CN210020211U

CN210020211U - Wearable exoskeleton robot for lower limb auxiliary exercise rehabilitation

Info

Publication number: CN210020211U
Application number: CN201920107230.6U
Authority: CN
Inventors: 张学良
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-01-22
Filing date: 2019-01-22
Publication date: 2020-02-07
Anticipated expiration: 2029-01-22

Abstract

The utility model belongs to the technical field of rehabilitation equipment for the medical treatment, wearable low limbs are recovered with ectoskeleton robot with auxiliary motion is proposed, include the hip joint subassembly of being connected with belly fixing device, hip joint subassembly from the top down in proper order with thigh pole, shank pole and foot hold in the palm and be connected, the hip joint subassembly includes the horizon bar and sets up the vertical pole in horizon bar one end, horizon bar and vertical pole mutually perpendicular, the one end that the horizon bar was kept away from to vertical pole is connected with swinging arms one end, the swinging arms other end slides and sets up in belly fixing device, the plane and the swinging arms mutually perpendicular at horizon bar and vertical pole place, the one end that the horizon bar is close to vertical pole is passed through joint bearing and is connected with an electric putter output, the horizon bar other end is articulated with thigh pole top. Through the technical scheme, the problems of single function and inconvenient operation of the walking rehabilitation device in the prior art are solved.

Description

Wearable exoskeleton robot for lower limb auxiliary exercise rehabilitation

Technical Field

The utility model belongs to the technical field of the component processing, a recovered exoskeleton robot that uses of wearable low limbs auxiliary motion is related to.

Background

With the increase of modern vehicles, the number of traffic accidents increases, traumatic injury factors such as high-altitude injury exist, the incidence factors of spinal cord spontaneous diseases such as myelitis, spinal cord teratoma, spinal cord hemangioma and the like, and spinal cord injury patients tend to increase sharply, thus greatly harming human health. Since the symptoms of spinal cord injury are characterized by complexity and diversity, no good effective method for treating spinal cord injury exists at present, and spinal cord injury becomes a problem of global medical care.

Medical theory and practice prove that, except for early operation treatment and symptomatic drug treatment of later complications, the limb motor loss and muscle atrophy caused by nerve injury in later period of a patient are regretted along with the whole life of the patient, and the passive exercise for maintaining the injured motor function is required to be skilled and persistent. Many patients are abandoned by themselves due to loss of motor function, and many families are sick and poor or have lost lives due to the fact that the bodies cannot be decompressed regularly to form bedsores. Therefore, for paraplegic patients caused by spinal cord injury, maintaining and exercising motor functions of the lower limbs are necessary conditions for the body.

In the prior art, the lower limb movement dysfunction rehabilitation exercise mainly comprises a walking aid rehabilitation device, which is a typical walking aid rehabilitation device and has the following specific structure: the multifunctional chair comprises a main body with a four-side frame structure, supporting legs or wheels are arranged on the front side and the rear side of the main body, and armrests are arranged on the two sides of the main body. The patient holds the handrail, and takes the alternate movement of the supporting legs as the support to move slowly, thereby achieving the aim of rehabilitation training. The walking rehabilitation device has single function and is inconvenient to operate.

SUMMERY OF THE UTILITY MODEL

The utility model provides a recovered exoskeleton robot that uses of wearable low limbs auxiliary motion has solved walking rehabilitative ware function singleness among the prior art, the inconvenient problem of operation.

The technical scheme of the utility model is realized like this: comprises a hip joint component connected with an abdomen fixing device, a thigh rod, a shank rod and a foot support are sequentially arranged at the lower side of the hip joint component,

the hip joint component comprises a horizontal rod and a vertical rod arranged at one end of the horizontal rod, the horizontal rod is perpendicular to the vertical rod, one end of the vertical rod, which is far away from the horizontal rod, is connected with one end of a swinging rod, the other end of the swinging rod is arranged in the abdomen fixing device in a sliding manner, the planes of the horizontal rod and the vertical rod are perpendicular to the swinging rod,

one end of the horizontal rod close to the vertical rod is connected with one output end of an electric push rod through a joint bearing, the other end of the horizontal rod is hinged with the top end of a thigh rod, one end of the horizontal rod close to the thigh rod is also hinged with one end of a horizontal rotating shaft, the other end of the horizontal rotating shaft is hinged and arranged on one side of the abdomen fixing device,

the thigh rod is hinged to the upper portion of the lower portion of the upper portion of the lower.

