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CN-117205045-B - Exoskeleton device for lower limb rehabilitation

CN117205045BCN 117205045 BCN117205045 BCN 117205045BCN-117205045-B

Abstract

The invention provides a lower limb rehabilitation exoskeleton device, which relates to the technical field of medical equipment and comprises a base plate, a seat assembly, a first rehabilitation mechanism and a second rehabilitation mechanism, wherein the seat assembly, the first rehabilitation mechanism and the second rehabilitation mechanism are sequentially arranged on the base plate, the second rehabilitation mechanism comprises two groups of second electric telescopic rods, a second mounting block and rotatable lifting pieces, the second mounting block is fixed at the telescopic end of each second electric telescopic rod, and rotatable lifting pieces are arranged on the opposite surfaces of the two mounting plates. The utility model provides a lower limb rehabilitation exoskeleton device is through seat subassembly, first recovered mechanism, the recovered mechanism of second that sets up, can realize the lower limb initiative or passive activity degree rehabilitation training under the seat, and through the structural feature of the recovered mechanism of second, further realize lifting piece frequency, range, high regulation to the different requirements of ankle joint rehabilitation training in the adaptation patient's rehabilitation process, and can satisfy the patient ankle joint and still and the dehydration swelling demand under the active state, further improve recovered effect.

Inventors

  • WANG TIAN
  • WANG LEI
  • JI JINPENG
  • ZHAO QINGYU
  • SUN YUE

Assignees

  • 杭州程天科技发展有限公司

Dates

Publication Date
20260505
Application Date
20230913

Claims (7)

