CN211934790U - Exoskeleton device of lower limb rehabilitation robot - Google Patents
Exoskeleton device of lower limb rehabilitation robot Download PDFInfo
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- CN211934790U CN211934790U CN201922260051.9U CN201922260051U CN211934790U CN 211934790 U CN211934790 U CN 211934790U CN 201922260051 U CN201922260051 U CN 201922260051U CN 211934790 U CN211934790 U CN 211934790U
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Abstract
The utility model relates to a medical treatment rehabilitation equipment technical field indicates an ectoskeleton device of recovered robot of low limbs very much, including hip joint connecting rod, hip joint actuating mechanism, thigh connecting rod, knee joint actuating mechanism, shank connecting rod, ankle joint actuating mechanism and sole plate, the hip joint connecting rod passes through hip joint actuating mechanism hinge and connects in the top of thigh connecting rod, the bottom of thigh connecting rod passes through knee joint actuating mechanism hinge and connects in the top of shank connecting rod, the bottom of shank connecting rod passes through ankle joint actuating mechanism hinge and connects in the sole plate, the thigh connecting rod all is equipped with the connecting rod dead lever with the top of shank connecting rod, and the lower part all is equipped with the connecting rod telescopic link, the connecting rod dead lever is connected with ligature area and limbs massager. The utility model discloses can satisfy the auxiliary requirement of daily walking, the comfort level is strong, and at joint department encoder, steerable patient's motion state increases the limbs massager in thigh and shank department, is favorable to patient's recovery.
Description
Technical Field
The utility model relates to the technical field of medical rehabilitation equipment, in particular to an exoskeleton device of a lower limb rehabilitation robot.
Background
In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.
In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in an acute stage, for example, effective switching of passive, active and impedance modes is performed, so that the rehabilitation effect is not ideal, and the existing exoskeleton devices of most lower limb rehabilitation robots mostly focus on joint activities of patients, and the recovery of muscle activities and nervous systems is usually ignored.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a recovered robot of low limbs's ectoskeleton device can make things convenient for patient's low limbs to be recovered.
The utility model relates to an ectoskeleton device of recovered robot of low limbs includes hip joint connecting rod, hip joint actuating mechanism, thigh connecting rod, knee joint actuating mechanism, shank connecting rod, ankle joint actuating mechanism and sole plate from the top down in proper order, the hip joint connecting rod passes through hip joint actuating mechanism hinge and connects in the top of thigh connecting rod, the bottom of thigh connecting rod passes through knee joint actuating mechanism hinge and connects in the top of shank connecting rod, the bottom of shank connecting rod passes through ankle joint actuating mechanism hinge and connects in the sole plate, the thigh connecting rod all is equipped with the connecting rod dead lever with the top of shank connecting rod, and the lower part all is equipped with the connecting rod telescopic link, the connecting rod dead lever is connected with ligature area and limbs massager, the limbs massager is located inside the ligature area.
Preferably, the hip joint executing mechanism, the knee joint executing mechanism and the ankle joint executing mechanism sequentially comprise a disc motor, a harmonic reducer connecting box, a joint connecting support, an executing mechanism output shaft, an upper joint connecting piece and a lower joint connecting piece from the end far away from the human body to the end close to the human body, joint bearings are arranged on two sides of the upper joint connecting piece and the lower joint connecting piece after the upper joint connecting piece and the lower joint connecting piece are installed, and the executing mechanism output shaft penetrates through the upper joint connecting piece and then is connected with the lower joint connecting piece through splines.
Preferably, the connecting rod dead lever includes the cavity pipe, the cavity pipe is kept away from people's leg side and is equipped with the several regulation hole, the cavity pipe is close to people's leg side both sides and is equipped with the wing fixed plate, be equipped with the first fixed orifices that the several is used for connecting ligature area and limbs massager on the wing fixed plate, the connecting rod telescopic link is hollow pole, and is not close to people's leg side and is equipped with the extensible member corresponding with the regulation hole, the top of connecting rod telescopic link is deepened inside the connecting rod dead lever.
Preferably, the hip joint executing mechanism, the knee joint executing mechanism and the ankle joint executing mechanism are all provided with encoders.
