CN109124988B - Guiding mechanism, lower limb rehabilitation exoskeleton and exoskeleton robot - Google Patents
Guiding mechanism, lower limb rehabilitation exoskeleton and exoskeleton robot Download PDFInfo
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- CN109124988B CN109124988B CN201811118026.0A CN201811118026A CN109124988B CN 109124988 B CN109124988 B CN 109124988B CN 201811118026 A CN201811118026 A CN 201811118026A CN 109124988 B CN109124988 B CN 109124988B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a guiding mechanism, a lower limb rehabilitation exoskeleton and an exoskeleton robot applying the same, wherein the guiding mechanism is used for the exoskeleton, the exoskeleton comprises a first connecting arm, and the guiding mechanism comprises: the guide wheel assembly is arranged at the end part of the first connecting arm so as to play a role in guiding the movement of the first connecting arm. The technical scheme of the invention can play a role in guiding when the exoskeleton assists the rehabilitation of the human body.
Description
Technical Field
The invention relates to the technical field of exoskeleton, in particular to a guiding mechanism, a lower limb rehabilitation exoskeleton and an exoskeleton robot.
Background
In rehabilitation clinic, in early and acute phases of rehabilitation of patients such as apoplexy and cerebral paralysis, the brain nervous system is usually interrupted and disturbed due to brain tissue injury through joint movement aroused and remodelled, and meanwhile, muscle strength can be improved through joint movement, and other diseases such as muscle atrophy, limb pressure sore and the like are avoided.
In the existing clinical rehabilitation departments, most rehabilitation engineers manually help patients to perform corresponding rehabilitation actions. Because the primary power of exercise cannot be provided during the patient's flaccid paralysis period, the exertion of the rehabilitation technician is completely needed to help the patient to train, thus greatly wasting manpower and time cost. Because of the limited daily rehabilitation of each rehabilitation engineer, the rapidly growing demands of patients with brain tissue injuries and orthopedics injuries cannot be met. And by artificially carrying out acute-phase rehabilitation training, the rehabilitation mode can not be well controlled, such as effective switching of passive, active and impedance modes, so that the rehabilitation effect is not ideal.
Disclosure of Invention
The invention mainly aims to provide a guiding mechanism which aims at guiding when exoskeleton assists human body rehabilitation.
To achieve the above object, the present invention provides a guiding mechanism for an exoskeleton, the exoskeleton including a first connecting arm, the guiding mechanism including:
the guide wheel assembly is arranged at the end part of the first connecting arm so as to play a role in guiding the movement of the first connecting arm.
Optionally, the guide wheel assembly includes at least one guide wheel, and the guide wheel is rotatably connected with the first connecting arm through a rotation shaft.
Optionally, the guide wheel is rotatably connected with the rotating shaft, the guide wheel comprises a first side surface and a second side surface which are oppositely arranged, the first side surface and the second side surface are connected through an outer peripheral surface, and the diameter of the guide wheel gradually decreases from the first side surface to the second side surface.
Optionally, the guide wheel is in a shape of a truncated cone.
Optionally, an included angle between the axis of the guide wheel and the bus is alpha, and alpha is more than or equal to 3 degrees and less than or equal to 10 degrees.
Optionally, the guide wheel assembly includes at least two guide wheels arranged at intervals, at least two guide wheels are rotatably connected to the same rotating shaft, and one guide wheel is the same as the other guide wheel in shape and has an equal-scale enlarged or reduced size in the two guide wheels connected to the same rotating shaft.
Optionally, the guide wheel assembly includes a connecting piece connected with an end of the first connecting arm, and the guide wheel is connected with the connecting piece through a rotating shaft.
The invention also provides a lower limb rehabilitation exoskeleton, which comprises:
the joint assembly comprises a second connecting arm and a first connecting arm, and the second connecting arm is rotationally connected with the first connecting arm; the method comprises the steps of,
the guide mechanism is arranged at one end of the first connecting arm, which is away from the second connecting arm. Wherein, guiding mechanism includes:
the guide wheel assembly is arranged at the end part of the first connecting arm so as to play a role in guiding the movement of the first connecting arm.
Optionally, the first connecting arm includes first split section and the second split section of detachable connection, first split section deviate from the one end of second split section with the second connecting arm is connected, the second split section deviate from first split section's one end with guiding mechanism connects.
The invention also provides an exoskeleton robot, which comprises a lower limb rehabilitation exoskeleton.
According to the technical scheme, the guide mechanism is arranged at the end part of the first connecting arm, and when the first connecting arm moves under the action of external force, the guide mechanism can play a role in guiding the movement of the first connecting arm.
