Disclosure of Invention
In view of the above, in order to solve the problems that the exoskeleton robot adopts a passive rehabilitation training mode, the autonomous participation of a patient is low, and the rehabilitation of the patient is not facilitated, the embodiment of the invention provides a knee-locking exoskeleton robot.
An embodiment of the present invention provides a knee-locking exoskeleton robot, comprising:
A waist-binding mechanism comprising two waist-binders, and an adjustable connector connecting the two waist-binders;
The knee locking executing mechanism comprises two leg binding members which are symmetrically arranged, each leg binding member comprises a thigh rod member, a knee locking assembly and a shank rod member, the upper end of each thigh rod member is connected with one waist binding member, the lower end of each thigh rod member is rotatably connected with the shank rod member, binding plates which are rotatably connected are arranged on the front side and the rear side of each thigh rod member and the lower leg rod member, each knee locking assembly comprises an executing wheel, a driving gear, a driving rack and a knee locking plate, the executing wheels are rotatably arranged at the joint of the thigh rod member and the shank rod member, the driving gear is arranged on the outer side of the executing wheel, the driving rack is slidably arranged back and forth and is meshed with the driving gear, and the knee locking plates are arranged on the driving racks and are positioned on the front sides of the leg binding members;
and the supporting driving mechanism comprises a movable frame and a motor arranged on the movable frame, wherein the motor is connected with the execution wheels of the two knee locking assemblies through bowden ropes respectively so as to drive the driving gear and the driving rack to drive the knee locking plates to move back and forth, so that the knee locking plates are locked and released.
Further, the front end of the driving rack is provided with a moving block, the moving block is provided with a fastener, the knee locking plate can be connected with the moving block in a left-right sliding mode, and the fastener can lock the knee locking plate.
Further, the knee locking assembly further comprises a moving guide rail, the moving guide rail is fixed on the thigh rod piece, the driving rack is slidably mounted on the moving guide rail, the knee locking plate and the driving rack are vertically arranged, and an arc-shaped contact groove is formed in the rear side face of the knee locking plate.
Further, a rope groove is formed in the side wall of the execution wheel, bao Dengsheng bypasses the rope groove, and a baffle is arranged at the edge of the rope groove.
Further, thigh member upper end is connected through flexible retaining member waist binding member, flexible retaining member includes shell, extrusion piece and elastic component, extrusion piece slidable inserts shell one side and pass through the elastic component is connected the opposite side of shell, the shell is equipped with the fixed slot that vertically runs through the setting, extrusion piece is equipped with the movable slot that vertically runs through the setting, one side of movable slot is equipped with a plurality of movable clamps that set up along vertical direction interval, waist binding member is equipped with a plurality of fixed clamps that set up along vertical direction interval, the shell is fixed in thigh member side, waist binding member lower extreme inserts the fixed slot with the movable slot, just the elastic component extrusion the extrusion piece makes movable clamp with the chucking of fixed clamp.
Further, the waist binding member comprises an L-shaped waist binding plate, a fixing rod and an adjusting rod, wherein the upper end of the fixing rod is fixedly connected with the side surface of the waist binding plate, the lower end of the fixing rod is rotatably connected with the upper end of the adjusting rod, the fixing clamping strip is arranged on the side surface of the lower end of the adjusting rod, and the lower end of the adjusting rod penetrates through the fixing groove and the movable groove.
Further, the two waist binders are a left waist binder and a right waist binder, respectively, the adjustable connector includes a rack and pinion mechanism, and one end of the right waist binder is inserted into one end of the left waist binder and connected to the left waist binder through the rack and pinion mechanism.
Further, the rack and pinion mechanism includes a driving gear, a driven gear, an upper rack and a lower rack, one end of the left waist binding member is provided with a slot, the driving gear and the driven gear are rotatably installed in the slot, the driving gear is meshed with the driven gear, one end of the right waist binding member is inserted into the slot, the upper rack and the lower rack are installed on the right waist binding member, and the driving gear and the driven gear are meshed with the upper rack and the lower rack respectively.
Further, the lower leg rod piece comprises an upper connecting rod and a lower connecting rod, wherein the upper end of the upper connecting rod is rotatably connected with the lower end of the thigh rod piece, and the lower end of the upper connecting rod is rotatably connected with the upper end of the lower connecting rod.
