporting arm 7-2 is provided with symmetrical chamfered edges, the spring button quick assembly and disassembly assembly 7-4 is provided with a dovetail groove, so that the spring button quick assembly and disassembly assembly 7-4 can slide linearly along the chamfered edges of the wearing article supporting arm 7-2, and the spring button quick assembly and disassembly assembly 7-4 can be locked on the wearing article supporting arm 7-2 by using the locking knob 7-3.

When the spring button of the spring button quick assembly disassembly assembly 7-4 is pressed down, the limb envelope plate connecting piece of the spring button quick assembly disassembly assembly 7-4 can slide in the other dovetail groove of the spring button quick assembly disassembly assembly 7-4 to an aligned position, the spring button is released, and the limb envelope plate connecting piece is locked on the spring button quick assembly disassembly assembly 7-4. The limb envelope plate 7-5 is fixedly arranged on the limb envelope plate connecting piece of the spring button quick assembly and disassembly assembly 7-4, so that the limb envelope plate 7-5 firstly worn on the thigh and the calf of a patient can be quickly separated from or connected with the spring button quick assembly and disassembly assembly 7-4. Elastic bands 7-6 are arranged on the limb enveloping plates 7-5, so that the tightness of the limbs and the calves enveloped by the limb enveloping plates 7-5 can be adjusted.

The dovetail groove on one side of the spring button quick assembly disassembly component 7-4 is connected with the chamfered edge of the supporting arm 7-2 of the wearing article, and the dovetail groove on the other side of the spring button quick assembly disassembly component is connected with the limb envelope plate 7-5. The spring button quick assembly and disassembly component 7-4 comprises a double-dovetail-groove quick adapter, a spring button, a button compression spring, a round-head limiting bolt and a limb enveloping plate connecting piece. When the spring button is pressed down, the limb enveloping board connecting piece can slide in the dovetail groove on the other side, and when the limb enveloping board connecting piece slides to the aligned position, the spring button is loosened, and the limb enveloping board connecting piece and the limb enveloping board 7-5 are locked on the spring button quick assembly and disassembly component 7-4, so that the wearing equipment 7 can be separated from the thigh wearing unit.

One end of the double-dovetail-groove quick adapter is provided with a dovetail groove, and the dovetail groove is connected with the chamfered edge of the supporting arm of the wearing object and can slide along the chamfered edge. The side edge of the double-dovetail groove quick adapter is provided with a counter bore which can accommodate a button compression spring, and the spring button is embedded into the side edge of the double-dovetail groove quick adapter and is provided with the counter bore which presses the button compression spring. A limiting block is designed on the spring button and is always positioned in a slot hole on the double-dovetail-groove quick adapter, so that the spring button is prevented from being ejected out by a button compression spring. The limb envelope plate connecting piece is provided with a chamfered edge and can slide along the other dovetail groove of the double-dovetail groove quick adapter. And a limiting groove adapted to the spring button limiting block is arranged in the limb enveloping plate connecting piece. The spring button is pressed down, the limiting block of the spring button leaves the locking position, the limb envelope board connecting piece can freely slide along the other dovetail groove of the double-dovetail groove quick adapter, when the limb envelope board connecting piece slides to the alignment position, the spring button resets under the elastic force of the button compression spring, and the limiting block of the spring button is embedded into the limiting groove of the limb envelope board connecting piece to lock the limb envelope board connecting piece.

One end of a universal spring pressing reset component 7-1 in the thigh wearing unit 7-7 is connected with a thigh wearing object mounting part of the hip-knee joint distance adjusting mechanism 2, the other end is connected with a wearing object supporting arm 7-2, one end of the universal spring pressing reset component 7-1 in the shank wearing unit 7-8 is connected with a knee-ankle joint distance adjusting mechanism unit body 3-1 of the knee-ankle joint distance adjusting mechanism 3, and the other end is connected with the wearing object supporting arm 7-2.