Taking exoskeleton as an example for assisting lower limb rehabilitation of a human body, the first connecting arm is connected with the lower leg of the human body through a binding piece, and then a power device can be arranged on the first connecting arm, so that the first connecting arm moves under the action of the power device to drive the lower limb to do flexion and extension movement. When the human body is in rehabilitation exercise, the human body is generally in a prone position or sitting position, and the first connecting arm is provided with the guide wheel assembly, so that the guide wheel assembly is in contact with the bed surface or the ground when the first connecting arm moves, and the guide wheel can roll relatively with the bed surface or the ground, so that the resistance in the movement process of the first connecting arm can be reduced, the loss of power can be reduced, and the human body can be ensured to move along the set direction at the same time, so that the human body rehabilitation is better assisted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a lower extremity rehabilitation exoskeleton according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a lower extremity rehabilitation exoskeleton according to an embodiment of the present invention;
FIG. 3 is a schematic view of a lower extremity rehabilitation exoskeleton according to another embodiment of the present invention;
FIG. 4 is a schematic view of a second arm and power unit and transmission assembly according to one embodiment of the lower extremity rehabilitation exoskeleton of the present invention;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a schematic view of a lower extremity rehabilitation exoskeleton according to an embodiment of the present invention, wherein the second connecting arm and the first connecting arm are disposed at an angle;
FIG. 7 is a schematic view showing the connection structure of the first connecting arm, the guide mechanism and the ankle adjusting device according to the present invention;
FIG. 8 is an exploded view of the length adjustment device of the present invention;
FIG. 9 is a schematic view showing the structure of an ankle adjusting device according to the present invention;
FIG. 10 is an exploded view of FIG. 9;
FIG. 11 is an exploded view of the damping device;
FIG. 12 is a schematic view of an embodiment of a guiding mechanism according to the present invention;
fig. 13 is a schematic structural view of a further embodiment of the guiding mechanism in the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a lower limb rehabilitation exoskeleton 100, which aims to facilitate lower limb rehabilitation of a patient.
In an embodiment of the present invention, the lower limb rehabilitation exoskeleton 100, as shown in fig. 1 to 11, includes: the joint assembly 10, the joint assembly 10 includes the second link arm 11 and first link arm 12, the second link arm 11 and first link arm 12 rotate and connect; a transmission assembly 20 connecting the second connecting arm 11 and the first connecting arm 12; and the power device 30 is arranged at one end of the second connecting arm 11 away from the first connecting arm 12 and is connected with the transmission assembly 20, and the power device 30 drives the first connecting arm 12 to rotate relative to the second connecting arm 11 through the transmission assembly 20.
In this embodiment, the second connecting arm 11 and the first connecting arm 12 may have rod-shaped or flat-plate-shaped structures, and in order to reduce the weight of the second connecting arm 11 and the first connecting arm 12, hollow structures may be provided on the second connecting arm 11 and the first connecting arm 12. And the materials of the second connecting arm 11 and the first connecting arm 12 can be carbon fiber, aluminum alloy, stainless steel, etc.
According to the technical scheme, the power device 30 is arranged at one end, far away from the first connecting arm 12, of the second connecting arm 11, so that the power device 30 is prevented from working against self gravity, and the waste of energy sources is reduced.
In use, taking the example that the second connecting arm 11 is connected with the thigh of the human body through the binding piece, or the first connecting arm 12 is connected with the calf of the human body through the binding piece, the power device 30 is arranged at one end of the second connecting arm 11 far away from the first connecting arm 12, namely, the power device 30 is arranged at the hip joint of the human body. When the power device 30 drives the first connecting arm 12 to rotate through the transmission component, the first connecting arm 12 drives the lower leg to move, so that the human body can complete the actions of bending knees, straightening and the like, and when the actions are completed, the position change amplitude of the power device 30 is small, so that the power device 30 can be reduced or even avoided to work against the gravity of the human body. The problems of leg rotation and misalignment of joints due to uneven gravity distribution of the joint assembly 10 are also avoided to better assist the user in rehabilitation. In order to facilitate the patient wearing the exoskeleton, in this embodiment, the power device 30 is detachably connected to the second connecting arm 11, when the exoskeleton is worn by the patient, the power device 30 may be detached first to reduce the weight of the exoskeleton when the exoskeleton is worn, and after the joint assembly 10 is worn, the power device 30 is mounted on the second connecting arm 11. In other embodiments of the present invention, the power device 30 and the second connecting arm 11 may be fixedly connected, so as to reduce the procedures when the exoskeleton is worn.