Further, two driving wire wheels are arranged on the movable frame, the number of the motors and the number of the bowden cables are two, each motor is connected with one driving wire wheel, each Bao Dengsheng is connected with one driving wire wheel and one executing wheel, and each motor is further provided with a control handle.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
1. According to the knee-locking exoskeleton robot, the waist binding mechanism is used for binding the waist of a patient, the leg binding members of the knee-locking executing mechanism are used for binding the legs of the patient, so that the knee locking assemblies of the leg binding members are contacted with the knees of the patient, when a user walks in a training mode, the knees of one leg are locked through the knee locking assemblies to realize standing, the knee locking assemblies at the knees of the other leg are unlocked to realize a micturition exercise, so that the user can walk and rehabilitation exercise actively in a reciprocating mode, the initiative of autonomous rehabilitation of the spinal patient is improved, the rehabilitation exercise effect of the patient is improved to the greatest extent, and the problem that a doctor is easy to fatigue due to the fact that the user needs to be assisted by a rehabilitation doctor in the rehabilitation exercise process of locking the knees is effectively solved.
2. The knee-locking exoskeleton robot adopts a lasso driving mode that a motor is combined with a bowden wire, so that a patient can control the motor to work, and the patient can actively perform rehabilitation training, and the driving mechanism is integrated on the movable frame, so that the quality and the moment of inertia of a leg rod piece of the exoskeleton are reduced, the requirement of light weight design is met, meanwhile, the bowden wire driving can also improve the flexibility of the transmission process, the wearing comfort of the patient is further improved, and the safety of the training process is also ensured.
Drawings
FIG. 1 is a schematic illustration of a knee-locking exoskeleton robot of the present invention;
FIG. 2 is a schematic view of a lumbar binding mechanism and knee-locking actuator;
FIG. 3 is a schematic view of a lumbar binding mechanism;
FIG. 4 is an exploded view of the lumbar binding mechanism;
FIG. 5 is a schematic view of a knee locking actuator;
FIG. 6 is an exploded view of the knee locking assembly;
FIG. 7 is an exploded view of the telescoping lock;
fig. 8 is a schematic view of a support drive mechanism.
The utility model comprises a 1, a waist binding mechanism, a2, a knee locking actuating mechanism, a 3, a supporting driving mechanism, a 4, a leg binding, a 5, a left waist binding, a6, a right waist binding, a 7, a fixed rod, a 8, an adjusting rod, a 9, a cover plate, a 10, a hand wheel, a 11, a binding mechanism, a 12, a fixed clamping strip, a 13, a driving gear, a 14, a driven gear, a 15, a slot, a 16, an upper rack, a 17, a lower rack, a 18, a notch, a 19, a thigh rod, a 20, a shank rod, a 21, a binding plate, a 22, a moving guide rail, a 23, a driving rack, a 24, a driving gear, a 25, a moving block, a 26, a knee locking plate, a 27, a hinge, a 28, a through slot, a 29, a plunger rod, a 30, a contact slot, a 31, a housing, a 32, a squeezing block, a 33, an elastic member, a 34, a fixed slot, a 35, a movable slot, a 36, a movable clamping strip, a 37, a button, a 38, a moving frame, a 39, a roller, a 40, a support, a 41, a handrail, a 42, a master control plate, a 43, a motor, a 44, a wire, a 5746, a drive wheel, a control wheel, a 45, a control wheel and a 47.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. The following presents a preferred one of a number of possible embodiments of the invention in order to provide a basic understanding of the invention, but is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
In the description of the present invention, it should be noted that, in the present invention, circuits, electronic components, and modules are all related to the prior art, and may be implemented by those skilled in the art without any redundancy.
It should be further noted that, unless explicitly stated or limited otherwise, the term "mounted" and "connected" shall be interpreted broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, or in communication with the interior of two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 and 2, an embodiment of the present invention provides a knee-locking exoskeleton robot including a waist binding mechanism 1, a knee-locking actuator 2, and a support driving mechanism 3.
The waist-binding mechanism 1 mainly comprises two waist-binding members, and an adjustable connector connecting the two waist-binding members. The two waist binders are respectively used for binding two sides of the waist of a patient, and the adjustable connecting piece is used for adjusting the distance between the two waist binders so that the two waist binders are better attached and bound with the waist of the patient.
As shown in fig. 3 and 4, in the present embodiment, the two waist binders are a left waist binder 5 and a right waist binder 6, respectively, the adjustable connector includes a rack-and-pinion mechanism, and one end of the right waist binder 6 is inserted into one end of the left waist binder 5 and connected to the left waist binder 5 through the rack-and-pinion mechanism. By adjusting the rack and pinion mechanism, the distance between the left and right waist binders 5, 6 can be adjusted.
