CN213588948U - Adjustable lower limb exoskeleton rehabilitation robot - Google Patents
Adjustable lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN213588948U CN213588948U CN202022354999.3U CN202022354999U CN213588948U CN 213588948 U CN213588948 U CN 213588948U CN 202022354999 U CN202022354999 U CN 202022354999U CN 213588948 U CN213588948 U CN 213588948U
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Abstract
The utility model relates to the technical field of rehabilitation medical instruments, in particular to an adjustable lower limb exoskeleton rehabilitation robot; the technical scheme is as follows: an adjustable lower limb exoskeleton rehabilitation robot comprises a hip joint fixing mechanism, a thigh supporting mechanism, a shank supporting mechanism and a foot supporting mechanism which are sequentially connected in a rotating manner; the thigh supporting mechanism, the shank supporting mechanism and the foot supporting mechanism are driven to rotate by the corresponding rotary drivers respectively so as to be matched with the walking posture of a user; the foot supporting mechanism comprises a supporting plate, a connecting support and a linear driver, the outer side of the supporting plate is rotatably connected with the inner side of the connecting support, and the upper end of the connecting support is rotatably connected with the lower end of the shank supporting mechanism so as to drive the supporting plate to rotate through the linear driver. The utility model discloses can realize the regulation of multiple gesture, have the characteristics that adjust convenience and commonality are strong.
Description
Technical Field
The utility model relates to a recovered medical instrument technical field, concretely relates to lower limbs ectoskeleton rehabilitation robot with adjustable.
Background
At present, the number of patients with lower limb movement disorder or disability is increasing due to aging population, diseases, accidental traffic accidents and the like, and on one hand, the lower limb exoskeleton rehabilitation robot can help the patients with lower limb disorder to recover physical functions so as to stand up again, on the other hand, more time can be saved for children or accompanying persons of the patients, and the working and living pressure of the children or accompanying persons can be relieved. The posture, the degree of freedom and the driving mode of the robot are mainly considered in the aspect of structural design of the lower limb exoskeleton rehabilitation robot, the existing lower limb exoskeleton rehabilitation robot is single in posture, inconvenient in size adjustment of all parts and low in universality.
SUMMERY OF THE UTILITY MODEL
Aiming at the technical problems of single posture and poor universality of the existing lower limb exoskeleton rehabilitation robot; the utility model provides a lower limbs ectoskeleton rehabilitation robot with adjustable can realize the regulation of multiple gesture, has the characteristics that adjust convenience and commonality are strong.
The utility model discloses a following technical scheme realizes:
an adjustable lower limb exoskeleton rehabilitation robot comprises a hip joint fixing mechanism, a thigh supporting mechanism, a shank supporting mechanism and a foot supporting mechanism, wherein the upper end of the thigh supporting mechanism is rotatably connected with the hip joint fixing mechanism, the upper end of the shank supporting mechanism is rotatably connected with the lower end of the thigh supporting mechanism, and the upper end of the foot supporting mechanism is rotatably connected with the lower end of the shank supporting mechanism; the thigh supporting mechanism, the shank supporting mechanism and the foot supporting mechanism are driven to rotate by the corresponding rotary drivers respectively so as to be matched with the walking posture of a user; the foot supporting mechanism comprises a supporting plate, a connecting support and a linear driver, the outer side of the supporting plate is rotatably connected with the inner side of the connecting support, and the upper end of the connecting support is rotatably connected with the lower end of the shank supporting mechanism so as to drive the supporting plate to rotate through the linear driver.
Thigh supporting mechanism upper end is connected with buttockss hip joint fixed establishment rotation, shank supporting mechanism upper end is connected with thigh supporting mechanism lower extreme rotation, foot supporting mechanism upper end is connected with shank supporting mechanism lower extreme rotation to it is rotatory by the rotary actuator drive that corresponds respectively, can adjust the contained angle between each mechanism length direction according to user's walking gesture, with the regulation that realizes multiple gesture, have the characteristics that the regulation is convenient and the commonality is strong. In addition, the foot supporting mechanism is driven by the linear driving mechanism to rotate, and can be adjusted according to the included angle between the length direction of the shank of the user and the length direction of the foot, so that the posture of the lower limb exoskeleton rehabilitation robot is further increased, and the universality of the lower limb exoskeleton rehabilitation robot is improved.
