CN114681270A - Lower limb exoskeleton for paraplegic hemiplegic patients - Google Patents

Abstract

The invention relates to the technical field of lower extremity exoskeletons, and discloses a lower extremity exoskeleton for paraplegic hemiplegia patients, comprising: an upper outer plate and a rubber isolation sleeve, the outer wall of the upper outer plate is rotatably connected with a calf support plate, and the calf support The two sides of the plate are provided with installation openings, the outer wall of the upper outer plate is connected with an upper limit plate, and the inner wall of the upper outer plate is fitted with a buffer pad. The lower limb exoskeleton used for the paraplegic hemiplegia patient can use the upper outer plate, the lower leg support plate, the upper limit plate, the push frame, the connecting cylinder, the tripod, the protective plate, the rear protective plate, the first side plate and the second side plate to provide protection And support, the first motor and the second motor are used to provide thrust to drive the device to move, which is convenient to assist patients with paraplegia below the thigh or lower limb hemiplegia to move due to inconvenient legs. The volume is relatively small, which improves the flexibility of the device and facilitates storage and transportation. and maintenance, it can give patients a movement experience close to that of a normal person and optimize the use experience.

Description

A lower limb exoskeleton for paraplegic hemiplegia patients

technical field

The invention relates to the technical field of lower limb exoskeletons, in particular to a lower limb exoskeleton for paraplegic hemiplegia patients.

Background technique

Paraplegia, a type of paralysis, paraplegia caused by transverse lesions above cervical enlargement is high paraplegia, paraplegia caused by spinal cord injury below the third thoracic vertebra is paraplegia of both lower limbs, acute stage of spinal cord injury, bilateral limbs below the injured level Loss of sensation, movement, reflexes, etc., as well as loss of bladder and anal sphincter function, is spinal shock, hemiplegia, also known as hemiplegia, refers to the movement disorder of the upper and lower limbs, facial muscles and lower part of the tongue muscle on the same side, and is a common acute cerebrovascular disease. symptom.

Most of the patients with paraplegia below the thigh or hemiplegia of the lower extremity use wheelchairs to move because of the inconvenience of their legs. Most of the wheelchairs on the market are large and have low flexibility. Difference.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention provides a lower limb exoskeleton for paraplegic hemiplegia patients, which solves the problems mentioned in the above background.

The invention provides the following technical solutions: a lower limb exoskeleton for paraplegic hemiplegia patients, comprising: an upper outer plate and a rubber isolation sleeve, the outer wall of the upper outer plate is rotatably connected with a calf support plate, and both sides of the calf support plate penetrate through An installation opening is provided, an upper limit plate is connected to the outer wall of the upper outer plate, a buffer pad is attached to the inner wall of the upper outer plate, a push frame is provided on one side of the calf support plate, and the calf support plate is Both sides are integrally connected with a connecting cylinder, the outer wall of the connecting cylinder is movably sleeved with a tripod, the two sides of the calf support plate are respectively connected with a front protective plate and a rear protective plate, and the front protective plate and the rear protective plate are respectively connected. Relatively distributed, the inner wall of the calf support plate is respectively connected with a first side plate and a second side plate, and the first side plate and the second side plate are relatively distributed, the outer surface of the second side plate is connected with a gas cylinder bracket, An air cylinder is installed on the inner wall of the air cylinder bracket, a driven hydraulic cylinder is installed on the outer wall of the upper limit plate, a mounting bracket is connected to one side of the calf support plate, and the inner wall of the installation bracket is respectively installed with a first motor and a hydraulic cylinder. Active hydraulic cylinder, the output end of the first motor is fixedly connected with a first threaded rod through a coupling, the outer wall of the upper limit plate is rotatably connected with a connecting rod, and the end of the connecting rod away from the upper limit plate is connected to the upper outer plate The outer wall of the swivel connection.

Preferably, a motor mounting frame is fixedly connected to the outer wall of the lower leg support plate, a second motor is mounted on the inner wall of the motor mounting frame, and a second threaded rod is rotatably connected to the inner wall of the motor mounting frame, and the output end of the second motor is A gear is fixedly connected to one end of the second threaded rod, and the second motor is connected to the second threaded rod through the gear.

