CN115517912A - Rehabilitation-assisted walking exoskeleton robot - Google Patents

Rehabilitation-assisted walking exoskeleton robot Download PDF

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Publication number
CN115517912A
CN115517912A CN202211214646.0A CN202211214646A CN115517912A CN 115517912 A CN115517912 A CN 115517912A CN 202211214646 A CN202211214646 A CN 202211214646A CN 115517912 A CN115517912 A CN 115517912A
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CN
China
Prior art keywords
waist
adjusting
pulley block
plate
exoskeleton
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Pending
Application number
CN202211214646.0A
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Chinese (zh)
Inventor
彭雪锋
戴宗妙
王凯源
汪永远
刘华彬
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713th Research Institute of CSIC
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713th Research Institute of CSIC
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Priority to CN202211214646.0A priority Critical patent/CN115517912A/en
Publication of CN115517912A publication Critical patent/CN115517912A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a rehabilitation-assisted walking exoskeleton robot, which comprises a movable rack, wherein the bottom of the movable rack is provided with an omnidirectional wheel set for the movable rack to move; the lifting guide rods are arranged on two sides of the movable rack; the waist adjusting mechanism is sleeved on the lifting guide rod, the lower end of the waist adjusting mechanism is connected with the exoskeleton swinging robot, and the waist adjusting mechanism is used for realizing the up-and-down position movement of the lower limb type rehabilitation exoskeleton robot and finishing the adjustment of the width size of the waist; an exoskeleton swinging robot for supporting legs of a patient; the lifting rope mechanism is fixedly arranged on the movable rack and used for driving the waist adjusting mechanism to vertically slide relative to the lifting guide rod; the lifting mechanism buffer is arranged on the waist adjusting mechanism, is connected with the lifting rope mechanism through a movable pulley block and is used for adapting to slight fluctuation of the human body in the walking process; and the electric control and display box comprises a control panel and a power supply and is used for providing power sources for the exoskeleton swinging robot and the lifting rope mechanism.

Description

Rehabilitation-assisted walking exoskeleton robot
Technical Field
The invention relates to a rehabilitation walking assisting exoskeleton robot for patients with lower limb movement dysfunction.
Background
Aiming at the problems that the traditional rehabilitation trainees are high in labor intensity, low in treatment efficiency, limited in treatment effect by the technical level of professional doctors and the like, the rehabilitation exoskeleton robot can replace the traditional rehabilitation training work of therapists, realizes rehabilitation treatment and daily auxiliary walking on patients with lower limb dyskinesia, can be widely applied to the field of medical rehabilitation, and achieves the purpose of quick rehabilitation of the patients with lower limb dyskinesia; the fixed rehabilitation training robot is also common, a patient is fixed on equipment, the running machine with the sole is used for completing in-situ walking training, the running machine type walking training cannot be completely equal to the routine walking movement of a normal person, the movement space of the patient is limited, and the physical and mental health of the patient is not facilitated.
Disclosure of Invention
In order to solve the problems, the walking assisting exoskeleton robot for rehabilitation of patients with lower limb dyskinesia is provided, the robot can lift the patients to perform rehabilitation training in the air, achieves the purpose of quickly rehabilitating the patients with lower limb dyskinesia, can also be used for assisting the patients with lower limb dyskinesia to walk daily, and provides an anti-falling omnidirectional moving protection frame.
The object of the invention is achieved in the following way:
a rehabilitation-assisted walking exoskeleton robot which comprises a frame,
comprises a movable frame 2, the bottom of which is provided with an omnidirectional wheel set 29 for the movement of the movable frame;
lifting guide rods 25 installed at both sides of the moving frame;
the waist adjusting mechanism 5 is sleeved on the lifting guide rod 25, the lower end of the waist adjusting mechanism is connected with the exoskeleton swinging robot 1, and the waist adjusting mechanism is used for realizing the up-and-down position movement of the lower limb type rehabilitation exoskeleton robot and finishing the adjustment of the width size of the waist;
an exoskeleton swinging robot 1 for supporting a leg of a patient;
the lifting rope mechanism 6 is fixedly arranged on the movable rack 1 and used for driving the waist adjusting mechanism 5 to vertically slide relative to the lifting guide rod 25;
the lifting mechanism buffer 7 is arranged on the waist adjusting mechanism 5, is connected with the lifting rope mechanism 6 through a movable pulley block and is used for adapting to slight fluctuation of the human body in the walking process;
and the electric control and display box 3 comprises a control panel and a power supply and is used for providing power sources for the exoskeleton swinging robot and the lifting rope mechanism.
