CN116919787A - Anti-toppling wearable lower limb rehabilitation device - Google Patents
Anti-toppling wearable lower limb rehabilitation device Download PDFInfo
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- CN116919787A CN116919787A CN202311063306.7A CN202311063306A CN116919787A CN 116919787 A CN116919787 A CN 116919787A CN 202311063306 A CN202311063306 A CN 202311063306A CN 116919787 A CN116919787 A CN 116919787A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 238000012549 training Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 11
- 210000002414 leg Anatomy 0.000 claims description 58
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 12
- 238000000429 assembly Methods 0.000 claims description 12
- 238000005192 partition Methods 0.000 claims description 10
- 210000000689 upper leg Anatomy 0.000 claims description 7
- 244000309466 calf Species 0.000 claims description 3
- 230000006378 damage Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 4
- 206010016173 Fall Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009525 mild injury Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Classifications
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
Abstract
The application discloses an anti-toppling wearable lower limb rehabilitation device, which comprises: exoskeleton mechanism, support frame and lifting mechanism; wherein the exoskeleton mechanism is used for fixing the waist, the legs and the feet of a patient, and the support frame is used for fixing the exoskeleton mechanism; the lifting mechanism is used for driving the exoskeleton mechanism to vertically lift on the supporting frame so as to adapt to the height of a patient. The anti-toppling wearable lower limb rehabilitation device can prevent patients from falling down in the rehabilitation training process, prevent secondary damage to the patients, ensure the safety of the patients in the rehabilitation training process, collect the movement data of the patients in the rehabilitation training process by arranging the pressure sensor provided with the data collector on the bottom plate, and help medical staff to objectively evaluate the rehabilitation condition of the patients through the collected data.
Description
Technical Field
The application belongs to the technical field of bone robots, and particularly relates to an anti-toppling wearable lower limb rehabilitation device.
Background
In recent years, gait disorders of lower limbs caused by stroke, spinal cord injury, cerebral apoplexy, accidents and the like are continuously increased, clinical medicine proves that rehabilitation training has very important effects on the recovery and improvement of the motor function of a patient, and an exoskeleton rehabilitation robot is rehabilitation training equipment integrating subjects such as rehabilitation medicine, robotics, biomechanics, control science and the like, and can help the patient to carry out scientific and standard rehabilitation training. Can not only perform muscle energy training and nerve perception training, but also help the patient to remodel the central nervous system, thereby improving the life self-care ability and happiness of the patient, effectively improving the life quality of the patient and returning to society again. For more and more rehabilitation training demands, different types of exoskeleton robots are developed for walking training of cerebral stroke patients. Compared with conventional walking training, the exoskeleton robot has great potential in the aspect of functional rehabilitation of patients, can provide high-dosage and high-strength task-oriented training for patients, and further improves the muscle strength and exercise coordination capacity of lower limbs. Meanwhile, the robot system can evaluate the function recovery condition of the patient through biological feedback, limb movement report, interaction force measurement, joint movement range and other objective data, so that the subjectivity of manual training and evaluation personnel is reduced.
The wearable lower limb rehabilitation robot is used as one of the skeletal rehabilitation robots, is mainly used for patients with mild injuries and later rehabilitation training, and can help the patients to recover walking capacity, but has the defects that the exoskeleton body and the driving device are modularized, so that the exoskeleton body is difficult to fit the limb size of the patients, the exoskeleton lower limb rehabilitation robot has the risk of falling down in the walking process, and secondary injuries can be caused to the patients.
Disclosure of Invention
The application aims to solve the defects in the prior art and provide an anti-toppling exoskeleton lower limb rehabilitation device.
In order to achieve the above purpose, the present application adopts the following technical scheme: an anti-toppling wearable lower limb rehabilitation device, comprising: exoskeleton mechanism, support frame and lifting mechanism;
wherein the exoskeleton mechanism is used to secure the waist, legs and feet of a patient,
the support frame is used for fixing the exoskeleton mechanism;
the lifting mechanism is used for driving the exoskeleton mechanism to vertically lift on the supporting frame so as to adapt to the height of a patient.