Further, a shaft sleeve is sleeved on the outer side of the contact surface of the oscillating rod and the abdomen fixing device.

Furthermore, the number of the electric push rods I, the number of the electric push rods II and the number of the hip joint assemblies are two, the electric push rods I, the electric push rods II and the hip joint assemblies are symmetrically arranged at two ends of the abdomen fixing device, and correspondingly, the thigh rod, the shank rod and the foot support are arranged on the lower side of each hip joint assembly.

Furthermore, the top end of the thigh rod is of a U-shaped structure, a T-shaped bearing seat is arranged at the end part of the horizontal rod, a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw penetrates through the connecting holes and the bearing and is locked through a nut.

Further comprises an electric push rod III, one end of the electric push rod III is hinged on the rear side of the thigh rod, the other end of the electric push rod III is hinged on the rear side of the shank rod,

the bottom of the thigh rod is of a U-shaped structure, the top end of the shank rod is provided with a T-shaped bearing seat, a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw penetrates through the connecting holes and the bearing and is locked through a nut.

Further comprises an electric push rod IV, one end of the electric push rod IV is hinged on the outer side of the shank rod, the other end is hinged on the outer side of the foot support,

the bottom of the shank rod is of a U-shaped structure, a T-shaped bearing seat is arranged at the top end of the foot support, a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw penetrates through the connecting holes and the bearing and is locked through a nut.

Further, the shank rod comprises a shank rod upper part and a shank rod lower part which are connected up and down, the shank rod upper part is connected with the thigh rod, the lower part of the shank rod is connected with the foot support, an accommodating cavity is arranged inside the shank rod, a shank steering device is arranged in the accommodating cavity, the shank steering device comprises an electric push rod five connected with the output shaft of the motor, the surface of the electric push rod five is provided with teeth, and the shank steering device also comprises a speed change gear, the speed change gear comprises a big wheel matched with the electric push rod five and a small wheel which is arranged on the upper side of the big wheel and is coaxial with the big wheel, the small wheel is connected with the upper end of a first change gear through a plurality of transmission gears, the lower end of the first change gear is matched with a second change gear, the turning gear is sleeved at one end of the rotating shaft, the other end of the rotating shaft is connected with the lower part of the shank rod, and the rotating shaft is rotatably arranged at the bottom of the shank rod.

Further, the shank turns to and is provided with angle detection device on the device, angle detection device includes angle detector one, angle detector one sets up the pivot is kept away from the terminal surface center department of ankle one end, angle detector upside, just be located be provided with angle detector two on the circumference of change gear two, the symmetry is provided with angle detector three and angle detector four on the circumference of angle detector two both sides, angle detector three with radian between the angle detector four is 90.

Furthermore, a hip level meter is arranged on the horizontal rotating shaft.

Further, a foot level gauge is arranged on the foot support.

Furthermore, waist flexible bandage is arranged on two sides of the abdomen fixing device, thigh binding supports and thigh flexible bandage matched with the thigh binding supports are arranged on the thigh rods, shank binding supports and shank flexible bandage matched with the shank binding supports are arranged on the shank rods, and foot flexible bandage is arranged on the side face of the foot support.

The utility model discloses a theory of operation and beneficial effect do:

1. the utility model discloses joint bearing is passed through to the one end of well horizontal pole and is connected with an electric putter output, and loop through vertical pole and swinging arms and be connected with belly fixing device, when telescopic motion about electric putter, the one end that electric putter one was kept away from to the drive horizontal pole uses joint bearing to rotate as central level, at this moment, the swinging arms horizontal slip in belly fixing device, the one end that electric putter one was kept away from to the horizontal pole is articulated with the one end of horizontal axis of rotation simultaneously, the articulated setting in belly fixing device one side of the other end of horizontal axis of rotation, the one end that vertical pole was kept away from to the horizontal pole of horizontal axis of rotation plays the fixed action, guarantee simultaneously that the horizontal pole rotates at the horizontal.