Preferably, the outer wall of the tripod is connected with a toothed ring, and the bottom of the tripod is fitted with a non-slip pad, and the outer wall of the toothed ring is engaged with the outer wall of the second threaded rod, and a buffer cotton is installed inside the connecting cylinder .

Preferably, a fixing block is fixedly connected to the outer wall of the lower leg support plate, and one side of the fixing block is fixedly connected to the output end of the driven hydraulic cylinder, and the outer wall of the lower leg support plate is provided with a sliding port, and the lower leg support plate passes through. The sliding port is slidably connected with the upper limit plate.

Preferably, a push rod is installed on the output end of the active hydraulic cylinder, and a threaded block is fixedly sleeved on the outer wall of the push rod, and a connecting block is fixedly connected to one side of the calf support plate, and one side of the connecting block is connected to the first One end of the threaded rod away from the first motor is rotatably connected, the inner wall of the threaded block is provided with a first internal thread, and the outer wall of the first threaded rod is provided with a first external thread, and the threaded block passes through the first internal thread and the first external thread It is threadedly connected with the first threaded rod, and the outer wall of the first threaded rod is movably sleeved with a compression spring, and one end of the compression spring is movably connected with the side of the threaded block away from the first motor, and the other end of the compression spring is connected with the first motor. One side of the connecting block close to the first threaded rod is movably connected.

Preferably, a first rubber air bag is installed on the inner surface of the front fender, the inner surface of the rear fender, the inner surface of the first side plate and the inner surface of the second side plate, and the inner wall of the buffer pad is installed with a first rubber airbag. The second rubber airbag is provided with an anti-cutting ring on the edge of the buffer pad.

Preferably, an air duct is installed on the outer wall of the buffer pad, one side of the front fender, one side of the rear fender, one side of the first side plate, one side of the second side plate and the output end of the air cylinder, Both the second rubber air bag and the air cylinder are communicated with the first rubber air bag through an air conduit, and a liquid conduit is installed between the active hydraulic cylinder and the slave hydraulic cylinder.

Preferably, a protective cylinder is movably sleeved on the outer wall of the compression spring, one end of the protective cylinder is fixedly connected to one side of the mounting bracket, and the other end of the protective cylinder is fixedly connected to one side of the connecting block, and the threaded block Located inside the protective cylinder, one side of the calf support plate is fixedly connected with an anti-collision plate, and the motor mounting frame, the second motor, the second threaded rod and the gear are all located between the anti-collision plate and the calf support plate.

Preferably, a piston rod is arranged inside the gas cylinder, and one end of the piston rod is connected with a piston, and the outer wall of the piston is slidably connected with the inner wall of the gas cylinder, and the end of the piston rod away from the piston is fixedly connected with a third threaded rod, and the third threaded rod is fixedly connected. One end of the three-threaded rod away from the piston rod is fixedly connected with a sliding rod, and one end of the sliding rod away from the third threaded rod is fixedly connected with a torsion block, and the outer wall of the torsion block is provided with anti-skid lines.

Preferably, a threaded cylinder is fixedly connected to one end of the gas cylinder close to the torsion block, the inner wall of the threaded cylinder is provided with a second internal thread, the outer wall of the third threaded rod is provided with a second external thread, and the threaded cylinder passes through the second thread. The inner thread and the second outer thread are threadedly connected with the third threaded rod, the inner wall of the gas cylinder bracket is rotatably connected to a limit cylinder, the outer wall of the sliding rod is provided with a limit bar, and the two ends of the limit cylinder are provided with limit holes. , and the shape and size of the limit hole and the shape and size of the sliding rod are matched with each other, and the inner wall of the limiting hole is slidably connected with the outer wall of the sliding rod, and the outer wall of the limiting cylinder is installed with a scroll spring, and the outer wall of the limiting cylinder is A mounting ring is provided, and one end of the scroll spring is fixedly connected with one side of the mounting ring, and the other end of the scroll spring is fixedly connected with the inner wall of the gas cylinder bracket, and the outer wall of the gas cylinder is installed with a first one-way valve, and the gas cylinder and the gas cylinder are fixedly connected. A second one-way valve is installed between the air conduits.

