CN216168685U

CN216168685U - Exoskeleton rehabilitation training device

Info

Publication number: CN216168685U
Application number: CN202122404282.XU
Authority: CN
Inventors: 李牧然
Original assignee: Niuren Intelligent Technology Hangzhou Co ltd
Current assignee: Niuren Intelligent Technology Hangzhou Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-04-05
Anticipated expiration: 2031-09-30

Abstract

The utility model discloses exoskeleton rehabilitation training equipment, which comprises a trolley, an exoskeleton mechanism and a power output control mechanism, wherein the trolley comprises a left support and a right support, driving wheels are respectively arranged on the side surfaces of the left support and the right support, a driving gear and a transmission gear which are meshed with each other are arranged on the left support and the right support, a cross bar is connected between the left support and the right support, power shafts are respectively arranged in the middles of the two driving wheels, the driving gears are arranged outside the corresponding power shafts, the power output control mechanism comprises a power switching mechanism and two power transmission mechanisms, the power switching mechanism is used for controlling whether the power shafts and the driving gears synchronously rotate, and two ends of the power transmission mechanisms are respectively connected with the transmission gear and the exoskeleton mechanism to drive the exoskeleton mechanism to move. The utility model has the advantages that the utility model helps patients to carry out passive rehabilitation training, integrates the functions of a cart and the rehabilitation training, and the exoskeleton can be driven by the rotation of the wheels without depending on a power supply.

Description

Exoskeleton rehabilitation training device

[ technical field ] A method for producing a semiconductor device

The utility model belongs to the technical field of rehabilitation training equipment, and particularly relates to exoskeleton rehabilitation training equipment.

[ background of the utility model ]

Exoskeleton rehabilitation training equipment such as a rehabilitation cart is commonly used for rehabilitation training, and the existing rehabilitation carts mainly comprise two types, namely a wheelchair cart and a wheelchair cart with an exoskeleton. The first wheelchair shallow generally need rely on patient self to have each articular motion ability of low limbs when using, can't carry out passive rehabilitation training, and the second is because the ectoskeleton adopts the electromagnetic drive mode mostly, and whole ectoskeleton is comparatively complicated and bulky, and installation and wearing are used comparatively inconveniently, receive the restriction of battery capacity during rehabilitation training, can't carry out long-time training in the open air.

[ Utility model ] content

The utility model aims to solve the problems in the background art, and provides exoskeleton rehabilitation training equipment which can help a patient to perform passive rehabilitation training, integrates functions of a cart and rehabilitation training into a whole, can realize driving through rotation of wheels without depending on a power supply, and is convenient and reliable to wear and use integrally.

In order to achieve the purpose, the utility model provides exoskeleton rehabilitation training equipment, which comprises a trolley, an exoskeleton mechanism and a power output control mechanism, wherein the exoskeleton mechanism and the power output control mechanism are installed on the trolley, the trolley comprises a left support and a right support, driving wheels are installed on the side surfaces of the left support and the right support, the exoskeleton mechanism comprises a shank exoskeleton assembly and a thigh exoskeleton assembly, the left support and the right support are respectively provided with a driving gear and a transmission gear which are meshed with each other, a cross bar is connected between the left support and the right support, the middle part of each driving wheel is provided with a power shaft, the driving gear is installed outside the power shaft, the power output control mechanism comprises a power switching mechanism and two power transmission mechanisms, the power switching mechanism comprises a power transmission rod, a clutch device and a clutch control piece, the first end of the power transmission rod is connected with one of the driving gears through a fixed sleeve, the clutch device is characterized in that a first end of the clutch device is connected with a power output rod through a connecting sleeve, a second end of the clutch device is adaptively connected with the side face of another driving gear, the clutch device is arranged outside a power shaft close to the second end of the power output rod, a spring retaining ring, a spring and a limiting block are arranged outside the power shaft close to the second end of the power output rod, two ends of the spring are respectively connected with the spring retaining ring and the first end of the clutch device, a limiting hole suitable for the limiting block is formed in the second end of the clutch device, the clutch control element is arranged on a cross rod and aligned with the clutch device, when the clutch control element is in a first state, the second end of the clutch device is connected with the side face of the driving gear and the limiting block, so that the power shaft and the driving gear can keep synchronous rotation, and when the clutch control element is switched to a second state, the clutch control element drives the second end of the clutch device to move towards the direction far away from the driving gear on the same side until the driving gear on the same side moves towards the same side with the driving gear The surface and the limiting block are separated from each other, so that the power shaft can rotate independently, the first end of the power transmission mechanism is correspondingly connected with the side surface of the transmission gear, and the second end of the power transmission mechanism is connected with the connecting part between the shank exoskeleton assembly and the thigh exoskeleton assembly to drive the shank exoskeleton assembly and the thigh exoskeleton assembly to move.

