CN115154214B - A lower limb walking assisting exoskeleton robot - Google Patents

Abstract

An exoskeleton robot for assisting lower limb walking belongs to the technical field of medical rehabilitation equipment. It aims to solve the problems that the existing exoskeleton robots cannot provide assistance when patients are tired from walking exercise, which affects the patients' sitting down to rest; and the exoskeleton robots have a large number of leg fixing bindings, which makes the binding operation more troublesome. The present invention supports the patient's lower limb walking based on a support frame composed of an arc-shaped guardrail, an electric lifting rod and moving wheels, and uses walking leggings on both sides of the bottom of the arc-shaped guardrail to fix the two legs. The positioning bindings automatically buckle and bind the patient's thighs and calves respectively through the control of an electric telescopic rod, and uses the auxiliary components arranged on the inner wall in the middle of the arc-shaped guardrail to bind the patient's waist, while passing through the patient's crotch for binding and providing a seat for rest. The present invention is conducive to the patient sitting down and resting at any time when the patient is tired from walking exercise, and is conducive to improving the stability of the patient's walking, which is convenient and practical.

Description

A lower limb walking assisting exoskeleton robot

Technical Field

The present invention relates to the technical field of medical rehabilitation equipment, and in particular to an exoskeleton robot for assisting lower limb walking.

Background Art

Rehabilitation training refers to physical activities that are beneficial to the recovery or improvement of function after an injury. Except for serious injuries that require rest and treatment, general injuries do not require a complete stop of physical exercises. Appropriate and scientific physical exercises play a positive role in the rapid healing of injuries and the promotion of functional recovery. Appropriate rehabilitation exercises after an injury can enhance the stability of joints, improve the metabolism and nutrition of injured tissues, accelerate the healing of injuries, and promote the unity of function, morphology, and structure. Maintaining a good physical condition, through rehabilitation training, can prevent muscle atrophy and contracture, improve the motor ability of healthy limbs, maintain good cardiopulmonary function, so that once the injury is recovered, they can immediately engage in normal physical exercise.

Patients with leg injuries or surgery can enhance their recovery effect by walking during the training recovery period. However, in order to prevent patients from falling during walking, they are usually supported by lower limb walking assistance exoskeleton robots. For example, the Chinese invention patent with publication number CN112691006A discloses a lower limb walking assistance exoskeleton robot, including a first side panel, the number of the first side panels is two groups, and the tops of the two groups of first side panels are both rotatably mounted with movable panels, the opposite sides of the movable panels are both hinged with connecting plates, the opposite ends of the connecting plates are installed with fixing components, the bottom end of the first side panel is installed with a connecting piece, the inside of the connecting piece is rotatably mounted with a rotating rod, the surface of the rotating rod is rotatably mounted with a second side panel, and the surfaces of the first side panel and the second side panel are both installed with fixing belts. Through the setting of the fixing component, the device can drive the moving plate to move by pinching the pressing plate during use, and then install the locking rod inside the outer ring, adjust the installation depth of the locking rod according to different users, release the pressing plate after the adjustment is completed, and fix the locking rod through the block, which is easy to operate and simple in structure.

However, although the existing lower limb walking assist exoskeleton robots can provide support and assistance to patients, they cannot provide help when patients become tired during exercise. The binding of the exoskeleton robots affects the patients' sitting and resting. In addition, the number of leg fixing bindings is large, and the leg binding operation is more troublesome.

Therefore, we introduce a lower limb walking assist exoskeleton robot.

Summary of the invention

The purpose of the present invention is to provide an exoskeleton robot for assisting lower limb walking, aiming to solve the problem in the above-mentioned background technology that the existing exoskeleton robots cannot provide assistance when the patient is tired from walking exercise, affecting the patient's sitting down to rest, and the existing exoskeleton robots have a large number of leg fixing bindings, making the leg binding operation more troublesome.

To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a lower limb walking assisting exoskeleton robot, comprising an arc-shaped guardrail and a fixing part fixedly connected to the outer wall adjacent to the ends of both sides of the arc-shaped guardrail, the bottom of the fixing part is fixedly connected to an electric lifting rod, the bottom of the electric lifting rod is fixedly connected to a supporting cross bar, the bottoms of both ends of the supporting cross bar are respectively fixedly connected to moving wheels, an auxiliary component is fixedly connected to the inner wall at the middle of the arc-shaped guardrail, a mounting plate is fixedly connected to the inner wall adjacent to the ends of the arc-shaped guardrail on both sides of the auxiliary component, a walking leggings is movably arranged on the outer wall of the mounting plate, a mounting seat is fixedly connected to the top of the arc-shaped guardrail end adjacent to the walking leggings, a lever handle is fixedly connected to the outer wall opposite to the mounting seat, the end of the lever handle is suspended on the inner side of the arc-shaped guardrail, and a touch screen intelligent controller is fixedly connected to the outer wall on the other side of the mounting seat, and the touch screen intelligent controller is electrically connected to the electric lifting rod;