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

1. The lower limb exoskeleton for the paraplegic hemiplegia patient can use the upper outer plate, the lower leg support plate, the upper limit plate, the push frame, the connecting cylinder, the tripod, the protective plate, the rear protective plate, the first side plate and the second side plate Provide protection and support, use the first motor and the second motor to provide thrust to drive the movement of the device, which is convenient to assist the movement of patients with paraplegia below the thigh or hemiplegia due to inconvenient legs. The volume is relatively small, which improves the flexibility of the device and is convenient for storage. , transportation and maintenance, can give patients a moving experience close to normal people, and optimize the use experience.

2. The lower limb exoskeleton used by the paraplegic patient, through the set upper limit plate, tripod, driven hydraulic cylinder, mounting bracket, first motor, active hydraulic cylinder, first threaded rod, connecting rod, motor mounting frame, first The second motor, the second threaded rod, the gear and the gear ring can simulate the joint parts to control the rotation between the upper outer plate and the calf support plate and between the calf support plate and the tripod, respectively. The combination of hydraulic transmission and threaded transmission is convenient for improving the At the same time of thrust, it can achieve real-time limit, avoid sudden damage of the device and cause strain on the patient, and improve the safety and load-bearing performance of the device.

3. The lower limb exoskeleton for paraplegic hemiplegia patients, through the rubber isolation sleeve, buffer pad, first rubber air bag and second rubber air bag, can fill the first rubber air bag and the second rubber air bag with gas to the device and the human body. Filling the gaps between them improves comfort and fit, making it easier for the device to apply to patients of different sizes, and improving the scope of application. At the same time, the use of rubber isolation sleeves, the first rubber airbag and the second rubber airbag further increases the frictional force , which improves the stability of the device and prevents the device from falling off.

4. The paraplegic hemiplegia patient uses the lower extremity exoskeleton, through the set air cylinder, air tube, piston rod, piston, third threaded rod, sliding rod, torsion block, threaded cylinder, limit cylinder, limit bar, scroll spring, The first one-way valve and the second one-way valve can use the contraction of the piston inside the gas cylinder and the one-way conductivity of the first one-way valve and the second one-way valve to inflate the inside of the first rubber air bag and the second rubber air bag, and at the same time It is convenient for the third threaded rod to be squeezed by the shrinking trend of the scroll spring after the inflation of the first rubber air bag and the second rubber air bag is completed. The air pressure inside the first rubber air bag and the second rubber air bag is retracted to form a supplement.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the exploded structure schematic diagram of the present invention;

Fig. 3 is the structural schematic diagram of the position of the sliding rod of the present invention;

Fig. 4 is the schematic diagram of the explosion structure inside the gas cylinder of the present invention;

Figure 5 is a schematic diagram of the connection structure between the second threaded rod and the gear ring of the present invention

Fig. 6 is the schematic diagram of the explosion structure inside the tripod of the present invention;

7 is a schematic diagram of the connection structure of the slave hydraulic cylinder and the active hydraulic cylinder of the present invention;

8 is a schematic diagram of the external explosion structure of the first threaded rod of the present invention;

Fig. 9 is the structural schematic diagram of the position of the gas cylinder bracket of the present invention;

10 is a schematic diagram of the connection structure between the upper outer plate and the calf support plate of the present invention;

11 is a schematic diagram of the inner structure of the cushion pad of the present invention;

FIG. 12 is an enlarged view of part A in FIG. 1 of the present invention.

