CN223095787U - An anti-tilt hanger for power-assisted exoskeleton - Google Patents

Abstract

The utility model provides an anti-tilting hanging bracket for a power-assisted exoskeleton, which comprises a chassis, a vertical guide rail frame arranged on the chassis and a handrail device slidably arranged on the vertical guide rail frame, wherein the handrail device is used for installing the power-assisted exoskeleton, a pedal mechanism is detachably arranged on the chassis and used for supporting a patient in a state of switching from a sitting posture to a standing posture, and the patient steps on a pedal to assist in standing of the power-assisted exoskeleton, so that the weight of the patient and the power-assisted exoskeleton are transferred to the hanging bracket, the pressure of the hanging bracket on the ground is increased, the stable moment of the hanging bracket can be improved without additional weight increment of the hanging bracket, and the hanging bracket is prevented from turning backwards under the action of the power-assisted exoskeleton.

Description

Anti-tilting hanging bracket for power-assisted exoskeleton

Technical Field

The utility model belongs to the technical field of lower limb exoskeleton rehabilitation devices, and particularly relates to an anti-tilting hanging bracket for a power-assisted exoskeleton.

Background

The power assisting exoskeleton is a device which is worn on the lower limbs of a human body to assist the lower limbs of the human body to perform rehabilitation exercise. Because the power-assisted exoskeleton has power, the power-assisted exoskeleton can assist a patient in switching from a sitting posture state to a standing posture state and assist the patient in walking and exercising. However, in the process of assisting the patient in converting from sitting to standing, the assisting exoskeleton still needs to provide partial supporting force for the patient to keep the gravity center balance, and cannot be suitable for standing of the patient with insufficient supporting force. In order to ensure stability of the patient with insufficient support force during posture switching, additional personnel and/or equipment are often required for auxiliary support. At present, a hanger connected with the power-assisted exoskeleton is mainly arranged, so that when a patient stepping on the ground gets up under the action of the power-assisted exoskeleton, the hanger can be used for guiding and stabilizing the gravity center when getting up. However, when the assisting exoskeleton assists the patient to rise, the acting force applied by the assisting exoskeleton to the hanging frame can form a overturning moment for overturning the hanging frame backwards, so that the hanging frame needs to have a certain weight to avoid that the overturning moment formed by the assisting exoskeleton is larger than a stabilizing moment formed by the self weight of the hanging frame. However, the weight of the hanger increases, which not only increases the cost of the hanger, but also increases the difficulty of handling and transferring the hanger. Therefore, how to provide a lightweight anti-tilting hanger for a power-assisted exoskeleton is a technical problem to be solved in the application.

Disclosure of utility model

In view of the above-mentioned drawbacks of the prior art, the present utility model aims to provide an anti-tilting hanger for a power-assisted exoskeleton, which does not need to increase the weight of the hanger, and only needs to rest a pedal mechanism for a patient to tread on a chassis of the hanger, so as to increase the pressure of the hanger on the ground by using the dead weight of the patient and the weight of the power-assisted exoskeleton, and can avoid the hanger from turning backwards under the action of the power-assisted exoskeleton.

In order to achieve the above and other related objects, the utility model provides an anti-tilting hanger for a power-assisted exoskeleton, which comprises a chassis, a vertical guide rail frame arranged on the chassis and a handrail device slidably arranged on the vertical guide rail frame, wherein the handrail device is used for installing the power-assisted exoskeleton, a pedal mechanism is detachably arranged on the chassis and used for supporting a patient who is switched from a sitting posture to a standing posture, and the patient steps on the pedal mechanism to assist in lifting the power-assisted exoskeleton, so that the weight of the patient and the power-assisted exoskeleton are transferred to the hanger, the pressure of the hanger on the ground is increased, the stable moment of the hanger can be improved without additional weight increment of the hanger, and the hanger is prevented from turning backwards under the action of the power-assisted exoskeleton.