The waist adjusting mechanism 5 comprises a supporting component 51, an adjusting hand wheel 52, a screw nut 53, 2 waist adjusting plates 54, a waist supporting plate 55, an adjusting screw 56 and a guide shaft 57; the supporting component 51 comprises a back plate 511, a first vertical plate 512, a second vertical plate 513, a first sleeve 514 and a second sleeve 515, the first vertical plate 512 and the second vertical plate 513 are respectively arranged at two ends of the same side of the back plate 511, and the first sleeve 514 and the second sleeve 515 are respectively arranged at the outer sides of two end parts of the back plate 511 and are sleeved on the lifting guide rod 25; two ends of the guide shaft 57 are respectively fixed on a first vertical plate 512 and a second vertical plate 513, 2 waist adjusting plates 54 are sleeved on the guide shaft and slide back and forth along the guide shaft, one end of an adjusting screw 56 is fixed on the first vertical plate 512, the other end of the adjusting screw passes through the second vertical plate 513, the outer end of the adjusting screw 56 is connected with an adjusting hand wheel 52, the adjusting screw 56 passes through the 2 waist adjusting plates 54, a screw nut 53 is arranged at the joint of the waist adjusting plate 54 and the screw, and the waist supporting plate 55 is fixed on a back plate 511 between the 2 waist adjusting plates 54.
The waist adjusting mechanism is provided with a flexible back belt 11, a backrest cushion 4, a waist protecting belt 12 and a seat belt 27; two ends of the seat belt 27 are provided with hanging rings which are hung on the waist adjusting plate 54, a supporting plate 113 is arranged below the seat belt, and the bottom of the flexible back belt 11 is fixed on the top surface of the waist supporting plate 55; the flexible shoulder strap 11 is internally arranged on the backrest cushion 4; the waist support band 12 is fixed to the waist support plate 55.
The exoskeleton swinging robot comprises a leg bionic support structure, wherein the leg bionic support structure is positioned on a waist adjusting plate of a waist adjusting mechanism and is installed in a bilateral symmetry mode; the bionic leg supporting structure comprises a hip joint driving system 17, a thigh adjusting rod 18, a knee joint driving system 19, a shank adjusting rod 110, an ankle joint mechanism 112 and a foot supporting plate which are sequentially connected; the upper part of the thigh adjusting rod 18 is provided with a sticking type thigh bandage 13, the upper part of the shank adjusting rod 110 is provided with a sticking type shank bandage 14, and the foot bionic shoe is provided with a sticking type shoelace 15.
The hip joint driving system and the knee joint driving system adopt an integrated driving unit, a speed reducer, a motor, an encoder, a torque sensor and a driver are arranged in the integrated driving unit, the output end of the motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with a thigh adjusting rod 18, the encoder and the driver are installed on the motor, the torque sensor is connected with the output shaft of the motor, and the encoder, the torque sensor and the driver are all in communication connection with a control panel.
The thigh adjusting rod 18 and the shank adjusting rod 110 adopt a screw positive and negative thread structure, a locking plum blossom nut 114 is arranged on the thigh adjusting rod 18, and a locking compression nut 115 is arranged on the shank adjusting rod 110.
The ankle joint mechanism 112 comprises a connecting piece 31 and a rotating shaft 32, wherein a shaft pin hole is formed in the connecting piece 31, the middle part of the shaft pin hole is of a hollow structure, a groove 34 is formed in the connecting piece below the shaft pin hole, the bottom of the shank adjusting rod is provided with a shaft hole, limiting mechanisms are arranged on two symmetrical sides of the shaft hole and are bumps 35, and the shaft hole and the pin shaft hole are movably connected through the rotating shaft.