In some embodiments of the present invention, referring to FIG. 11, each universal spring push-to-reset assembly 7-1 includes a support arm rotating member 7-1-1, a reset button 7-1-2, a rotational position key 7-1-3, and a reset spring 7-1-4. When the reset button 7-1-2 is pressed, the supporting arm 7-2 of the wearing article can rotate around the axis of the third inner hole of the supporting arm, the rotation range is 90 degrees, and the supporting arm 7-2 of the wearing article can be switched between a supporting state and a retracting state; when the reset button 7-1-2 is reset, the clothing support arm 7-2 can be fixed in the support state or the retracted state.

A supporting arm rotating part 7-1-1 in a thigh wearing unit 7-7 is arranged on a thigh wearing object mounting part of a hip-knee joint distance adjusting mechanism 2, a supporting arm rotating part 7-1-1 in a shank wearing unit 7-8 is arranged on a knee-ankle joint distance adjusting mechanism unit body 3-1 of a knee-ankle joint distance adjusting mechanism 3, the supporting arm rotating part 7-1-1 is provided with a fourth inner hole which is circular, and the axis of the fourth inner hole is parallel to the linear motion direction of a push rod of the hip-knee joint distance linear motor 2-2 of the hip-knee joint distance adjusting mechanism 2 and the linear motion direction of a push rod of the knee-ankle joint distance adjusting mechanism 3-2 of the knee-ankle joint distance adjusting mechanism 3. A fourth inner hole of the supporting arm rotating piece 7-1-1 is provided with fourth key slots which are vertical to each other and respectively correspond to the supporting state and the retracting state, and the rotating positioning key 7-1-3 is allowed to slide in the key slots. The reset button 7-1-2 is coaxially arranged with the fourth inner hole of the supporting arm rotating member 7-1-1, and the reset button 7-1-2 can do linear movement or relative rotation along the axis of the fourth inner hole. The reset button 7-1-2 is provided with a fifth key groove, and the rotary positioning key 7-1-3 is fixedly arranged on the fifth key groove of the reset button 7-1-2. The clothing supporting arm 7-2 is provided with a third inner hole matched with the reset button 7-1-2, the reset button 7-1-2 can linearly move in the third inner hole or can relatively rotate, and the third inner hole is provided with a sixth key slot matched with the rotary positioning key 7-1-3, and the rotary positioning key 7-1-3 is allowed to slide in the sixth key slot. A third inner hole of the supporting arm 7-2 of the wearing article is coaxially arranged with the reset button 7-1-2, and a sixth key slot in the third inner hole is matched with the rotary positioning key 7-1-3. The reset spring is positioned in a third inner hole of the supporting arm of the wearing article and is coaxial with the reset button, one end of the reset spring 7-1-4 is propped against the supporting arm rotating piece 7-1-1, and the other end is propped against the reset button 7-1-2.

The reset button 7-1-2 is pressed, the reset button 7-1-2 and the rotary positioning key 7-1-3 move along the axis at the same time, and the rotary positioning key 7-1-3 slides in the circular inner hole key slot of the support arm rotating piece 7-1-1 and the inner hole key slot of the support arm of the wearing object at the same time. When the rotary positioning key 7-1-3 is withdrawn from the key slot of the circular inner hole of the support arm rotating part 7-1-1, the support arm of the wearing article can rotate around the axis of the circular inner hole of the support arm rotating part 7-1-1, and the reset button 7-1-2 and the rotary positioning key 7-1-3 rotate simultaneously, so that the reset spring 7-1-4 is in a compressed state. When the rotary positioning key 7-1-3 rotates to be aligned with the other key groove of the circular inner hole of the supporting arm rotating piece 7-1-1, the reset button 7-1-2 is loosened, and under the elastic force of the reset spring 7-1-4, the reset button 7-1-2 and the rotary positioning key 7-1-3 move reversely along the axis at the same time until the rotary positioning key 7-1-3 enters the other key groove of the circular inner hole of the supporting arm rotating piece 7-1-1. At the moment, the rotary positioning key 7-1-3 is simultaneously connected with the other key slot of the circular inner hole of the supporting arm rotary piece 7-1-1 and the key slot of the inner hole of the supporting arm 7-2 of the wearing article, and the supporting arm 7-2 of the wearing article can not rotate, so that the supporting arm 7-2 of the wearing article can be switched between a supporting state and a retracting state.