In order to fix the position of the limbs of the patient relative to the second connecting arm 11 and the first connecting arm 12, in the present embodiment, a fixing piece 13 is disposed on the second connecting arm 11 and/or the first connecting arm 12, in this embodiment, the fixing piece 13 is disposed on the upper sides of the second connecting arm 11 and the first connecting arm 12, as shown in fig. 1 to 3, when the lower limb rehabilitation exoskeleton 100 is connected with the human body, the fixing piece 13 is correspondingly disposed on the front side of the thigh and the front side of the joint, when the exoskeleton is worn, the patient can be in a prone position or a sitting position, the exoskeleton can be worn on the leg of the patient from the front side of the patient, and then the lower limb of the patient and the exoskeleton are fixed together through a strap, so that the patient can wear conveniently. In order to prevent the joint from moving and twisting, a fixing member 13 for fixing the joint is connected to one end of the second connecting arm 11 and one end of the first connecting arm 12, one end of the fixing member 13 is connected to the second connecting arm 11, the other end is connected to the first connecting arm 12, and the fixing member 13 is provided with a fixing hole 131 corresponding to the knee joint. When in use, the joint of a patient is matched with the fixing hole 131, so that the joint assembly 10 is attached to the joint of a human body to the greatest extent, the resistance efficiency of the joint assembly 10 is effectively improved, and the rehabilitation effect of the patient is better. Wherein, the material of the fixing member 13 may be elastic material such as rubber, latex, etc., or may be made of multi-layer cloth and/or cotton yarn to increase the air permeability thereof, thereby facilitating the use of the patient.
Further, the transmission assembly 20 includes two opposite ends, one end of the transmission assembly 20 is disposed at one end of the second connecting arm 11 away from the first connecting arm 12, and the other end of the transmission assembly 20 is hinged to one end of the second connecting arm 11 close to the first connecting arm 12 and connected to the first connecting arm 12. Two ends of the transmission assembly 20 are respectively connected with the second connecting arm 11 and the first connecting arm 12, so that the arrangement structure of the transmission assembly 20 on the second connecting arm 11 is simplified, and the exoskeleton is convenient to produce and process.
In this embodiment, the transmission assembly 20 includes a first connecting rod 21, a second connecting rod 22 and a third connecting rod 23 which are sequentially hinged, one end of the first connecting rod 21 away from the second connecting rod 22 is connected with the power device 30, and one end of the third connecting rod 23 away from the second connecting rod 22 is hinged with one end of the second connecting arm 11 close to the first connecting arm 12 and is connected with the first connecting arm 12. The hinge position of the third connecting rod 23 and the second connecting arm 11 is coaxial with the hinge position of the second connecting arm 11 and the first connecting arm 12, for example, a rotating shaft hole is formed in the second connecting arm 11, a rotating shaft is arranged in the rotating shaft hole, and the first connecting arm 12 and the third connecting rod 23 are both rotatably connected with the rotating shaft. And the third connecting rod 23 and the first connecting arm 12 can be fixedly connected or in a screw connection mode. Wherein, power device 30 is motor 31, and motor 31 passes through motor support 32 and is connected with second linking arm 11, and the output of motor 31 is connected with the tip of first link 21. In order to reduce the width of the lower limb rehabilitation exoskeleton 100, the output end of the motor 31 is disposed toward the second connecting arm 11, and the first link 21 is disposed between the motor 31 and the second connecting arm 11. The output end of the motor 31 is connected with the first connecting rod 21, which may be in a form that an output shaft of the motor 31 is connected with the first connecting rod 21, the output shaft rotates to drive the first connecting rod 21 to move, and meanwhile, the second connecting arm 11 is correspondingly arranged in the rotating shaft hole, and the output shaft of the motor 31 is rotationally connected with the rotating shaft hole, so that the connection rigidity of the output shaft is increased. Or the output end of the motor 31 is provided with a flange plate, the flange plate is connected with the first connecting rod 21, and the flange plate moves under the action of the motor 31 and drives the first connecting rod 21 to move.
To facilitate the assembly of the exoskeleton, in this embodiment, the motor bracket 32 is connected to the second connecting arm 11 by a screw. The motor support 32 is cylindric, and motor 31 connects in the bottom of motor support 32, and the bottom of motor support 32 is equipped with the mounting hole of installation fixed motor 31, is equipped with the breach that runs through at the lateral wall of motor support 32, and this breach runs through the terminal surface of this motor support 32, and first connecting rod 21 locates in this breach to be convenient for by motor 31 drive. In order to reduce the weight of the motor bracket 32, a plurality of through notches may be provided on the side wall of the motor bracket 32, and only the supporting rigidity of the motor bracket 32 needs to be ensured. Meanwhile, a flange is arranged at the end part of the motor bracket 32, a through hole is arranged on the flange, a connecting groove 111 corresponding to the flange is arranged on the second connecting arm 11, and a through hole penetrating through the thickness direction of the second connecting arm 11 is arranged at the bottom of the connecting groove 111. When the motor bracket 32 is connected with the second connecting arm 11, the flanging of the motor bracket 32 is inserted into the connecting groove 111, and then the motor bracket 32 is connected with the second connecting arm 11 by adopting the matching of bolts and through holes.