Preferably, the limbs massager is including the area body, extrusion formula vibrations probe and casing, the both ends of the area body be provided with the second fixed orifices that corresponds on the wing fixed plate first fixed orifices, the internal surface of the area body is equipped with the several casing, the casing is the hemisphere, and corresponding people's leg side position is equipped with circular opening, extrusion formula vibrations probe is partly set up in the hemisphere casing, and another part stretches out from the circular opening of casing, the extrusion formula vibrations probe is located the one end of casing internal portion and is connected with the motor of taking the eccentric wheel through the transmission structure, the motor setting of taking the eccentric wheel is inside the area body.
Preferably, the belt body is provided with a cotton cloth layer on the inner surface and a leather layer on the outer surface.
Preferably, the binding belt is a flexible binding belt.
Compared with the prior art, the utility model have following advantage: the main moving position of the utility model is adapted to the moving joint of the person walking everyday, which can meet the auxiliary requirement of daily walking; the comfort level of a user when wearing the clothes is improved by adopting the flexible binding bands at multiple positions; the encoder at the joint can control the motion state of the patient by means of information acquisition and information processing, and is beneficial to the rehabilitation of the patient; the limb massager is additionally arranged at the thigh and the shank, so that the problems of muscular atrophy and pressure sore generation of the limb can be avoided, and the recovery of the nervous system of the lower limb of a patient is facilitated.
Drawings
Fig. 1 is a schematic structural view of an exoskeleton device of a lower limb rehabilitation robot according to the present invention;
fig. 2 is a schematic structural view of a joint actuator of an exoskeleton device of a lower limb rehabilitation robot according to the present invention;
fig. 3 is a schematic structural view of a connecting rod fixing rod of an exoskeleton device of a lower limb rehabilitation robot according to the present invention;
fig. 4 is a schematic view of a structure of a connecting rod telescopic rod of an exoskeleton device of a lower limb rehabilitation robot according to the present invention;
fig. 5 is a schematic structural view of a limb massager of the exoskeleton device of the lower limb rehabilitation robot according to the present invention;
fig. 6 is a schematic structural view of an application mode of the exoskeleton device of the lower limb rehabilitation robot according to the present invention.
As shown in the figure: 1. a hip joint connecting rod; 2. a hip joint actuator; 3. a thigh link; 4. a knee joint actuator; 5. a shank link; 6. an ankle joint actuator; 7. a foot plate; 8. a limb massager; 9. binding the binding belt; 10. a knuckle bearing; 11. a lower joint connector; 12. An upper joint connection; 13. an actuator output shaft; 14. an articulating bracket; 15. the harmonic reducer is connected with the box; 16. a disc motor; 101. A connecting rod fixing rod; 102. a hollow cavity pipe; 103. a wing fixing plate; 104. a first fixing hole; 105. an adjustment hole; 201. a connecting rod telescopic rod; 202. A telescoping member; 301. an exoskeleton device; 302. a walking auxiliary support; 303. a human body support restraining belt; 304. a back chair; 305. an operation panel; 801. a belt body; 802. extruding type vibration probes; 803. a housing; 804. and a second fixing hole.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1-5, the exoskeleton device of a lower limb rehabilitation robot of the present invention comprises a hip joint connecting rod 1, a hip joint executing mechanism 2, a thigh connecting rod 3, a knee joint executing mechanism 4, a shank connecting rod 5, an ankle joint executing mechanism 6 and a sole plate 7 in sequence from top to bottom, the hip joint connecting rod 1 is hinged to the top of a thigh connecting rod 3 through a hip joint executing mechanism 2, the bottom of the thigh connecting rod 3 is hinged with the top of the shank connecting rod 5 through a knee joint executing mechanism 4, the bottom of the shank connecting rod 5 is hinged with a foot bottom plate 7 through an ankle joint actuating mechanism 6, the upper parts of the thigh connecting rod 3 and the shank connecting rod 5 are both provided with a connecting rod fixing rod 101, the lower parts are both provided with a connecting rod telescopic rod 201, the connecting rod fixing rod 101 is connected with a binding belt 9 and a limb massager 8, and the limb massager 8 is positioned inside the binding belt 9.