The wearable device comprises a thigh wearing unit and a shank wearing unit, which are used for fixing the thigh and the shank of the patient respectively, and are directly connected with the foot of the patient through an ankle joint driving mechanism 6, so that all connections between the wearable device and the patient are realized. The lower limbs of the patient are driven to perform rehabilitation training through the mutually coordinated rotary motion among the hip joint driving mechanism 4, the knee joint driving mechanism 5 and the ankle joint driving mechanism 6 on the left side and the right side.

The foregoing embodiments provide the following operational procedure for the system:

firstly, as shown in fig. 10, the spring button of the spring button quick assembly disassembly assembly 7-4 is pressed down, so that the limb enveloping plate connecting piece can slide on the other dovetail groove of the spring button quick assembly disassembly assembly 7-4, and the limb enveloping plates of the thigh wearing units and the shank wearing units on the left side and the right side and the limb enveloping plate connecting pieces fixedly connected with the limb enveloping plates are separated from the spring button quick assembly disassembly assembly 7-4 and further separated from the lower limb exoskeleton subsystems on the left side and the right side.

And secondly, pressing down a reset button of the universal spring pressing reset component 7-1 in the figure 10 to enable the wearing object supporting arms to rotate around the axis of the inner holes of the wearing object supporting arms, manually rotating the wearing object supporting arms of the thigh wearing units and the shank wearing units on the left side and the right side to enable the wearing object supporting arms to be in a retracted state, and then releasing the reset button to vacate space for a patient to enter the lower limb exoskeleton subsystems on the left side and the right side. Pressing the pressing button of the ankle joint pressing resetting component 6-5 shown in fig. 9 turns over the ankle joint fixing piece to enable the ankle joint fixing piece to be in an upward folded state, so that space is further left for a patient to enter the left and right lower limb exoskeleton subsystems.

And thirdly, respectively wearing the limb enveloping plates of the thigh wearing unit and the shank wearing unit separated from the lower limb exoskeleton subsystems on the left side and the right side to the thigh part and the shank part of the patient, wherein the wearing process can be carried out on a sickbed or a wheelchair, so that the comfort of the patient is ensured. In the wearing process, the hip distance adjusting mechanism 1 shown in fig. 4 automatically adjusts the relative distance between the left and right lower limb exoskeleton subsystems in the direction of the human coronal axis, so that the distance between the left and right lower limb exoskeleton subsystems is the largest, thereby making the largest space for a patient to enter the left and right lower limb exoskeleton subsystems. The hip-knee joint distance adjusting mechanism 2 shown in fig. 5 and the knee-ankle joint distance adjusting mechanism 3 shown in fig. 6 automatically adjust the distance between the hip joint rotating shaft and the knee joint rotating shaft and the distance between the knee joint rotating shaft and the ankle joint rotating shaft respectively at the same time so as to adapt to the thigh length and the shank length of the patient.

And fourthly, after the patient wears the thigh wearing unit and the limb enveloping board of the shank wearing unit, the medical staff transfers the patient to the lower limb exoskeleton subsystems on the left side and the right side by using the wheelchair. Medical care personnel support patients to stand up and withdraw the wheelchair from the lower limb exoskeleton subsystems on the left side and the right side from the rear.

Fifthly, the hip distance adjusting mechanism 1 shown in fig. 4 automatically adjusts the relative distance between the left and right lower extremity exoskeleton subsystems in the direction of the human body coronal axis, so that the distance between the left and right lower extremity exoskeleton subsystems adapts to the hip joint pitch of the patient. Press the second step the ankle joint presses the button of pressing of reset block, and the upset ankle joint mounting makes its state that is in the level and puts down, loosens and presses the button locking, makes the ankle joint mounting half surround patient's ankle joint part, and fixed foot winding cloth twines patient's sole and heel and ankle joint mounting respectively to realize being connected of ankle joint actuating mechanism and patient's ankle joint. Press the first step the reset button of reset assembly is pressed to general spring, makes the wearing thing support arm rotate around the axis of self hole, and the wearing thing support arm of unit, shank wearing unit about manual rotation makes it be in the support state after, unclamps the locking of reset button. And loosening the locking knob, and linearly sliding the spring button quick assembly and disassembly assembly along the chamfered edge of the supporting arm of the wearing object to align the assembly with the limb envelope plate connecting piece fixedly connected to the limb envelope plate. And pressing the spring button of the spring button quick assembly disassembly assembly in the first step, sliding the limb envelope plate connecting piece along the other dovetail groove of the spring button quick assembly disassembly assembly, and releasing the spring button after sliding to the aligned position. And manually screwing down the locking knob to lock the spring button quick assembly disassembly assembly on the wearing article supporting arm. Finally, the elastic bands on the limb envelope plate are adjusted to enable the limb envelope plate to envelope the lower limbs of the patient tightly and comfortably.