In application, the power device 30 is preferably a servo motor 31, so as to control the relative rotation speed of the second connecting arm 11 and the first connecting arm 12 at different included angles, so that the second connecting arm and the first connecting arm more conform to the physiological characteristics of human body movement, and further better assist the rehabilitation of the user. Of course, the power device 30 may be a hydraulic motor or other power device 30. And the structures of the first link 21, the second link 22 and the third link 23 in the present embodiment are not limited to the straight bar shape, and the structures thereof are set according to specific requirements in the application. The materials of the first connecting rod 21, the second connecting rod 22 and the third connecting rod 23 can be carbon fiber, aluminum alloy, stainless steel and the like.
In order to better assist the rehabilitation of the user and simultaneously facilitate controlling and adjusting the movement effect of the first connecting arm 12, in this embodiment, the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the second connecting arm 11 are combined to form a parallelogram mechanism. That is, the lengths of the first link 21 and the third link 23 are the same, and the lengths of the second link 22 and the second link arm 11 are the same, which means the theoretical lengths of the respective links in the four-bar mechanism, not the actual lengths of the respective links. Because the four-bar mechanism is suitable for transmitting larger power, the advantages of being capable of realizing a determined motion track, being convenient to manufacture and being capable of realizing long-distance transmission can be realized, the four-bar mechanism is selected for use in the embodiment. Meanwhile, since the movements of the first link 21 and the third link 23 in the parallelogram mechanism are synchronous, the movement speed of the first link 21 in different states can be set by the power device 30, and the corresponding movement speed of the third link 23 can be determined, and further the movement speed of the first connecting arm 12 in different states can be determined, so that the corresponding movement speed can be set according to the physiological condition of a patient, thereby being convenient for users to use and also being convenient for production and processing. In other embodiments of the present invention, the transmission assembly 20 may also employ a pulley transmission, gear transmission, or other linkage mechanism to better assist in patient recovery.
In order to ensure that the motion amplitude of the transmission assembly 20 is minimized without interference during the rehabilitation exercise, in this embodiment, the relationship between the length of the first link 21 and the length of the second link 22 is: 1:4 to 2:5. That is, the ratio between the length of the first link 21 and the length of the second link 22 ranges from 0.25 to 0.4, and in practical applications, the ratio between the length of the first link 21 and the length of the second link 22 may be selected from 0.25, 0.28, 0.3, 0.32, 0.35, 0.37, or 0.4.
Since the phenomenon that the distance between the second connecting arm 11 and the second connecting rod 22 is the smallest occurs when the four-bar linkage mechanism moves to the limit position, even the second connecting arm 11 abuts against the second connecting rod 22, resulting in the occurrence of a movement dead point, the four-bar linkage mechanism is difficult to move without assistance of external force, for this reason, in the embodiment, the damping device 40 is connected between the second connecting arm 11 and the second connecting rod 22, as shown in fig. 1 to 6, the damping device 40 is elastically connected between the second connecting arm 11 and the second connecting rod 22, the damping device 40 is rotatably connected with the second connecting arm 11, and the second connecting rod 22 can drive the damping device 40 to rotate relative to the second connecting arm 11 under the action of the power device 30. When the four-bar mechanism moves to the dead point of the mechanism, the damping device 40 applies a pulling force to the second connecting rod 22, at this time, the power device 30 drives the first connecting rod 21 to move, the second connecting rod 22 is not only driven by the driving force applied by the power device 30 to the first connecting rod 21 along the extending direction of the second connecting rod 22, but also is driven by the damping device 40 and the second connecting rod 22 to form an included angle, so that the comprehensive stress direction of the second connecting rod 22 is inconsistent with the extending direction of the second connecting rod 22, and the second connecting rod 22 can move under the driving of the first connecting rod 21, thereby avoiding the existence of the dead point.