Preferably, the top parts of the left support and the right support are respectively provided with an armrest assembly, each armrest assembly comprises a back plate connecting piece and an armrest connected with the back plate connecting piece, an exoskeleton connecting plate is installed on the inner wall of one side of each back plate connecting piece, the top part of the exoskeleton mechanism is connected with the exoskeleton connecting plate, and a back plate is detachably connected between the two back plate connecting pieces.

Preferably, the top of the thigh exoskeleton assembly is provided with a connecting block, the back of the connecting block is provided with a plurality of adjusting holes, the exoskeleton connecting plate is provided with connecting holes, the exoskeleton connecting plate is fixedly connected with the back of the connecting block through fasteners, and the fasteners are arranged on the connecting holes and the adjusting holes.

Preferably, the back plate is provided with a binding band, the back plate connecting piece and the armrests are mutually inserted, the front ends of the armrests are bent upwards, the side surfaces of the back plate connecting piece are provided with a plurality of fastening holes, the back plate connecting piece and the armrests are connected through fastening connecting pieces, and the fastening connecting pieces are arranged on the corresponding fastening holes.

As preferred, left socle, right branch frame all include fixed pipe, and the fixed pipe back is equipped with the through-hole, and fixed intraductal mounted has lifter, lifting control mechanism is lead screw slider mechanism, and the lead screw bottom outside fixed mounting on the lead screw slider mechanism has driven gear, the power gear that goes up and down installs at the fixed pipe back and passes the through-hole and mesh mutually with the driven gear that corresponds, install on the slider on lifting control mechanism the lifter bottom, the power gear that goes up and down links to each other with the drive unit who installs on shallow, and drive unit is electric drive unit or manual drive unit.

Preferably, a lifting rod locking mechanism is installed at the top of the fixed pipe and comprises a pressing ring and a cam pressing handle, the cam pressing handle is installed on the pressing ring, and the lifting rod penetrates through the pressing ring.

Preferably, the front and rear parts of the left support and the right support are respectively provided with a brake fixing pipe and a handle mounting pipe, the handle mounting pipe is provided with a brake assembly, one side of the brake fixing pipe, which is close to the driving wheel, is provided with a wheelchair brake, the brake assembly comprises a brake handle and a brake cable connected with a brake plate, the brake cable is connected with a wrench on the wheelchair brake, and the wheelchair brake is used for controlling the braking condition of the driving wheel.

Preferably, the power transmission mechanism comprises a first transmission rod and a second transmission rod, the first end of the first transmission rod is connected with the side face of the transmission gear on the same side, the second end of the first transmission rod is provided with a slot, the second transmission rod is rotatably installed in the slot through a connecting piece, two ends of the second transmission rod extend out of the slot, the first end of the second transmission rod is rotatably connected with the left support or the right support on the same side, the second end of the second transmission rod is provided with a chute, a power connecting rod shaft extends outwards from the side face of the connecting part between the shank exoskeleton assembly and the thigh exoskeleton assembly, the power connecting rod shaft is installed in the chute in a matched mode and moves along the chute when the second transmission rod rotates, and the connecting positions of the two first transmission rods and the transmission gear form an included angle of 180 degrees.

Preferably, the side face of the second end of the first transmission rod is provided with a plurality of connecting holes communicated with the slot, and the second transmission rod can move along the slot and is connected with the connecting piece after moving to the required connecting hole position.

Preferably, the clutch control member is an elbow clip, an inclined guide opening which is narrowed in the direction away from the second end of the power transmission rod is formed in the outer edge of the middle of the clutch device, and the elbow clip is arranged in alignment with the inclined guide opening.