The horizontal rod drives the thigh rod to horizontally rotate because the horizontal rod is hinged with the top end of the thigh rod; meanwhile, the telescopic motion of the electric push rod II drives the thigh rod to move up and down, the thigh rod sequentially drives the shank rod and the foot support to move up and down, and the electric push rod II can also lock the hinged position of the hip joint and the thigh rod, so that thigh lifting and turning actions required by free walking of a human body are realized.

The utility model discloses a low limbs of initiative bionics motion tractive patient freely walks convenient operation.

2. As shown in fig. 1, the utility model discloses an embodiment realizes two low limbs walking, and fig. 8 is shown to be the utility model discloses a walking of right low limbs is realized to another embodiment, and fig. 9 is shown to be the utility model discloses a still another embodiment realizes the walking of left low limbs, the utility model discloses both can realize two low limbs walking, as the instrument of riding instead of walk of paraplegia patient walking, also can be through getting rid of the subassembly of belly fixing device one end, realize independent left low limbs or independent right low limbs walking, to the hemiplegia patient training of cerebral apoplexy, help it to obtain the walking ability again.

3. The utility model discloses realize articulatedly through U type structure and T type bearing frame between well thigh pole and the hip joint, the crooked action of human thigh joint of simulation, simple structure, convenient operation. The design of T type bearing has reduced the wearing and tearing of thigh pole up-and-down motion in-process to the screw rod, has prolonged the utility model discloses a life.

4. The middle thigh rod and the shank rod of the utility model are hinged through the U-shaped structure and the T-shaped bearing seat to simulate the bending action of the knee joint of the human body; the bending degree of the knee joint is controlled by the telescopic motion of the electric push rod III, and the knee joint is supported, so that the bionic principle is met, and the walking is more flexible and convenient.

5. The middle and small leg rods of the utility model are hinged with the foot supports through the U-shaped structure and the T-shaped bearing seat, so as to simulate the bending action of the ankle joint of the human body; the bending degree of the ankle joint is controlled by the telescopic motion of the electric push rod IV, and the ankle joint is supported, so that the bionic principle is met, and the walking is more flexible and convenient.

6. The shank rod is divided into a shank rod upper part and a shank rod lower part, a motor arranged inside the shank rod drives a five electric push rod to move left and right, the five electric push rod moves left and right to drive a big wheel matched with the five electric push rod to rotate, the big wheel drives a small wheel coaxial with the big wheel to rotate, the small wheel drives a first turning gear to rotate through a transmission gear, the turning gear drives a rotating shaft to rotate, and the rotating shaft is connected with the shank rod lower part, so that the shank rod lower part is rotated. The rotation angle under the shank rod can be controlled by controlling the left-right stretching amplitude of the electric push rod V, so that the control of shank steering is realized, and the control is matched with the hip joint steering, knee joint bending and ankle joint bending, so that the walking is more flexible.

The speed change gear is connected through a plurality of drive gear between the change gear and the change gear, through the number of increase and decrease drive gear, can adjust the speed reduction ratio between speed change gear and the shank and turn to the control accuracy of device, improve the utility model discloses a commonality.

7. The angle detector I, the angle detector II, the angle detector III and the angle detector IV are respectively arranged at the corresponding positions of the shank steering device to monitor the rotation angle of the shank rod, so that the shank steering device is beneficial to realizing the accurate control of shank steering.