Meanwhile, since the tensile force applied by the damping device 40 to the second connecting rod 22 is the same as the driving direction of the driving force, the weight of the human body, the weight of the joint assembly 10, the friction force between the foot and the bed surface or the ground and the like, which need to be overcome by the second connecting rod 22 in the moving process, can be partially counteracted, so that the energy consumption of the power device 30 can be reduced. In this embodiment, the damping device 40 includes a damping body 41, a first connecting end 42 and a second connecting end 43 are disposed on the damping body 41 at two intervals, the first connecting end 42 is rotationally connected with the second connecting arm 11, and the second connecting end 43 is rotationally connected with the damping body 41 and fixedly connected with the second connecting rod 22. When the second connecting rod 22 moves under the action of the power device 30, the second connecting end 43 can be driven to move at the same time, and the second connecting end 43 can drive the damping body 41 to rotate relative to the second connecting arm 11. Since the distance between the second link 22 and the second connection arm 11 is varied during the movement, the damping device 40 may be extended or shortened by the second link 22 and the second connection arm 11. In the application, when the distance between the second connecting arm 11 and the second connecting rod 22 is maximum, the damping of the damping device 40 is zero, and then the damping of the damping device 40 gradually increases with the decrease of the distance between the second connecting arm 11 and the second connecting rod 22, and the damping provided by the damping device 40 can also be used for limiting the movement speed of the transmission second connecting rod 22 at the same time, so that the movement speed of the first connecting arm 12 can be regulated in an auxiliary manner.
Referring to fig. 11, the damping body 41 includes a housing 411, the first connecting end 42 is disposed on an outer surface of the housing 411, a receiving cavity is disposed in a middle portion of the housing 411, an opening communicating with the receiving cavity is disposed on the outer surface of the housing 411, the damping body 41 further includes a damping rod 412, one end of the damping rod 412 is disposed in the receiving cavity, the other end is hinged to the second connecting end 43, a spring 413 is sleeved on the damping rod 412, a blocking head 4121 is disposed at one end of the damping rod 412 located in the receiving cavity, the blocking head 4121 is used for blocking the spring 413, and the spring 413 is prevented from falling off from the damping rod 412, although the spring 413 may be replaced by an elastic sleeve 1243 or other elastic member such as a disc spring. An end cover 414 is arranged at the opening of the shell 411, the end cover 414 is used for sealing the opening, meanwhile, a yielding opening 641 is arranged on the end cover 414, the damping rod 412 extends out of the yielding opening 641, when the second connecting end 43 is under the action of the second connecting rod 22 and pulls the damping rod 412 to move towards the outer side of the shell 411, the spring 413 moves along with the damping rod 412 under the action of the blocking head 4121, and meanwhile, the spring is abutted between the end cover 414 and the blocking head 4121 under the action of the end cover 414, so that the damping force of the damping rod 412 is increased. To facilitate the connection of the damping device 40 to the transmission assembly 20 and also facilitate the folding of the transmission assembly when the exoskeleton is retracted, in this embodiment, the damping rod 412 is screwed to the second connecting end 43, for example, the damping rod 412 is provided with an external thread, the second connecting end 43 is provided with a threaded hole matched with the external thread, or the damping rod 412 is provided with a threaded hole, and the second connecting end 43 is provided with an external thread matched with the threaded hole. When the lower limb rehabilitation exoskeleton 100 is not required to be used, the damping rod 412 can be rotated to be separated from the second connection end 43, so that external force applied to the second connection rod 22 can be removed, thereby facilitating adjustment of the state of the lower limb exoskeleton. Of course, the damping force of the damping device 40 may also be adjusted by rotating the damping rod 412 so as to be suitable for patients of different weights.
Because the strength of the legs of the user or patient requiring rehabilitation of the lower limbs is weak, when the power device 30 drives the joint assembly 10 to drive the lower limbs to move, the lower limbs can move in other degrees of freedom such as hip supination, ankle supination, and the like, but during the rehabilitation treatment of the patient with cerebral apoplexy, the postures such as hip supination, ankle supination, foot drop, and the like of the patient are prevented by the support, and if the limbs are shaped in the acute stage, the standing walking and other normal activities of the later-stage patient can be influenced extremely. It is necessary to make the degree of freedom constraints of the relevant joints during rehabilitation in the acute phase. For this purpose, in the present embodiment, a guide mechanism 50 is added, and the guide mechanism 50 is connected to an end of the first connecting arm 12 facing away from the second connecting arm 11. When the first connecting arm 12 moves, the guiding mechanism 50 plays a role in guiding, and simultaneously plays a role in limiting the joint assembly 10, so that the phenomenon that the joint assembly 10 rotates is avoided, and the rehabilitation effect of a patient is ensured. To avoid contact of the patient's foot with the ground or bed surface when the guide mechanism 50 is in motion, a support may be provided on the first connecting arm to secure the patient's foot in use.
In application, the guide mechanism 50 may also be disposed on the exoskeleton of only the first connecting arm, where the first connecting arm may be used for rehabilitation of the lower limb or may be used for assisting rehabilitation of the upper limb. When the lower limb is assisted to recover, the first connecting arm is connected with the lower leg of the human body through the binding piece, and when the upper limb is assisted to recover, the first connecting arm is connected with the lower arm of the human body through the binding piece. At this time, the power device is directly connected with the first connecting arm. When the first connecting arm and the second connecting arm are rotationally connected, the power device can be arranged at the rotationally connected position of the first connecting arm and the second connecting arm or at other positions convenient for driving.