More specifically, the rack and pinion mechanism includes a driving gear 13, a driven gear 14, an upper rack 16 and a lower rack 17, one end of the left waist binding member 5 is provided with a slot 15, the slot 15 is a rectangular slot, a notch of the slot 15 is arranged forward, a cover plate 9 is arranged on the front side of the slot 15, and the cover plate 9 is fixedly arranged on the front side surface of the left waist binding member 5. The driving gear 13 and the driven gear 14 are rotatably installed in the slot 15, the driving gear 13 is located above the driven gear 14, and the driving gear 13 and the driven gear 14 are meshed. One end of the right waist binder 6 is inserted into the slot 15, the upper rack 16 and the lower rack 17 are horizontally arranged and mounted on the right waist binder 6, and the driving gear 13 and the driven gear 14 are respectively engaged with the upper rack 16 and the lower rack 17. Here, a rectangular notch 18 is provided at one end of the right lumbar binding 6 near the left lumbar binding 5, and the upper rack 16 and the lower rack 17 are provided at the upper surface and the lower surface of the notch 18, respectively.
The rotation of the driving gear 13 drives the rotation of the driven gear 14, and the driving gear 13 and the driven gear 14 also drive the upper rack 16 and the lower rack 17, respectively, to drive the left lumbar binding 5 and the right lumbar binding 6 relatively close to or far away from each other, thereby adjusting the distance between the two lumbar binding to a desired distance. In order to facilitate the control and adjustment, the wheel axle of the driving gear 13 penetrates the cover plate 9 and is provided with a hand wheel 10.
In order to enable the distance between the two waist binding members to be adjusted to be kept in a stable state after the distance is adjusted to be the required distance, a spring connected with the left waist binding member 5 is arranged on the wheel shaft of the driving gear 13, the spring is sleeved on the wheel shaft of the driving gear 13, the front end of the wheel shaft of the driving gear 13 slidably penetrates through the cover plate 9, a positioning gear is fixedly sleeved on the wheel shaft of the driving gear 13, a gear groove is formed in the back surface of the cover plate 9, and the positioning gear is embedded into the gear groove and cannot rotate, so that the driving gear 13 cannot rotate. When the hand wheel 10 is pressed inwards, the spring is compressed, the positioning gear leaves the gear groove, and then the hand wheel 10 is rotated to drive the driving gear 13 to rotate so as to adjust the distance between the two waist binding pieces. And finally, the hand wheel 10 is loosened, and the spring pushes the positioning gear to move outwards to enter the gear groove for locking, so that the two waist binding pieces are in a stable and fixed state.
Referring to fig. 5 and 6, the knee locking actuator 2 mainly includes two symmetrically arranged leg binders 4, each leg binder 4 is disposed below one waist binder, and the two leg binders 4 are symmetrically disposed right and left. Each of said leg binders 4 comprises a thigh bar 19, a knee-locking assembly and a shank bar 20. The upper end of the thigh rod piece 19 is connected with a waist binding piece, the lower end of the thigh rod piece is rotatably connected with the shank rod piece 20, and the front side and the rear side of the thigh rod piece 19 and the shank rod piece 20 are respectively provided with a binding plate 21 which is rotatably connected.
Considering that the thigh link 19 may be fastened to patients of different leg lengths, the upper end of the thigh link 19 and the waist binder may be provided to be telescopically adjustable. As shown in fig. 7, in this embodiment, the upper end of the thigh link 19 is connected with the waist binder by a telescopic locking member, the telescopic locking member includes a housing 31, a pressing block 32, and an elastic member 33, and the pressing block 32 is slidably inserted into one side of the housing 31 and connected with the other side of the housing 31 by the elastic member 33. The shell 31 is provided with a fixing groove 34 which vertically penetrates through the shell, the extrusion block 32 is provided with a movable groove 35 which vertically penetrates through the shell, one side of the movable groove 35 is provided with a plurality of movable clamping strips 36 which are arranged at intervals along the vertical direction, the waist binding member is provided with a plurality of fixing clamping strips 12 which are arranged at intervals along the vertical direction, the shell 31 is fixed on the side face of the thigh rod piece 19, the lower end of the waist binding member is inserted into the fixing groove 34 and the movable groove 35, and the elastic piece 33 extrudes the extrusion block 32 to enable the movable clamping strips 36 to be clamped with the fixing clamping strips 12.