The utility model has the beneficial effects that: according to the utility model, the exoskeleton mechanism is detachably arranged on the trolley, the power switching mechanism is arranged for controlling whether the power shaft and the driving gear synchronously rotate or not, two ends of the power transmission mechanism are respectively connected with the transmission gear and the exoskeleton mechanism to drive the exoskeleton mechanism to move, the exoskeleton mechanism is driven by the rotation of the wheels to move to help a patient to carry out passive rehabilitation training, the functions of the trolley and the rehabilitation training are integrated, the trolley use mode and the rehabilitation training use mode can be switched by the power switching mechanism, and the exoskeleton mechanism can be used outdoors for a long time without depending on a power supply during working; the use requirements of users with different heights can be met by arranging the lifting adjusting mechanism; the distance between the left exoskeleton mechanism and the right exoskeleton mechanism can be changed by adjusting the mounting positions of the exoskeleton connecting plates and the adjusting holes in the connecting blocks, so that the requirements of users with different waist sizes for wearing the exoskeleton are met; the whole wearing and use is convenient and reliable.

The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.

[ description of the drawings ]

FIG. 1 is a schematic overall structure of an embodiment;

FIG. 2 is a schematic diagram of the overall structure of an embodiment;

FIG. 3 is a left side view of an embodiment;

FIG. 4 is a schematic view of a cart according to an embodiment;

FIG. 5 is a schematic structural view of a power take off control mechanism according to an embodiment;

FIG. 6 is a schematic diagram of an embodiment of a power switching mechanism with a disassembled structure;

FIG. 7 is a schematic structural view of a lift adjustment mechanism according to an embodiment;

FIG. 8 is a partial schematic view of an embodiment;

FIG. 9 is a schematic partial-split view of an embodiment.

In the figure: 1-left support, 2-right support, 3-exoskeleton mechanism, 4-power transmission mechanism, 5-power shaft, 6-backboard connector, 7-wheelchair brake, 8-clutch device, 9-lifting adjusting mechanism, 11-driving wheel, 12-cross bar, 13-driving gear, 14-transmission gear, 15-lifting rod locking mechanism, 31-thigh exoskeleton component, 32-shank exoskeleton component, 33-power connecting rod shaft, 34-connecting block, 41-first transmission rod, 42-second transmission rod, 51-spring retainer ring, 52-spring, 53-limiting block, 60-armrest, 61-exoskeleton connecting plate, 62-backboard, 70-wrench, 71-brake component, V-pedal, V-pedal, pedal, 80-inclined guide port, 81-power output rod, 82-connecting sleeve, 83-clutch control piece, 91-rotating handle, 92-handle seat, 93-rocking handle shaft, 94-lifting power gear, 95-lifting control mechanism, 96-lifting rod, 340-adjusting hole, 410-inserting slot, 411-connecting hole, 421-sliding slot and 950-driven gear.

[ detailed description ] embodiments

Embodiment 1 referring to fig. 1 to 9, the embodiment provides an exoskeleton rehabilitation training device, which comprises a cart, an exoskeleton mechanism 3 mounted on the cart, and a power output control mechanism, wherein the cart comprises a left support 1 and a right support 2 which are arranged in bilateral symmetry, a seat cushion is mounted between the left support 1 and the right support 2, support wheels are mounted at the front ends of the left support 1 and the right support 2, driving wheels 11 are mounted on the side surfaces of the left support 1 and the right support 2, the exoskeleton mechanism 3 comprises a shank exoskeleton assembly 32 and a thigh exoskeleton assembly 31, a driving gear 13 and a transmission gear 14 which are meshed with each other are mounted on the left support 1 and the right support 2, a cross bar 12 is connected between the left support 1 and the right support 2, power shafts 5 are mounted in the middles of the two driving wheels 11, the driving gear 13 is mounted outside the power shafts 5 on the same side, the power output control mechanism comprises a power switching mechanism and two power transmission mechanisms 4, the power switching mechanism comprises a power transmission rod 81, a clutch device 8 and a clutch control member 83, wherein the first end of the power transmission rod 81 is connected with the side surface of the driving gear 13 positioned on the left side by a fixing sleeve, the first end of the clutch device 8 is provided with a connecting sleeve 82, the second end of the clutch device 8 and the side surface of the driving gear 13 positioned on the right side are respectively provided with a first connecting part and a second connecting part which are in adaptive connection with the first connecting part, the clutch device 8 is arranged outside the power shaft 5 close to the second end of the power output rod 81, the power shaft 5 close to the second end of the power output rod 81 is externally provided with a spring retainer ring 51, a spring 52 and a limiting block 53, when the limiting block 53 is arranged, the limiting block is positioned in the second connecting part, one end of the limiting block 53 close to the clutch device 8 extends out of the second connecting part, the first end of the clutch device 8 is provided with a spring mounting hole, and the two ends of the spring 52 are respectively connected with the spring retainer ring 51 and the inner wall of the spring mounting hole, the second end of the clutch device 8 is provided with a limiting hole matched with the limiting block 53, one end of the connecting sleeve 82 close to the power transmission rod 81 is provided with a socket matched with the power transmission rod 81, the power output rod 81 is plugged with the socket and can move along the axial direction of the power output rod 81 after being connected, the clutch control piece 83 is arranged on the cross rod 12 and is aligned with the clutch device 8, when the clutch control piece 83 is in a first state, the second end of the clutch device 8 is clamped with the side surface of the driving gear 13 positioned on the same side and the limiting block 53 so that the power shaft 5 and the driving gear 13 can keep synchronous rotation, when the clutch control piece 83 is switched to a second state, the clutch control piece 83 drives the second end of the clutch device 8 to move towards the direction far away from the driving gear 13 positioned on the same side until the side surface of the driving gear 13 positioned on the same side and the limiting block 53 are separated so that the power shaft 5 rotates independently, first ends of the two power transmission mechanisms 4 are respectively connected with the lateral sides of the two transmission gears 14, and second ends of the power transmission mechanisms 4 are connected with a connecting part between the lower leg exoskeleton assembly 32 and the thigh exoskeleton assembly 31 so as to drive the lower leg exoskeleton assembly 32 and the thigh exoskeleton assembly 31 to move.