In the picture: 1. Upper outer plate; 2. Rubber isolation sleeve; 3. Calf support plate; 4. Installation port; 5. Upper limit plate; 6. Buffer pad; 7. Push frame; 8. Connecting cylinder; 9. Foot frame; 10, protective plate; 11, rear protective plate; 12, first side plate; 13, second side plate; 14, air cylinder bracket; 15, air cylinder; 16, driven hydraulic cylinder; 17, mounting bracket; 18, The first motor; 19, the active hydraulic cylinder; 20, the first threaded rod; 21, the connecting rod; 22, the motor mounting frame; 23, the second motor; 24, the second threaded rod; 25, the gear; 26, the gear ring; 27, anti-skid pad; 28, fixed block; 29, sliding port; 30, push rod; 31, threaded block; 32, connecting block; 33, compression spring; 34, first rubber air bag; 35, second rubber air bag; 36, anti-cut ring; 37, air guide; 38, guide tube; 39, protective cylinder; 40, bumper plate; 41, piston rod; 42, piston; 43, third threaded rod; 44, sliding rod; 45 , torsion block; 46, threaded cylinder; 47, limit cylinder; 48, limit bar; 49, scroll spring; 50, first check valve; 51, second check valve.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Figure 1-12, a lower extremity exoskeleton for paraplegic hemiplegia patients, including: an upper outer plate 1 and a rubber isolation sleeve 2, the outer wall of the upper outer plate 1 is rotatably connected with a calf support plate 3, both sides of the calf support plate 3 There is an installation opening 4 through the opening, the outer wall of the upper outer plate 1 is connected with an upper limit plate 5, the inner wall of the upper outer plate 1 is fitted with a buffer pad 6, one side of the calf support plate 3 is provided with a push frame 7, and the calf support plate 3 Both sides are integrally connected with a connecting cylinder 8, the outer wall of the connecting cylinder 8 is movably sleeved with a tripod 9, and the two sides of the calf support plate 3 are respectively connected with a front fender 10 and a rear fender 11, and the front fender 10 Distributed opposite to the rear fender 11, the inner wall of the calf support plate 3 is respectively connected with a first side plate 12 and a second side plate 13, and the first side plate 12 and the second side plate 13 are distributed relative to each other. An air cylinder bracket 14 is connected to the outer surface, an air cylinder 15 is installed on the inner wall of the air cylinder bracket 14, a driven hydraulic cylinder 16 is installed on the outer wall of the upper limit plate 5, a mounting bracket 17 is connected to one side of the calf support plate 3, and the inner wall of the installation bracket 17 is installed. A first motor 18 and an active hydraulic cylinder 19 are respectively installed, the output end of the first motor 18 is fixedly connected with a first threaded rod 20 through a coupling, and a connecting rod 21 is rotatably connected to the outer wall of the upper limit plate 5, and the connecting rod 21 The end away from the upper limit plate 5 is rotatably connected to the outer wall of the upper outer plate 1, and the upper outer plate 1, the lower leg support plate 3, the upper limit plate 5, the push frame 7, the connecting cylinder 8, the tripod 9, the protective plate 10, The rear protective plate 11, the first side plate 12 and the second side plate 13 provide protection and support, and the first motor 18 and the second motor 23 are used to provide thrust to drive the movement of the device, which is convenient for assisting patients with paraplegia below the thigh or hemiplegia due to leg inconvenience. It is relatively small in size, which improves the flexibility of the device, facilitates storage, transportation and maintenance, can give patients a moving experience close to normal people, and optimize the use experience.

Wherein; the outer wall of the calf support plate 3 is fixedly connected with a motor mounting frame 22, and the inner wall of the motor mounting frame 22 is mounted with a second motor 23, and the inner wall of the motor mounting frame 22 is rotatably connected with a second threaded rod 24, and the second motor The output end of 23 and one end of the second threaded rod 24 are fixedly connected with a gear 25, and the second motor 23 is connected to the second threaded rod 24 through the gear 25. Hydraulic cylinder 16, mounting bracket 17, first motor 18, active hydraulic cylinder 19, first threaded rod 20, connecting rod 21, motor mounting frame 22, second motor 23, second threaded rod 24, gear 25 and gear ring 26 , can simulate the joint part to control the rotation between the upper outer plate 1 and the calf support plate 3, and use the combination of hydraulic transmission and thread transmission, which is convenient to increase the thrust and can achieve real-time limit.

Wherein; the outer wall of the tripod 9 is connected with a toothed ring 26, and the bottom of the tripod 9 is fitted with a non-slip pad 27, and the outer wall of the toothed ring 26 is meshed with the outer wall of the second threaded rod 24, and the interior of the connecting cylinder 8 is installed with Cushioned cotton, so as to control the rotation of the tripod 9.

Among them; the outer wall of the calf support plate 3 is fixedly connected with a fixed block 28, and one side of the fixed block 28 is fixedly connected with the output end of the driven hydraulic cylinder 16, and the outer wall of the calf support plate 3 is provided with a sliding port 29, and the calf supports The support plate 3 is slidably connected to the upper limit plate 5 through the sliding port 29 , so that the upper limit plate 5 moves on the edge of the calf support plate 3 .