8. The hip level meter is arranged on the horizontal rotating shaft, the horizontal information of the hip joint is monitored when the user changes from sitting posture to standing posture or from standing posture to sitting posture, and the body balance of the user is ensured by adjusting the angle and the curvature of the thigh rod; when the user is on the road with the slope, the foot level gauge detects the slope information, adjusts the angle of the foot support by adjusting the telescopic degree of the electric push rod IV, ensures that the foot support is always in the absolute horizontal position, and ensures the body balance of the user.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic front view of an embodiment of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic top view of the middle hip joint of the present invention;

fig. 4 is a schematic rear view of the embodiment of the present invention;

FIG. 5 is a schematic structural view of a mid-calf steering apparatus of the present invention;

fig. 6 is a schematic view of the position of the angle detecting device of the present invention;

FIG. 7 is a control circuit diagram of the present invention;

fig. 8 is a schematic front view of a second embodiment of the present invention;

fig. 9 is a schematic view of a third front view structure of the embodiment of the present invention;

in the figure: 1-abdomen fixing device, 11-power supply, 12-PLC controller, 2-electric push rod two, 3-electric push rod one, 4-hip joint component, 41-horizontal rod, 42-vertical rod, 43-swinging rod, 44-shaft sleeve, 5-thigh rod, 6-electric push rod three, 71-thigh binding bracket, 72-thigh flexible binding band, 8-calf rod, 81-upper calf rod, 82-lower calf rod, 83-rotating shaft, 91-calf binding bracket, 92-calf flexible binding band, 10-electric push rod four, 11-ankle, 12-foot support, 13-foot flexible binding band, 14-waist flexible binding band, 15-horizontal rotating shaft, 18-electric push rod five, 19-speed change gear, 191-a large wheel, 192-a small wheel, 20-a transmission gear, 22-a change gear I, 23-a change gear II, 25-a calf steering device, 27-a hip level meter, 28-an angle detection device, 281-an angle detector I, 282-an angle detector II, 283-an angle detector III, 284-an angle detector IV and 29-a foot level meter.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.

Example one

As shown in fig. 1-7, the utility model comprises a hip joint component 4 connected with an abdomen fixing device 1, a thigh rod 5, a shank rod 8 and a foot support 12 are arranged on the lower side of the hip joint component 4 in sequence,

the hip joint component 4 comprises a horizontal rod 41 and a vertical rod 42 arranged at one end of the horizontal rod 41, the horizontal rod 41 is vertical to the vertical rod 42, one end of the vertical rod 42 far away from the horizontal rod 41 is connected with one end of a swinging rod 43, the other end of the swinging rod 43 is arranged in the abdomen fixing device 1 in a sliding way, the plane where the horizontal rod 41 and the vertical rod 42 are positioned is vertical to the swinging rod 43,

one end of the horizontal rod 41 close to the vertical rod 42 is connected with the output end of the electric push rod I3 through a joint bearing, the other end of the horizontal rod 41 is hinged with the top end of the thigh rod 5, one end of the horizontal rod 41 close to the thigh rod 5 is also hinged with one end of the horizontal rotating shaft 15, the other end of the horizontal rotating shaft 15 is hinged and arranged at one side of the abdomen fixing device 1,

the novel thigh plate is characterized by further comprising an electric push rod II 2, one end of the electric push rod II 2 is hinged to the outer side of the thigh rod 5, and the other end of the electric push rod II 2 is hinged to the vertical rod 42.

The utility model discloses joint bearing is passed through to horizontal pole 41's one end and is connected with electric putter 3 outputs, and loop through vertical pole 42 and swinging arms 43 and be connected with belly fixing device 1, when electric putter 3 controls concertina movement, it uses joint bearing to rotate as the center level to drive horizontal pole 41 and keep away from electric putter 3's one end, at this moment, swinging arms 43 horizontal slip in belly fixing device 1, the one end that electric putter 3 was kept away from to horizontal pole 41 is articulated with the one end of horizontal axis of rotation 15 simultaneously, the articulated setting in belly fixing device 1 one side of the other end of horizontal axis of rotation 15, horizontal axis of rotation 15 plays the fixed action to the one end that vertical pole 42 was kept away from to horizontal pole 41, guarantee that horizontal pole 41 rotates at the horizontal direction all the time simultaneously.