Further, the exoskeleton mechanism comprises a waist fixing mechanism, a lower limb fixing mechanism and a sole fixing mechanism which are sequentially connected in a hinged manner from top to bottom;
the waist fixing mechanism is fixed with the lifting mechanism and comprises two arc-shaped waist fixing plates and a rotating shaft connected with one ends of the two arc-shaped waist fixing plates, the two waist fixing plates can be folded into a round shape or separated from each other through the rotating shaft, and the outer ends of the two waist fixing plates are respectively provided with a first binding belt and a first fastener for connecting the other ends of the two waist fixing plates;
the lower limb fixing mechanism comprises two leg fixing assemblies respectively used for fixing thighs and calves and a joint assembly for connecting the two leg fixing assemblies;
the sole fixing mechanism comprises a bottom plate, a foot fixing assembly and a pressure sensor, wherein the bottom plate and the foot fixing assembly are matched with each other to be used for the feet of a patient, and the pressure sensor is arranged on the bottom plate and used for recording movement data of the patient in the rehabilitation training process.
Further, the waist fixing plate consists of 3-5 arc fixing plates, partition plates arranged between the arc fixing plates and air bags, wherein the number of the arc fixing plates is consistent, and the air bags are arranged on the inner surface of the arc fixing plates; the waist fixed plate is internally provided with an air pump, the air pump is arranged inside one arc fixed plate, other arc fixed plates and the partition plate are provided with air channels, all air bags are inflated through the air pump, or the inside of each arc fixed plate is provided with the air pump, and each air pump inflates an independent air bag.
Further, the leg assembly comprises a first leg fixing plate and a second leg fixing plate which is arranged inside the first leg fixing plate in a telescopic mode, the second leg fixing plate and the first leg fixing plate are coaxially arranged, and a second binding belt and a second fastener for fixing the legs are arranged on the first leg fixing plate.
Further, the joint assembly comprises a connecting plate and a rotating shaft, wherein one connecting plate is arranged at one end of one leg fixing assembly, and the two connecting plates are connected through the rotating shaft, so that the two leg fixing assemblies can rotate around the rotating shaft.
Further, the foot fixing component is a third binding band and a third fastener for fixing the foot.
Further, the number of the pressure sensors is four, and a data collector is arranged in each pressure sensor and is used for storing motion data.
Further, the support frame comprises an upper U-shaped steel frame, a lower U-shaped steel frame, connecting pieces and universal wheels, wherein the upper U-shaped steel frame and the lower U-shaped steel frame are mutually parallel and are connected through the connecting pieces, and the universal wheels are arranged on the lower surface of the lower U-shaped steel frame.
Further, the lifting mechanism comprises a rectangular fixed frame, a fixed rod and a connecting rod; the rectangular fixing frame is fixed on a connecting piece of the support frame, a plurality of through round holes are formed in the connecting piece, a round through hole is formed in the rectangular fixing frame, and the fixing rod penetrates through the through round holes and the round through holes to fix the rectangular fixing frame on the connecting piece; the connecting rod is used for connecting the rectangular fixing frame and the exoskeleton mechanism.
Further, the fixed rod comprises a long screw rod and a handheld part which are connected.
An anti-toppling wearable lower limb rehabilitation device comprises an exoskeleton mechanism, a support frame for fixing the exoskeleton mechanism and a lifting mechanism for driving the exoskeleton mechanism to adapt to the height of a patient; the exoskeleton mechanism comprises a waist fixing mechanism, a lower limb fixing mechanism and a sole fixing mechanism; the support frame comprises two parallel U-shaped steel frames, a connecting piece used for connecting the upper and lower U-shaped steel frames and a universal wheel fixed on the lower U-shaped rigid frame; the waist fixing mechanism is connected with the lifting mechanism, the lifting mechanism can drive the waist fixing mechanism to move along the connecting piece in the vertical direction, the waist fixing mechanism is hinged with the lower limb fixing mechanism, and the lower limb fixing mechanism is hinged with the sole fixing structure.