Among them; the output end of the active hydraulic cylinder 19 is installed with a push rod 30, and the outer wall of the push rod 30 is fixedly sleeved with a threaded block 31, and one side of the calf support plate 3 is fixedly connected with a connecting block 32, and one of the connecting blocks 32 is connected. The side is rotatably connected to the end of the first threaded rod 20 away from the first motor 18, and the inner wall of the threaded block 31 is provided with a first internal thread, and the outer wall of the first threaded rod 20 is provided with a first external thread, and the threaded block 31 passes through The first inner thread and the first outer thread are threadedly connected with the first threaded rod 20, and the outer wall of the first threaded rod 20 is movably sleeved with a compression spring 33, and one end of the compression spring 33 and the threaded block 31 are far away from the first motor One side of the 18 is movably connected, and the other end of the compression spring 33 is movably connected with the side of the connecting block 32 close to the first threaded rod 20, so as to convert the kinetic energy of the rotation of the first motor 18 into the driving force of the active hydraulic cylinder 19 .

Wherein; the inner surface of the front fender 10, the inner surface of the rear fender 11, the inner surface of the first side plate 12 and the inner surface of the second side plate 13 are all installed with the first rubber airbag 34, and the inner wall of the buffer pad 6 is installed There is a second rubber air bag 35, and the edge of the buffer pad 6 is provided with an anti-cut ring 36. The rubber isolation sleeve 2, the buffer pad 6, the first rubber air bag 34 and the second rubber air bag 35 can pass through to the first rubber air bag. The airbag 34 and the second rubber airbag 35 are filled with gas to fill the gap between the device and the human body, which improves comfort and fit, facilitates the device to be suitable for patients of different sizes, and improves the scope of application. , The first rubber air bag 34 and the second rubber air bag 35 further increase the friction force, improve the stability of the device, and prevent the device from falling off.

Among them; the outer wall of the buffer pad 6, one side of the front fender 10, one side of the rear fender 11, one side of the first side plate 12, one side of the second side plate 13 and the output end of the gas cylinder 15 are all installed with The air tube 37, the second rubber air bag 35 and the air cylinder 15 are all communicated with the first rubber air bag 34 through the air tube 37, and a liquid tube 38 is installed between the active hydraulic cylinder 19 and the slave hydraulic cylinder 16, so as to facilitate the use of the air tube 37 transmits gas, and transmits transmission fluid by means of conduit 38.

Wherein; the outer wall of the compression spring 33 is movably sleeved with a protective cylinder 39, and one end of the protective cylinder 39 is fixedly connected to one side of the mounting bracket 17, and the other end of the protective cylinder 39 is fixedly connected to one side of the connecting block 32. The block 31 is located inside the protective cylinder 39, the side of the calf support plate 3 is fixedly connected with a bumper plate 40, and the motor mounting frame 22, the second motor 23, the second threaded rod 24 and the gear 25 are located on the bumper plate 40 and the lower leg. between the support plates 3, so that the first threaded rod 20 and the second threaded rod 24 can be protected by the protective cylinder 39 and the anti-collision plate 40, respectively.

A piston rod 41 is provided inside the gas cylinder 15, and one end of the piston rod 41 is connected with a piston 42, and the outer wall of the piston 42 is slidably connected with the inner wall of the gas cylinder 15, and the end of the piston rod 41 away from the piston 42 is fixedly connected with a third The threaded rod 43, and the end of the third threaded rod 43 away from the piston rod 41 is fixedly connected with a sliding rod 44, and the end of the sliding rod 44 away from the third threaded rod 43 is fixedly connected with a torsion block 45, and the outer wall of the torsion block 45 is provided with The anti-slip pattern is used to improve the control of the piston 42 to pump gas inside the gas cylinder 15 by twisting the torsion block 45 .