Because the horizontal rod 41 is hinged with the top end of the thigh rod 5, the horizontal rod 41 drives the thigh rod 5 to horizontally rotate; meanwhile, the telescopic motion of the electric push rod II 2 drives the thigh rod 5 to move up and down, the thigh rod 5 sequentially drives the shank rod 8 and the foot support 12 to move up and down, and the electric push rod II 2 can lock the hinged part of the hip joint and the thigh rod 5, so that thigh lifting and turning actions required by free walking of a human body are realized.

Further, a bushing 44 is fitted on the contact surface of the swing lever 43 and the abdominal fixing device 1.

At 5 horizontal rotation in-processes of thigh pole, swing arm 43 sideslip in belly fixing device 1, establish axle sleeve 44 at the outside cover of swing arm 43 and belly fixing device 1 contact surface, can reduce swing arm 43 and belly fixing device 1's wearing and tearing, the extension the utility model discloses a life.

Furthermore, the number of the electric push rods I3, the number of the hip joint assemblies 4 and the number of the electric push rods II are two, the electric push rods are symmetrically arranged at two ends of the abdomen fixing device 1, and correspondingly, a thigh rod 5, a shank rod 8 and a foot support 12 are arranged on the lower side of each hip joint assembly 4.

The electric push rod I3, the hip joint component 4, the electric push rod II 2 and the thigh rod 5 are two and are symmetrically arranged at two ends of the abdomen fixing device 1, so that the walking of the two lower limbs can be realized, and the electric push rod can be used as a walking tool for the paraplegic patient to walk. In practical use, the hinge point of the first electric push rod 3 and the vertical rod 42 can move up and down along the vertical rod 42 according to the requirements of users, so that the use requirements of different users are met.

Further, the top end of the thigh rod 5 is of a U-shaped structure, a T-shaped bearing seat is arranged at the end portion of the horizontal rod 41, a bearing is arranged in the T-shaped bearing seat and located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and the screw rod penetrates through the connecting holes and the bearing and is locked through nuts.

The utility model discloses realize articulatedly through U type structure and T type bearing frame between well thigh pole 5 and the hip joint, the crooked action of the human thigh joint of simulation, simple structure, convenient operation. The design of T type bearing has reduced the wearing and tearing to the screw rod in the thigh pole 5 up-and-down motion process, has prolonged the utility model discloses a life.

Further comprises an electric push rod III 6, one end of the electric push rod III 6 is hinged on the rear side of the thigh rod 5, the other end is hinged on the rear side of the shank rod 8,

the bottom of the thigh rod 5 is of a U-shaped structure, the top end of the shank rod 8 is provided with a T-shaped bearing seat, a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw penetrates through the connecting holes and the bearing and is locked through a nut.

When the utility model is used in practice, the U-shaped structure can be arranged at the top end of the shank rod 8, the T-shaped bearing seat is arranged at the bottom of the shank rod 5, and the shank rod 5 and the shank rod 8 are hinged through the U-shaped structure and the T-shaped bearing seat to simulate the bending action of the knee joint of a human body; the bending degree of the knee joint is controlled by the telescopic motion of the electric push rod III 6, and the knee joint is supported, so that the bionic principle is met, and the walking is more flexible and convenient.

Further comprises an electric push rod IV 10, one end of the electric push rod IV 10 is hinged at the outer side of the shank rod 8, the other end is hinged at the outer side of the foot support 12,

the bottom of the shank rod 8 is of a U-shaped structure, a T-shaped bearing seat is arranged at the top end of the foot support 12, a bearing is arranged in the T-shaped bearing seat and is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw penetrates through the connecting holes and the bearing and is locked through a nut.

When the utility model is used in practice, the U-shaped structure can be arranged at the top end of the foot support 12, the T-shaped bearing seat is arranged at the bottom of the shank rod 8, and the shank rod 8 and the foot support 12 are hinged through the U-shaped structure and the T-shaped bearing seat to simulate the bending action of the ankle joint of a human body; the telescopic motion of the electric push rod four 10 controls the bending degree of the ankle joint and supports the ankle joint, so that the bionic principle is met, and the walking is more flexible and convenient.