The auxiliary component includes a waist pad fixedly connected to the inner wall at the middle of the arc-shaped guardrail and a spiral rod seat fixedly connected to the side walls at both ends of the waist pad, a spiral rod seat is also fixedly installed on the outer wall adjacent to the top of the walking leggings, a first connecting rope and a second connecting rope are fixedly connected to the two sides of the bottom of the waist pad, a woven mesh pad is fixedly connected between the side walls at the middle of the first connecting rope and the second connecting rope, and the ends of the first connecting rope and the second connecting rope are fixedly connected to the first limiting ball, an auxiliary binding rope is fixedly connected to the outer wall adjacent to the fixed ends of the first connecting rope and the second connecting rope, and the end of the auxiliary binding rope is fixedly connected to the second limiting ball.

Furthermore, the first limiting ball includes a hollow sphere fixedly connected to the ends of the first connecting suspension rope and the second connecting suspension rope, and an L-shaped limiting rod is movably provided on the side walls at both ends of the hollow sphere, and the end of the L-shaped limiting rod is a hook-type structure. The end of the L-shaped limiting rod extends into the interior of the hollow sphere, and the end thereof is fixedly connected to the limiting side plate, and an elastic component is wrapped around the outer wall of the L-shaped limiting rod between the side wall of the limiting side plate and the inner wall of the hollow sphere, and a positioning pull rope is fixedly connected to the outer wall of the limiting side plate away from the L-shaped limiting rod, and the ends of the positioning pull rope are fixedly connected to the side walls at both ends of the adsorbed magnetic ball.

Furthermore, when the elastic component maintains a normal relaxation state, the end of the L-shaped limit rod is away from the outer wall of the hollow sphere. At this time, the adsorbed magnetic ball is suspended at the center of the hollow sphere through the positioning rope, and the L-shaped limit rod is symmetrically arranged about the connection point between the hollow sphere and the connecting rope, and the structural composition of the first limit ball is the same as the structural composition of the second limit ball.

Furthermore, the walking leggings include a movable shaft movably connected to the outer wall of the mounting plate and a telescopic connecting head fixedly connected to the end of the movable shaft, a spiral rod seat is fixedly connected to the side wall adjacent to the top of the telescopic connecting head, and the lower end of the telescopic connecting head is movably connected to the first connecting strip, the lower end of the first connecting strip is movably connected to the second connecting strip, a walking pedal is fixedly connected to the side wall at the bottom of the second connecting strip, and the first connecting strip and the second connecting strip are respectively fixedly connected to the outer wall on the side close to the arc-shaped guardrail port, and the same set of positioning bindings are movably arranged on the side walls of the positioning plates of the two.

Furthermore, the positioning binding includes a movable straight rod that movably passes through the first connecting strip and the positioning plate on the outer wall of the second connecting strip, and the end of the movable straight rod close to the inner side of the curved guardrail is fixedly connected with an arc-shaped clamping ring. The other end of the movable straight rod on the side walls of the first connecting strip and the second connecting strip respectively passes through the upper and lower ends of the two-stage movable connecting rod, and the end thereof is thickened to form a limit block that fits the side wall of the two-stage movable connecting rod, and a reset spring is wound around the outer wall of the movable straight rod between the two-stage movable connecting rod and the side wall of the positioning plate.

Furthermore, a positioning rod is fixedly connected to the side wall of the positioning plate corresponding to the first connecting strip, and the end of the positioning rod is fixedly connected to a limiting plate. An electric telescopic rod is fixedly connected to the outer wall of the limiting plate close to the positioning plate. After the end of the electric telescopic rod passes through the side wall of the two-stage movable connecting rod, its end is fixedly connected to the side wall of the positioning plate, and the electric telescopic rod is electrically connected to the touch screen intelligent controller.

Furthermore, the walking pedal includes a supporting plate fixedly connected to the side wall at the bottom and a flexible foot cover fixedly connected to the top of one end of the supporting plate, elastic retractable strips are fixedly connected to the outer walls on both sides of the flexible foot cover port, the ends of the elastic retractable strips are fixedly connected to the outer walls at the ports at both ends of the ankle strap, the ankle strap is suspended on the top surface of the end of the supporting plate, and a compression air bag is fixedly connected to the inner wall of the flexible foot cover.

Furthermore, a mounting groove is provided on the support plate inside the flexible foot cover, and the mounting groove extends to the outside of the flexible foot cover port and is arranged close to the ankle strap, and a supporting partition is fixedly connected between the inner walls at both ends of the mounting groove, and shaping rods are evenly and movably arranged on the bottom plate of the supporting partition, and the lower ends of the shaping rods extend into the positioning tube at the bottom of the supporting partition, and the lower ends of the positioning tubes are fixedly connected to the bottom plate of the mounting groove, and a mounting ring is fixedly sleeved on the outer wall of the shaping rod in the positioning tube, and the bottom of the mounting ring outside the shaping rod is evenly and fixedly connected with a spring rod, and the lower end of the spring rod is fixedly connected to the bottom plate of the mounting groove.