The hip joint executing mechanism 2, the knee joint executing mechanism 4 and the ankle joint executing mechanism 6 sequentially comprise a disc type motor 16, a harmonic reducer connecting box 15, a joint connecting bracket 14, an executing mechanism output shaft 13, an upper joint connecting piece 12 and a lower joint connecting piece 11 from the end far away from the human body to the end close to the human body, joint bearings 10 are arranged on two sides of the upper joint connecting piece 12 and the lower joint connecting piece 11 after installation, the executing mechanism output shaft 13 penetrates through the upper joint connecting piece 12 and then is connected with the lower joint connecting piece 11 through a spline,
the upper joint connecting piece 12 of the hip joint executing mechanism 2 is fixedly connected with the hip joint connecting rod 1, the lower joint connecting piece 11 of the hip joint executing mechanism is a connecting rod fixing rod 101 of the thigh connecting rod 3, the upper joint connecting piece 12 of the knee joint executing mechanism 4 is a connecting rod telescopic rod 201 of the thigh connecting rod 3, the lower joint connecting piece 11 of the hip joint executing mechanism is a connecting rod fixing rod 101 of the shank connecting rod 5, the upper joint connecting piece 12 of the ankle joint executing mechanism 6 is a connecting rod telescopic rod 201 of the shank connecting rod 5, and the lower joint connecting piece 11 of the ankle joint executing mechanism is fixedly connected with the sole plate 7.
The connecting rod fixing rod 101 comprises a cavity pipe 102, a plurality of adjusting holes 105 are formed in the cavity pipe 102 far away from the leg side of a person, edge fixing plates 103 are arranged on the two sides, close to the leg side of the person, of the cavity pipe 102 and in a certain arc shape, the edge fixing plates 103 conform to the shape structure of the lower limbs of the person, a plurality of first fixing holes 104 used for connecting the binding belt 9 and the limb massager 8 are formed in the edge fixing plates 103, the connecting rod telescopic rod 201 is a hollow rod, a telescopic piece 202 corresponding to the adjusting holes 105 is arranged on the leg side of the person and is not close to the leg side of the person, and the top of the connecting rod telescopic rod 201 penetrates into the.
Encoders are arranged on the hip joint executing mechanism 2, the knee joint executing mechanism 4 and the ankle joint executing mechanism 6.
The internal surface of area body 801 is provided with the cotton layer, and the surface is provided with the leather layer.
The binding belt 9 is a flexible binding belt.
According to a preferred embodiment of the exoskeleton device of the lower limb rehabilitation robot of the present invention, as shown in fig. 6, an exoskeleton device 301 is connected to a hip joint connecting rod 1, the hip joint connecting rod 1 is U-shaped, a walking assistant support 302 is provided at the bottom, a universal wheel with brake is provided at the bottom of the walking assistant support 302, the walking assistant support also provides a protection for the patient while assisting the patient in walking, the patient is prevented from toppling over during walking, a back chair 304 is provided at the top, a human body binding belt 303 is provided at the back chair 304 and the hip joint connecting rod 1 for supporting the whole gravity of the patient, an operation panel 305 is provided at one end of the hip joint connecting rod 1, wherein a storage battery is provided in the back chair 304 for providing electric power for the electric components related to the embodiment, an assistant control center is further provided in the back chair 4, and the assistant control center is electrically connected to the encoders of each joint executing mechanism, and is also electrically connected to the operation panel 305, and an auxiliary walking system is provided in the auxiliary control center, and the auxiliary walking system includes a signal acquisition unit for acquiring signals, a simulation unit for performing action prediction according to the acquired signals, and an auxiliary execution unit for assisting movement according to the simulation result. A motion prediction model for assisting walking of the lower limbs of the human body is established through a simulation unit, the model is trained by collecting a large amount of data, and finally the trained model is applied to an auxiliary control center, so that the aim of automatically assisting walking can be fulfilled by acquiring motion information of a wearer and an exoskeleton in real time. And the motion information after various simulated trainings can be displayed on the operation panel, and the patient can select the motion information which is suitable for the simulated training of the joint motion of the patient according to the prompt on the operation panel and the advice of the doctor. In addition, the outer surface of the belt body 801 is provided with a force regulator in the prior art, which is divided into three stages of light, medium and heavy, and adopts comfortable force according to the state of illness of a patient. The inside of the limb massager 8 is provided with a circuit control board, the circuit control board is electrically connected with a motor with an eccentric wheel and a force adjuster, the power of the relevant power utilization components of the limb massager 8 is also provided by a storage battery in the back chair 304, the control switch of the limb massager 8 and the force mode selection of the force adjuster are also arranged in the operation panel 305, and the patient can start or close the limb massager 8 through the control switch of the operation panel according to the requirements.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An exoskeleton device of a lower limb rehabilitation robot, characterized in that: the hip joint massage device sequentially comprises a hip joint connecting rod (1), a hip joint executing mechanism (2), a thigh connecting rod (3), a knee joint executing mechanism (4), a shank connecting rod (5), an ankle joint executing mechanism (6) and a sole plate (7) from top to bottom, wherein the hip joint connecting rod (1) is hinged to the top of the thigh connecting rod (3) through the hip joint executing mechanism (2), the bottom of the thigh connecting rod (3) is hinged to the top of the shank connecting rod (5) through the knee joint executing mechanism (4), the bottom of the shank connecting rod (5) is hinged to the sole plate (7) through the ankle joint executing mechanism (6), connecting rod fixing rods (101) are arranged on the upper portions of the thigh connecting rod (3) and the shank connecting rod (5), connecting rod fixing rods (201) are arranged on the upper portions of the thigh connecting rod and the shank connecting rod (5), and the connecting rod fixing rods (101) are connected with a binding, the limb massager (8) is positioned in the binding belt (9).