One end of the air cylinder 15 close to the torsion block 45 is fixedly connected with a threaded cylinder 46, and the inner wall of the threaded cylinder 46 is provided with a second internal thread, the outer wall of the third threaded rod 43 is provided with a second external thread, and the threaded cylinder 46 passes through the first thread. The second inner thread and the second outer thread are threadedly connected with the third threaded rod 43 , the inner wall of the gas cylinder bracket 14 is rotatably connected to the limiting cylinder 47 , the outer wall of the sliding rod 44 is provided with a limiting strip 48 , and the two ends of the limiting cylinder 47 penetrate through. There is a limit hole, and the shape and size of the limit hole and the shape and size of the sliding rod 44 are matched with each other, and the inner wall of the limiting hole is slidably connected with the outer wall of the sliding rod 44, and the outer wall of the limiting cylinder 47 is installed with a scroll spring 49 , and the outer wall of the limiting cylinder 47 is provided with a mounting ring, and one end of the scroll spring 49 is fixedly connected to one side of the mounting ring, and the other end of the scroll spring 49 is fixedly connected to the inner wall of the gas cylinder bracket 14, and the gas cylinder 15 is fixedly connected. A first one-way valve 50 is installed on the outer wall, and a second one-way valve 51 is installed between the air cylinder 15 and the air guide pipe 37. The air cylinder 15, the air guide pipe 37, the piston rod 41, the piston 42, and the third threaded rod 43 , sliding rod 44, torsion block 45, threaded barrel 46, limit barrel 47, limit bar 48, scroll spring 49, first one-way valve 50 and second one-way valve 51, the piston 42 can be used inside the gas cylinder 15 The contraction and the one-way conductivity of the first one-way valve 50 and the second one-way valve 51 inflate the inside of the first rubber air bag 34 and the second rubber air bag 35, and at the same time facilitate the inside of the first rubber air bag 34 and the second rubber air bag 35. After the inflation is completed, the third threaded rod 43 is squeezed by the shrinking tendency of the scroll spring 49 to ensure that the gas inside the first rubber air bag 34 and the second rubber air bag 35 is kept full. The internal air pressure of the second rubber air bag 35 is supplemented.

Working principle, when wearing, first put the rubber isolation sleeve 2 on the thigh, then put the paraplegic leg into the device, step the sole on the tripod 9, twist the torsion block 45, and the torsion block 45 drives the piston rod 41, The piston 42, the third threaded rod 43 and the sliding rod 44 rotate synchronously. Due to the guiding position of the internal thread of the threaded barrel 46 to the third threaded rod 43, the piston 42 will be driven to slide outwards. When the piston 42 slides outwards, the first one-way The valve 50 is opened, the second one-way valve 51 is closed, and the gas is sucked into the gas cylinder 15 from the outside. At the same time, when the sliding rod 44 rotates, the limit cylinder 47 is rotated on the inner wall of the gas cylinder bracket 14, and the limit cylinder 47 rotates. It will drive the scroll spring. 49 contracts and stores energy. When the piston 42 slides to the end of the position, the torsion block 45 is released, and the contracted scroll spring 49 will reset. When the scroll spring 49 is reset, it drives the limit cylinder 47 to rotate in the reverse direction, and the limit cylinder 47 reverses. When rotating, the sliding rod 44 will be driven to rotate synchronously, the internal thread of the threaded barrel 46 guides the third threaded rod 43, the piston 42 will be driven to slide inward, when the piston 42 slides inward, the first one-way valve 50 is closed, and the second one-way valve 50 is closed. The one-way valve 51 is opened, and the gas in the air cylinder 15 will be pushed into the first rubber air bag 34 and the second rubber air bag 35 through the air tube 37. Frequently the above actions will gradually cause the gas inside the first rubber air bag 34 and the second rubber air bag 35 to gradually increase. Filled and expanded to fit the human body. After the gas inside the first rubber air bag 34 and the second rubber air bag 35 is gradually filled and expanded, twist the torsion block 45 once to make the air pressure inside and outside the air cylinder 15 balance and retain some gas inside, using the scroll spring The tendency of shrinkage of 49 squeezes the third threaded rod 43 to ensure that the gas inside the first rubber airbag 34 and the second rubber airbag 35 is kept full, and supplements the internal air pressure of the first rubber airbag 34 and the second rubber airbag 35 after the cold shrinkage is confirmed. , When in use, the forward and reverse rotation of the first motor 18 will drive the first threaded rod 20 to rotate forward and reverse, and the forward and reverse rotation of the first threaded rod 20 will drive the threaded block 31 to move, thereby driving the push rod 30 to expand and contract, thereby controlling the active hydraulic cylinder. 19 The flow direction of the internal liquid, so as to control the expansion and contraction of the slave hydraulic cylinder 16. When the slave hydraulic cylinder 16 is stretched, it will push the upper limit plate 5 to move away from the fixed block 28, and the upper limit plate 5 pushes the upper outer plate 1 and the calf through the connecting rod 21. The expansion between the support plates 3 controls the expansion of the knee joint. When the driven hydraulic cylinder 16 contracts, it will push the upper limit plate 5 to move close to the fixed block 28. The upper limit plate 5 pulls the upper outer plate 1 and the calf support plate 3 through the connecting rod 21. closed, the knee joint is controlled to close, the forward and reverse rotation of the second motor 23 will drive the second threaded rod 24 to rotate synchronously and reversely through the gear 25, and when the second threaded rod 24 rotates, it will drive the tripod through the meshing gear ring 26. 9 to rotate, so as to use the tripod 9 to drive the ankle joint to move.