The lifting rope mechanism comprises a first static pulley block 61, a second static pulley block 63, a third static pulley block 64, a tension rope 62 and an electric winch 65; the electric winch 65 is sequentially connected with the second static pulley block 63, the first static pulley block 61 and the third static pulley block 64 through a tension rope 62, and the tail end of the tension rope 62 penetrates through a movable pulley block in the lifting mechanism buffer 7 and then is fixed on the third static pulley block 64.
The lifting mechanism buffer 7 comprises a 'n' -shaped support 74, a limiting shaft 71, a buffering pressure spring 72, a movable pulley block 73 and a self-lubricating graphite copper plate 75, wherein a hole for the tension rope 62 to pass through is formed in the top surface of the 'n' -shaped support 74, a movable pulley block mounting frame is arranged in the middle of the 'n' -shaped support 74, the movable pulley block 73 is fixed on the movable pulley block mounting frame, one end of the limiting shaft 71 is connected with the top of the movable pulley block mounting frame, and the other end of the limiting shaft passes through the top of the 'n' -shaped support 74; the buffering pressure spring 72 is sleeved on the limiting shaft 71 below the top of the 'n' -shaped bracket 74; the two side surfaces of the 'n' -shaped bracket 74 are contacted with the pulley block guide blocks at the two ends of the movable pulley block mounting rack
The left side and the right side of the movable rack are provided with patient anti-skid handrails 26, and the back side is provided with doctor anti-skid handrails 30.
The invention has the beneficial effects that: by adopting the rehabilitation walking assisting exoskeleton robot, the rehabilitation training and the daily walking assisting of patients with lower limb movement dysfunction can be met through the exoskeleton swinging robot, the lifting assisting omnidirectional moving protection frame, the electric control and display box and the lifting assisting winch. Can reach rehabilitation training prescription demand of recovered teacher through setting for different swing speed and swing angle, the omnidirectional movement fender bracket of supplementary lift of design can prevent and treat that the patient from falling down, and nimble turn, and satisfy the patient of different sizes and dress.
Drawings
Fig. 1 is a schematic overall front view of the rehabilitation assisting walking exoskeleton robot;
fig. 2 is an overall rear view schematic diagram of the rehabilitation assisting walking exoskeleton robot of the present invention;
fig. 3 is a schematic view of the rehabilitation assisting walking exoskeleton robot in wearing sitting posture;
fig. 4 is a schematic view of the exoskeleton swinging robot of the present invention;
fig. 5 is a schematic view of a single leg of the exoskeleton swinging robot of the present invention;
fig. 6 is a schematic view of the omnidirectional movement protection bracket for assisting lifting of the invention.
FIG. 7 is a schematic view of a waist adjustment mechanism of the mobility assistance device of the rehabilitation exoskeleton robot of the present invention;
FIG. 8 is a schematic view of the lifting rope mechanism of the mobility assistance device of the rehabilitation exoskeleton robot in accordance with the present invention;
fig. 9 is a schematic view of a lift mechanism buffer of the present invention.
Figure 10 is a schematic view of the ankle joint mechanism of the present invention.
FIG. 11 is a cross-sectional view of the ankle joint mechanism of the invention.