The elastic member 33 is compressed by pushing the pressing block 32, so that the movable clip 36 is moved to be separated from the fixed clip 12, thereby moving the thigh link 19 up and down. In order to facilitate pressing the pressing block 32, the housing 31 is rectangular, the pressing block 32 is approximately rectangular, the pressing block 32 is embedded in the housing 31 and can slide horizontally, and a button 37 extending out of the housing 31 is disposed at one end of the pressing block 32 away from the elastic member 33. The elastic member 33 is a plurality of springs, each of which is disposed in a sliding direction of the pressing block 32, and one end of each of the springs is connected to the pressing block 32 and the other end is connected to an inner wall of the housing 31. The spring is in a compressed state so as to push the extrusion block 32 to clamp the movable clamping strip 36 with the fixed clamping strip 12.
It should be noted that the fixing clip strip 12 and the movable clip strip 36 form an openable fastening structure, and the specific structure shape can be flexibly set. In this embodiment, the fixed clamping bar 12 and the movable clamping bar 36 are wedge-shaped cross bars, and the fixed clamping bar 12 and the movable clamping bar 36 have adaptive inclined clamping surfaces.
In some embodiments, the waist binder comprises an L-shaped waist binding plate 21, a fixing rod 7 and an adjusting rod 8, wherein the upper end of the fixing rod 7 is fixedly connected with the side surface of the waist binding plate 21, and the lower end of the fixing rod is rotatably connected with the upper end of the adjusting rod 8, so that the adjusting rod 8 and the fixing rod 7 can rotate forwards and backwards. The fixing clip strip 12 is disposed on the side surface of the lower end of the adjusting rod 8, and the lower end of the adjusting rod 8 passes through the fixing groove 34 and the movable groove 35.
In some embodiments, the end of the waist binder is provided with a binding hole 11 for the binding band to pass through for binding with the patient's waist. Meanwhile, the binding plates 21 are arc-shaped plates, one end of each arc-shaped plate is rotatably connected with the thigh rod piece 19 or the shank rod piece 20 through a hinge 27, and the other end of each arc-shaped plate is also provided with a binding hole. And wherein each two binding plates 21 are disposed in a back-and-forth opposite arrangement to form a group, each group of the binding plates 21 being bonded to the front and back sides of a height of the leg of the patient.
In order to make the waist binding member better fit with the waist of patients with different waistlines, the adjusting rods 8 can be arranged into a plurality of sections, and two adjacent sections are rotatably connected through a hinge, so that each section of the adjusting rods 8 can rotate left and right and fit with the waist of the patients with different waistlines.
Wherein, the shape of the fixed slot 34 and the movable slot 35 are matched with the cross section shape of the adjusting rod 8. The fixed rod 7 and the adjusting rod 8 are generally provided as a plate body, and thus the fixed slot 34 and the movable slot 35 are generally provided as rectangular shapes.
The knee locking assembly is used for fitting with the knee of the leg of the patient and locking and releasing the knee of the leg of the patient. The knee locking assembly mainly comprises an executing wheel 47, a driving gear 24, a driving rack 23 and a knee locking plate 26, wherein the executing wheel 47 is rotatably arranged at the joint of the thigh rod piece 19 and the shank rod piece 20, the driving gear 24 is arranged on the outer side of the executing wheel 47, the driving rack 23 can be arranged in a back-and-forth sliding mode and meshed with the driving gear 24, and the knee locking plate 26 is arranged on the driving rack 23 and positioned on the front side of the leg binding 4.
Specifically, the upper end of the shank rod 20 is disposed outside the lower end of the thigh rod 19, and the upper end of the shank rod 20 is disposed at the lower end of the thigh rod 19, and bearings are embedded and mounted at the lower end of the thigh rod 19, the bearings are connected through a rotating shaft, a fixed wheel disc is further mounted at the outer end of the rotating shaft, the executing wheel 47 is mounted on the fixed wheel disc, and the driving gear 24 is mounted on the rotating shaft. The rotation of the actuator wheel 47 can drive the rotation shaft to rotate, thereby driving the driving gear 24 to rotate.
In order to make the knee locking plate 26 more accurately fit with the knee of the patient, the front end of the driving rack 23 is provided with a moving block 25, the moving block 25 is provided with a fastener, the knee locking plate 26 can be connected with the moving block 25 in a left-right sliding mode, and the fastener can lock the knee locking plate 26. Here, the end of the knee locking plate 26 is provided with a plug-in rod 29, the moving block 25 is provided with a through groove 28, the plug-in rod 29 is inserted into the through groove 28 and can slide left and right, the fastening piece is a bolt, the fastening piece is arranged on one side of the through groove 28, the plug-in rod 29 is inserted into the through groove 28 to adjust the knee locking plate 26 to a required position, and the plug-in rod 29 is locked by the fastening piece.