Wherein, the first connecting part and the second connecting part include but are not limited to a meshed double-ratchet structure or a clip slot, a rolling bearing is arranged between the power shaft 5 and the driving gear 13, the left bracket 1 and the right bracket 2 have the same structure and respectively comprise a fixed pipe, a fixed shaft sleeve, a brake fixed pipe, a main support pipe and a front support pipe, the lower end of the fixed pipe is connected with the fixed shaft sleeve, two ends of the brake fixed pipe are respectively connected with the bottom surface of the main support pipe and the front surface of the fixed pipe, two ends of the main support pipe are respectively connected with the back surface of the front support pipe and the front surface of the fixed pipe, a support wheel is arranged on the front support pipe, the front surface of the side surface of the fixed shaft sleeve is provided with an upper shaft sleeve and a lower shaft sleeve, the middle part of the upper shaft sleeve is provided with a rotating shaft, one end of the rotating shaft is connected with the driving gear 14, the power shaft 5 passes through the lower shaft sleeve, and the rolling bearing is arranged between the power shaft 5 and the shaft sleeve and between the upper shaft sleeve and the rotating shaft sleeve, a gap is reserved between the end parts of the power shaft 5 and the power transmission rod 81, a blocking cover is arranged outside the driving gear and the transmission gear and is installed on the fixed shaft sleeve, the cross section of the inner wall of the limiting hole is in a polygonal shape, and the polygon comprises but is not limited to regular pentagon, regular hexagon, regular seven deformation and regular eight deformation.

The left socle 1, handrail components is all installed at the top of right branch frame 2, handrail components includes backplate connecting piece 6, handrail 60 that links to each other with backplate connecting piece 6, ectoskeleton connecting plate 61 is installed to one side inner wall of backplate connecting piece 6, 3 tops of ectoskeleton mechanism link to each other with ectoskeleton connecting plate 61, can dismantle between two backplate connecting pieces 6 and be connected with backplate 62, two 6 backs of backplate connecting piece all are equipped with the draw-in groove, the both ends of backplate are equipped with the buckle, buckle and draw-in groove adaptation joint, handrail 60 convenience of customers arm puts, backplate 62 can supply the user's back to rely on, the whole easy dismounting of backplate 62.

The connecting block 34 is installed at the top of the thigh exoskeleton assembly 31, the back of the connecting block 34 is provided with a plurality of adjusting holes 340, the exoskeleton connecting plate 61 is provided with connecting holes, the exoskeleton connecting plate 61 is fixedly connected with the back of the connecting block 34 through fastening screws, the fastening screws are installed on the connecting holes and the adjusting holes 340 which are located on the same straight line, and the relative distance between the two thigh exoskeleton assemblies 31 is adjusted according to the waist size of an exoskeleton wearing person, so that the wearing requirements of different users can be better met.