In the figure, the serial number 1 is an exoskeleton swinging robot, 2 is a moving rack, 3 is an electric control and display box, 4 is a backrest liner, 5 is a waist adjusting mechanism, 51 is a supporting component, 511-position back plate, 512 is a first vertical plate, 513 is a second vertical plate, 514 is a first sleeve, 515 is a second sleeve, 52 is an adjusting hand wheel, 53 is a lead screw nut, 54 is a waist adjusting plate, 55 is a waist supporting plate, 56 is an adjusting lead screw, 57 is a guide shaft, 6 is a lifting rope mechanism, 61 is a first static pulley block, 63 is a second static pulley block, 64 is a third static pulley block, 62 is a tension rope, 65 is an electric winch, 7 is a lifting mechanism buffer, 71 is a limiting shaft, and 72 is a buffer compression spring, 73 is a movable pulley block, 74 is a 'n' shaped bracket, 75 is a self-lubricating graphite copper plate, 11 is a flexible strap, 12 is a waist protecting belt, 13 is a sticking type thigh bandage, 14 is a sticking type shank bandage, 15 is a sticking type shoelace, 17 is a hip joint driving system, 18 is a thigh adjusting rod, 19 is a knee joint driving system, 110 is a shank adjusting rod, 112 is an ankle joint mechanism, 113 is a supporting plate, 114 is a plum blossom locking nut, 115 is a compression nut, 25 is a lifting guide rod, 26 is a patient anti-skid handrail, 27 is a seat belt, 28 is a protective frame structure, 29 is an omnidirectional wheel, 30 is a doctor anti-skid handrail, 31 is a connecting piece, 32 is a rotating shaft, 34 is a groove, and 35 is a convex block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure as claimed. Unless otherwise defined, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
A rehabilitation-assisted walking exoskeleton robot,
comprises a movable frame 2, the bottom of which is provided with an omnidirectional wheel set 29 for the movement of the movable frame;
lifting guide rods 25 installed at both sides of the moving frame;
the waist adjusting mechanism 5 is sleeved on the lifting guide rod 25, the lower end of the waist adjusting mechanism is connected with the exoskeleton swinging robot 1, and the waist adjusting mechanism is used for realizing the up-and-down position movement of the lower limb type rehabilitation exoskeleton robot and finishing the adjustment of the width size of the waist;
the exoskeleton swinging robot 1 is mainly a mechanism for completing the leg actions of a patient;
the lifting rope mechanism 6 is fixedly arranged on the movable rack 1 and used for driving the waist adjusting mechanism 5 to vertically slide relative to the lifting guide rod 25;
the lifting mechanism buffer 7 is arranged on the waist adjusting mechanism 5, is connected with the lifting rope mechanism 6 through a movable pulley block and is used for adapting to slight fluctuation of the human body in the walking process;
and the electric control and display box 3 comprises a control panel and a power supply and is used for providing power sources for the exoskeleton swinging robot and the lifting rope mechanism.
As shown in fig. 7, the lumbar adjustment structure comprises a support assembly 51, an adjustment hand wheel 52, a lead screw nut 53, 2 lumbar adjustment plates 54, a lumbar support plate 55, an adjustment lead screw 56 and a guide shaft 57; the supporting component 51 comprises a back plate 511, a first vertical plate 512, a second vertical plate 513, a first sleeve 514 and a second sleeve 515, the first vertical plate 512 and the second vertical plate 513 are respectively arranged at two ends of the same side of the back plate 511, and the first sleeve 514 and the second sleeve 515 are respectively arranged at the outer sides of two ends of the back plate 511 and are sleeved on the guide rod 11; two ends of the guide shaft 57 are respectively fixed on a first vertical plate 512 and a second vertical plate 513, 2 waist adjusting plates 54 are sleeved on the guide shaft and slide back and forth along the guide shaft, one end of an adjusting screw 56 is fixed on the first vertical plate 512, the other end of the adjusting screw passes through the second vertical plate 513, the outer end of the adjusting screw 56 is connected with an adjusting hand wheel 52, the adjusting screw passes through the 2 waist adjusting plates 54, a screw nut 53 is arranged at the joint of the waist adjusting plate 54 and the adjusting screw 56, and the waist supporting plate 55 is fixed on a back plate 511 between the 2 waist adjusting plates 54. The first sleeve 514 and the second sleeve 515 of the support assembly 51 are respectively sleeved with the guide rod 11 and move up and down smoothly through a linear bearing in the middle; the adjustment of the width dimension of the waist is realized by enabling the screw nuts 53 fixed on the waist adjusting plate 54 to move oppositely or oppositely along the adjusting screw 56 through the adjusting hand wheel 52; waist size adjusting holes are further formed in the waist adjusting plate 54, the exoskeleton robot is installed at different hole positions to meet the requirements of wearing by patients with different body types, hooks of the seat belt 3 are designed, and the seat belt is hung at the hooks when the patients wear the exoskeleton robot in a sitting posture; the waist support plate is provided with mounting holes for a waist support belt and a back pad.