As a specific embodiment of the hip joint fixing mechanism, the hip joint fixing mechanism comprises a connecting part, a left fixing plate and a right fixing plate are arranged at two ends of the connecting part in a mirror image manner, and the positions of the left fixing plate and the right fixing plate in the length direction of the connecting part are adjustable; the upper end of one thigh supporting mechanism is rotatably connected with the outer end of the left fixing plate, and the upper end of the other thigh supporting mechanism is rotatably connected with the outer end of the right fixing plate.
Preferably, the upper end of the thigh supporting mechanism is rotatably connected with the hip joint fixing mechanism through a hip joint end assembly, the vertical distance from the hip joint end assembly to the connecting part is adjustable, and the distance between the two thigh supporting mechanisms can be adjusted according to the width of the hip joint of the hip of a user.
Preferably, a control box is further fixed on the connecting portion, and the control box is used for installing the control assembly and the storage battery, so that the control assembly and the storage battery can be conveniently installed.
Preferably, a solar cell panel is fixed on the outer side wall of the control box, so that solar energy is converted into electric energy through the solar cell panel to supply power to the control assembly, on one hand, the electric energy can be saved, and on the other hand, potential safety hazards caused by sudden power loss of the storage battery are avoided.
As a specific embodiment of the thigh supporting mechanism, the thigh supporting mechanism comprises a thigh upper rod and a thigh lower rod, the distance from the thigh lower rod to the thigh upper rod is adjustable, and the upper end of the thigh upper rod is rotatably connected with the hip joint fixing mechanism, so that the length of the thigh supporting mechanism can be adjusted according to the thigh length of a user.
As a specific embodiment of the length adjustment of the thigh supporting mechanism, the thigh supporting mechanism further comprises a thigh middle rod, the thigh middle rod can rotate around the axis of the thigh middle rod, the upper end of the thigh lower rod is in threaded connection with the lower end of the thigh middle rod, and the distance from the thigh lower rod to the thigh upper rod is adjusted by rotating the thigh middle rod. The length adjusting device for adjusting the thigh supporting mechanism through threaded connection is convenient to adjust, can be self-locked, does not need a locking mechanism, has the characteristics of simple structure and simplicity in adjustment, and can realize continuous adjustment of the length of the thigh supporting mechanism.
As a specific implementation mode of the lower leg supporting mechanism, the lower leg supporting mechanism comprises an upper lower leg rod and a lower leg rod, the distance from the lower leg rod to the upper lower leg rod is adjustable, and the upper end of the upper lower leg rod is rotatably connected with the lower leg supporting mechanism, so that the length of the thigh supporting mechanism can be adjusted according to the thigh length of a user.
Preferably, the shank support mechanism further comprises a shank middle rod, the shank middle rod can rotate around the axis of the shank middle rod, the upper end of the shank lower rod is in threaded connection with the lower end of the shank middle rod, and the distance from the shank lower rod to the shank upper rod is adjusted by rotating the shank middle rod. The length adjusting device for adjusting the shank supporting mechanism through threaded connection is convenient to adjust, can be self-locked, does not need a locking mechanism, has the characteristics of simple structure and simplicity in adjustment, and can realize continuous adjustment of the length of the shank supporting mechanism.
Specifically, the support plates include a first foot support plate, a second foot support plate, a third foot support plate, a fourth foot support plate, and a fifth foot support plate; the second foot backup pad rotates with linking bridge to be connected, the both ends of second branch portion backup pad are located to fourth foot backup pad and fifth foot backup pad branch, the both ends of second branch portion backup pad are located to first foot backup pad and third foot backup pad branch, first foot backup pad and third foot backup pad are adjustable to the distance of second branch portion backup pad tip to through adjusting the distance of first foot backup pad and third foot backup pad to second branch portion backup pad tip, adapt to different users' foot length.