The knee locking assembly further comprises a moving guide rail 22, and the driving rack 23 is slidably connected with the thigh rod 19 through the moving guide rail 22. Specifically, the moving rail 22 is fixed to the thigh link 19, and is disposed in the front-rear direction. The driving rack 23 is slidably mounted on the moving guide rail 22, the knee locking plate 26 is perpendicular to the driving rack 23, an arc-shaped contact groove 30 is formed in the rear side surface of the knee locking plate 26, and the contact groove 30 is arc-shaped so as to be attached to the knee of a patient.
In some embodiments, the lower leg link 20 includes an upper link upper end rotatably coupled to the lower end of the thigh link 19 and a lower link lower end rotatably coupled to the lower link upper end. The lower end of the upper connecting rod is rotatably connected with the upper end of the lower connecting rod through a hinge, so that the upper connecting rod and the lower connecting rod can rotate left and right.
Referring to fig. 8, the support driving mechanism 3 includes a movable frame, and a motor 43 disposed on the movable frame, where the motor 43 is connected to the execution wheels 47 of the two knee locking assemblies through bowden ropes 45, so as to drive the driving gear 24 and the driving rack 23 to drive the knee locking plate 26 to move back and forth, thereby locking and releasing the knee locking plate 26.
The movable frame is a movable frame 38 with rollers 39 at the bottom, a supporting frame 40 is arranged at the upper part of the movable frame 38, the supporting frame 40 is U-shaped, the supporting frame 40 comprises two armrests 41, and a standing space for a patient is arranged between the two armrests 41. The front side of the supporting frame 40 is provided with a main control board 42, and the motor 43 is mounted on the front side of the main control board 42.
Two driving wire wheels 44 are arranged on the movable frame, the number of the motors 43 and the number of the bowden cables 45 are two, each motor 43 is connected with one driving wire wheel 44, each bowden cable 45 is connected with one driving wire wheel 44 and one executing wheel 47, and each motor 43 is further provided with a control handle 46. The side wall of the executing wheel 47 is provided with a rope groove, the bowden rope 45 bypasses the rope groove, the edge of the rope groove is provided with a baffle, and under the limiting effect of the baffle, the bowden rope 45 is stably arranged on the rope groove, so that the executing wheel 47 can be stably driven to rotate.
When a patient uses the knee-locking exoskeleton robot to perform leg rehabilitation training, the patient firstly drives the wheelchair to the rear of the movable frame, then the two waist binding pieces are attached to the waist of the patient and are tightly bound through the binding bands, and the two leg binding pieces 4 are attached to the two legs of the patient and are tightly bound through the binding bands. The knee plates 26 of the knee-locking assemblies of both leg-binders 4 are brought into abutment with the front sides of the knees of the patient by adjusting the telescopic locking members when the leg-binders 4 are worn.
The patient is assisted to stand up, and the patient holds the two armrests 41 on the holding frame 40 close to the two control handles 46. At this time, the distance between the left waist binder 5 and the right waist binder 6 can be adjusted by adjusting the rack and pinion mechanism so that the tightness is appropriate.
The knee locking and releasing of the knee locking assembly to the left and right legs is then controlled by controlling the two control handles 46. When the patient needs to take a step, the control handle 46 is controlled to start the motor 43 to drive the bowden rope 45 to pull the executing wheel 47 of the knee locking assembly positioned at the left side to rotate to drive the driving gear 24 to rotate, so that the knee locking plate 26 is driven to be attached to and locked with the knee of the left leg of the patient, the left leg can be stood, the knee locking plate 26 of the knee locking assembly positioned at the right side is separated from the knee of the right leg and released, and the patient can take a step by the waist and abdomen force of the patient in a loose knee state. When the left leg is required to be stepped on, the other control handle 46 is controlled to start the other motor 43, the knee locking plate 26 of the right knee locking assembly is driven to be engaged with and locked with the knee of the right leg of the patient, so that the right leg can stand, the previous control handle 46 is controlled to close the previous motor 43, the knee locking plate 26 of the left knee locking assembly is separated from the knee of the left leg, the knee of the left leg is in a loose knee state, and the patient can control the left leg to take a step through the waist and abdomen force of the patient.
The supporting mechanism is pushed forward by one step after taking out, so that active walking rehabilitation training can be realized by reciprocating, the initiative of autonomous rehabilitation of a spinal cord patient is improved, the rehabilitation training effect of the patient is maximally improved, and the problem that a doctor is easy to fatigue caused by the fact that the doctor needs to assist the patient in manual rehabilitation training in the knee locking rehabilitation training process is effectively solved.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can be varied in many ways depending on the use and placement of the words, and that the use of the words should not limit the scope of the application as claimed.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict. The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.