Install the bandage on the backplate 62, peg graft each other between backplate connecting piece 6 and the handrail 60, the front end kickup of handrail 60, the side of backplate connecting piece 6 all is equipped with a plurality of fastening holes, link to each other with the screw between backplate connecting piece and the handrail, the mounting screw is on the fastening hole that corresponds, the bandage can avoid the user's health to lean forward, the easy dismounting of handrail 60, and can adjust the length that handrail 60 stretches out backplate connecting piece 6 part according to user's arm length, in order to better satisfy user's user demand.

The lifting power gear 94 is arranged on the back of the fixed shaft sleeve through a shaft sleeve, the back of the fixed pipe of the left support 1 and the right support 2 is provided with a through hole, the fixed pipe is internally provided with a lifting rod 96 and a lifting control mechanism 95, the lifting control mechanism is a screw rod slider mechanism, the outer side of the bottom of a screw rod on the screw rod slider mechanism is fixedly provided with a driven gear 950, the lifting power gear 94 passes through the through hole to be meshed with the corresponding driven gear 950, the bottom of the lifting rod 96 is arranged on a slider on the lifting control mechanism 95, the top of the lifting rod 96 is inserted with the lower end of a back plate connecting piece 6, the lifting power gear 94 is connected with a driving unit arranged on a cart, the driving unit is a manual driving unit, the manual driving unit comprises a lifting adjusting mechanism 9, the lifting adjusting mechanism 9 comprises a lifting power shaft 9, a rotating handle 91 and a handle seat 92, the upper end of the handle seat 92 is arranged on a cross rod 12 in a sliding manner, the rotary handle 91 is rotatably arranged on a handle seat 92 through a rocking handle shaft 93, the rocking handle shaft 93 is connected with the lifting power shaft 91 through a gear transmission mechanism, the gear transmission mechanism comprises a master gear and a slave gear, the master gear is connected with the rocking handle shaft 93, the slave gear is connected with the lifting power shaft 91, two ends of the lifting power shaft 9 are arranged on the back of the left support 1 and the back of the right support 2, two ends of the lifting power shaft 91 are connected with the lifting power gear 94, and the height of the armrest 60, the height of the exoskeleton mechanism 3 and the height of the back plate 62 can be adjusted in a lifting mode through the lifting adjusting mechanism, so that the use requirements of users with different heights can be better met.

The lifting rod locking mechanism 15 is installed at the top of the fixed pipe, the lifting rod locking mechanism 15 comprises a pressing ring and a cam pressing handle, the cam pressing handle is installed on the pressing ring, the lifting rod 96 penetrates through the pressing ring, the lifting rod locking mechanism 15 is convenient to operate, the lifting rod 96 is prevented from loosening, and the height of the handrail 60, the exoskeleton mechanism 3 and the back plate 62 is basically kept unchanged.

The front and rear parts of the left support 1 and the right support 2 are respectively provided with a brake fixing pipe and a handle mounting pipe, the handle mounting pipe is provided with a brake assembly 71, one side of the brake fixing pipe, which is close to the driving wheel 11, is provided with a wheelchair brake 7, the brake assembly 71 comprises a brake handle and a brake cable connected with a brake plate, the brake cable is connected with a wrench 70 on the wheelchair brake 7, the wheelchair brake 7 is used for controlling the braking condition of the driving wheel 11, and through the arrangement of the wheelchair brake 7 and the brake assembly 71, the brake control of the cart can be performed by people on the cart or people pushing the cart.

The power transmission mechanism 4 comprises a first transmission rod 41 and a second transmission rod 42, the first end of the first transmission rod 41 is connected with the side surface of the transmission gear 14 on the same side, the second end of the first transmission rod 41 is provided with a slot 410, the second transmission rod 42 is rotatably arranged in the slot 410 by a pin shaft, two ends of the second transmission rod 42 extend out of the slot 410, the first end of the second transmission rod 42 is rotatably connected with the left bracket 1 or the right bracket 2 on the same side, the second end of the second transmission rod 42 is provided with a chute 421, the side surface of the connecting part between the lower leg exoskeleton assembly 32 and the thigh exoskeleton assembly 31 extends outwards to form a power connecting rod shaft 33, the power connecting rod shaft 33 is arranged in the chute 421 in a matching manner and moves along the chute 421 when the second transmission rod 42 rotates, the connecting positions of the two first transmission rods 41 and the transmission gear 14 form an included angle of 180 degrees, the power transmission mechanism has good overall transmission stability, and can convert the force generated by the rotation of the driving gear 13 into the power for driving the exoskeleton mechanism 3 to move, the 180 ° angle is designed to ensure that the two exoskeleton mechanisms 3 can move alternately.