Furthermore, when the spring rod maintains a normal relaxed state, the mounting ring fits against the bottom of the supporting partition, the top end of the shaping rod extends to the outside of the mounting groove port, and a conductive layer is embedded in the supporting support plate at the bottom of the mounting groove, and a connecting port is provided at the bottom of the positioning tube corresponding to the conductive layer.

Furthermore, the shaping rod includes a hollow rod body that is movably arranged to penetrate the supporting partition and a massage protrusion fixedly connected to the outer wall of the top port of the hollow rod body. A conductive connecting seat is fixedly installed on the bottom plate of the hollow rod body. An infrared therapy lamp is fixedly connected to the top of the conductive connecting seat. A conductive touch rod is fixedly connected to the bottom of the conductive connecting seat. The lower end of the conductive touch rod extends through the outside of the hollow rod body, and the end thereof is suspended above the connecting port at the bottom of the positioning cylinder.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention proposes a lower limb walking assisting exoskeleton robot. The patient's leg length data is input on the touch screen intelligent controller. The touch screen intelligent controller controls the electric lifting rod to perform lifting and adjustment so that the arc-shaped guardrail is located at the patient's waist. The patient enters the arc-shaped guardrail and binds both legs to the walking leggings on both sides of the bottom of the arc-shaped guardrail in parallel. After the ends of the first connecting rope and the second connecting rope are passed under the patient's crotch, the ends of the first connecting rope and the second connecting rope are respectively passed through the spiral rod seats on the side walls at the top of the walking leggings on both sides of the arc-shaped guardrail. The first limiting ball at the end is clamped on the top of the spiral rod seat, and the woven mesh pad between the side walls of the first connecting lifting rope and the second connecting lifting rope supports the patient's buttocks, and the auxiliary binding rope and the second limiting ball on the outside of the first connecting lifting rope and the second connecting lifting rope are crossed and buckled with the spiral rod seats on both sides of the waist pad according to the above method. The auxiliary binding rope cooperates with the waist pad to bind the patient's waist. The patient walks and exercises with the support of the arc guardrail, the electric lifting rod and the moving wheels. When the patient is tired of exercise, he can immediately bend his lower limbs to sit on the woven mesh pad. The woven mesh pad carries the patient to sit and rest directly, which is convenient to use.

2. The present invention proposes a lower limb walking assisting exoskeleton robot. The patient enters the arc-shaped guardrail and places both legs side by side with the walking leggings on both sides of the bottom of the arc-shaped guardrail, and puts his feet into the walking pedals, with his thighs standing between the first connecting bar, the second connecting bar and the arc-shaped clamping ring. The touch screen intelligent controller is used to start the electric telescopic rod on the side wall of the positioning plate outside the first connecting bar and the second connecting bar. After the electric telescopic rod is extended, it pushes the limit plate away from the positioning plate. The limit plate uses the moving straight rod to pull the arc-shaped clamping rings at the upper and lower ends of the two-stage movable connecting rod close to the first connecting bar and the second connecting bar, and drives the arc-shaped clamping ring to buckle and lock the patient's thigh and calf with the first connecting bar and the second connecting bar respectively, so as to realize automatic binding of the patient's legs, which is convenient and quick.

3. The present invention proposes a lower limb walking assisting exoskeleton robot. The patient puts his foot into a flexible foot cover and steps toward the bottom plate of the mounting groove. The patient's heel is bound by an ankle strap. When the foot steps toward the bottom plate of the mounting groove, the shaping rod is pressed downward. The shaping rod located on the sole of the patient's foot moves toward the bottom of the supporting partition to compress the spring rod. The shaping rod on the outside of the patient's foot wraps and limits its side end. The compression air bag on the inner wall of the flexible foot cover squeezes the patient's instep, fully enhancing the fit between the patient's footsteps and the walking pedal. The walking pedal fully adapts to the feet of patients of different body shapes and enhances the stability of the patient's walking exercise. At the same time, when the patient steps on the shaping rod, the massage bump on the top of the shaping rod stimulates the sole of the patient's foot, and the conductive touch rod at the bottom of the shaping rod moves downward to contact the conductive layer in the supporting plate, and conducts electricity to the infrared therapy lamp on the top of the conductive connecting seat. The infrared therapy lamp emits far infrared rays and the blood circulation of the patient's feet, thereby enhancing the walking exercise effect on the patient's lower limbs.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of the present invention;

FIG2 is a schematic diagram of the auxiliary component installation structure of the present invention;