The utility model has the advantages that:
1. the utility model can adjust the hip joint center distance, the hip joint width, the thigh supporting mechanism length, the shank supporting mechanism length, the supporting plate length of the foot supporting mechanism, and the height from the ankle joint center to the upper plane of the supporting plate of the foot supporting mechanism, thereby meeting the requirements of lower limb obstacle patients with different sexes and different ages for rehabilitation training, and having better fitting property and higher universality;
2. the thigh supporting mechanism, the shank supporting mechanism, the foot supporting mechanism and the supporting plate are adjusted by independent drivers, so that the interference among control elements is effectively avoided, and the control precision is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural view of the hip joint fixing mechanism of the present invention;
FIG. 3 is a schematic structural view of the hip joint assembly of the present invention;
FIG. 4 is a schematic diagram of the fixing plate structure of the present invention;
FIG. 5 is a schematic view of the upper thigh rod of the present invention;
FIG. 6 is a schematic view of a mid-thigh rod structure of the present invention;
FIG. 7 is a schematic structural view of a thigh middle rod connecting plate of the present invention;
FIG. 8 is a schematic view of the lower thigh rod of the present invention;
FIG. 9 is a schematic view of a thigh sleeve structure of the present invention;
FIG. 10 is a schematic view of the three-dimensional structure of the lower leg support mechanism of the present invention;
FIG. 11 is a schematic perspective view of the foot supporting mechanism of the present invention;
fig. 12 is a schematic perspective view of the foot supporting plate of the present invention.
Reference numbers and corresponding part names in the drawings:
1-a control box, 2-a hip-hip joint fixing mechanism, 3-a solar panel, 4-a rotary actuator, 5-a thigh sleeve, 6-a thigh supporting mechanism, 7-a shank supporting mechanism, 8-a foot supporting mechanism, 9-a linear actuator, 10-a hip joint end assembly, 11-a first bearing, 12-a first set screw, 13-a left fixing plate, 14-a second set screw, 15-a right fixing plate, 16-a left sleeve, 17-a right sleeve, 18-a first bolt, 19-a second bolt, 20-a guide sleeve, 21-a thigh upper rod, 22-a thigh upper rod connecting plate, 23-a thigh middle rod, 24-a thigh lower rod, 25-a first shank sleeve, 26-a shank upper rod, 27-a third set screw, 28-upper shank connecting plate, 29-second shank sleeve, 30-fourth set screw, 31-middle shank, 32-lower shank, 33-first foot supporting plate, 34-fixing band, 35-connecting bracket, 37-second bearing, 38-rotating shaft, 39-second foot supporting plate, 40-foot pad, 41-third foot supporting plate, 42-fourth foot supporting plate and 45-fifth foot supporting plate.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended to limit the present invention.
Examples
With reference to the attached drawing 1, the adjustable lower limb exoskeleton rehabilitation robot comprises a hip joint fixing mechanism 2, a thigh supporting mechanism 6, a shank supporting mechanism 7 and a foot supporting mechanism 8, wherein the upper end of the thigh supporting mechanism 6 is rotatably connected with the hip joint fixing mechanism 2, the upper end of the shank supporting mechanism 7 is rotatably connected with the lower end of the thigh supporting mechanism 6, and the upper end of the foot supporting mechanism 8 is rotatably connected with the lower end of the shank supporting mechanism 7; the thigh support mechanism 6, the shank support mechanism 7 and the foot support mechanism 8 are driven to rotate by the corresponding rotary drivers 4 respectively so as to be matched with the walking posture of a user; the foot supporting mechanism 8 comprises a supporting plate, a connecting support 35 and a linear driver 9, the outer side of the supporting plate is rotatably connected with the inner side of the connecting support 35, and the upper end of the connecting support 35 is rotatably connected with the lower end of the shank supporting mechanism 7 so as to drive the supporting plate to rotate through the linear driver 9.