The side surface of the second end of the first transmission rod 41 is provided with three connecting holes 411 communicated with the slot 410, the second transmission rod 42 can move along the slot 410 and is connected with the required connecting holes 411 through a pin shaft after moving to the required connecting holes 411, and the adjustment of the exoskeleton motion amplitude is realized by adjusting the connecting position of the second transmission rod 42 in the sliding groove 410.

The clutch control member 83 is an elbow clamp, the middle outer edge of the clutch device 8 is provided with an inclined guide opening 80 which is narrowed in the direction away from the second end of the power transmission rod 81, the elbow clamp is arranged in the inclined guide opening 80, the clutch device 8 and the connecting sleeve 82 are arranged in the protective shaft sleeve, the protective shaft sleeve is provided with a through hole for the movable end of the elbow clamp to pass through, the elbow clamp is convenient to operate, and the clutch device 8 can be driven to move by the elbow clamp stretching out to prop against the inclined guide opening 80.

Embodiment 2 is the same as embodiment 1 except that the driving unit is an electric driving unit including a motor having an output end connected to the elevating power gear.

The working process of the utility model is as follows:

when the exoskeleton rehabilitation training device is used as a common wheelchair cart in the working process, the elbow clamp is pulled off, the movable end of the elbow clamp extends out of the inclined guide opening 80 of the clutch device 8 and is inserted into the inclined guide opening 80 of the clutch device 8, and the clutch device 8 and the connecting sleeve 82 synchronously move leftwards along the inclined surface of the inclined guide opening 80, after the clutch device 8 moves leftwards, the clutch device 8 is separated from the driving gear 13 on the right side of the clutch device 8, the limiting hole at the right end of the clutch device 8 is separated from the limiting block 53 on the power shaft 5, the spring 52 is in a compressed state, the driving wheel 11 only drives the power shaft 5 to rotate after rotating, and the driving gear 13 and the power output rod 81 cannot be driven to rotate after the power shaft 5 rotates due to the separation of the clutch device 8 and the driving gear 13, the driving gear 13 basically keeps a static state, and is used as a common wheelchair;

when a patient needs to perform rehabilitation training on the cart, the elbow clip is reversely snapped, the movable end of the elbow clip is withdrawn and separated from the inclined guide opening 80 of the clutch device 8, the spring 52 elastically resets and pushes the clutch device 8 to move rightwards until the limiting block 53 is inserted into the limiting hole again, the first connecting part at the right end of the clutch device 53 is clamped with the second connecting part of the driving gear 13 on the right side again, so that the power shaft 5, the power output rod 81 and the driving gear 11 on the right side are connected together, the driving wheel 11 on the right side can drive the power shaft 5 on the right side to rotate when rotating, the power shaft 5 rotates to drive the clutch device 8 and the connecting sleeve 82 to synchronously rotate, the driving gear 13 on the right side can be driven to synchronously transmit by the rotation of the clutch device 8, the power transmission rod 81 can be driven to rotate after the rotation of the connecting sleeve 82, the driving gear 13 on the left side can be driven to rotate after the rotation of the power transmission rod 81, the two driving gears 13 can rotate to drive the two transmission gears 14 to rotate, the transmission gears 14 rotate to drive the first transmission rods 41 to rotate, the first transmission rods 41 drive the second transmission rods 42 to rotate after transmission, and the second transmission rods 42 rotate to enable the power connecting rod shafts 33 on the outer side faces of the connecting portions between the lower leg exoskeleton assemblies 32 and the thigh exoskeleton assemblies 31 to linearly move along the sliding grooves in the second transmission rods 42, so that the connecting portions between the lower leg exoskeleton assemblies 32 and the thigh exoskeleton assemblies 31 can be driven to move up and down, and finally the lower leg exoskeleton assemblies 32 and the thigh exoskeleton assemblies 31 can move to further drive the lower legs and the thighs of a wearer to move, and passive rehabilitation training is achieved, wherein the lower leg exoskeleton assemblies 32 and the thigh exoskeleton assemblies 31 on the left side and the right side keep an alternate movement state;