Further, the shank rod 8 comprises a shank rod upper 81 and a shank rod lower 82 which are connected up and down, the shank rod upper 81 is connected with the shank rod 5, the shank rod lower 82 is connected with the foot support 12, a containing cavity is arranged inside the shank rod upper 81, a shank steering device 25 is arranged in the containing cavity, the shank steering device 25 comprises an electric push rod five 18 connected with the output shaft of the motor, the surface of the electric push rod five 18 is provided with teeth, the shank steering device also comprises a speed change gear 19, the speed change gear 19 comprises a large wheel 191 matched with the electric push rod five 18 and is arranged on the upper side of the large wheel 191, and a small wheel 192 coaxial with the big wheel 191, the small wheel 192 is connected with the upper end of a first change gear 22 through a plurality of transmission gears 20, the lower end of the first change gear 22 is matched with a second change gear 23, the second change gear 23 is sleeved at one end of a rotating shaft 83, the other end of the rotating shaft 83 is connected with a lower shank rod 82, and the rotating shaft 83 is rotatably arranged at the bottom of the upper shank rod 81.

The shank rod 8 is divided into a shank rod upper 81 and a shank rod lower 82, a motor arranged inside the shank rod upper 81 drives an electric push rod five 18 to move left and right, the left and right movement of the electric push rod five 18 drives a big wheel 191 matched with the electric push rod to rotate, the big wheel 191 drives a small wheel 192 coaxial with the big wheel to rotate, the small wheel 192 drives a change gear one 22 to rotate through a transmission gear 20, the change gear one 22 drives a rotating shaft 83 to rotate, and the rotating shaft 83 is connected with the shank rod lower 82, so that the rotation of the shank rod lower 82 is realized. The rotation angle of the lower part 82 of the shank can be controlled by controlling the left-right stretching amplitude of the electric push rod five 18, so that the control of shank steering is realized, and the control is matched with the hip joint steering, knee joint bending and ankle joint bending, so that the walking is more flexible.

The speed change gear 19 is connected through a plurality of drive gear 20 between the change gear 22, through the number of increase and decrease drive gear 20, can adjust the speed reduction ratio between speed change gear 19 and the change gear 22 and the control accuracy that the shank turned to device 25, improves the utility model discloses a commonality.

Further, an angle detection device 28 is arranged on the lower leg turning device 25, the angle detection device 28 includes a first angle detector 281, the first angle detector 281 is arranged at the center of an end face of the rotating shaft 83 far away from one end of the ankle, a second angle detector 282 is arranged on the upper side of the first angle detector 281 and on the circumference of the end face of the second direction change gear 23, a third angle detector 283 and a fourth angle detector 284 are symmetrically arranged on the circumferences of two sides of the second angle detector 282, and the radian between the third angle detector 283 and the fourth angle detector 284 is 90 °.

The corresponding positions of the shank steering device 25 are respectively provided with a first angle detector, a second angle detector, a third angle detector and a fourth angle detector, the rotating angle of the shank rod 8 is monitored, and accurate control over shank steering is facilitated.

Further, a hip level 27 is provided on the horizontal rotation shaft 15.

Further, a foot level 29 is provided on the foot rest 12.

A hip level instrument 27 is arranged on the horizontal rotating shaft 15, the horizontal information of the hip joint is monitored when the user changes from sitting posture to standing posture or from standing posture to sitting posture, and the body balance of the user is ensured by adjusting the angle and the bending degree of the thigh rod 5; when the user is on a road with slopes, the foot level meter 29 detects the slope information, and the angle of the foot support 12 is adjusted by adjusting the telescopic degree of the electric push rod four 10, so that the foot support 12 is always in an absolute horizontal position, and the body balance of the user is ensured.

Further, the utility model discloses be provided with power 11 and PLC controller 12 in belly fixing device 1 inside, power 11 is the lithium cell, and the model is JETBeam12V60A, and PLC controller 12 model is XCM-60T-E, and this PLC controller 12 includes the motion control module, and PLC controller 12 receives the information of hip spirit level 27, foot spirit level 29 and the feedback of angle detection device 28, adjusts electric putter one 3, electric putter two 2, electric putter three 6, the action of electric putter four 10 and electric putter five 18, realizes hip joint subassembly 4, thigh pole 5, shank pole 8 and the motion of foot support 12 to realize the free walking of low limbs.