FIG3 is an enlarged structural schematic diagram of point A in FIG2 of the present invention;

FIG4 is a schematic diagram of the auxiliary component structure of the present invention;

FIG5 is a schematic diagram of the first limiting ball structure of the present invention;

Fig. 6 is a schematic structural diagram of a walking leggings member of the present invention;

FIG7 is a schematic diagram of the structure of the positioning binding member of the present invention;

FIG8 is a schematic diagram of the three-dimensional structure of the walking pedal of the present invention;

FIG9 is a cross-sectional view of a walking pedal of the present invention;

FIG10 is an enlarged structural schematic diagram of point B in FIG9 of the present invention;

FIG. 11 is a schematic diagram of the shaping rod structure of the present invention.

In the figure: 1. arc guardrail; 2. fixed part; 3. electric lifting rod; 4. supporting cross bar; 5. moving wheel; 6. auxiliary component; 61. waist pad; 62. spiral rod seat; 63. first connecting rope; 64. second connecting rope; 65. woven mesh pad; 66. first limiting ball; 661. hollow sphere; 662. L-shaped limiting rod; 663. limiting side plate; 664. elastic component; 665. positioning pull rope; 666. adsorption magnetic ball; 67. auxiliary binding rope; 68. second limiting ball; 7. mounting plate; 8. walking leggings; 81. movable shaft; 82. telescopic connector; 83. first connecting strip; 84. second connecting strip; 85. walking pedal; 851. supporting plate; 852. flexible foot cover; 8 53. Elastic telescopic strip; 854. Ankle strap; 855. Compression air bag; 856. Mounting slot; 857. Support partition; 858. Shaping rod; 8581. Hollow rod body; 8582. Massage bump; 8583. Conductive connecting seat; 8584. Infrared therapy lamp; 8585. Conductive touch rod; 859. Positioning cylinder; 8510. Mounting ring; 8511. Spring rod; 8512. Conductive layer; 86. Positioning plate; 87. Positioning binding; 871. Moving straight rod; 872. Arc clamp; 873. Two-stage movable connecting rod; 874. Return spring; 875. Positioning rod; 876. Limiting plate; 877. Electric telescopic rod; 9. Mounting seat; 10. Leverage handle; 11. Touch screen intelligent controller.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to Figures 1 and 2, a lower limb walking assist exoskeleton robot includes an arc-shaped guardrail 1 and a fixing portion 2 fixedly connected to the outer wall adjacent to the ends of both sides of the arc-shaped guardrail 1, an electric lifting rod 3 is fixedly connected to the bottom of the fixing portion 2, a supporting cross bar 4 is fixedly connected to the bottom of the electric lifting rod 3, and moving wheels 5 are fixedly connected to the bottoms of both ends of the supporting cross bar 4.

In order to solve the problem that the existing exoskeleton robot cannot provide help when the patient is tired from walking and exercising, which affects the patient's sitting down to rest, please refer to Figures 1 to 5 to provide the following preferred technical solutions:

An auxiliary component 6 is fixedly connected to the inner wall in the middle of the arc-shaped guardrail 1, and mounting plates 7 are fixedly connected to the inner walls adjacent to the ends of the arc-shaped guardrail 1 on both sides of the auxiliary component 6. Walking leggings 8 are movably provided on the outer walls of the mounting plates 7. A mounting seat 9 is fixedly connected to the top of the end of the arc-shaped guardrail 1 adjacent to the walking leggings 8, and a lever handle 10 is fixedly connected to the outer wall opposite to the mounting seat 9. The end of the lever handle 10 is suspended on the inner side of the arc-shaped guardrail 1, and a touch screen intelligent controller 11 is fixedly connected to the outer wall on the other side of the mounting seat 9, and the touch screen intelligent controller 11 is electrically connected to the electric lifting rod 3.

The auxiliary component 6 includes a waist pad 61 fixedly connected to the inner wall in the middle of the arc-shaped guardrail 1 and a spiral rod seat 62 fixedly connected to the side walls at both ends of the waist pad 61. The spiral rod seat 62 is also fixedly installed on the outer wall adjacent to the top of the walking leggings 8. The first connecting rope 63 and the second connecting rope 64 are fixedly connected to the two sides of the bottom of the waist pad 61 respectively. A woven mesh pad 65 is fixedly connected between the side walls in the middle of the first connecting rope 63 and the second connecting rope 64, and the ends of the first connecting rope 63 and the second connecting rope 64 are fixedly connected to the first limiting ball 66 respectively. Auxiliary binding ropes 67 are fixedly connected to the outer walls adjacent to the fixed ends of the first connecting rope 63 and the second connecting rope 64, and the ends of the auxiliary binding ropes 67 are fixedly connected to the second limiting ball 68.