In this embodiment, the guiding mechanism 50 includes a guide wheel assembly 51 provided on the first connecting arm. When the human body is in rehabilitation exercise, the human body is generally in a prone position or sitting position, and because the first connecting arm is provided with the guide wheel assembly 51, the guide wheel assembly 51 is in contact with the bed surface or the ground when the first connecting arm moves, and the guide wheel 511 can roll relatively with the bed surface or the ground, so that the resistance in the movement process of the first connecting arm can be reduced, the loss of power can be further reduced, and meanwhile, the human body can be ensured to move along the set direction, so that the human body rehabilitation is better assisted.
Further, as shown in fig. 7, the guide wheel assembly 51 includes at least one guide wheel 511 disposed at an end of the first connecting arm 12 facing away from the second connecting arm 11. The guide roller 511 is directly connected to the first connecting arm 12 through a rotation shaft 513. To simplify the connection of idler 511 to the first connecting arm. The rotating shaft 513 may be rotatably connected to the first connecting arm, or the rotating shaft 513 may be fixedly connected to the first connecting arm, and the rotating shaft 513 may be rotatably connected to the guide wheel 511.
Further, as shown in fig. 12 and 13, the guide roller 511 is rotatably coupled to the rotation shaft 513, the guide roller 511 includes a first side surface 511a and a second side surface 511b disposed opposite to each other, the first side surface 511a and the second side surface 511b are coupled by an outer circumferential surface 511c, and the diameter of the guide roller 511 gradually decreases from the first side surface 511a to the second side surface 511 b. Because the patient is in the soft paralysis period, the muscle tension is lower, and after the soft paralysis period, the muscle tension is gradually increased, the rehabilitation exercise is performed as early as possible, the limb is prevented from being shaped in the soft paralysis period, and the current exoskeleton generally drives the joint to move, so that the stretching or contraction of the muscle is realized, and the muscle strength is recovered. However, this rehabilitation method generally can only exercise the front side and the rear side of the thigh, and the front side and the rear side of the calf, and can not exercise the muscles on both sides of the leg, which can cause the phenomenon that the patient turns in the feet or turns out the hips. Therefore, in this embodiment, a scheme is provided in which the diameter of the leg decreases gradually from the first side surface 511a to the second side surface 511b, so that the leg of the patient may buckle or twist under the action of the guide roller 511, the leg may stretch to the muscles outside the thigh and the calf when the hip is in the buckle state, the muscles inside the thigh and the calf may contract, the thigh and the calf may stretch, the thigh and the calf may contract, and the thigh and the calf may stretch and contract in combination with the thigh and the calf stretching and the knee bending, so as to recover the thigh and the calf inner and outer muscle force, and avoid the hip supination or foot varus of the patient. The guide roller 511 may be of a cylindrical configuration when there is no need to adjust the muscle strength of the inner and outer muscles of the patient's thigh.
In one embodiment of the present invention, idler 511 is frustoconical. To facilitate the forming of guide wheel 511. In practical applications, the outer peripheral surface 511c of the guide wheel 511 may also be provided with a groove structure, so as to reduce the contact area between the guide wheel 511 and the ground when rolling, and further reduce the external force for driving the guide wheel 511 to move.
In order to facilitate adjustment of muscle strength of the inner and outer sides of the thigh, and avoid that the integral overturning occurs due to improper angle setting of the guide wheel 511, and the due movement cannot be completed, in the embodiment, the included angle between the axis of the guide wheel 511 and the bus is alpha, 3 degrees is less than or equal to 10 degrees, the angle range also accords with the physiological characteristics of a human body, the phenomenon that the muscle strain of a patient occurs in the movement process is avoided, and in practical application, the angle range that the guide wheel 511 drives the human body to incline outwards is 3 degrees less than or equal to 5 degrees, for example, 3 degrees, 4 degrees or 5 degrees is selected for alpha; the angle range of the guide wheel 511 driving the human body to incline inwards is 5 degrees or more and less than or equal to 10 degrees, and the angle range of the guide wheel is 5 degrees or less and the angle range of the guide wheel is 8 degrees or 10 degrees, however, other suitable angles can be selected according to the specific situation of the patient so as to better assist the rehabilitation of the patient.