With reference to fig. 2-4, as a specific embodiment of the hip joint fixing mechanism 2, the hip joint fixing mechanism 2 includes a connecting portion, a left fixing plate 13 and a right fixing plate 15 are respectively disposed at two ends of the connecting portion in a mirror image manner, and positions of the left fixing plate 13 and the right fixing plate 15 in a length direction of the connecting portion are adjustable; the thigh supporting mechanism 6, the shank supporting mechanism 7 and the foot supporting mechanism 8 are symmetrically arranged about the connecting portion, the upper end of one thigh supporting mechanism 6 is rotatably connected with the outer end of the left fixing plate 13, and the upper end of the other thigh supporting mechanism 6 is rotatably connected with the outer end of the right fixing plate 15.
Preferably, the upper end of the thigh support mechanism 6 is rotatably connected with the hip joint fixing mechanism 2 through a hip joint end assembly 10, the vertical distance from the hip joint end assembly 10 to the connecting part is adjustable, and the distance between the two thigh support mechanisms 6 can be adjusted according to the width of the hip joint of the hip of a user.
Preferably, a control box 1 is further fixed on the connecting portion, and the control box 1 is used for installing a control assembly and a storage battery, so that the control assembly and the storage battery can be conveniently installed.
Specifically, the hip joint fixing mechanism 2 is of a bilaterally symmetrical structure and comprises a hip joint end assembly 10, a first bearing 11, a first set screw 12, a left fixing plate 13, a second set screw 14 and a right fixing plate 15; the hip and hip joint fixing mechanism 2 is used for fixing the hip of a lower limb patient, and is connected with an upper thigh rod and a rotary driver for fixing hip joints of left and right legs. The left fixing plate and the right fixing plate adopt a sliding groove structure, are matched with the hip joint end assembly 10 and are fixed by using set screws, and the distance between the hip joint center and the control box 1 is adjusted by adjusting the relative positions of the fixing plates and the hip joint end assembly 10; meanwhile, the center distance of the hip joint is adjusted by adjusting the relative positions of the left and right fixing plates and the connecting part at the lower end of the control box, and the hip joint has the characteristics of simple structure, flexible size adjustment, safety and reliability.
In addition, a solar cell panel 3 is fixed on the outer side wall of the control box 1, so that solar energy is converted into electric energy through the solar cell panel to supply power to the control assembly, on one hand, the electric energy can be saved, and on the other hand, potential safety hazards caused by sudden power loss of the storage battery are avoided.
As a specific embodiment of the thigh support mechanism 6, the thigh support mechanism 6 comprises an upper thigh lever 21 and a lower thigh lever 24, the distance from the lower thigh lever 24 to the upper thigh lever 21 is adjustable, and the upper end of the upper thigh lever 21 is rotatably connected with the hip joint fixing mechanism 2, so that the length of the thigh support mechanism 6 can be adjusted according to the thigh length of the user.
As an embodiment of the length adjustment of the thigh support mechanism 6, the thigh support mechanism 6 further comprises a thigh middle rod 23, the thigh middle rod 23 can rotate around its axis, and the upper end of the thigh lower rod 24 is screwed with the lower end of the thigh middle rod 23, so as to adjust the distance from the thigh lower rod 24 to the thigh upper rod 21 by rotating the thigh middle rod 23. The length adjusting device for adjusting the thigh supporting mechanism 6 through threaded connection is convenient, can be self-locked, does not need a locking mechanism, has the characteristics of simple structure and simplicity in adjustment, and can realize continuous adjustment of the length of the thigh supporting mechanism 6.