The waist adjusting mechanism is provided with a flexible back belt 11, a backrest cushion 4, a waist protecting belt 12 and a seat belt 27; two ends of the seat belt 27 are provided with hanging rings which are hung on the waist adjusting plate 54, a supporting plate 113 is arranged below the seat belt, and the bottom of the flexible back belt 11 is fixed on the top surface of the waist supporting plate 55; the flexible back belt 11 is internally arranged on the backrest cushion 4; the waist support band 12 is fixed to the waist support plate 55. The flexible straps 11 are connected with the shoulder of the human body, and are internally provided with a liner, so that the wearing comfort is improved; together with the hook and loop adhesive waist support band 12, prevent the patient from falling over. The two ends of the sitting belt 27 are provided with hanging rings, and the sitting belt can be quickly hung on the waist adjusting plate, so that the exoskeleton swinging robot can be adjusted to a sitting posture state before being worn for the convenience of a patient, the patient can sit on the sitting belt 27 and the supporting plate to wear in a comfortable posture, and the exoskeleton swinging robot can be quickly detached after being worn.
The exoskeleton swinging robot comprises a leg bionic support structure, wherein the leg bionic support structure is positioned on a waist adjusting plate of a waist adjusting mechanism and is installed in a bilateral symmetry mode; the leg bionic support structure comprises a hip joint driving system 17, a thigh adjusting rod 18, a knee joint driving system 19, a shank adjusting rod 110, an ankle joint mechanism 112 and a foot support plate which are connected in sequence; the upper part of the thigh adjusting rod 18 is provided with an adhesive thigh bandage 13, the upper part of the shank adjusting rod 110 is provided with an adhesive shank bandage 14, and the foot bionic shoe is provided with an adhesive shoelace 15. The adhesive thigh bandage 13, the adhesive calf bandage 14 and the adhesive shoelace 15 are respectively fixed with the thigh, the calf and the foot of the patient, and a magic tape type snap fastener mode is adopted, so that the patient can wear the trousers conveniently and quickly. The waist adjusting plate 54 is provided with adjusting holes, and the size of the waist adjusting plate can be adjusted according to the body size of a patient in order to connect two swing robot leg structures.
The hip joint driving system 17 and the knee joint driving system 19 adopt an integrated driving unit, a speed reducer, a motor, an encoder, a torque sensor and a driver are arranged in the integrated driving unit, the output end of the motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the thigh adjusting rod 18, the encoder and the driver are installed on the motor, the torque sensor is connected with the output shaft of the motor, and the encoder, the torque sensor and the driver are all in communication connection with the control panel. The swing speed of the designed joint driving system is 0-1m/s, the flexion swing angle of the hip joint is-30-120 degrees, and the flexion swing angle of the knee joint is-120-0 degrees.
The thigh adjusting rod 18 and the shank adjusting rod 110 both adopt a screw positive and negative thread structure, a locking plum blossom nut 114 is arranged on the thigh adjusting rod 18, and a locking gland nut 115 is arranged on the shank adjusting rod 110.
Ankle joint mechanism 112 includes connecting piece 31 and pivot 32, be equipped with axle pinhole on the connecting piece 31, the mid portion in axle pinhole is hollow structure, is equipped with recess 34 on the connecting piece of axle pinhole below, the bottom of shank regulation pole is equipped with the shaft hole, the symmetry both sides in shaft hole are equipped with stop gear, stop gear is lug 35, shaft hole and round pin shaft hole are through pivot swing joint.
In addition, a buckling degree of freedom is designed in the ankle joint mechanism of the skeleton swing robot, the buckling swing angle is-45 degrees, mechanical limit is set, the training safety of a patient is protected, and secondary injury is prevented.