2. The exoskeleton device of a lower limb rehabilitation robot of claim 1, wherein: the hip joint executing mechanism (2), the knee joint executing mechanism (4) and the ankle joint executing mechanism (6) sequentially comprise a disc motor (16), a harmonic reducer connecting box (15), a joint connecting support (14), an executing mechanism output shaft (13), an upper joint connecting piece (12) and a lower joint connecting piece (11) from the end far away from the human body to the end close to the human body, joint bearings (10) are arranged on two sides of the upper joint connecting piece (12) and the lower joint connecting piece (11) after installation, and the executing mechanism output shaft (13) penetrates through the upper joint connecting piece (12) and is connected with the lower joint connecting piece (11) through splines.
3. The exoskeleton device of a lower limb rehabilitation robot of claim 1, wherein: the connecting rod fixing rod (101) comprises a cavity pipe (102), a plurality of adjusting holes (105) are formed in the cavity pipe (102) far away from the leg side of a person, the cavity pipe (102) is close to the leg side of the person and is provided with side wing fixing plates (103), a plurality of first fixing holes (104) used for connecting a binding belt (9) and a limb massager (8) are formed in the side wing fixing plates (103), the connecting rod telescopic rod (201) is a hollow rod, a telescopic piece (202) corresponding to the adjusting holes (105) is arranged on the leg side of the person and is not close to the leg side of the person, and the top of the connecting rod telescopic rod (201) penetrates into the connecting rod fixing rod (101).
4. The exoskeleton device of a lower limb rehabilitation robot of claim 1, wherein: encoders are arranged on the hip joint executing mechanism (2), the knee joint executing mechanism (4) and the ankle joint executing mechanism (6).
5. The exoskeleton device of a lower limb rehabilitation robot of claim 1, wherein: limbs massager (8) are including the area body (801), extrusion formula vibrations probe (802) and casing (803), the both ends of area body (801) are provided with the corresponding second fixed orifices (804) of first fixed orifices (104) on wing fixed plate (103), the internal surface of area body (801) is equipped with several casing (803), casing (803) are the hemisphere, and corresponding people's leg side position is equipped with circular opening, extrusion formula vibrations probe (802) partly sets up in hemisphere casing (803), and the circular opening of casing (803) is followed to another part stretches out, the one end that extrusion formula vibrations probe (802) are located casing (803) inside is connected with the motor of taking the eccentric wheel through transmission structure, the motor setting of taking the eccentric wheel is inside area body (801).
6. The exoskeleton device of a lower limb rehabilitation robot of claim 5, wherein: the internal surface of area body (801) is provided with the cotton layer, and the surface is provided with the leather layer.
7. The exoskeleton device of a lower limb rehabilitation robot of claim 1, wherein: the binding belt (9) is a flexible binding belt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922260051.9U CN211934790U (en) | 2019-12-17 | 2019-12-17 | Exoskeleton device of lower limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922260051.9U CN211934790U (en) | 2019-12-17 | 2019-12-17 | Exoskeleton device of lower limb rehabilitation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112870021A (en) * | 2021-01-19 | 2021-06-01 | 西安交通大学 | Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism |
| CN113043249A (en) * | 2021-03-16 | 2021-06-29 | 东北大学 | Wearable exoskeleton robot of whole body of high accuracy assembly |
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2019
- 2019-12-17 CN CN201922260051.9U patent/CN211934790U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112870021A (en) * | 2021-01-19 | 2021-06-01 | 西安交通大学 | Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism |
| CN113043249A (en) * | 2021-03-16 | 2021-06-29 | 东北大学 | Wearable exoskeleton robot of whole body of high accuracy assembly |
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