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

Claims (10)

1. A lower limb exoskeleton for paraplegic hemiplegic patients, comprising: the outer wall of the upper outer plate (1) is rotatably connected with a shank support plate (3), mounting openings (4) are formed in two sides of the shank support plate (3) in a penetrating mode, an upper limiting plate (5) is connected to the outer wall of the upper outer plate (1), a cushion pad (6) is attached to the inner wall of the upper outer plate (1), a push frame (7) is arranged on one side of the shank support plate (3), connecting cylinders (8) are integrally connected to two sides of the shank support plate (3), a foot rest (9) is movably sleeved on the outer wall of each connecting cylinder (8), a front protection plate (10) and a rear protection plate (11) are respectively connected to two sides of the shank support plate (3), the front protection plate (10) and the rear protection plate (11) are distributed oppositely, a first side plate (12) and a second side plate (13) are respectively connected to the inner wall of the shank support plate (3), and first curb plate (12) and second curb plate (13) relative distribution, the surface of second curb plate (13) is connected with inflator support (14), inflator (15) are installed to the inner wall of inflator support (14), driven hydraulic cylinder (16) are installed to the outer wall of spacing board (5) on, one side of shank extension board (3) is connected with installing support (17), first motor (18) and initiative pneumatic cylinder (19) are installed respectively to the inner wall of installing support (17), the output of first motor (18) passes through first threaded rod (20) of shaft coupling fixedly connected with, the outer wall of spacing board (5) rotates and is connected with connecting rod (21) on, and connecting rod (21) keep away from the one end of spacing board (5) and the outer wall rotation of last planking (1) and be connected.

2. The lower limb exoskeleton of the paraplegia hemiplegic patient as claimed in claim 1, wherein a motor mounting rack (22) is fixedly connected to an outer wall of the lower leg support plate (3), a second motor (23) is mounted on an inner wall of the motor mounting rack (22), a second threaded rod (24) is rotatably connected to an inner wall of the motor mounting rack (22), a gear (25) is fixedly connected to both an output end of the second motor (23) and one end of the second threaded rod (24), and the second motor (23) is in transmission connection with the second threaded rod (24) through the gear (25).

3. The lower limb exoskeleton of paraplegia and hemiplegia patients as claimed in claim 2, wherein the outer wall of the foot rest (9) is connected with a toothed ring (26), the bottom of the foot rest (9) is attached with a non-slip mat (27), the outer wall of the toothed ring (26) is meshed with the outer wall of the second threaded rod (24) and the connecting cylinder (8) is internally provided with buffering cotton.

4. The lower limb exoskeleton of paraplegia and hemiplegia patients as claimed in claim 1, wherein the outer wall of the shank support plate (3) is fixedly connected with a fixing block (28), one side of the fixing block (28) is fixedly connected with the output end of the driven hydraulic cylinder (16), the outer wall of the shank support plate (3) is provided with a sliding opening (29) in a penetrating manner, and the shank support plate (3) is connected with the upper limiting plate (5) in a sliding manner through the sliding opening (29).