As shown in fig. 8, the lift rope mechanism 6 includes a first stationary pulley block 61, a second stationary pulley block 63, a third stationary pulley block 64, a tension rope 62, and an electric winch 65; the electric winch 65 is sequentially connected with the second static pulley block 63, the first static pulley block 61 and the third static pulley block 64 through a tension rope 62, and the tail end of the tension rope 62 penetrates through a movable pulley block in the lifting mechanism buffer 7 and then is fixed on the third static pulley block 64. The lifting rope mechanism 6 is fixedly installed on the movable rack 2, the tension rope 62 penetrates through the movable rack, the electric winch 65 is started to hoist the tension rope 62 to enable the waist adjusting mechanism 5 to move upwards, the position of the waist adjusting mechanism 5 is locked through a braking function, and when braking is relieved, downward movement is achieved through the gravity of the rehabilitation exoskeleton robot and the waist adjusting mechanism.
The lifting mechanism buffer 7 comprises a 'n' -shaped support 74, a limiting shaft 71, a buffering pressure spring 72, a movable pulley block 73 and a self-lubricating graphite copper plate 75, wherein a hole for the pulling rope 62 to pass through is formed in the top surface of the 'n' -shaped support 74, a movable pulley block mounting frame is arranged in the middle of the 'n' -shaped support 74, the movable pulley block 73 is fixed on the movable pulley block mounting frame, one end of the limiting shaft 71 is connected with the top of the movable pulley block mounting frame, and the other end of the limiting shaft penetrates through the top of the 'n' -shaped support 74; the buffering pressure spring 72 is sleeved on the limiting shaft 71 below the top of the 'n' -shaped bracket 74; self-lubricating graphite copper plates 75 are arranged at the contact positions of two side surfaces of the 'n' -shaped bracket 74 and the pulley block guide blocks at two ends of the movable pulley block mounting frame.
The electric control and display box is an energy system and a control system of the whole rehabilitation assisting walking exoskeleton robot, provides energy for a hip joint driving system and a knee joint driving system, and can adjust the swinging speed and the swinging angle of two leg structures of the exoskeleton swinging robot to meet the rehabilitation strategy requirements of doctors; the display screen may be used to record training information and battery energy information.
The left side and the right side of the movable rack are provided with patient anti-skid handrails 26, and the rear side is provided with doctor anti-skid handrails 30.
The working principle of the invention is as follows: firstly, the exoskeleton swinging robot 1 is lowered to a sitting posture through an operation button on the electric control and display box 3. The adjusting handle adjusts the distance between the two leg structures of the exoskeleton swinging robot 1 to be large, so that a patient can conveniently enter the exoskeleton swinging robot, the patient sits on the sitting belt 27 and the supporting plate 113 in a sitting posture, and the flexible back belt 11, the waist protecting belt 12, the adhesive thigh bandage 13, the adhesive shank bandage 14 and the adhesive shoelace 15 are connected with the human body; the electric winch 6 is started to lift the waist adjusting mechanism 5 to a proper position of the height of the patient through the tension rope 62, the second static pulley block 63, the first static pulley block 61 and the third static pulley block 64 and lock the waist adjusting mechanism, the waist adjusting plate 54, the thigh adjusting rod 18 and the shank adjusting rod 110 are adjusted to proper positions and locked through the plum blossom locking nut 114 and the compression nut 115 so as to adapt to the size of the body of the wearer.
Operating the electric control and display box to set the swing angle and the swing speed of the hip joint driving system 17 and the knee joint driving system 19, lifting the exoskeleton swing robot 1 off the ground through the electric winch 6, holding the anti-skid handrail 26 by the hand of a patient, locking the omnidirectional wheel 29 mechanism, and developing an in-situ training mode; the exoskeleton swinging robot 1 is lifted to a standing posture through the electric winch 6, the omnidirectional wheel 29 mechanism is released, a doctor is responsible for the stability of the omnidirectional movement protection frame 2, when the person needs to turn, the exoskeleton swinging robot 1 is lifted off the ground, the steering operation is completed through the omnidirectional wheel 29 mechanism, and then the rehabilitation training is continued.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.