Through the steps, the quick connection between the patient and the invention can be realized, and the preparation time is greatly shortened. After the patient finishes the lower limb rehabilitation training, the 5 steps are implemented in the reverse order, and the separation of the patient from the lower limb rehabilitation training device can be quickly realized.

The size of the lower limb rehabilitation exoskeleton is adjusted by the hip pitch adjusting mechanism, the hip-knee joint pitch adjusting mechanism and the knee-ankle joint pitch adjusting mechanism, the safety and the convenience of the size adjusting process are ensured by adopting the adjusting mode of the motor, and the multi-step simultaneous adjusting scheme can be rapidly adapted to the differences of the body sizes of different patients. The wearable device allows a patient to wear the wearable device on a sickbed, firstly, medical staff manually removes the wearable device from the lower limb rehabilitation exoskeleton system to assist the patient to transfer the wearable device to the lower limb rehabilitation exoskeleton system with the adjusted size after finishing wearing, and the wearable device can be quickly and fixedly connected with the lower limb rehabilitation exoskeleton system through the dovetail groove. Compared with the traditional method for enabling the patient to stand on the lower limb rehabilitation equipment for a long time to wear and adjust, the lower limb rehabilitation exoskeleton system allows the patient to lie on a sickbed in advance to wear, and meanwhile, the lower limb rehabilitation exoskeleton system can correspondingly and automatically adjust parameters such as hip distance and joint distance according to stored body type parameters of the patient, so that the standing time of the patient on the lower limb rehabilitation equipment is greatly shortened, the operation procedures of medical staff are reduced to a great extent, the experience feeling and comfort of the patient are improved, and meanwhile, a large amount of physical strength is reserved for lower limb rehabilitation training of the patient. The lower limb rehabilitation training device adopts a driving mode of the hip joint, the knee joint and the ankle joint to perform lower limb rehabilitation training, the ankle joint sleeves a connecting mode of a patient's foot stamp and a foot plate through the cloth belt, so that the sole of the patient is directly contacted with the rehabilitation training treadmill, the dynamic foot bottom touch feeling close to normal walking is provided for the patient, the lower limb rehabilitation training is closer to the real walking, and the effect of the lower limb rehabilitation training is improved.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a recovered ectoskeleton system of low limbs that detachable dressed fast which characterized in that: comprises a hip distance adjusting mechanism (1) and two pairs of lower limb exoskeleton subsystems which are symmetrically connected and arranged at two sides of the hip distance adjusting mechanism (1), wherein each pair of lower limb exoskeleton subsystems comprises a wearing device (7) and a hip joint driving mechanism (4), a hip-knee joint distance adjusting mechanism (2), a knee joint driving mechanism (5), a knee-ankle joint distance adjusting mechanism (3) and an ankle joint driving mechanism (6) which are sequentially connected,

the hip distance adjusting mechanism (1) is used for adjusting the distance between the two pairs of lower limb exoskeleton subsystems;

the hip joint driving mechanism (4) is used for driving the hip-knee joint distance adjusting mechanism (2) to rotate around the hip joint;