Preferably, the connecting piece that elevating system place sets up a plurality of round holes that run through along the equidistance on the vertical direction, elevating system including setting up rectangle fixed frame on the connecting piece, the connecting rod of level fixing on the rectangle fixed frame, the one end and the rectangle fixed frame fixed connection of connecting rod, the other end is articulated through the pivot with waist fixed mechanism, rectangle fixed frame and connecting rod junction surface vertically side on still be provided with the circular through-hole with running through round hole looks adaptation, elevating system still including can pass the dead lever that runs through round hole and circular through-hole simultaneously, the dead lever include long screw rod and fix the handheld portion at long screw rod one end tip.
Preferably, the waist fixing mechanism comprises two waist fixing plates capable of rotating around the rotating shaft, a first binding belt and a first fastener, wherein the first binding belt and the first fastener are respectively fixed at one end, far away from the rotating shaft, of the waist fixing plates, and the first binding belt can penetrate through the fastener to be fixed together.
Preferably, the waist fixing plate can be composed of four circular arc fixing plates, a partition plate is arranged between every two adjacent circular arc fixing plates, a gas channel is arranged on the partition plate, gas can flow between the adjacent circular arc fixing plates, an air bag is connected to the inner surface of each circular arc fixing plate, the air bag is fixedly connected with the circular arc fixing plates through an air hole I, the shape of the air bag after being filled with the gas is matched with that of the circular arc fixing plates, the air bag is attached to the inner surface of the circular arc fixing plates, an air hole II is correspondingly arranged on the outer surface of the circular arc fixing plates and corresponds to the air hole I, an air pump is arranged in the circular arc fixing plates, an air inlet pipe and an air outlet pipe are respectively arranged on two sides of the air pump, one end of the air outlet pipe is connected with the air pump, the other end of the air inlet pipe is connected with the air pump, a one-way air inlet valve is arranged in the air hole II connected with the air hole of the air inlet pipe, and an air hole II not connected with the air inlet pipe is provided with an air hole plug.
Preferably, the lower limb fixing mechanism comprises two leg fixing components for fixing thighs and shanks respectively and a joint component for connecting the leg fixing components, the leg fixing components can rotate around the joint component, the leg component comprises a leg fixing plate I and a leg fixing plate II which is arranged inside the leg fixing plate I in a telescopic mode, the leg fixing plate II and the leg fixing plate II are coaxially arranged, a binding band II and a fastener II are arranged on the leg fixing plate I, and the binding band II can penetrate through the fastener II and be fixed.
Preferably, the joint assembly comprises a connecting plate and a rotating shaft, the connecting plates are respectively arranged at opposite ends of the two leg fixing assemblies, the rotating shaft penetrates through a connecting round hole in the connecting plate, and the connecting plate rotates around the rotating shaft.
Preferably, the sole fixing structure comprises a bottom plate, a third binding band, a third fastening piece and a pressure sensor, wherein the third binding band and the third fastening piece are matched with each other to fix the feet of the patient on the bottom plate, four pressure sensors are arranged on the bottom plate, and a data collector is arranged in the pressure sensors.
Preferably, the sole fixing mechanism is connected with the leg fixing assembly for fixing the lower leg through a joint assembly, and the waist fixing mechanism is connected with the leg fixing assembly for fixing the thigh through a joint assembly.
Preferably, in order to enable the waist fixing mechanism to be firmly connected to the connecting piece, one end of the long screw away from the handheld portion is provided with a fixing nut matched with the long screw.
Preferably, in order to firmly fix the lower limb of the patient, the second binding band and the second fastener, and the third binding band and the third fastener can be arranged in a plurality.