As will be described in detail with reference to fig. 5 to 9, the thigh support mechanism 6 includes a thigh upper bar 21, a thigh upper bar connecting plate 22, a thigh sleeve 5, a thigh middle bar 23, and a thigh lower bar 24; the thigh support mechanism 6 functions to support the patient's thigh. The upper thigh rod 21 is connected with the hip joint fixing mechanism 2 through the hip joint end assembly 10, the rotating shaft, the first bearing 11 and the coupler, the lower end of the upper thigh rod 21 is connected with a middle thigh rod 23 and an upper thigh rod connecting plate 22 through bolts, and a stepped hole for accommodating the upper end of the middle thigh rod 22 is formed between the lower end of the upper thigh rod 21 and the upper thigh rod connecting plate 22, so that the upper thigh rod 23 can rotate around the axis of the upper thigh rod 23. The thigh middle rod 23 and the thigh lower rod 24 are connected through a rotating shaft, a deep groove ball rolling bearing and a coupler. When the length of the thigh supporting mechanism 6 needs to be adjusted, the bolts in the thigh middle rod connecting plate 22 are loosened, then the thigh middle rod 23 is rotated until the length of the whole thigh supporting mechanism 6 meets the requirement, the rotation is stopped, and then the bolts in the thigh middle rod connecting plate 22 are screwed. Wherein, the threads on the thigh middle rod 23 and the thigh lower rod 24 are the same threads and are self-locking threads, so that the connection reliability can be ensured. The thigh sleeve 5 can adjust the diameter thereof through a bolt, thereby meeting the requirements of different patients, and in order to ensure that the thigh supporting mechanism 6 can reliably support the thigh of the user, the thigh middle rod 23 and the thigh upper rod 21 are both connected with the thigh sleeve 5, and the position of the thigh sleeve 5 in the length direction of the thigh supporting mechanism 6 is adjustable.
As a specific embodiment of the lower leg support mechanism 7, the lower leg support mechanism 7 comprises an upper lower leg rod 26 and a lower leg rod 32, the distance from the lower leg rod 32 to the upper lower leg rod 26 is adjustable, and the upper end of the upper lower leg rod 26 is rotatably connected with the lower leg support mechanism 7, so that the length of the thigh support mechanism 6 can be adjusted according to the thigh length of a user.
Preferably, the lower leg support mechanism 7 further comprises a lower leg middle rod 31, the lower leg middle rod 31 can rotate around the axis of the lower leg middle rod 31, the upper end of the lower leg middle rod 32 is in threaded connection with the lower end of the lower leg middle rod 31, and the distance from the lower leg middle rod 32 to the lower leg upper rod 26 is adjusted by rotating the lower leg middle rod 31. The length adjusting device for adjusting the shank supporting mechanism 7 through threaded connection is convenient to adjust, can be self-locked, does not need a locking mechanism, has the characteristics of simple structure and simplicity in adjustment, and can realize continuous adjustment of the length of the shank supporting mechanism 7.
Similarly, as further described with reference to fig. 10, the lower leg support mechanism 7 includes a lower leg sleeve, an upper lower leg rod 26, a third set screw 27, a lower middle leg rod connecting plate 28, a fourth set screw 30, a lower middle leg rod 31 and a lower leg rod 32; the lower leg support mechanism 7 is used for supporting the lower leg of the patient. The shank upper rod 26 is connected with the thigh supporting mechanism 6 through a rotating shaft, a bearing and a coupling, the end of the shank upper rod 26 is connected with the shank middle rod 31 and the shank middle rod connecting plate 28 through bolts, and the shank middle rod 31 and the shank lower rod 32 are connected through the rotating shaft, the bearing and the coupling. When the length of the shank support mechanism needs to be adjusted, firstly, the bolt in the shank middle rod connecting plate 28 is loosened, then the shank middle rod 31 is rotated until the length of the whole shank support mechanism 7 meets the requirement, the rotation is stopped, and then the bolt in the shank middle rod connecting plate 28 is screwed. The threads on the shank middle rod 31 and the shank lower rod 32 are the same threads, and are self-locking threads, so that the connection reliability can be ensured; the shank sleeve can be adjusted through the bolt, so that the requirements of different patients are met.
As a specific embodiment of the support plates, the support plates include a first foot support plate 33, a second foot support plate 39, a third foot support plate 41, a fourth foot support plate 42, and a fifth foot support plate; second foot backup pad 39 rotates with linking bridge 35 to be connected, the both ends of second branch portion backup pad are located to fourth foot backup pad 42 and fifth foot backup pad part, the both ends of second branch portion backup pad are located to first foot backup pad 33 and third foot backup pad 41 part, first foot backup pad 33 and third foot backup pad 41 are adjustable to the distance of second branch portion backup pad tip to through adjusting the distance of first foot backup pad 33 and third foot backup pad 41 to second branch portion backup pad tip, adapt to different users' foot length.