Preferably, the anti-tilting hanging frame for the power-assisted exoskeleton comprises a position locking mechanism, wherein the position locking mechanism is used for locking the height position of the armrest device, so that when the power-assisted exoskeleton assists a patient to exercise and walk, the anti-tilting hanging frame can reduce the weight of the patient wearing the power-assisted exoskeleton, and the burden of the patient when the patient exercises and walks is reduced.

Preferably, the armrest device comprises a fixed plate, a left force arm and a right force arm which are arranged on the fixed plate in a sliding manner, and a spacing adjusting mechanism for adjusting the spacing between the left force arm and the right force arm so as to meet the use requirements of patients with different widths.

The device comprises a fixed plate, a left sliding plate, a right sliding plate, a distance adjusting mechanism, a left force arm, a right force arm, spring supporting seats, a vertical spring, a left force arm, a right force arm, a spring supporting seat and a vertical spring, wherein the left sliding plate and the right sliding plate are horizontally arranged on the fixed plate in a sliding mode, the distance adjusting mechanism is used for adjusting the distance between the left sliding plate and the right sliding plate, the left force arm is vertically arranged on the left sliding plate in a sliding mode, the right force arm is vertically arranged on the right sliding plate in a sliding mode, the spring supporting seats are arranged on the sliding plates and are lower than the force arms on the corresponding sliding plates, and the vertical springs are arranged between the spring supporting seats and the force arms on the corresponding sliding plates in a coupling mode, so that the left force arm and the right force arm are convenient.

Preferably, the interval adjusting mechanism is a synchronous adjusting mechanism, and the synchronous adjusting mechanism is used for realizing synchronous approaching or synchronous separating of the left sliding plate and the right sliding plate, so that the adjusting difficulty is reduced.

The synchronous adjusting mechanism comprises a positive and negative lead screw rotatably arranged on the fixed plate, and the left sliding plate and the right sliding plate are respectively in threaded connection with the two ends of the positive and negative lead screw, so that synchronous approaching or synchronous separating of the left sliding plate and the right sliding plate can be realized only by enabling the positive and negative lead screw to rotate.

The two vertical guide rail frames are arranged at intervals along the left-right direction, movable seats are slidably arranged on each vertical guide rail frame, and the left sliding plate and the right sliding plate are respectively connected with the two movable seats so as to conveniently adjust the width of the whole hanging frame, thereby being convenient for reducing the storage space and the entering and exiting of a narrow elevator.

Preferably, the bottom of the chassis is provided with casters with brakes so that the cradle can follow the patient.

The foot pedal mechanism is hinged to the chassis, one end of the foot pedal mechanism is hinged to the chassis, the other end of the foot pedal mechanism is arranged on the chassis, and therefore when a patient needs to step on the foot pedal mechanism to assist in lifting of the power-assisted exoskeleton, the patient only needs to rotate the foot pedal mechanism to enable the free end of the foot pedal mechanism to be arranged on the chassis, and when the patient finishes assisting lifting, and the patient moves backwards to be separated from the foot pedal mechanism, the patient can exercise and walk only by turning over the free end of the foot pedal mechanism away from the chassis.

Preferably, the pedal mechanism is a pedal, a round pipe or a square pipe, and the user can select the pedal mechanism according to actual conditions.

As described above, the anti-tilting hanger for the power-assisted exoskeleton has the following beneficial effects:

The anti-tilting hanging bracket for the power-assisted exoskeleton provided by the utility model has the advantages that the self weight of the hanging bracket is not required to be increased, and the stable moment of the hanging bracket when a patient is up can be increased only by configuring the pedal mechanism for the patient to tread, so that the hanging bracket is prevented from being turned backwards under the action of the power-assisted exoskeleton, and the standing safety of the patient is ensured. Meanwhile, the hanger is lighter in weight, so that the cost of the hanger is greatly reduced.

Drawings

FIG. 1 is a force diagram of an existing hanger when a power assisted exoskeleton power assisted patient is standing up.

Fig. 2 is a perspective view of an anti-roll hanger for a power-assisted exoskeleton of the present utility model.

Fig. 3 is a front view of the tilting prevention hanger for the power-assisted exoskeleton of the present utility model.

Fig. 4 is a schematic view showing an internal structure of the armrest apparatus according to the present utility model.