Compared with the prior art, the application has the following beneficial effects:
1. by arranging the supporting frame, the patient can be prevented from falling down in the rehabilitation training process, secondary damage to the patient is prevented, and the safety of the patient in the rehabilitation training process is ensured;
2. the air bag is arranged on the waist fixing mechanism, so that a gap between the waist of a patient and the waist fixing mechanism can be filled, the waist fixing mechanism is suitable for patients with different sizes, the waist of the patient is prevented from being in direct contact with a rigid waist fixing plate, and the comfort of the patient is improved; simultaneously, waist fixed establishment fixed connection can be according to patient's height to waist fixed establishment's height adjustment on height-adjustable elevating system, has further improved the application scope of device.
3. The pressure sensor with the data collector is arranged on the bottom plate to collect the movement data of the patient in the rehabilitation training process, so that the medical staff can objectively evaluate the rehabilitation condition of the patient through the collected data.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an anti-toppling wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 2 is a schematic top view of a lifting mechanism of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 3 is a schematic top view of a toppling-proof wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 4 is a schematic front view of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 5 is a schematic diagram of a waist fixing plate structure of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 6 is a schematic diagram of a partition plate structure of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 7 is an internal top view schematic diagram of a circular arc fixing plate of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 8 is a schematic diagram of a leg fixing assembly of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 9 is a schematic connection diagram of a joint assembly of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 10 is an exploded view of a joint assembly of a toppling-prevention wearable lower limb rehabilitation device according to an embodiment of the application.
Fig. 11 is a schematic view of a sole fixing mechanism of a toppling-preventing wearable lower limb rehabilitation device according to an embodiment of the application.
The reference numerals are explained as follows:
1. a support frame; 2. a waist fixing mechanism; 3. a lifting mechanism; 4. a lower limb fixing mechanism; 5 a sole fixing mechanism;
11. u-shaped steel frame; 12. a connecting piece; 13. a universal wheel;
121. penetrating through the round hole;
21. a waist fixing plate; 22. a first binding band; 23. a first fastener; 24. an air bag; 25. an air pump;
211. a circular arc-shaped fixing plate; 212. an air hole I; 213. an air hole II; 214. a partition plate; 215. a gas channel; 216. an air inlet pipe; 217. an air outlet pipe;
31. a fixed frame; 32. a connecting rod; 33. a fixed rod;
311. a circular through hole;
321. a rotating shaft;
41. a leg fixation assembly; 42. a second binding band; 43. a second fastener; 44. a joint assembly;
411. a first leg fixing plate; 412. A second leg fixing plate;
441. a connecting plate; 442. a rotating shaft; 443. a connecting round hole;
51. a bottom plate; 52. a third binding band; 53. a third fastener; 54. a pressure sensor;
Detailed Description
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art in a specific case.
The application is further described below with reference to the accompanying drawings:
examples
As shown in fig. 1 and 4, an anti-toppling wearable lower limb rehabilitation device comprises an exoskeleton mechanism, a support frame 1 for fixing the exoskeleton mechanism and a lifting mechanism 3 for driving the exoskeleton mechanism to adapt to the height of a patient; the exoskeleton mechanism comprises a waist fixing mechanism 2, a lower limb fixing mechanism 4 and a sole fixing mechanism 5; the support frame 1 comprises two parallel U-shaped steel frames 11, connecting pieces 12 used for connecting the upper and lower layers and universal wheels 13 fixed on the lower layer U-shaped steel frames 11; the waist fixing mechanism 2 is connected with the lifting mechanism 3, the lifting mechanism 3 can drive the waist fixing mechanism 2 to move in the vertical direction along the connecting piece 12, the waist fixing mechanism 2 is hinged with the lower limb fixing mechanism 4, and the lower limb fixing mechanism 4 is hinged with the sole fixing structure 5.