Referring to fig. 11 and 12, the foot support mechanism 8 includes a first foot support plate 33, a foot pad 40, a fixing belt 34, a connecting bracket 35, a linear actuator 9, a second bearing 37, and a rotating shaft 38, and the foot support mechanism 8 is used for supporting both feet of the patient. During the use, earlier according to patient's foot size, through flexible mode, adjust the position of first foot backup pad 33 and third foot backup pad 41 to adjust the length and the width of foot backup pad, then select the callus on the sole that satisfies patient ankle center height, just can let the patient use after the adjustment is errorless. When the feet of the patient need to complete the adduction-abduction movement, the linear driver 9 is started, and the rotation of the support plate is realized through the telescopic movement of the linear driver 9. In this embodiment, the linear actuator 9 is an electric push rod, one end of the linear actuator 9 is fixedly connected to the connecting bracket 35, and the other end of the linear actuator 9 is hinged to the second foot supporting plate 39.
It should be noted that both the thigh sleeve 5 and the shank sleeve include a guide sleeve 20, a left sleeve 16 and a right sleeve 17 are respectively disposed on two sides of the guide sleeve 20, the left sleeve 16 is connected to the guide sleeve 20 through a second bolt 19, and the right sleeve 17 is connected to the guide sleeve 20 through a first bolt 18, so as to adjust the size of the leg sleeve according to the thickness of the leg of the user.
The utility model discloses an instruction for use:
when a patient with lower limb disorder is rehabilitated, the sizes of the hip width, the thigh length, the calf length, the foot width, the ankle height and the like of the patient are measured firstly, and then the relevant sizes of the hip joint fixing mechanism 2, the thigh supporting mechanism 6, the calf supporting mechanism 7 and the foot supporting mechanism 8 of the robot are adjusted, so that the lower limb of the patient is well jointed with the robot, and an auxiliary handrail can be arranged according to the requirement of the patient.
The robot keeps a standing posture after being well attached to a patient, then a driver at a hip joint of a right leg rotates anticlockwise for a certain angle, and meanwhile, drivers at a knee joint and an ankle joint of the right leg rotate clockwise for a certain angle so as to lift the right leg; and then drivers of the knee joint and the ankle joint of the right leg rotate anticlockwise by a certain angle, drivers of the hip joint and the knee joint of the left leg rotate clockwise by a certain angle, the right foot touches the ground, the left foot leaves the ground with the heel, the gravity center of the robot moves forward and lowers, and double-leg support is realized. Then drivers at hip joints, knee joints and ankle joints of the right leg are reset, the right leg is upright, the drivers at the hip joints and the knee joints of the left leg rotate anticlockwise by a certain angle, and the driver at the ankle joint of the left leg rotates clockwise by a certain angle to lift the left leg; the left foot touches the ground, the right heel of the foot lifts off the ground, the gravity center of the robot moves forwards and lowers, and the support of the two legs is realized; and finally, erecting the left leg and the right leg to finish one-time standing and straight-going rehabilitation training.
The above-mentioned embodiments, further elaborating on the purpose-technical solutions and advantages of the present invention, it should be understood that the above-mentioned are only embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications-equivalent substitutions-improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An adjustable lower limb exoskeleton rehabilitation robot comprises a hip joint fixing mechanism (2), a thigh supporting mechanism (6), a shank supporting mechanism (7) and a foot supporting mechanism (8), and is characterized in that the upper end of the thigh supporting mechanism (6) is rotatably connected with the hip joint fixing mechanism (2), the upper end of the shank supporting mechanism (7) is rotatably connected with the lower end of the thigh supporting mechanism (6), and the upper end of the foot supporting mechanism (8) is rotatably connected with the lower end of the shank supporting mechanism (7);
the thigh supporting mechanism (6), the shank supporting mechanism (7) and the foot supporting mechanism (8) are driven to rotate by the corresponding rotary drivers (4) respectively so as to be matched with the walking posture of a user;
the foot supporting mechanism (8) comprises a supporting plate, a connecting support (35) and a linear driver (9), the outer side of the supporting plate is rotatably connected with the inner side of the connecting support (35), the upper end of the connecting support (35) is rotatably connected with the lower end of the shank supporting mechanism (7) so as to drive the supporting plate to rotate through the linear driver (9).