  1. 1. A lower limb rehabilitation exoskeleton device, comprising: The ankle rehabilitation device comprises a base plate (1), and a seat assembly, a first rehabilitation mechanism and a second rehabilitation mechanism which are sequentially arranged on the base plate (1), wherein the seat assembly is used for supporting a trunk, the first rehabilitation mechanism is used for rehabilitation training of a knee joint, and the second rehabilitation mechanism is used for driving an ankle pump of an ankle joint to move so as to promote rehabilitation of the ankle joint; The second rehabilitation mechanism comprises two groups of second electric telescopic rods (14), second mounting blocks (38) fixed at the telescopic ends of each second electric telescopic rod (14), mounting plates (15) respectively fixed on opposite faces of the two groups of second mounting blocks (38), and rotatable lifting pieces (17) are arranged on the opposite faces of the two mounting plates (15) and used for placing feet of a patient; The transmission assemblies are arranged on the side wall of each mounting plate (15), and the two groups of transmission assemblies are used for controlling the operation amplitude and the operation frequency of the lifting piece (17) so as to adapt to different activity demands in the ankle rehabilitation process of a patient; The first rehabilitation mechanism comprises two groups of first electric telescopic rods (9), wherein the two groups of first electric telescopic rods (9) are distributed left and right, first mounting blocks (4) fixed at the telescopic ends of each first electric telescopic rod (9), and the first rehabilitation mechanism further comprises support rod assemblies arranged on each group of first mounting blocks (4); The opposite surfaces of the two groups of support rod assemblies are also rotationally connected with a plurality of support rollers (7), the two groups of support meshing assemblies are used for driving the plurality of support rollers (7) to deflect back and forth, and the plurality of support rollers (7) are used for supporting legs of a patient and can drive rehabilitation training of knee mobility of the patient; Each group of the support meshing components comprises a second connecting shaft (20) and a first connecting shaft (21) which are respectively and rotatably connected to each group of the first mounting blocks (4), a first connecting rod (5) and a transmission plate (10) which are respectively and rotatably fixed on the first connecting shaft (21) and the second connecting shaft (20), and also comprises mounting rods (6) which are respectively and rotatably connected to the outer ends of the first connecting rods (5), and the opposite surfaces of the mounting rods (6) where the two groups of the support meshing components are arranged, wherein the two groups of the support meshing components are arranged on a plurality of support rollers (7); the teeth are fixed on the arc-shaped outline of the transmission plate (10) and meshed with racks (35) fixed at the lower part of the mounting rod (6); The device also comprises a second connecting rod (11) rotationally connected with the transmission plate (10) through a second pin shaft fixed on the transmission plate (10), and a limiting block (13) fixed at the top end of the second connecting rod (11) can slide on the upper part of the installation rod (6) and limit the installation rod (6); The device further comprises a second driving motor (43) which is arranged on the side wall of the first installation block (4) close to one end of the second connecting shaft (20), and the output end of the second driving motor (43) is fixedly connected with the second connecting shaft (20).
  2. 2. A lower extremity rehabilitation exoskeleton device according to claim 1, wherein, Each group of transmission components comprises a rotating shaft, wherein the rotating shaft is arranged on the side wall of the mounting plate (15), and a mounting plate (28) fixed on the rotating shaft; The lifting device further comprises a first poking bar (29) and a second poking bar (39) which are arranged on the rotating shaft, poking columns (31) are fixed at the end parts of the first poking bar (29) and the second poking bar (39) far away from the rotating shaft, the two poking columns (31) can be staggered into two long grooves (22) formed in the lifting piece (17), the two long grooves (22) are vertically symmetrically distributed, and when the mounting disc (28) rotates, the two poking columns (31) are staggered into the corresponding long grooves (22) so as to enable the lifting piece (17) to perform pitching operation, and further the ankle joint is driven to perform ankle pump operation; the limiting column structure is arranged on the mounting plate (28) and used for controlling the pitching frequency of the lifting piece (17); the lifting device also comprises a transmission rod structure arranged between the mounting plate (15) and the mounting plate (28) and used for controlling the pitching frequency of the lifting piece (17).
  3. 3. A lower extremity rehabilitation exoskeleton device according to claim 2, wherein, The limiting column structure comprises two limiting grooves (32) formed in the mounting plate (28), and the two limiting grooves (32) are distributed symmetrically up and down; the device further comprises limit column bodies (30) which are distributed and fixed in the middle of the first poking bar (29) and the second poking bar (39), and the two limit column bodies (30) can slide in the corresponding limit grooves (32) in a limited manner.
  4. 4. A lower extremity rehabilitation exoskeleton device according to claim 2, wherein, The transmission rod structure comprises a transmission rod (27) fixed on the side wall of the mounting disc (28), and a transmission groove (26) formed in the end part, far away from the mounting disc (28), of the transmission rod (27), wherein a slidable transmission shaft (40) and bolts (25) arranged at the two ends of the transmission shaft (40) are arranged in the transmission groove (26), and are used for locking the transmission shaft (40) and the transmission rod (27); The device further comprises a mounting shaft (41) rotatably connected to the lower part of the mounting plate (15), a first transmission rod (23) is fixed on the mounting shaft (41), and a second transmission rod (24) rotatably connected with the first transmission rod (23) through a first pin shaft at the end part of the first transmission rod (23), wherein the end part of the second transmission rod (24) far away from the first transmission rod (23) is rotatably connected with one of bolts (25), and the second transmission rod (24) is used for driving a transmission rod (27) to deflect when rotating; the device further comprises a first driving motor (34) arranged on the side wall of the mounting plate (15), and the output end of the first driving motor (34) can pass through a through hole formed in the mounting plate (15) and is fixedly connected with the mounting shaft (41).
  5. 5. A lower extremity rehabilitation exoskeleton device according to claim 1, wherein, The upper surface of the bottom plate (1) is also fixed with two third electric telescopic rods (18), and the two third electric telescopic rods (18) are arranged at two sides of the second rehabilitation mechanism; The ankle pump is characterized by further comprising a handrail (19) fixed at the output ends of the two third electric telescopic rods (18) so as to facilitate the movement of the ankle pump in the vertical position of the patient.
  6. 6. The lower extremity rehabilitation exoskeleton device of claim 5, wherein, The two limiting blocks (13) are also provided with massage roller assemblies for further massage of the back sides of the legs of the patient; the massage roller assembly comprises a mounting piece (8) fixed at the tops of the two limiting blocks (13) and a mounting groove formed in the middle of the mounting piece (8), and a plurality of rotatable massage roller bodies (12) are mounted in the mounting groove; The massage roller comprises a mounting piece (8), and is characterized by further comprising a plurality of micro motors (36) arranged inside one end of the mounting piece (8), wherein an output shaft of each micro motor (36) penetrates through the mounting piece (8) to extend to a mounting groove and is fixedly connected with a corresponding massage roller body (12), and power is provided for rotation of the massage roller body (12).
  7. 7. A lower extremity rehabilitation exoskeleton device according to claim 1, wherein, The seat assembly comprises a supporting seat (2), wherein the supporting seat (2) is fixed on the upper surface of the bottom plate (1), and a backrest (33) which is obliquely arranged on the supporting seat (2) and far away from the first rehabilitation mechanism; The device also comprises a cushion (3) fixed on the upper surface of the supporting seat (2) and used for supporting buttocks of a patient.