As shown in fig. 2, the connecting piece 12 where the lifting mechanism 3 is located is provided with a plurality of through round holes 121 along the vertical direction at equal intervals, the lifting mechanism 3 comprises a rectangular fixing frame 31 arranged on the connecting piece 12, and a connecting rod 32 horizontally fixed on the rectangular fixing frame 31, one end of the connecting rod 32 is fixedly connected with the rectangular fixing frame 31, the other end of the connecting rod 32 is hinged with the waist fixing mechanism 2 through a rotating shaft 321, a round through hole 311 matched with the through round hole 121 is further formed in the side surface of the connecting surface of the rectangular fixing frame 31 perpendicular to the connecting rod 32, the lifting mechanism 3 further comprises a fixing rod 33 capable of penetrating through the through round hole 121 and the round through hole 311 at the same time, and the fixing rod 33 comprises a long screw and a handheld part fixed at one end of the long screw.
As shown in fig. 2-3, the waist fixing mechanism 2 includes two waist fixing plates 21 rotatable around a rotation shaft 321, a first binding band 22 and a first fastening member 23 respectively fixed to one end of the waist fixing plate 21 away from the rotation shaft 321, and the first binding band 22 may pass through the first fastening member 23 and be fixed.
As shown in fig. 5-7, the waist fixing plate 21 may be composed of four circular arc fixing plates 211, a partition plate 214 is disposed between adjacent circular arc fixing plates 211, a gas channel 215 is disposed on the partition plate 214, so that gas can flow between adjacent circular arc fixing plates 211, an air bag 24 is connected to the inner surface of each circular arc fixing plate 211, the air bag 24 is fixedly connected to the circular arc fixing plates 211 through an air hole one 212, the shape of the air bag 24 after being filled with gas is adapted to that of the circular arc fixing plates 211 and is attached to the inner surface of the circular arc fixing plates 211, an air hole two 213 is disposed on the outer surface of the circular arc fixing plates 211 corresponding to the air hole one 212, an air pump 25 is disposed in the circular arc fixing plates 211, an air inlet pipe 216 and an air outlet pipe 217 are disposed on two sides of the air pump 25, one end of the air outlet pipe 217 is connected to the air pump 25, the other end of the air inlet pipe 216 is connected to the air hole two 213, a unidirectional air inlet valve is disposed in the air hole two 213 connected to the air hole two 213, and an air hole two 213 not connected to the air inlet pipe 216 is provided with an air plug.
As shown in fig. 8-9, the lower limb fixing mechanism 4 includes two leg fixing assemblies 41 for fixing the thigh and the calf respectively, and a joint assembly 44 for connecting the leg fixing assemblies 41, the leg fixing assemblies 41 are rotatable around the joint assembly 44, the leg assemblies 41 include a first leg fixing plate 411 and a second leg fixing plate 412 telescopically disposed inside the first leg fixing plate 411, the second leg fixing plate 412 is coaxially disposed with the first leg fixing plate 411, a second strap 42 and a second fastener 43 are disposed on the first leg fixing plate 411, and the second strap 42 can pass through the second fastener 43 and be fixed.
As shown in fig. 10, the joint assembly 44 includes a connection plate 441 and a rotation shaft 442, the connection plate 441 is respectively disposed at opposite ends of the two leg fixing assemblies 41, the rotation shaft 442 passes through a connection circular hole 443 formed on the connection plate 441, and the connection plate 441 rotates around the rotation shaft 442.
As shown in fig. 11, the sole fixing structure 5 includes a bottom plate 51, a third strap 52, a third fastener 53 and a pressure sensor 54, the third strap 52 and the third fastener 53 cooperate with each other to fix the foot of the patient on the bottom plate 51, four pressure sensors 54 are disposed on the bottom plate 51, and a data collector is disposed in the pressure sensors 54.