The control circuit diagram of the PLC is shown in figure 7, wherein the electric push rod I (left) represents the electric push rod I3 arranged at the left end of the abdomen fixing device, the electric push rod I (right) represents the electric push rod I3 arranged at the right end of the abdomen fixing device,

the second electric push rod (left) is the second electric push rod 2 which is at the same side as the first electric push rod (left), the second electric push rod (right) is the second electric push rod 2 which is at the same side as the first electric push rod (right),

the third electric push rod (left) is the third electric push rod 6 which is at the same side as the first electric push rod (left), the third electric push rod (right) is the third electric push rod 6 which is at the same side as the first electric push rod (right),

the fourth electric push rod (left) is the fourth electric push rod 10 which is at the same side as the first electric push rod (left), the fourth electric push rod (right) is the fourth electric push rod 10 which is at the same side as the first electric push rod (right),

the electric push rod five (left) is an electric push rod five 18 which is at the same side as the electric push rod one (left), the electric push rod five (right) is an electric push rod five 18 which is at the same side as the electric push rod one (right),

the hip level instrument (left) is the hip level instrument 27 which is at the same side with the electric push rod I (left), the hip level instrument (right) is the hip level instrument 27 which is at the same side with the electric push rod I (right),

the foot level meter (left) is the foot level meter 29 which is at the same side with the electric push rod I (left), the foot level meter (right) is the foot level meter 29 which is at the same side with the electric push rod I (right),

the angle detection device (left) is the angle detection device 28 on the same side as the electric push rod I (left), and the angle detection device (right) is the angle detection device 28 on the same side as the electric push rod I (right).

Further, waist flexible bandage 14 is arranged on two sides of the abdomen fixing device 1, a thigh binding support 71 and a thigh flexible bandage 72 matched with the thigh binding support 71 are arranged on the thigh rod 5, a shank binding support 91 and a shank flexible bandage 92 matched with the shank binding support 91 are arranged on the shank rod 81, and a foot flexible bandage 13 is arranged on the side surface of the foot support 12.

The flexible bandages on two sides of the abdomen fixing device 1 are used for fixing the abdomen fixing device 1 on the abdomen, the abdomen fixing device 1 plays a role in fixing the hip joint assembly 4, the thigh binding support 71 and the thigh flexible bandage 72 are used for fixing the thigh rod 5 on the thigh, the shank binding support 91 and the shank flexible bandage 92 are used for fixing the shank rod 8 on the shank, the foot flexible bandage 13 is used for fixing the foot support 12 on the foot, and the requirement of a user on wearing comfort is met to the maximum extent.

Example two

As shown in fig. 8, for another embodiment of the present invention, the left end of the abdomen fixing device 1 of the first embodiment is removed to separately realize the walking of the right lower limb, and the walking ability of the hemiplegic patient is helped to be obtained again by training the hemiplegic patient with stroke.

EXAMPLE III

As shown in fig. 9, for the utility model discloses a further embodiment, get rid of through the subassembly to the 1 right-hand member of abdomen fixing device in the embodiment, realize left low limbs walking alone, to the hemiplegia patient training of cerebral apoplexy, help its reacquire walking ability.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Wearable lower limbs are recovered with ectoskeleton robot in auxiliary motion, its characterized in that: comprises a hip joint component (4) connected with an abdomen fixing device (1), a thigh rod (5), a lower leg rod (8) and a foot support (12) are sequentially arranged at the lower side of the hip joint component (4),

the hip joint component (4) comprises a horizontal rod (41) and a vertical rod (42) arranged at one end of the horizontal rod (41), the horizontal rod (41) is perpendicular to the vertical rod (42), one end, far away from the horizontal rod (41), of the vertical rod (42) is connected with one end of a swinging rod (43), the other end of the swinging rod (43) is arranged in the abdomen fixing device (1) in a sliding mode, the plane where the horizontal rod (41) and the vertical rod (42) are located is perpendicular to the swinging rod (43),