Description

Exoskeleton device for lower limb rehabilitation Technical Field The invention relates to the technical field of medical equipment, in particular to a lower limb rehabilitation exoskeleton device. Background The lower limb rehabilitation training method comprises static exercise, joint movement, lower limb muscle resistance training and the like, and the lower limb rehabilitation training method and the steps are very important for injured patients. The correct rehabilitation training can reduce symptoms of injured patients, can strengthen stability and strength of lower limbs, and ensures that the injured patients can recover health as soon as possible, wherein the activity training of joints is common in the lower limb rehabilitation training, and as ankle joints, the activity training can be used for performing dorsad stretch plantarflexion of the ankle joints and training functions of up-down activities of the ankle joints, but the conventional training device has single structure and action, limited activity range and frequency and can not well meet the requirement of extending the activity range of lower limbs of the injured patients when the lower limbs stretch. Disclosure of Invention Based on the above, it is necessary to provide a lower limb rehabilitation exoskeleton device for solving the problems of single structure and motion and limited range of motion. The invention provides a lower limb rehabilitation exoskeleton device which comprises a base plate, a seat assembly, a first rehabilitation mechanism and a second rehabilitation mechanism, wherein the seat assembly, the first rehabilitation mechanism and the second rehabilitation mechanism are sequentially arranged on the base plate, the seat assembly is used for supporting a trunk, the first rehabilitation mechanism is used for rehabilitation training of a knee joint, the second rehabilitation mechanism is used for driving an ankle pump of an ankle joint to move so as to promote rehabilitation of the ankle joint, the second rehabilitation mechanism comprises two groups of second electric telescopic rods, second mounting blocks fixed at the telescopic end of each second electric telescopic rod, mounting plates respectively fixed on the opposite sides of the two groups of second mounting blocks, rotatable lifting pieces are further arranged on the opposite sides of the two mounting plates and used for placing feet of a patient, and transmission assemblies are arranged on the side wall of each mounting plate and are used for controlling the operation amplitude and the frequency of the lifting pieces so as to adapt to different activity demands of the ankle joint rehabilitation process of the patient. In one embodiment, each group of transmission components comprises a rotating shaft, a first shifting bar, a second shifting bar, a shifting column and a transmission rod structure, wherein the rotating shaft is arranged on the side wall of a mounting plate, the mounting plate is fixed on the rotating shaft, the shifting bars are arranged on the rotating shaft, the ends of the first shifting bar and the second shifting bar, which are far away from the rotating shaft, are also fixed with the shifting columns, the two shifting columns can be staggered into two long grooves formed in the lifting piece, the two long grooves are vertically symmetrically distributed, when the mounting plate rotates, the two shifting columns are staggered into the corresponding long grooves, so that the lifting piece can perform pitching operation, the ankle joint is driven to perform ankle pump operation, the limit column structure is arranged on the mounting plate and used for controlling the pitching frequency of the lifting piece, and the transmission rod structure is arranged between the mounting plate and used for controlling the pitching frequency of the lifting piece. In one embodiment, the limit post structure comprises two limit grooves which are formed in the mounting plate and are vertically symmetrically distributed, and limit post bodies which are distributed and fixed in the middle of the first shifting bar and the second shifting bar and can slide in the corresponding limit grooves in a limited manner. In one embodiment, the transmission rod structure comprises a transmission rod fixed on the side wall of the mounting plate, a transmission groove arranged at the end part of the transmission rod far away from the mounting plate, a slidable transmission shaft arranged in the transmission groove, bolts arranged at the two ends of the transmission shaft and used for locking the transmission shaft and the transmission rod, a mounting shaft rotationally connected to the lower part of the mounting plate, a first transmission rod fixed on the mounting shaft, a second transmission rod rotationally connected with the first transmission rod through a first pin shaft at the end part of the first transmission rod, and a second transmission rod rotationally connected wit