As shown in fig. 1, the sole fixing mechanism 5 is connected with the leg fixing unit 41 for fixing the lower leg through the joint unit 44, and the waist fixing mechanism 2 is connected with the leg fixing unit 41 for fixing the thigh through the joint unit 44.
Working principle:
when the patient needs to use the device to perform lower limb rehabilitation training, the fixing rod 33 is pulled out firstly, then the fixing frame 31 is adjusted up and down along the connecting piece 12, at this time, the connecting rod 32 fixedly connected with the fixing frame 31 drives the waist fixing mechanism 2 to move up and down, when the patient moves to the waist, the fixing frame 31 stops moving, the fixing rod 33 is inserted into the through hole 121 and the circular through hole 311, then the waist fixing plate 21 is adjusted, the first binding band 22 is inserted into the first fastener 23 to connect the two waist fixing plates 21, at this time, the patient and the waist fixing plate 21 still have a gap, and at the same time, in order to avoid the rigid waist fixing plate 21 directly contacting the waist of the patient, the air pump 25 is started, the air passes through the air hole two 213, the unidirectional air inlet valve (not shown in the figure) in the air hole 213, the air pump 25 and the air outlet pipe 217 flow into the internal cavity of the circular arc fixing plate 211, and the gas can fill all circular arc-shaped fixing plates 211 through the gas channel 215 of the baffle 214, the gas can enter the air bag 24 connected with the circular arc-shaped fixing plates 211 through the first air hole 212, at this time, the waist of the patient is in direct contact with the air bag 24, not only the gap is filled, but also the waist of the patient is prevented from being in direct contact with the rigid waist fixing plate 21, the comfort of the patient is improved, and the patient with different sizes can be adapted, when the waist fixing is finished, the legs of the patient are fixed on the leg fixing assembly 41, specifically, when the lower limb of the patient is close to the fixing plate, the second binding band 42 is wound around the lower limb and penetrates the second binding member 43 to fix the thigh and the shank respectively, then the foot is placed on the bottom plate 51, the third binding band 52 is wound around the foot and penetrates the third binding member 53 to fix the foot of the patient, at this time, the patient is finished wearing, the joint assembly 44 and the universal wheel 13 are arranged, the lower limb rehabilitation training can be flexibly carried out on the patient, the patient can be prevented from falling down in the rehabilitation training process due to the support frame 1, secondary damage to the patient is prevented, in addition, the pressure sensor 54 is arranged on the bottom plate 51, the data collector arranged in the pressure sensor 54 can also collect the movement data of the patient in the rehabilitation training process, and medical staff can objectively evaluate the rehabilitation condition of the patient through the collected data; after the training is finished, the air hole plug arranged on the air hole II 213 which is not connected with the air inlet pipe 216 is pulled out, the air release can be finished, and then the device can be removed by removing the binding bands on the waist, the lower limbs and the feet, so that the use is simple and convenient.
The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made without departing from the spirit and scope of the application, which is defined in the appended claims.
Claims (10)
1. Anti-toppling wearable lower limb rehabilitation device is characterized by comprising: exoskeleton mechanism, support frame and lifting mechanism; wherein the exoskeleton mechanism is used to secure the waist, legs and feet of a patient,
the support frame is used for fixing the exoskeleton mechanism;
the lifting mechanism is used for driving the exoskeleton mechanism to vertically lift on the supporting frame so as to adapt to the height of a patient.
2. The anti-toppling wearable lower limb rehabilitation device according to claim 1, wherein: the exoskeleton mechanism comprises a waist fixing mechanism, a lower limb fixing mechanism and a sole fixing mechanism which are sequentially connected in a hinged manner from top to bottom;
the waist fixing mechanism is fixed with the lifting mechanism and comprises two arc-shaped waist fixing plates and a rotating shaft connected with one ends of the two arc-shaped waist fixing plates, the two waist fixing plates can be folded into a round shape or separated from each other through the rotating shaft, and the outer ends of the two waist fixing plates are respectively provided with a first binding belt and a first fastener for connecting the other ends of the two waist fixing plates;
the lower limb fixing mechanism comprises two leg fixing assemblies respectively used for fixing thighs and calves and a joint assembly for connecting the two leg fixing assemblies;
the sole fixing mechanism comprises a bottom plate, a foot fixing assembly and a pressure sensor, wherein the bottom plate and the foot fixing assembly are matched with each other to be used for the feet of a patient, and the pressure sensor is arranged on the bottom plate and used for recording movement data of the patient in the rehabilitation training process.