Fig. 5 is a schematic structural diagram of a synchronous adjusting mechanism in an embodiment.

Fig. 6 is a schematic structural diagram of a synchronous adjusting mechanism in another embodiment.

Description of the reference numerals

Chassis 1, caster 1a, vertical guide rail frame 2, movable seat 3, armrest mechanism 4, fixed plate 41, left slide plate 42a, right slide plate 42b, spring support 421, forward and reverse lead screw 431, intermediate gear 432, first rack 433a, second rack 433b, intermediate rotating lever 434, first push rod 435a, second push rod 435b, left arm 44a, right arm 44b, vertical spring 45, pedal mechanism 5, and stopper 6.

Detailed Description

Further advantages and effects of the present utility model will become apparent to those skilled in the art from the disclosure of the present utility model, which is described by the following specific examples.

Please refer to fig. 1 to 6. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the utility model to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the utility model, are not intended to be critical to the essential characteristics of the utility model, but are intended to fall within the spirit and scope of the utility model. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the utility model, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the utility model may be practiced.

At present, the assisting exoskeleton still needs to provide partial supporting force for the patient to keep the gravity center balance when assisting the patient to lift, and for patients with insufficient supporting force, an additional hanging frame is usually needed for assisting the support. At present, in the process of assisting in rising of the power-assisted exoskeleton, feet of a patient are always in contact with the ground, so that the patient and the power-assisted exoskeleton are supported by the ground. However, as can be seen from fig. 1, when the power-assisted exoskeleton is lifted, an acting force F is applied to the hanger, under the action of the acting force F, the hanger has a tendency to turn backwards, and a turning moment M _F＝F×L_F, wherein L _F is a moment arm from a support point at the bottom rear end of the hanger to the acting force F, a stabilizing moment M _G＝G×L_G is formed by the self-weight G of the hanger, wherein L _G is a moment arm from a support point at the bottom rear end of the hanger to the gravity G of the hanger, and if the stability of the hanger during the patient lifting is to be ensured, the condition that the stabilizing moment M _G is greater than the turning moment M _F must be satisfied. In other words, the hanger must be greatly weighted, which increases the cost of the hanger and is disadvantageous in meeting the cost reduction requirement of the hanger.

In the following embodiments, for convenience of description, the front-back direction of a patient after the patient is on-machine (namely, the power-assisted exoskeleton on the power-assisted exoskeleton is worn) is defined as the front-back direction, the left-right direction of the patient after the patient is on-machine is defined as the left-right direction, and the height direction of the patient after the patient is on-machine is defined as the up-down direction. In the view of fig. 3, the left and right sides of the paper surface are the right and left directions, the upper and lower sides of the paper surface are the upper and lower directions, and the inner and outer sides of the paper surface are the rear and front directions, respectively.

As shown in fig. 2 and 3, the tilting prevention hanger for the power-assisted exoskeleton comprises a chassis 1, a pedal mechanism 5 detachably arranged on the chassis 1, a vertical guide rail frame 2 fixedly arranged on the chassis 1 and a handrail device 4 slidably arranged on the vertical guide rail frame 2, wherein the handrail device 4 is used for installing the power-assisted exoskeleton (not shown in the drawings), the power-assisted exoskeleton is used for assisting a patient to switch from a sitting posture to a standing posture or assisting the patient to walk, and the pedal mechanism 5 is used for supporting the patient switched from the sitting posture to the standing posture.

When the patient is in a sitting posture state and is in wearing connection with the assisting exoskeleton on the anti-tilting hanging frame, the foot pedal mechanism 5 is stepped on by the patient, then the standing function of the assisting exoskeleton is started, the patient is switched from the sitting posture state to the standing posture state under the action of the assisting exoskeleton, and in the process, the weight of the patient and the assisting exoskeleton is transmitted to the anti-tilting hanging frame through the foot pedal mechanism 5. Therefore, the stabilizing moment of the anti-tilting hanging frame comprises the basic stabilizing moment generated by the weight of the hanging frame and the additional stabilizing moment generated by the weight of the patient and the power-assisted exoskeleton, so that the stabilizing moment of the hanging frame is improved on the basis of not increasing the weight of the hanging frame, and the hanging frame is prevented from turning backwards under the action of the power-assisted exoskeleton.