The first limiting ball 66 includes a hollow sphere 661 fixedly connected to the ends of the first connecting hanging rope 63 and the second connecting hanging rope 64, and an L-shaped limiting rod 662 is movably provided on the side walls at both ends of the hollow sphere 661. The end of the L-shaped limiting rod 662 is a hook-type structure, and the end of the L-shaped limiting rod 662 extends to the inside of the hollow sphere 661, and its end is fixedly connected to the limiting side plate 663, and an elastic component 664 is wrapped around the outer wall of the L-shaped limiting rod 662 between the side wall of the limiting side plate 663 and the inner wall of the hollow sphere 661. A positioning pull rope 665 is fixedly connected to the outer wall of the limiting side plate 663 away from the L-shaped limiting rod 662, and the ends of the positioning pull rope 665 are fixedly connected to the side walls at both ends of the adsorption magnetic ball 666.

When the elastic component 664 maintains a normal relaxed state, the end of the L-shaped limit rod 662 is away from the outer wall of the hollow sphere 661. At this time, the adsorbed magnetic ball 666 is suspended at the center of the hollow sphere 661 through the positioning pull rope 665, and the L-shaped limit rod 662 is symmetrically arranged about the connection point between the hollow sphere 661 and the connecting rope. The structural composition of the first limit ball 66 is the same as the structural composition of the second limit ball 68.

Specifically, the patient's leg length data is input on the touch screen intelligent controller 11, and the touch screen intelligent controller 11 controls the electric lifting rod 3 to perform lifting and adjustment, so that the arc-shaped guardrail 1 is located at the patient's waist. The patient enters the arc-shaped guardrail 1, and binds both legs to the walking leggings 8 on both sides of the bottom of the arc-shaped guardrail 1 in parallel. After the ends of the first connecting rope 63 and the second connecting rope 64 are passed under the patient's crotch, the ends of the first connecting rope 63 and the second connecting rope 64 are respectively passed through the spiral rod seats 62 on the side walls at the top of the walking leggings 8 on both sides of the arc-shaped guardrail 1, so that the first limiting balls 66 at the ends thereof are clamped in the spiral rod seats 62. At the top of the rotating rod seat 62, the woven mesh pad 65 between the side walls of the first connecting hanging rope 63 and the second connecting hanging rope 64 supports the patient's buttocks, and the auxiliary binding rope 67 and the second limiting ball 68 on the outside of the first connecting hanging rope 63 and the second connecting hanging rope 64 are crossed and buckled with the spiral rod seat 62 on both sides of the waist pad 61 according to the above method. The auxiliary binding rope 67 cooperates with the waist pad 61 to bind the patient's waist. The patient walks and exercises with the support of the arc guardrail 1, the electric lifting rod 3 and the moving wheel 5. When the patient is tired of exercise, he can immediately bend his lower limbs to sit on the woven mesh pad 65. The woven mesh pad 65 carries the patient to sit and rest directly, which is convenient to use.

In order to solve the problem that the existing exoskeleton robot has a large number of leg fixing parts and the leg binding operation is troublesome, please refer to Figures 1 and 6-7 to provide the following preferred technical solutions:

The walking leggings 8 include a movable shaft 81 movably connected to the outer wall of the mounting plate 7 and a telescopic connecting head 82 fixedly connected to the end of the movable shaft 81, a spiral rod seat 62 is fixedly connected to the side wall adjacent to the top of the telescopic connecting head 82, and the lower end of the telescopic connecting head 82 is movably connected to a first connecting strip 83, the lower end of the first connecting strip 83 is movably connected to a second connecting strip 84, a walking pedal 85 is fixedly connected to the side wall at the bottom of the second connecting strip 84, and the first connecting strip 83 and the second connecting strip 84 are respectively fixedly connected to the outer wall on the side close to the end of the arc-shaped guardrail 1, and the same group of positioning bindings 87 are movably arranged on the side walls of the positioning plates 86 of the two.

The positioning tie 87 includes a movable straight rod 871 that movably passes through the first connecting strip 83 and the positioning plate 86 on the outer wall of the second connecting strip 84. The end of the movable straight rod 871 close to the inner side of the arc-shaped guardrail 1 is fixedly connected with an arc-shaped clamping ring 872. The other ends of the movable straight rod 871 on the side walls of the first connecting strip 83 and the second connecting strip 84 are movably passed through the upper and lower ends of the two-stage movable connecting rod 873 respectively, and the ends thereof are thickened to form a limit block that fits the side wall of the two-stage movable connecting rod 873, and a reset spring 874 is wound around the outer wall of the movable straight rod 871 between the two-stage movable connecting rod 873 and the side wall of the positioning plate 86.