one end of the horizontal rod (41) close to the vertical rod (42) is connected with the output end of the electric push rod I (3) through a joint bearing, the other end of the horizontal rod (41) is hinged with the top end of the thigh rod (5), one end of the horizontal rod (41) close to the thigh rod (5) is also hinged with one end of a horizontal rotating shaft (15), the other end of the horizontal rotating shaft (15) is hinged and arranged on one side of the abdomen fixing device (1),

the electric push rod II (2) is further included, one end of the electric push rod II (2) is hinged to the outer side of the thigh rod (5), and the other end of the electric push rod II (2) is hinged to the vertical rod (42).

2. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the electric push rod I (3), the electric push rod II (2) and the hip joint assembly (4) are two and symmetrically arranged at two ends of the abdomen fixing device (1), and correspondingly, the thigh rod (5), the shank rod (8) and the foot support (12) are arranged at the lower side of each hip joint assembly.

3. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the top end of the thigh rod (5) is of a U-shaped structure, a T-shaped bearing seat is arranged at the end part of the horizontal rod (41), a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw rod penetrates through the connecting holes and the bearing and is locked through a nut.

4. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the electric push rod III (6) is further included, one end of the electric push rod III (6) is hinged to the rear side of the thigh rod (5), the other end of the electric push rod III (6) is hinged to the rear side of the shank rod (8),

the bottom of the thigh rod (5) is of a U-shaped structure, a T-shaped bearing seat is arranged at the top end of the shank rod (8), a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw rod penetrates through the connecting holes and the bearing and is locked through a nut.

5. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the electric foot support is characterized by further comprising an electric push rod IV (10), one end of the electric push rod IV (10) is hinged to the outer side of the shank rod (8), the other end of the electric push rod IV is hinged to the outer side of the foot support (12),

the bottom of the shank rod (8) is of a U-shaped structure, a T-shaped bearing seat is arranged at the top end of the foot support (12), a bearing is arranged in the T-shaped bearing seat, the bearing is located at the opening of the U-shaped structure, connecting holes are formed in two sides of the U-shaped structure, and a screw rod penetrates through the connecting holes and the bearing and is locked through a nut.

6. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the shank rod (8) comprises a shank rod upper part (81) and a shank rod lower part (82) which are connected up and down, the shank rod upper part (81) is connected with the shank rod (5), the shank rod lower part (82) is connected with the foot support (12), a containing cavity is arranged inside the shank rod upper part (81), a shank steering device (25) is arranged in the containing cavity, the shank steering device (25) comprises an electric push rod five (18) connected with a motor output shaft, teeth are arranged on the surface of the electric push rod five (18), the shank steering device also comprises a speed change gear (19), the speed change gear (19) comprises a large wheel (191) matched with the electric push rod five (18) and a small wheel (192) which is arranged on the upper side of the large wheel (191) and coaxial with the large wheel (191), and the small wheel (192) is connected with the upper end of a change gear one (22) through a plurality of transmission gears (20), the lower end of the first change gear (22) is matched with the second change gear (23), one end of the rotating shaft (83) is sleeved with the second change gear (23), the other end of the rotating shaft (83) is connected with the lower leg rod (82), and the rotating shaft (83) is rotatably arranged at the bottom of the upper leg rod (81).

7. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 6, wherein: be provided with angle detection device (28) on shank turns to device (25), angle detection device (28) include angle detector (281), angle detector (281) set up pivot (83) are kept away from the terminal surface center department of ankle one end, angle detector (281) upside, and be located be provided with angle detector two (282) on the circumference of change gear two (23), the symmetry is provided with angle detector three (283) and angle detector four (284) on the circumference of angle detector two (282) both sides, angle detector three (283) with radian between angle detector four (284) is 90.

8. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the hip level meter (27) is arranged on the horizontal rotating shaft (15).

9. The wearable exoskeleton robot for assisting in locomotion rehabilitation of lower limbs of claim 1, wherein: the foot support (12) is provided with a foot level gauge (29).