It will be appreciated that the pedal mechanism 5 is a pedal or a support such as a circular tube or a square tube, but is not limited thereto, and the form in which the pedal mechanism 5 is disposed on the chassis 1 includes, but is not limited to, the following two types:

the first arrangement form is that the pedal mechanism 5 is directly placed on the chassis 1 and supported by a left supporting beam and a right supporting beam of the chassis 1, a limiting piece 6 for limiting the forward movement of the pedal mechanism 5 is required to be arranged on the left supporting beam and the right supporting beam in order to prevent the pedal mechanism 5 from moving forward in the auxiliary standing process, and the pedal mechanism 5 can be directly removed after the auxiliary standing process because the pedal mechanism 5 is directly placed on the chassis 1 so as to prevent the pedal mechanism 5 from interfering with the exercise walking of a patient.

The second setting mode is that the left end of the pedal mechanism 5 is hinged with the left supporting beam of the chassis 1, the right end of the pedal mechanism 5 is directly placed on the right supporting beam of the chassis 1 or the right end of the pedal mechanism 5 is hinged with the right supporting beam of the chassis 1, the left end of the pedal mechanism 5 is directly placed on the left supporting beam of the chassis 1, and the free end of the pedal mechanism 5 can be close to or far from the chassis 1 by rotating the pedal mechanism 5, so that the auxiliary standing or exercise walking requirements of patients can be met.

Under the guiding action of the vertical guide rail frame 2, the patient which is assisted to stand is basically in an inclined state (i.e. the patient is inclined forwards from top to bottom), and at the moment, the patient can take a step backwards to separate from the pedal mechanism 5, so that other people can conveniently remove the pedal mechanism 5 or overturn the pedal mechanism 5, and enough space is ensured in the chassis 1 for the patient to move.

It will be understood that the vertical guide frames 2 may be disposed on two sides of the handrail device 4 or on the rear side of the handrail device 4, which is not limited thereto, in this embodiment, in order to ensure the stability of the up-down sliding of the handrail device 4, two vertical guide frames 2 are provided, and two vertical guide frames 2 are disposed at intervals along the acting direction, each vertical guide frame 2 is slidably provided with a movable seat 3, and the left and right ends of the handrail device 4 are respectively connected with two movable seats 3.

In order to reduce the burden of the patient during exercise and walking, the height position of the armrest device 4 is locked by a position locking mechanism (not shown) according to the height of the patient so as to convert the anti-tilting hanger into a weight-reducing hanger, and the weight-reducing hanger is used for reducing the burden of the patient during walking.

Since the armrest apparatus 4 is slidably provided on the vertical rail housing 2 by the movable seat 3, the position locking mechanism is to lock the armrest apparatus 4 by locking the height position of the movable seat 3.

It will be appreciated that there are a variety of types of position locking mechanisms, such as the use of pins, bolts, hoops, etc. to effect relative locking of the movable seat 3 and the corresponding vertical track frame 2. In this embodiment, a hoop is selected and installed at the bottom of the movable seat 3 to achieve clamping or releasing of the corresponding vertical guide rail frame 2.

When the anti-tilting hanger is used as a weight-reducing hanger, in order to reduce the detachment difficulty of the pedal mechanism 5, the pedal mechanism 5 is preferably a square plate which is placed on the chassis 1, so that the pedal mechanism 5 can be directly removed from the lower part of the foot of a patient in a drawing manner.

In order to accommodate the use requirements of patients of different widths, the armrest apparatus 4 is structured as shown in fig. 4. The armrest apparatus 4 includes a fixed plate 41, a left arm 44a and a right arm 44b slidably provided on the fixed plate 41, and a spacing adjustment mechanism that adjusts a spacing between the left arm 44a and the right arm 44 b. The left arm 44a and the right arm 44b are used to connect the two leg mechanisms of the power-assisted exoskeleton, respectively.