5. The lower limb exoskeleton of paraplegia hemiplegic patients according to claim 1, wherein a push rod (30) is installed at the output end of the active hydraulic cylinder (19), a thread block (31) is fixedly sleeved on the outer wall of the push rod (30), a connecting block (32) is fixedly connected to one side of the shank support plate (3), one side of the connecting block (32) is rotatably connected with one end of the first threaded rod (20) far away from the first motor (18), a first internal thread is arranged on the inner wall of the thread block (31), a first external thread is arranged on the outer wall of the first threaded rod (20), the thread block (31) is in threaded connection with the first threaded rod (20) through the first internal thread and the first external thread, a compression spring (33) is movably sleeved on the outer wall of the first threaded rod (20), and one end of the compression spring (33) is movably connected with one side of the thread block (31) far away from the first motor (18), and the other end of the compression spring (33) is movably connected with one side of the connecting block (32) close to the first threaded rod (20).

6. The lower limb exoskeleton of the paraplegic and hemiplegic patient as claimed in claim 1, wherein a first rubber air bag (34) is installed on the inner surface of the front protection plate (10), the inner surface of the rear protection plate (11), the inner surface of the first side plate (12) and the inner surface of the second side plate (13), a second rubber air bag (35) is installed on the inner wall of the cushion pad (6), and an anti-cutting ring (36) is arranged on the edge of the cushion pad (6).

7. The lower limb exoskeleton of the paraplegia and hemiplegia patient as claimed in claim 6, wherein the outer wall of the cushion pad (6), one side of the front protection plate (10), one side of the rear protection plate (11), one side of the first side plate (12), one side of the second side plate (13) and the output end of the air cylinder (15) are respectively provided with an air duct (37), the second rubber air bag (35) and the air cylinder (15) are respectively communicated with the first rubber air bag (34) through the air duct (37), and a liquid guide tube (38) is arranged between the driving hydraulic cylinder (19) and the driven hydraulic cylinder (16).

8. The lower limb exoskeleton of paraplegic hemiplegic patients as claimed in claims 2 and 5, wherein a protective cylinder (39) is movably sleeved on the outer wall of the compression spring (33), one end of the protective cylinder (39) is fixedly connected with one side of the mounting bracket (17), the other end of the protective cylinder (39) is fixedly connected with one side of the connecting block (32), the thread block (31) is located inside the protective cylinder (39), an anti-collision plate (40) is fixedly connected with one side of the shank support plate (3), and the motor mounting frame (22), the second motor (23), the second threaded rod (24) and the gear (25) are all located between the anti-collision plate (40) and the shank support plate (3).

9. The lower limb exoskeleton of paraplegia and hemiplegia patients as claimed in claim 1, wherein a piston rod (41) is arranged inside the air cylinder (15), a piston (42) is connected to one end of the piston rod (41), the outer wall of the piston (42) is slidably connected to the inner wall of the air cylinder (15), a third threaded rod (43) is fixedly connected to one end of the piston rod (41) far away from the piston (42), a sliding rod (44) is fixedly connected to one end of the third threaded rod (43) far away from the piston rod (41), a torsion block (45) is fixedly connected to one end of the sliding rod (44) far away from the third threaded rod (43), and anti-skid patterns are arranged on the outer wall of the torsion block (45).

10. The lower limb exoskeleton of the paraplegic hemiplegic patient as claimed in claim 9, wherein one end of the air cylinder (15) close to the torsion block (45) is fixedly connected with a threaded cylinder (46), the inner wall of the threaded cylinder (46) is provided with a second internal thread, the outer wall of the third threaded rod (43) is provided with a second external thread, the threaded cylinder (46) is in threaded connection with the third threaded rod (43) through the second internal thread and the second external thread, the inner wall of the air cylinder bracket (14) is rotatably connected with a limiting cylinder (47), the outer wall of the sliding rod (44) is provided with a limiting strip (48), two ends of the limiting cylinder (47) are provided with limiting holes in a penetrating manner, the size of the limiting holes and the size of the sliding rod (44) are matched with each other, the inner wall of the limiting holes is in sliding connection with the outer wall of the sliding rod (44), and the outer wall of the limiting cylinder (47) is provided with a volute spring (49), and the outer wall of the limiting cylinder (47) is provided with a mounting ring, one end of a spiral spring (49) is fixedly connected with one side of the mounting ring, the other end of the spiral spring (49) is fixedly connected with the inner wall of the air cylinder bracket (14), the outer wall of the air cylinder (15) is provided with a first one-way valve (50), and a second one-way valve (51) is arranged between the air cylinder (15) and the air guide pipe (37).

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