A positioning rod 875 is fixedly connected to the side wall of the positioning plate 86 corresponding to the first connecting strip 83, and the end of the positioning rod 875 is fixedly connected to a limiting plate 876. An electric telescopic rod 877 is fixedly connected to the outer wall of the limiting plate 876 close to the positioning plate 86. After the end of the electric telescopic rod 877 passes through the side wall of the two-stage movable connecting rod 873, its end is fixedly connected to the side wall of the positioning plate 86, and the electric telescopic rod 877 is electrically connected to the touch screen intelligent controller 11.

Specifically, the patient enters the arc-shaped guardrail 1 and places his legs side by side with the walking leggings 8 on both sides of the bottom of the arc-shaped guardrail 1, and puts his feet into the walking pedals 85, with his thighs standing between the first connecting bar 83, the second connecting bar 84 and the arc-shaped clamping ring 872. The touch screen intelligent controller 11 is used to start the electric telescopic rod 877 on the side wall of the positioning plate 86 outside the first connecting bar 83 and the second connecting bar 84. After the electric telescopic rod 877 is extended, it pushes the limit plate 876 away from the positioning plate 86. The limit plate 876 uses the movable straight rod 871 to pull the arc-shaped clamping ring 872 at the upper and lower ends of the two-stage movable connecting rod 873 close to the first connecting bar 83 and the second connecting bar 84, and drives the arc-shaped clamping ring 872 to buckle and lock the patient's thigh and calf with the first connecting bar 83 and the second connecting bar 84 respectively, so as to realize automatic binding of the patient's legs, which is convenient and quick.

In order to make the walking pedal 85 fully adapt to the feet of patients of different body shapes and enhance the walking exercise stability of patients, as shown in FIG. 6 and FIG. 8 to FIG. 11 , the following preferred technical solutions are provided:

The walking pedal 85 includes a supporting plate 851 fixedly connected to the side wall at the bottom and a flexible foot cover 852 fixedly connected to the top of one end of the supporting plate 851, and elastic stretch strips 853 are fixedly connected to the outer walls on both sides of the port of the flexible foot cover 852, and the ends of the elastic stretch strips 853 are fixedly connected to the outer walls at the ports of both ends of the ankle strap 854. The ankle strap 854 is suspended on the top surface of the end of the supporting plate 851, and a compression air bag 855 is fixedly connected to the inner wall of the flexible foot cover 852.

A mounting groove 856 is provided on the support support plate 851 in the flexible foot cover 852, and the mounting groove 856 extends to the outside of the port of the flexible foot cover 852 and is arranged close to the ankle strap 854. A support partition 857 is fixedly connected between the inner walls at both ends of the mounting groove 856, and shaping rods 858 are evenly spaced and movably penetrated on the bottom plate of the support partition 857. The lower ends of the shaping rods 858 extend into the positioning tube 859 at the bottom of the support partition 857. The lower end of the positioning tube 859 is fixedly connected to the bottom plate of the mounting groove 856, and a mounting ring 8510 is fixedly sleeved on the outer wall of the shaping rod 858 in the positioning tube 859. The bottom of the mounting ring 8510 outside the shaping rod 858 is evenly fixedly connected with a spring rod 8511, and the lower end of the spring rod 8511 is fixedly connected to the bottom plate of the mounting groove 856.

When the spring rod 8511 maintains a normal relaxed state, the mounting ring 8510 is attached to the bottom of the supporting partition 857, the top of the shaping rod 858 extends to the outside of the mounting groove 856, and a conductive layer 8512 is embedded in the supporting support plate 851 at the bottom of the mounting groove 856, and a connecting port is provided at the bottom of the positioning cylinder 859 corresponding to the conductive layer 8512.

The shaping rod 858 includes a hollow rod body 8581 that is movably arranged to penetrate the supporting partition 857 and a massage protrusion 8582 that is fixedly connected to the outer wall of the top port of the hollow rod body 8581. A conductive connecting seat 8583 is fixedly installed on the bottom plate of the hollow rod body 8581. An infrared therapy lamp 8584 is fixedly connected to the top of the conductive connecting seat 8583. A conductive touch rod 8585 is fixedly connected to the bottom of the conductive connecting seat 8583. The lower end of the conductive touch rod 8585 extends through the outside of the hollow rod body 8581, and the end thereof is suspended above the connecting port at the bottom of the positioning cylinder 859.

Specifically, the patient puts his foot into the flexible foot cover 852 and steps on the bottom plate of the installation groove 856, and uses the ankle strap 854 to bind the patient's heel. When the foot steps on the bottom plate of the installation groove 856, the shaping rod 858 is pressed downward, and the shaping rod 858 located on the bottom of the patient's foot moves toward the bottom of the supporting partition 857 to compress the spring rod 8511, and the shaping rod 858 on the outside of the patient's foot wraps and limits the side end of the patient's foot. The compression air bag 855 on the inner wall of the flexible foot cover 852 squeezes the patient's instep, fully strengthening the patient's footsteps and the walking pedal 85 The walking pedal 85 is well-fitted to the feet of patients of different body shapes, and enhances the stability of patients' walking exercises. At the same time, when the patient steps on the shaping rod 858, the massage bump 8582 on the top stimulates the soles of the patients' feet. The conductive touch rod 8585 at the bottom of the shaping rod 858 moves downward to contact the conductive layer 8512 in the support plate 851, and conducts electricity to the infrared therapy lamp 8584 on the top of the conductive connecting seat 8583. The infrared therapy lamp 8584 emits far-infrared rays and the blood circulation of the patient's feet, thereby enhancing the walking exercise effect on the patient's lower limbs.