Preferably, the armrest apparatus 4 and the movable seat 3 are connected in various positions, such as the fixed plate 41 of the armrest apparatus 4 is connected to two movable seats 3 or the left arm 44a and the right arm 44b are respectively connected to two movable seats 3. In this embodiment, the left arm 44a and the right arm 44b are respectively connected with two movable seats 3, at this time, the chassis 1 is composed of two longitudinal spandrel girders arranged at intervals along the left-right direction, and two vertical guide rail frames 2 are respectively fixed on the two longitudinal spandrel girders. Thus, when the distance adjusting mechanism adjusts the distance between the two force arms, the distance between the two vertical guide rail frames 2 can be synchronously adjusted. That is, the width of the hanger can be adjusted, thereby facilitating the hanger to enter and exit the elevator and reducing the receiving space.

Further, as shown in fig. 4, a left sliding plate 42a and a right sliding plate 42b are horizontally and slidably arranged on the fixed plate 41, the left sliding plate 42a and the right sliding plate 42b are respectively connected with the two movable seats 3, the space adjusting mechanism is used for adjusting the space between the left sliding plate 42a and the right sliding plate 42b, vertical sliding rails and a spring supporting seat 421 are respectively arranged on the left sliding plate 42a and the right sliding plate 42b, a left force arm 44a is vertically and slidably arranged on the vertical sliding rail of the left sliding plate 42a, a right force arm 44b is vertically and slidably arranged on the vertical sliding rail of the right sliding plate 42b, a vertical spring 45 is arranged at the top of each spring supporting seat 421, and the top ends of the vertical springs 45 are abutted against the bottoms of the corresponding force arms, so that the two force arms can alternately float up and down along with the left hip and the right hip of a human body by compression or recovery of the vertical springs 5, and good gait of a patient during exercise and walking can be ensured.

In order to limit the bending deformation of the vertical spring 45, a spring guide rod is arranged at the top end of the spring support seat 421, and the vertical spring 45 is sleeved on the spring guide rod, so that the vertical spring 45 can be guided and limited by the spring guide rod.

It can be understood that the distance adjusting mechanism is various and can be a separate adjusting mechanism or a synchronous adjusting mechanism, and in this embodiment, the distance adjusting mechanism is a synchronous adjusting mechanism, and the synchronous approaching or separating of the left sliding plate 42a and the right sliding plate 42b is realized by using the synchronous adjusting mechanism.

Preferably, the synchronous adjustment mechanism has a plurality of structural types, including but not limited to the following three structural forms:

In the first structural form, as shown in fig. 4, the synchronous adjusting mechanism comprises a forward and reverse screw 431, the forward and reverse screw 431 is horizontally arranged on the fixed plate 41 through a screw supporting seat, forward threads and reverse threads are respectively arranged on the outer walls of two ends of the forward and reverse screw 431, and the left sliding plate 42a and the right sliding plate 42b are respectively in threaded connection with threads with different rotation directions on the forward and reverse screw 431, so that the left sliding plate 42a and the right sliding plate 42b can synchronously approach or synchronously separate when the forward and reverse screw 431 rotates forward or reversely.

In the second structural form, as shown in fig. 5, the synchronous adjusting mechanism comprises a middle gear 432, a first rack 433a and a second rack 433b which are simultaneously meshed with the middle gear 432, wherein the first rack 433a is connected with the left sliding plate 42a, and the second rack 433b is connected with the right sliding plate 42b, so that the left sliding plate 42a and the right sliding plate 42b can synchronously approach or synchronously depart from each other when the middle gear 432 rotates forward or backward.

In a third structural form, as shown in fig. 6, the synchronous adjusting mechanism comprises a middle rotating rod 434 and a first push rod 435a and a second push rod 435b respectively hinged with two ends of the middle rotating rod 434, wherein one end of the first push rod 435a far away from the middle rotating rod 434 is hinged with the left sliding plate 42a, and one end of the second push rod 435b far away from the middle rotating rod 434 is hinged with the right sliding plate 42b, so that the first push rod 435a and the second push rod 435b can synchronously approach or synchronously depart when the middle rotating rod 434 rotates forward or reversely.