Claims (10)

1. A rehabilitation-assisted walking exoskeleton robot is characterized in that:
comprises a movable frame (2), the bottom of which is provided with an omnidirectional wheel set (29) for the movement of the movable frame;
lifting guide rods (25) mounted on both sides of the movable frame;
the waist adjusting mechanism (5) is sleeved on the lifting guide rod (25), the lower end of the waist adjusting mechanism is connected with the exoskeleton swinging robot (1), and the waist adjusting mechanism is used for realizing the up-and-down position movement of the lower limb type rehabilitation exoskeleton robot and completing the adjustment of the waist width size;
an exoskeleton swinging robot (1) for supporting a leg of a patient;
the lifting rope mechanism (6) is fixedly arranged on the movable rack (1) and is used for driving the waist adjusting mechanism (5) to vertically slide relative to the lifting guide rod (25);
the lifting mechanism buffer (7) is arranged on the waist adjusting mechanism (5), is connected with the lifting rope mechanism (6) through a movable pulley block and is used for adapting to slight fluctuation of the human body in the walking process;
and the electric control and display box (3) comprises a control panel and a power supply and is used for providing power sources for the exoskeleton swinging robot and the lifting rope mechanism.
2. The rehabilitation-assisted walking exoskeleton robot of claim 1, wherein: the waist adjusting mechanism (5) comprises a supporting component (51), an adjusting hand wheel (52), a screw nut (53), 2 waist adjusting plates (54), a waist supporting plate (55), an adjusting screw (56) and a guide shaft (57); the supporting assembly (51) comprises a back plate (511), a first vertical plate (512), a second vertical plate (513), a first sleeve (514) and a second sleeve (515), the first vertical plate (512) and the second vertical plate (513) are respectively arranged at two ends of the same side of the back plate (511), the first sleeve (514) and the second sleeve (515) are respectively arranged at the outer sides of the two ends of the back plate (511) and are sleeved on the lifting guide rod (25); the utility model discloses a waist adjusting plate, including guide shaft (57), 2 waist adjusting plate (54), adjusting screw (56), adjusting hand wheel (52), adjusting screw (56), waist adjusting plate (54), screw nut (53) are equipped with in the junction of waist adjusting plate (54) and screw, waist supporting plate (55) are fixed on backplate (511) between 2 waist adjusting plate (54), 2 waist adjusting plate (54) cover are on the guide shaft and are made a round trip to slide along the guide shaft, the one end of adjusting screw (56) is fixed on first riser (512), the other end runs through second riser (513), adjusting hand wheel (52) is connected to the outer end of adjusting screw (56), adjusting screw (56) passes 2 waist adjusting plate (54), waist adjusting plate (54) and the screw, waist supporting plate (55) are fixed on backplate (511) between 2 waist adjusting plate (54).
3. The rehabilitation-assisted walking exoskeleton robot of claim 1, wherein: the waist adjusting mechanism is provided with a flexible shoulder strap (11), a backrest pad (4), a waist protecting belt (12) and a seat belt (27); hanging rings are arranged at two ends of the seat belt (27) and hung on the waist adjusting plate (54), a supporting plate (113) is arranged below the seat belt, and the bottom of the flexible back belt (11) is fixed on the top surface of the waist supporting plate (55); the flexible braces (11) are arranged in the backrest cushion (4); the waist protecting belt (12) is fixed on the waist supporting plate (55).
4. The rehabilitation-assisted walking exoskeleton robot of claim 1, wherein: the exoskeleton swinging robot comprises a leg bionic support structure, wherein the leg bionic support structure is positioned on a waist adjusting plate of a waist adjusting mechanism and is installed in a bilateral symmetry mode; the leg bionic support structure comprises a hip joint driving system (17), a thigh adjusting rod (18), a knee joint driving system (19), a shank adjusting rod (110), an ankle joint mechanism (112) and a foot support plate which are sequentially connected; the upper part of the thigh adjusting rod (18) is provided with a sticking type thigh bandage (13), the upper part of the shank adjusting rod (110) is provided with a sticking type shank bandage (14), and the foot bionic shoe is provided with a sticking type shoelace (15).