In order to increase stability of the guide wheel assembly 51 during movement, in this embodiment, the guide wheel assembly 51 includes at least two guide wheels 511 disposed at intervals, at least two guide wheels 511 are rotatably connected to the same rotation shaft 513, and one guide wheel 511 is identical to the other guide wheel 511 in shape and is enlarged or reduced in size in equal proportion. At least two guide wheels 511 arranged at intervals can be respectively arranged at two sides of the first connecting arm or at two sides of the foot of the patient so as to increase the stability of the patient during the movement process of following the first connecting arm. In order to ensure uniformity of inclination of the guide rollers 511, among the two guide rollers 511 connected to the same rotation shaft 513, the adjacent guide rollers 511 are enlarged or reduced in equal proportion, and it is also understood that the outer circumferential surfaces 511c of the guide rollers 511 connected to the same rotation shaft 513 are located at the same conical surface. The above-mentioned equal-scale reduction or enlargement of the size of the guide wheel 511 mainly refers to equal-scale reduction or enlargement of the radial size of the guide wheel 511, and the thickness of the guide wheel 511 may be adjusted or not according to the actual requirement.
Further, to facilitate the movement of the patient's foot by the first connecting arm and also to facilitate the installation of guide wheel 511, guide wheel assembly 51 includes a connecting member 512 connected to the end of the first connecting arm, and guide wheel 511 is connected to connecting member 512 by a rotating shaft 513. The patient may place the foot on the connector 512 to better assist the patient. In this embodiment, the connecting member 512 is plate-shaped, and the connecting member 512 is disposed perpendicular to the first connecting arm 12 and extends to a side of the first connecting arm 12 connected to the user, so that the user can place the foot on the connecting member 512. The guide wheels 51 may be disposed on both sides of the connecting member 512 or below the connecting member 512. Because the guide wheel 51 has a relatively simple structure and occupies a small space, the exoskeleton of the present embodiment is convenient for a patient to perform rehabilitation exercise on a sickbed when the patient is in a bedridden state. Of course, in application, the patient can also do rehabilitation exercise in a sitting position. In other embodiments of the present invention, the guide mechanism 50 may be a guide rail or a screw mechanism provided at an end of the first connecting arm 12 facing away from the second connecting arm 11, and the guide rail or the screw mechanism occupies a relatively large space, but has a determined movement track, so as to reduce the occurrence of hip external rotation of the patient.
To facilitate assembly and transportation of the exoskeleton, the first connecting arm 12 in this embodiment includes a first split section 121 and a second split section 122 that are detachably connected, one end of the first split section 121 is connected to the transmission assembly 20, the other end is connected to one end of the second split section 122, and the other end of the second split section 122 is provided with the guide mechanism 50. When the exoskeleton is worn on a patient, the second connecting arm 11 and the first split section 121 can be worn first, and then the second split section 122 can be worn, so that the patient can wear the exoskeleton conveniently. The first split section 121 and the second split section 122 are detachably connected, so that the first split section 121 and the second split section 122 can be conveniently connected. Meanwhile, the guide wheels with different inclination angles can be replaced by the scheme that the first split section is detachably connected with the second split section, so that the second split section provided with the guide wheels with different inclination angles can be flexibly replaced according to the physical condition of a patient.
Because the heights of the patients are inconsistent, in order to increase the universality of the product produced by adopting the technical scheme of the invention, so that the guide mechanism 50 plays an auxiliary role on the patients, in the embodiment, the first connecting arm 12 comprises a first split section 121, a second split section 122 and a third split section 123 which are sequentially connected, one end of the first split section 121 is connected with the transmission assembly 20, the other end of the first split section 121 is detachably connected with the second split section 122, a length adjusting device 124 is connected between the other end of the second split section 122 and one end of the third split section 123, and the guide mechanism 50 is arranged on the third split section 123. The second split section 122 is connected to the third split section 123 by a length adjusting device 124, so that the distance between the second split section 122 and the third split section 123 can be adjusted by the length adjusting device 124, and the length of the first connecting arm 12 can be adjusted, so that the guiding mechanism 50 can always keep contact with the bed surface or the ground when the patient uses the device.
In this embodiment, as shown in fig. 8, the length adjusting device 124 is a screw rod 1241 disposed between the second split section 122 and the third split section 123, an adjusting threaded tube 1242 is disposed on the second split section 122, the adjusting threaded tube 1242 is connected with one end of the screw rod 1241, the other end of the screw rod 1241 is connected with the third split section 123, and the screw rod 1241 can be driven to move by rotating the adjusting threaded tube 1242, so as to adjust the distance between the second split section 122 and the third split section 123, i.e. adjust the length of the first connecting arm 12. In order to facilitate the adjustment of the length of the first connecting arm 12, the first connecting arm 12 moves steadily and is stressed equally, a guide rod 1244 is further arranged between the second split section 122 and the third split section 123, a sleeve 1243 is further arranged on the second split section 122, one end of the guide rod 1244 is arranged in the sleeve 1243, and the other end of the guide rod 1244 is connected with the third split section 123 to play a guiding role when the length of the first connecting arm 12 is adjusted. In other embodiments of the present invention, the length adjustment device 124 may also be a rack and pinion mechanism disposed between the second and third split sections 122, 123.