when the cart is used, a user can place a hand on the armrest 60, the front end bending part of the armrest 60 can be gripped by the user, the back of the user depends on the back plate 62, when the height of the armrest 60, the exoskeleton mechanism 3 and the back plate 62 needs to be adjusted, the user rotates the rotating handle 91 by hand, the rotating handle 91 rotates to drive the crank shaft 93 to rotate, the crank shaft 93 can drive the lifting power shaft 9 to rotate through the gear transmission mechanism after rotating, the handle seat 92 horizontally moves along the cross rod 12, the lifting power shaft 9 rotates to drive the lifting power gears 94 at two ends to rotate, the lifting power gears 94 rotate to drive the driven gears 950 to rotate, the driven gears 950 rotate to drive the lead screw on the lead screw slider mechanism, the lead screw rotates to drive the slider on the lead screw slider mechanism to move up and down along the lead screw, the slider moves to drive the lifting rod 96 to move up and down, the lifting rod 96 moves to drive the back plate 62, The armrests 60 and the exoskeleton mechanism 3 keep moving synchronously, wherein the back plate 62, the armrests 60 and the exoskeleton mechanism 3 move upwards when the turning handle 91 is turned clockwise, and the back plate 62, the armrests 60 and the exoskeleton mechanism 3 move downwards when the turning handle 91 is turned counterclockwise;

when the distance between the left and right exoskeleton mechanisms 3 needs to be adjusted, the connecting block 34 at the top of the thigh exoskeleton assembly 31 moves left and right, so that the exoskeleton connecting plate 61 can be aligned with the rest adjusting holes 340 on the connecting block 34, and after the adjustment is completed, the fastening screws are used for screwing, so that the distance between the left and right thigh exoskeleton assemblies 31 is adjusted, and the wearing requirements of wearers with different waist sizes are met;

when the push-down cart needs to be stopped, a user on the push-down cart can directly break the wrench 70 on the wheelchair brake 7 to enable the brake pad to be in contact with the driving wheel 11 to achieve the braking purpose, a person pushing the push-down cart can also grasp the brake handle, and the wrench 70 on the wheelchair brake 7 can be driven to rotate through the brake cable after the brake handle is tightly grasped to enable the brake pad to be in contact with the driving wheel 11 to achieve the braking purpose.

The elbow clamps, the wheelchair brake, the brake assembly and the exoskeleton mechanism in the above embodiments are all from the market, the same side in the above embodiments refers to the position on the left side or the right side of the cart, the above embodiments are illustrative of the present invention and are not limiting, and any simple and changed scheme of the present invention belongs to the protection scope of the present invention.

Claims

1. The utility model provides an ectoskeleton rehabilitation training device, includes the shallow, installs the ectoskeleton mechanism on the shallow, and the shallow includes left socle, right branch frame, and the drive wheel is all installed to the side of left socle and right branch frame, and ectoskeleton mechanism includes shank ectoskeleton subassembly, thigh ectoskeleton subassembly, its characterized in that: still include power take off control mechanism, all install engaged with drive gear and drive gear on left socle and the right branch frame, be connected with the horizontal pole between left socle and the right branch frame, the mid-mounting of drive wheel has the power shaft, drive gear installs in the power shaft outside, power take off control mechanism includes power switching mechanism and two power transmission mechanism, power switching mechanism includes power transmission pole, clutch, separation and reunion control piece, the first end of power transmission pole links to each other with fixed cover and one of them drive gear side, clutch's first end passes through the adapter sleeve and links to each other with power take off pole, and clutch's second end and another drive gear side adaptation are connected, and clutch installs in the power shaft outside with being close to power take off pole second end, and the power shaft externally-mounted that is close to power take off pole second end has spring collar, The two ends of the spring are respectively connected with the spring retainer ring and the first end of the clutch device, the second end of the clutch device is provided with a limiting hole matched with the limiting block, the clutch control piece is installed on the cross rod and aligned with the clutch device, when the clutch control piece is in a first state, the second end of the clutch device is connected with the side face of the driving gear and the limiting block which are positioned on the same side, so that the power shaft and the driving gear can keep synchronous rotation, when the clutch control piece is switched to a second state, the clutch control piece drives the second end of the clutch device to move towards the direction far away from the driving gear which is positioned on the same side until the second end of the clutch device is separated from the side face of the driving gear and the limiting block which are positioned on the same side, so that the power shaft can independently rotate, the first end of the power transmission mechanism is correspondingly connected with the side face of the driving gear, and the second end of the power transmission mechanism is connected with the connecting portion between the shank exoskeleton assembly and the thigh exoskeleton assembly to drive the shank assembly and the thigh exoskeleton assembly to independently rotate Movement of the member.