5. The rehabilitation-assisted walking exoskeleton robot of claim 4, wherein: the hip joint driving system and the knee joint driving system adopt an integrated driving unit, a speed reducer, a motor, an encoder, a torque sensor and a driver are arranged in the integrated driving unit, the output end of the motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with a thigh adjusting rod (18), the encoder and the driver are installed on the motor, the torque sensor is connected with the output shaft of the motor, and the encoder, the torque sensor and the driver are all in communication connection with a control panel.
6. The rehabilitation-assisted walking exoskeleton robot of claim 4, wherein: the thigh adjusting rod (18) and the shank adjusting rod (110) adopt a screw positive and negative thread structure, a locking plum blossom nut (114) is arranged on the thigh adjusting rod (18), and a locking compression nut (115) is arranged on the shank adjusting rod (110).
7. The rehabilitation-assisted walking exoskeleton robot of claim 4, wherein: ankle joint mechanism (112) include connecting piece (31) and pivot (32), be equipped with the axle pinhole on connecting piece (31), the mid portion in axle pinhole is hollow structure, is equipped with recess (34) on the connecting piece of axle pinhole below, the bottom of shank regulation pole is equipped with the shaft hole, the symmetry both sides in shaft hole are equipped with stop gear, stop gear is lug (35), shaft hole and round pin shaft hole are through pivot swing joint.
8. The rehabilitation exoskeleton robot mobility assistance device of claim 1, wherein: the lifting rope mechanism comprises a first static pulley block (61), a second static pulley block (63), a third static pulley block (64), a tension rope (62) and an electric winch (65); the electric winch (65) is sequentially connected with the second static pulley block (63), the first static pulley block (61) and the third static pulley block (64) through a tension rope (62), and the tail end of the tension rope (62) penetrates through a movable pulley block in the lifting mechanism buffer (7) and then is fixed on the third static pulley block (64).
9. The rehabilitation exoskeleton robotic movement assistance device of claim 1, wherein: the lifting mechanism buffer (7) comprises a 'n' -shaped support (74), a limiting shaft (71), a buffering pressure spring (72), a movable pulley block (73) and a self-lubricating graphite copper plate (75), a hole for a tension rope (62) to pass through is formed in the top surface of the 'n' -shaped support (74), a movable pulley block mounting frame is arranged in the middle of the 'n' -shaped support (74), the movable pulley block (73) is fixed on the movable pulley block mounting frame, one end of the limiting shaft (71) is connected with the top of the movable pulley block mounting frame, and the other end of the limiting shaft penetrates through the top of the 'n' -shaped support (74); the buffering pressure spring (72) is sleeved on the limiting shaft (71) below the top of the n-shaped bracket (74); self-lubricating graphite copper plates (75) are arranged at the contact positions of two side surfaces of the 'n' -shaped support (74) and the pulley block guide blocks at the two ends of the movable pulley block mounting frame.
10. The rehabilitation exoskeleton robotic movement assistance device of claim 1, wherein: the left side and the right side of the movable rack are provided with patient anti-skid handrails (26), and the rear side is provided with doctor anti-skid handrails (30).
CN202211214646.0A 2022-09-30 2022-09-30 Rehabilitation-assisted walking exoskeleton robot Pending CN115517912A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211214646.0A CN115517912A (en) 2022-09-30 2022-09-30 Rehabilitation-assisted walking exoskeleton robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211214646.0A CN115517912A (en) 2022-09-30 2022-09-30 Rehabilitation-assisted walking exoskeleton robot

Publications (1)

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CN115517912A true CN115517912A (en) 2022-12-27

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211214646.0A Pending CN115517912A (en) 2022-09-30 2022-09-30 Rehabilitation-assisted walking exoskeleton robot

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Country Link
CN (1) CN115517912A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117428743A (en) * 2023-12-18 2024-01-23 中国科学院自动化研究所 Exoskeleton robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117428743A (en) * 2023-12-18 2024-01-23 中国科学院自动化研究所 Exoskeleton robot
CN117428743B (en) * 2023-12-18 2024-03-01 中国科学院自动化研究所 Exoskeleton robot

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