It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. A lower limb walking assisting exoskeleton robot, comprising an arc-shaped guardrail (1) and a fixing portion (2) fixedly connected to the outer wall adjacent to the ends of both sides of the arc-shaped guardrail (1), the bottom of the fixing portion (2) is fixedly connected to an electric lifting rod (3), the bottom of the electric lifting rod (3) is fixedly connected to a supporting cross bar (4), and the bottoms of both ends of the supporting cross bar (4) are respectively fixedly connected to moving wheels (5), characterized in that: an auxiliary component (6) is fixedly connected to the inner wall at the middle of the arc-shaped guardrail (1), and the ends of the arc-shaped guardrail (1) on both sides of the auxiliary component (6) are fixedly connected to the inner wall of the arc-shaped guardrail (1) A mounting plate (7) is fixedly connected to the inner wall at the adjacent position, a walking leggings (8) is movably arranged on the outer wall of the mounting plate (7), a mounting seat (9) is fixedly connected to the top of the end of the arc-shaped guardrail (1) adjacent to the walking leggings (8), a lever handle (10) is fixedly connected to the outer wall opposite to the mounting seat (9), the end of the lever handle (10) is suspended on the inner side of the arc-shaped guardrail (1), and a touch screen intelligent controller (11) is fixedly connected to the outer wall on the other side of the mounting seat (9), and the touch screen intelligent controller (11) is electrically connected to the electric lifting rod (3); The auxiliary component (6) comprises a waist pad (61) fixedly connected to the inner wall at the middle of the arc-shaped guardrail (1) and a spiral rod seat (62) fixedly connected to the side walls at both ends of the waist pad (61); the spiral rod seat (62) is also fixedly installed on the outer wall adjacent to the top of the walking leggings (8); the first connecting rope (63) and the second connecting rope (64) are fixedly connected to the two sides of the bottom of the waist pad (61); a woven mesh pad (65) is fixedly connected between the side walls at the middle of the first connecting rope (63) and the second connecting rope (64); and the ends of the first connecting rope (63) and the second connecting rope (64) are fixedly connected to the first limiting ball (66); the outer walls adjacent to the fixed ends of the first connecting rope (63) and the second connecting rope (64) are fixedly connected to the auxiliary binding rope (67); and the ends of the auxiliary binding rope (67) are fixedly connected to the second limiting ball (68); The walking leggings (8) comprise a movable shaft (81) movably connected to the outer wall of the mounting plate (7) and a telescopic connecting head (82) fixedly connected to the end of the movable shaft (81); a spiral rod seat (62) is fixedly connected to the side wall adjacent to the top of the telescopic connecting head (82); a first connecting strip (83) is movably connected to the lower end of the telescopic connecting head (82); a second connecting strip (84) is movably connected to the lower end of the first connecting strip (83); a walking pedal (85) is fixedly connected to the side wall at the bottom of the second connecting strip (84); and positioning plates (86) are respectively fixedly connected to the outer walls of the first connecting strip (83) and the second connecting strip (84) on the side near the end of the arc-shaped guardrail (1); and the same set of positioning binding pieces (87) are movably arranged on the side walls of the positioning plates (86) of the two; The positioning tie (87) comprises a movable straight rod (871) which movably passes through the positioning plate (86) on the outer wall of the first connecting strip (83) and the second connecting strip (84); the end of the movable straight rod (871) close to the inner side of the arc-shaped guardrail (1) is fixedly connected with an arc-shaped clamping ring (872); the other end of the movable straight rod (871) on the side wall of the first connecting strip (83) and the second connecting strip (84) movably passes through the upper and lower ends of the two-stage movable connecting rod (873), and the end thereof is thickened to form a limit block which fits the side wall of the two-stage movable connecting rod (873); and a return spring (874) is wound around the outer wall of the movable straight rod (871) between the two-stage movable connecting rod (873) and the side wall of the positioning plate (86). 2. A lower limb walking assisting exoskeleton robot as described in claim 1, characterized in that: the first limiting ball (66) includes a hollow sphere (661) fixedly connected to the ends of the first connecting rope (63) and the second connecting rope (64), and an L-shaped limiting rod (662) is movably provided on the side walls at both ends of the hollow sphere (661), and the end of the L-shaped limiting rod (662) is a hook-shaped structure, and the end of the L-shaped limiting rod (662) extends to the hollow sphere Inside the body (661), its end is fixedly connected to a limiting side plate (663), an elastic component (664) is wound around the outer wall of the L-shaped limiting rod (662) between the side wall of the limiting side plate (663) and the inner wall of the hollow sphere (661), and a positioning rope (665) is fixedly connected to the outer wall of the limiting side plate (663) away from the L-shaped limiting rod (662), and the ends of the positioning rope (665) are fixedly connected to the side walls at both ends of the adsorption magnetic ball (666). 