2. The exoskeleton rehabilitation training device of claim 1, wherein: the handrail components are arranged at the tops of the left support and the right support and comprise backboard connecting pieces and handrails connected with the backboard connecting pieces, an exoskeleton connecting plate is arranged on the inner wall of one side of each backboard connecting piece, the top of the exoskeleton mechanism is connected with the exoskeleton connecting plate, and a backboard is detachably connected between the two backboard connecting pieces.

3. The exoskeleton rehabilitation training device of claim 2, wherein: the thigh exoskeleton assembly is characterized in that a connecting block is installed at the top of the thigh exoskeleton assembly, a plurality of adjusting holes are formed in the back face of the connecting block, a connecting hole is formed in the exoskeleton connecting plate, the exoskeleton connecting plate is fixedly connected with the back face of the connecting block through a fastener, and the fastener is installed on the connecting hole and the adjusting holes.

4. The exoskeleton rehabilitation training device of claim 2, wherein: the back plate is provided with a binding belt, the back plate connecting piece and the handrails are mutually inserted, the front ends of the handrails are bent upwards, the side surfaces of the back plate connecting piece are provided with a plurality of fastening holes, the back plate connecting piece and the handrails are connected through fastening connecting pieces, and the fastening connecting pieces are arranged on the corresponding fastening holes.

5. The exoskeleton rehabilitation training device of claim 1, wherein: left socle, right branch frame all include fixed pipe, and fixed pipe back is equipped with the through-hole, and fixed intraductal mounted has lifter, lift control mechanism is lead screw slider mechanism, and the lead screw bottom outside fixed mounting in the lead screw slider mechanism has driven gear, fixed pipe back mounted has lift power gear, and lift power gear passes the through-hole and meshes with the driven gear that corresponds mutually, install on the slider on lift control mechanism the lifter bottom, lift power gear links to each other with the drive unit who installs on shallow, and drive unit is electric drive unit or manual drive unit.

6. The exoskeleton rehabilitation training device of claim 5, wherein: the lifting rod locking mechanism is installed at the top of the fixed pipe and comprises a pressing ring and a cam pressing handle, the cam pressing handle is installed on the pressing ring, and the lifting rod penetrates through the pressing ring.

7. The exoskeleton rehabilitation training device of claim 1, wherein: the fixed pipe of brake and handle installation pipe are installed respectively to the front and the rear portion of left socle, right branch frame, install the brake subassembly on the handle installation pipe, the wheelchair brake stopper is installed to the one side that is close to the drive wheel on the fixed pipe of brake, the brake subassembly includes the brake handle, links to each other with the brake block brake cable, and the brake cable links to each other with the spanner on the wheelchair brake stopper, and wheelchair brake stopper is used for controlling the braking condition of drive wheel.

8. The exoskeleton rehabilitation training device of claim 1, wherein: the power transmission mechanism comprises a first transmission rod and a second transmission rod, the first end of the first transmission rod is connected with the side face of the transmission gear on the same side, the second end of the first transmission rod is provided with a slot, the second transmission rod is rotatably installed in the slot through a connecting piece, the two ends of the second transmission rod extend out of the slot, the first end of the second transmission rod is rotatably connected with the left support or the right support on the same side, the second end of the second transmission rod is provided with a chute, a power connecting rod shaft extends outwards from the side face of the connecting part between the shank exoskeleton assembly and the thigh exoskeleton assembly, the power connecting rod shaft is installed in the chute in a matched mode and moves along the chute when the second transmission rod rotates, and the two first transmission rods and the transmission gear are connected at an included angle of 180 degrees.

9. The exoskeleton rehabilitation training device of claim 8, wherein: the side face of the second end of the first transmission rod is provided with a plurality of connecting holes communicated with the slot, and the second transmission rod can move along the slot and is connected with the connecting piece after moving to a required connecting hole position.

10. The exoskeleton rehabilitation training device of claim 1, wherein: the clutch control piece is an elbow clamp, an inclined guide opening which is narrowed in the direction away from the second end of the power transmission rod is formed in the middle outer edge of the clutch device, and the installation position of the elbow clamp is aligned with the inclined guide opening.