2. The adjustable lower limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the hip joint fixing mechanism (2) comprises a connecting part, a left fixing plate (13) and a right fixing plate (15) are arranged at two ends of the connecting part in a mirror image mode, and the positions of the left fixing plate (13) and the right fixing plate (15) in the length direction of the connecting part are adjustable;
the thigh supporting mechanism (6), the crus supporting mechanism (7) and the foot supporting mechanism (8) are symmetrically arranged about the connecting portion, one is that the upper end of the thigh supporting mechanism (6) is rotatably connected with the outer end of the left fixing plate (13), and the other is that the upper end of the thigh supporting mechanism (6) is rotatably connected with the outer end of the right fixing plate (15).
3. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 2, wherein the upper end of the thigh support mechanism (6) is rotatably connected with the hip joint fixing mechanism (2) through a hip joint end assembly (10), and the vertical distance from the hip joint end assembly (10) to the connecting part is adjustable.
4. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 3, wherein a control box (1) is further fixed on the connecting portion, and the control box (1) is used for installing a control component and a storage battery.
5. The adjustable lower extremity exoskeleton rehabilitation robot as claimed in claim 4, wherein a control module is installed in the control box (1), a solar panel (3) is fixed on the outer side wall of the control box (1), and the solar panel (3) is electrically connected with the control module.
6. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 1, wherein the thigh support mechanism (6) comprises an upper thigh rod (21) and a lower thigh rod (24), the distance from the lower thigh rod (24) to the upper thigh rod (21) is adjustable, and the upper end of the upper thigh rod (21) is rotatably connected with the hip joint fixing mechanism (2).
7. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 6, wherein the thigh support mechanism (6) further comprises a thigh middle rod (23), the thigh middle rod (23) can rotate around its axis, the upper end of the thigh lower rod (24) is screwed with the lower end of the thigh middle rod (23) to adjust the distance from the thigh lower rod (24) to the thigh upper rod (21) by rotating the thigh middle rod (23).
8. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 1, wherein the lower leg support mechanism (7) comprises an upper lower leg rod (26) and a lower leg rod (32), the distance from the lower leg rod (32) to the upper lower leg rod (26) is adjustable, and the upper end of the upper lower leg rod (26) is rotatably connected with the lower leg support mechanism (7).
9. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 8, wherein the lower leg support mechanism (7) further comprises a lower leg middle rod (31), the lower leg middle rod (31) can rotate around its own axis, the upper end of the lower leg rod (32) is screwed with the lower end of the lower leg middle rod (31), so as to adjust the distance from the lower leg rod (32) to the upper leg rod (26) by rotating the lower leg middle rod (31).
10. The adjustable lower extremity exoskeleton rehabilitation robot according to claim 1, wherein the support plates comprise a first foot support plate (33), a second foot support plate (39), a third foot support plate (41), a fourth foot support plate (42) and a fifth foot support plate;
second foot backup pad (39) are rotated with linking bridge (35) and are connected, the both ends of second branch portion backup pad are located to fourth foot backup pad (42) and fifth foot backup pad branch, the both ends of second branch portion backup pad are located to first foot backup pad (33) and third foot backup pad (41) branch, first foot backup pad (33) and third foot backup pad (41) are adjustable to the distance of second branch portion backup pad tip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022354999.3U CN213588948U (en) | 2020-10-21 | 2020-10-21 | Adjustable lower limb exoskeleton rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022354999.3U CN213588948U (en) | 2020-10-21 | 2020-10-21 | Adjustable lower limb exoskeleton rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428742A (en) * | 2023-12-07 | 2024-01-23 | 中国人民解放军东部战区空军医院 | Hybrid power exoskeleton for battlefield rescue |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428742A (en) * | 2023-12-07 | 2024-01-23 | 中国人民解放军东部战区空军医院 | Hybrid power exoskeleton for battlefield rescue |
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