3. The anti-toppling wearable lower limb rehabilitation device according to claim 2, wherein: the waist fixing plate consists of 3-5 arc fixing plates, partition plates arranged between the arc fixing plates and air bags, wherein the number of the arc fixing plates is consistent, and the air bags are arranged on the inner surfaces of the arc fixing plates; the waist fixed plate is internally provided with an air pump, the air pump is arranged inside one arc fixed plate, other arc fixed plates and the partition plate are provided with air channels, all air bags are inflated through the air pump, or the inside of each arc fixed plate is provided with the air pump, and each air pump inflates an independent air bag.
4. The anti-toppling wearable lower limb rehabilitation device according to claim 2, wherein: the leg assembly comprises a first leg fixing plate and a second leg fixing plate which is arranged inside the first leg fixing plate in a telescopic mode, the second leg fixing plate and the first leg fixing plate are coaxially arranged, and a second binding belt and a second fastener for fixing the legs are arranged on the first leg fixing plate.
5. The anti-toppling wearable lower limb rehabilitation device according to claim 2, wherein: the joint assembly comprises a connecting plate and a rotating shaft, wherein one connecting plate is arranged at one end of one leg fixing assembly, and the two connecting plates are connected through the rotating shaft, so that the two leg fixing assemblies can rotate around the rotating shaft.
6. The anti-toppling wearable lower limb rehabilitation device according to claim 2, wherein: the foot fixing component is a third binding band and a third fastener for fixing the foot.
7. The anti-toppling wearable lower limb rehabilitation device according to claim 2, wherein: the number of the pressure sensors is four, and each pressure sensor is internally provided with a data collector for storing motion data.
8. The anti-toppling wearable lower limb rehabilitation device according to claim 1, wherein: the support frame comprises an upper U-shaped steel frame, a lower U-shaped steel frame, connecting pieces and universal wheels, wherein the upper U-shaped steel frame and the lower U-shaped steel frame are mutually parallel and are connected through the connecting pieces, and the universal wheels are arranged on the lower surface of the lower U-shaped steel frame.
9. The anti-toppling wearable lower limb rehabilitation device according to claim 8, wherein: the lifting mechanism comprises a rectangular fixing frame, a fixing rod and a connecting rod; the rectangular fixing frame is fixed on a connecting piece of the support frame, a plurality of through round holes are formed in the connecting piece, a round through hole is formed in the rectangular fixing frame, and the fixing rod penetrates through the through round holes and the round through holes to fix the rectangular fixing frame on the connecting piece; the connecting rod is used for connecting the rectangular fixing frame and the exoskeleton mechanism.
10. The anti-toppling wearable lower limb rehabilitation device according to claim 9, wherein: the fixed rod comprises a long screw rod and a handheld part which are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311063306.7A CN116919787A (en) | 2023-08-23 | 2023-08-23 | Anti-toppling wearable lower limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311063306.7A CN116919787A (en) | 2023-08-23 | 2023-08-23 | Anti-toppling wearable lower limb rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116919787A true CN116919787A (en) | 2023-10-24 |
Family
ID=88380967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311063306.7A Pending CN116919787A (en) | 2023-08-23 | 2023-08-23 | Anti-toppling wearable lower limb rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116919787A (en) |
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2023
- 2023-08-23 CN CN202311063306.7A patent/CN116919787A/en active Pending
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