the hip-knee joint distance adjusting mechanism (2) comprises a hip-knee joint distance adjusting mechanism unit body (2-1), a hip-knee joint distance linear motor (2-2) and a thigh supporting tube (2-3), the hip-knee joint distance adjusting mechanism unit body (2-1) is connected with a hip joint driving mechanism (4), the hip-knee joint distance linear motor (2-2) is fixedly arranged on the hip-knee joint distance adjusting mechanism unit body (2-1), the axial direction of a push rod of the hip-knee joint distance linear motor (2-2) is parallel to the axial direction of the thigh supporting tube (2-3), the thigh supporting tube (2-3) can perform linear translation motion relative to the hip-knee joint distance adjusting mechanism unit body (2-1) along the axis of the thigh supporting tube (2-3), and the thigh supporting tube (2-3), The free end parts of push rods of the hip-knee joint distance linear motors (2-2) are connected with a knee joint driving mechanism (5);

the knee joint driving mechanism (5) is used for driving the knee-ankle joint distance adjusting mechanism (3) to rotate around the knee joint;

the knee-ankle joint distance adjusting mechanism (3) comprises a knee-ankle joint distance adjusting mechanism unit body (3-1) connected with the knee joint driving mechanism (5), a knee-ankle joint distance linear motor (3-2) arranged on the knee-ankle joint distance adjusting mechanism unit body (3-1) and a lower leg supporting tube (3-3), the axial direction of a push rod of the knee-ankle joint distance linear motor (3-2) is parallel to the axial direction of the lower leg supporting tube (3-3), the knee-ankle joint distance linear motor (3-2) push rod and the free end part of the shank supporting tube (3-3) are connected with the ankle joint driving mechanism (6);

the ankle joint driving mechanism (6) is used for driving the ankle joint to rotate;

the wearing equipment (7) comprises a thigh wearing unit and a shank wearing unit, the thigh wearing unit is detachably connected to the hip-knee joint distance adjusting mechanism (2), and the shank wearing unit is detachably connected to the knee-ankle joint distance adjusting mechanism (3).

2. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 1, wherein: the hip distance adjusting mechanism (1) comprises a hip distance adjusting mechanism unit body (1-1), a left exoskeleton supporting shaft (1-2) and a right exoskeleton supporting shaft (1-3), wherein the left exoskeleton supporting shaft (1-2) and the right exoskeleton supporting shaft (1-3) are arranged on the hip distance adjusting mechanism unit body (1-1), the left exoskeleton supporting shaft (1-2) and the right exoskeleton supporting shaft (1-3) can move in the horizontal direction in a reverse direction or in a reverse direction, and the left exoskeleton supporting shaft (1-2) and the right exoskeleton supporting shaft (1-3) are respectively connected with two lower limb exoskeleton subsystems.

3. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 1, wherein: the hip-knee joint distance adjusting mechanism (2) further comprises a guide rail sliding block module (2-5) and a thigh wearing object mounting part (2-4), the guide rail sliding block module (2-5) is arranged on the hip-knee joint distance adjusting mechanism unit body (2-1), the thigh wearing object mounting part (2-4) is connected with a sliding block in the guide rail sliding block module (2-5), and the thigh wearing unit is detachably connected with the thigh wearing object mounting part (2-4).

4. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 1, wherein: the hip joint driving mechanism (4) comprises a hip joint driving mechanism unit body (4-1) and a hip joint driving motor (4-2), the hip joint driving mechanism unit body (4-1) is connected with the hip pitch adjusting mechanism (1), the hip joint driving motor (4-2) is arranged on the hip joint driving mechanism unit body (4-1), and the hip joint driving motor (4-2) is rotatably connected with the hip-knee joint pitch adjusting mechanism unit body (2-1) in the hip-knee joint pitch adjusting mechanism (2) through a synchronous belt and a synchronous wheel.

5. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 4, wherein: the hip joint driving mechanism (4) also comprises a hip joint angle encoder (4-6) and a hip joint torque sensor (4-7) which are arranged on a hip joint rotating shaft in the hip joint driving mechanism (4).

6. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 1, wherein: the knee joint driving mechanism (5) comprises a knee joint driving mechanism unit body (5-1) and a knee joint driving motor (5-2), the knee joint driving mechanism unit body (5-1) is connected with a thigh supporting tube (2-3) and a push rod of a hip-knee joint distance linear motor (2-2) in the hip-knee joint distance adjusting mechanism (2), the knee joint driving motor (5-2) is arranged on the knee joint driving mechanism unit body (5-1), and the knee joint driving motor (5-2) is used for driving the knee-ankle joint distance adjusting mechanism (3) to rotate.

7. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 1, wherein: the ankle joint driving mechanism (6) comprises an ankle joint driving mechanism unit body (6-1), an ankle joint driving motor (6-2), an ankle joint fixing piece (6-3), a foot winding cloth strip (6-4) and an ankle joint pressing resetting component (6-5), the ankle joint driving mechanism unit body (6-1) is connected with the knee-ankle joint distance adjusting mechanism (3), the ankle joint driving motor (6-2) is fixed on the ankle joint driving mechanism unit body (6-1), the ankle joint pressing resetting component (6-5) is connected with the ankle joint driving motor (6-2), the ankle joint fixing piece (6-3) is connected with the ankle joint pressing resetting component (6-5), the foot winding cloth strip (6-4) is arranged on the ankle joint fixing piece (6-3), the ankle joint pressing reduction component (6-5) is used for retracting or putting down the ankle joint fixing piece (6-3).

8. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 7, wherein: the ankle joint pressing reset component (6-5) comprises an ankle joint motor output unit body (6-5-1), a pressing spring (6-5-2), a pressing button (6-5-3) and a turnover positioning key (6-5-4),

the ankle joint motor output unit body (6-5-1) is connected with the ankle joint driving motor (6-2), the ankle joint motor output unit body (6-5-1) is provided with a first inner hole of which the axis is vertical to the axis of a rotating shaft of the ankle joint driving motor (6-2), the inner wall of the first inner hole is provided with a first key groove, and the turnover positioning key (6-5-4) can slide in the first key groove;

the pressing button (6-5-3) is sleeved in the pressing spring (6-5-2), the pressing button (6-5-3) can move along the axis direction of the first inner hole, and the overturning positioning key (6-5-4) is fixedly connected with the pressing button (6-5-3);

the ankle joint fixing piece (6-3) is provided with a second inner hole, the press button (6-5-3) can rotate in the second inner hole or move along the axis of the second inner hole, two mutually perpendicular third key grooves are formed in the second inner hole, and the turnover positioning key (6-5-4) can be locked in the two third key grooves respectively.

9. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of any one of claims 1 to 8, wherein: the thigh wearing unit and the shank wearing unit respectively comprise a universal spring pressing reset component (7-1), a wearing object supporting arm (7-2), a spring button quick assembly and disassembly component (7-4), a locking knob (7-3) and a limb enveloping plate (7-5), the spring pressing reset component (7-1) is connected with the hip-knee joint distance adjusting mechanism (2) or the knee-ankle joint distance adjusting mechanism (3), the wearing object supporting arm (7-2) is connected with the spring pressing reset component (7-1), the wearing object supporting arm (7-2) can rotate, the spring button quick assembly and disassembly component (7-4) is arranged on the wearing object supporting arm (7-2) in a sliding manner, the locking knob (7-3) is used for locking the spring button quick assembly and disassembly component (7-4) on the wearing object supporting arm (7-2), the limb envelope plate (7-5) is detachably connected with the spring button quick assembly and disassembly assembly (7-4).

10. The detachable rapidly donning lower extremity rehabilitation exoskeleton system of claim 9, wherein: each universal spring pressing reset component (7-1) comprises a supporting arm rotating piece (7-1-1), a reset button (7-1-2), a rotating positioning key (7-1-3) and a reset spring (7-1-4),

the supporting arm rotating piece (7-1-1) is connected with the hip-knee joint distance adjusting mechanism (2) or the knee-ankle joint distance adjusting mechanism (3), a fourth inner hole is formed in the supporting arm rotating piece (7-1-1), two fourth key grooves which are perpendicular to each other are formed in the fourth inner hole, the rotary positioning key (7-1-3) can be locked in the two fourth key grooves respectively, and the reset button (7-1-2) is fixedly connected with the rotary positioning key (7-1-3);

a third inner hole is formed in the wearing article supporting arm (7-2), the reset button (7-1-2) can rotate or move in the third inner hole, the reset spring (7-1-4) is located in the third inner hole, and two ends of the reset spring respectively abut against the universal spring to press the reset component (7-1) and the reset button (7-1-2).