Since the screw has a self-locking function, the synchronous adjusting mechanism is in the first structural form shown in fig. 4 in this embodiment based on cost consideration.

Further, as shown in fig. 2, the bottom of the chassis 1 is provided with casters 1a with brakes so as to facilitate the movement of the anti-tilting hanger.

In summary, in the anti-tilting hanging frame for the power-assisted exoskeleton, the pedal mechanism 5 is arranged to replace weight increasing of the hanging frame, so that overturning moment formed by the power-assisted exoskeleton on the hanging frame is counteracted, and the problems of cost increase and transfer difficulty increase caused by overweight of the hanging frame are effectively avoided.

In summary, the present invention effectively overcomes the disadvantages of the prior art and has high industrial utility value.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. The anti-tilting hanger for the power-assisted exoskeleton comprises a chassis (1), a vertical guide rail frame (2) arranged on the chassis (1) and an armrest device (4) slidably arranged on the vertical guide rail frame (2), wherein the armrest device (4) is used for installing the power-assisted exoskeleton, and the anti-tilting hanger is characterized in that a pedal mechanism (5) is detachably arranged on the chassis (1), and the pedal mechanism (5) is used for supporting a patient switching from a sitting posture to a standing posture.

2. An anti-roll hanger for power assisted exoskeleton of claim 1 comprising a position locking mechanism for locking the height position of the armrest apparatus (4).

3. The tilting prevention hanger for a power-assisted exoskeleton of claim 1 or 2, wherein the armrest device (4) comprises a fixed plate (41), a left arm (44 a) and a right arm (44 b) slidably provided on the fixed plate (41), and a spacing adjustment mechanism for adjusting a spacing between the left arm (44 a) and the right arm (44 b).

4. The anti-tilting hanger for the power-assisted exoskeleton of claim 3, wherein the fixing plate (41) is provided with a left sliding plate (42 a) and a right sliding plate (42 b) in a horizontally sliding manner, the distance adjusting mechanism is used for adjusting the distance between the left sliding plate (42 a) and the right sliding plate (42 b), the left force arm (44 a) is vertically arranged on the left sliding plate (42 a) in a sliding manner, the right force arm (44 b) is vertically arranged on the right sliding plate (42 b) in a sliding manner, each sliding plate is provided with a spring supporting seat (421), the position of the spring supporting seat (421) is lower than the position of the force arm on the corresponding sliding plate, and a vertical spring (45) is arranged between the spring supporting seat (421) and the force arm on the corresponding sliding plate in a coupling manner.

5. The anti-roll hanger for power assisted exoskeleton of claim 4, wherein said spacing adjustment mechanism is a synchronous adjustment mechanism for achieving synchronous approaching or moving away of the left (42 a) and right (42 b) slides.

6. The tilting prevention hanger for a power-assisted exoskeleton of claim 5, wherein said synchronous adjusting mechanism comprises a forward and reverse screw (431) rotatably provided on a fixed plate (41), and said left and right sliding plates (42 a and 42 b) are respectively screwed to both ends of the forward and reverse screw (431).

7. The tilting-preventing hanger for the power-assisted exoskeleton of any one of claims 4 to 6, wherein two vertical guide rail frames (2) are arranged at intervals in the left-right direction, movable seats (3) are slidably arranged on each vertical guide rail frame (2), and the left sliding plate (42 a) and the right sliding plate (42 b) are respectively connected with the two movable seats (3).

8. An anti-roll hanger for power assisted exoskeleton as claimed in claim 1 or 2 or 4 or 5 or 6, wherein the bottom of the chassis (1) is provided with casters (1 a) with brakes.

9. The tilting prevention hanger for the power-assisted exoskeleton of claim 8, wherein one end of the pedal mechanism (5) is hinged on the chassis (1), and the other end of the pedal mechanism (5) is erected on the chassis (1).

10. The tilting prevention hanger for a power assisting exoskeleton of claim 9, wherein said pedal mechanism (5) is a pedal or a circular or square tube.