3. A lower limb walking assisting exoskeleton robot as described in claim 2, characterized in that: when the elastic component (664) maintains a normal relaxation state, the end of the L-shaped limit rod (662) is away from the outer wall of the hollow sphere (661). At this time, the adsorbed magnetic ball (666) is suspended at the center of the hollow sphere (661) through the positioning pull rope (665), and the L-shaped limit rod (662) is symmetrically arranged about the connection point between the hollow sphere (661) and the connecting rope, and the structural composition of the first limit ball (66) is the same as the structural composition of the second limit ball (68). 4. A lower limb walking assisting exoskeleton robot as described in claim 1, characterized in that: a positioning rod (875) is fixedly connected to the side wall of the positioning plate (86) corresponding to the first connecting strip (83), the end of the positioning rod (875) is fixedly connected to a limiting plate (876), and an electric telescopic rod (877) is fixedly connected to the outer wall of the limiting plate (876) close to the positioning plate (86), and the end of the electric telescopic rod (877) passes through the side wall of the two-stage movable connecting rod (873), and its end is fixedly connected to the side wall of the positioning plate (86), and the electric telescopic rod (877) is electrically connected to the touch screen intelligent controller (11). 5. A lower limb walking assisting exoskeleton robot as described in claim 4, characterized in that: the walking pedal (85) includes a supporting plate (851) fixedly connected to the side wall at the bottom and a flexible foot cover (852) fixedly connected to the top of one end of the supporting plate (851), elastic retractable strips (853) are fixedly connected to the outer walls on both sides of the port of the flexible foot cover (852), the ends of the elastic retractable strips (853) are fixedly connected to the outer walls at the ports at both ends of the ankle strap (854), the ankle strap (854) is suspended on the top surface of the end of the supporting plate (851), and a compression air bag (855) is fixedly connected to the inner wall of the flexible foot cover (852). 6. A lower limb walking assisting exoskeleton robot as described in claim 5, characterized in that: a mounting groove (856) is provided on the support plate (851) in the flexible foot cover (852), the mounting groove (856) extends to the outside of the flexible foot cover (852) port and is arranged close to the ankle strap (854), a supporting partition (857) is fixedly connected between the inner walls at both ends of the mounting groove (856), and shaping rods (858) are evenly spaced and movably penetrated on the bottom plate of the supporting partition (857), and the shaping rods (858) are arranged on the bottom plate of the supporting partition (857). The lower ends of the shaping rods (858) extend into the positioning tube (859) at the bottom of the supporting partition (857), the lower end of the positioning tube (859) is fixedly connected to the bottom plate of the mounting groove (856), and a mounting ring (8510) is fixedly sleeved on the outer wall of the shaping rod (858) in the positioning tube (859), and a spring rod (8511) is evenly fixedly connected to the bottom of the mounting ring (8510) outside the shaping rod (858), and the lower end of the spring rod (8511) is fixedly connected to the bottom plate of the mounting groove (856). 7. A lower limb walking assisting exoskeleton robot as described in claim 6, characterized in that: when the spring rod (8511) maintains a normal relaxed state, the mounting ring (8510) is attached to the bottom of the supporting baffle (857), the top end of the shaping rod (858) extends to the outside of the mounting groove (856) port, and a conductive layer (8512) is embedded and installed in the supporting support plate (851) at the bottom of the mounting groove (856), and a connecting port is provided at the bottom of the positioning cylinder (859) corresponding to the conductive layer (8512). 8. A lower limb walking assisting exoskeleton robot as described in claim 7, characterized in that: the shaping rod (858) includes a hollow rod body (8581) movably penetrating the supporting partition (857) and a massage protrusion (8582) fixedly connected to the outer wall of the top port of the hollow rod body (8581), a conductive connecting seat (8583) is fixedly installed on the bottom plate of the hollow rod body (8581), an infrared therapy lamp (8584) is fixedly connected to the top of the conductive connecting seat (8583), a conductive touch rod (8585) is fixedly connected to the bottom of the conductive connecting seat (8583), the lower end of the conductive touch rod (8585) extends through the outside of the hollow rod body (8581), and the end thereof is suspended above the connecting port at the bottom of the positioning cylinder (859).