In another embodiment of the invention, the first connecting arm 12 comprises a second segment 122 detachably connected to the first segment 121, and the second segment 122 is provided with a length adjustment device 124 at its end facing away from the segment, the length adjustment device 124 being directly connected to the guide mechanism 50. To simplify the structure of the first connecting arm 12 while enabling the use of less material.
Meanwhile, in this embodiment, the first split section 121 and the second split section 122 adopt a detachable connection scheme, and when the lower limb rehabilitation exoskeleton 100 is not in use, a part of the first connecting arm 12 and the guiding mechanism 50 below can be detached from the first split section 121 together from the connection position of the first split section 121, so as to facilitate storage and transportation. The detachable connection scheme of the first split section 121 and the second split section 122 may be a scheme that the first split section 121 and the second split section 122 are connected through screws, a scheme that the first split section 121 and the second split section 122 are connected in a plugging mode or a scheme that the first split section and the second split section are connected in a threaded mode, and the like.
In order to facilitate connection between the first split section 121 and the second split section 122, as shown in fig. 4, 5 and 7, a plugging slot 1211 is provided on a surface of the first split section 121 facing the second split section 122, through holes are provided on two opposite sidewalls of the plugging slot 1211, when the second split section 122 is connected to the first split section 121, an end portion of the second split section 122 facing away from the third split section 123 is plugged into the plugging slot 1211, meanwhile, a first connection hole is provided on the second split section 122 corresponding to the through hole, and then the first split section 121 and the second split section 122 are connected by matching of bolts with the through holes and the first connection hole. In order to facilitate the cooperation between the first split section 121 and the second split section 122, in this embodiment, grooves 1221 are formed on two opposite surfaces of the end, connected to the first split section 121, of the second split section 122, the grooves 1221 penetrate through the end surfaces of the second split section 122, when the end of the second split section 122 is inserted into the insertion groove 1211, the end of the first split section 121 extends into the grooves 1221, the side surface of the first split section 121 abuts against the side wall of the grooves 1221, and then the end surfaces of the second split section 122 are pushed to abut against the bottom wall of the insertion groove 1211, so that the corresponding arrangement of the through holes and the first connecting holes is realized, and then the connection between the first split section 121 and the second split section 122 is realized only by arranging bolts in the through holes.
Because the patient also needs to perform rehabilitation training on the muscles of the ankle joint during rehabilitation so as to recover the muscle strength of the muscles, in this embodiment, an ankle joint angle adjusting device is further disposed at one end of the first connecting arm 12, which is away from the second connecting arm 11, and the ankle joint angle adjusting device is disposed on the guide mechanism 50. The ankle joint angle adjusting device is used for adjusting the included angle between the lower leg and the foot so as to adjust the muscle strength of different positions of the ankle joint and the foot. As shown in fig. 1, 7, 9 and 10, the ankle angle adjusting device includes a support plate 61 provided on the guide mechanism 50, and an angle adjusting plate 62 is rotatably connected to the support plate 61, the angle adjusting plate 62 is used for supporting the foot of the patient, and the angle adjusting plate 62 is fixedly connected to the foot of the patient through a bandage in order to keep the foot of the patient in contact with the angle adjusting plate 62. One of the support plate 61 and the angle adjustment plate 62 is provided with an angle adjustment hole 6221, the other one is provided with a second connection hole 611 corresponding to the angle adjustment hole 6221, and the support plate 61 and the angle adjustment plate 62 are connected by a fastener 63. In this embodiment, a circular through hole connected to the fastener 63 is formed in the support plate 61, and a plurality of angle adjusting holes 6221 are formed in the angle adjusting plate 62 at intervals centered on the rotational connection between the support plate 61 and the angle adjusting plate 62, so that the angles between the connecting lines formed by the adjacent angle adjusting holes 6221 and the rotational connection between the support plate 61 and the angle adjusting plate 62 are 10 ° for uniformly adjusting the muscle strength at the ankle joint. Such as a plurality of angle adjustment apertures 6221 corresponding to a dorsi flex angle of 20 °, 10 °, and toe flex angles of 0 °, -10 °, -20 °, and-30 °, respectively, for the foot. In practical applications, the angle between the connecting lines formed by the connecting points of the adjacent angle adjusting holes 6221 and the rotation connecting points of the supporting plate 61 and the angle adjusting plate 62 may be 5 ° or other angles that are convenient for adjusting the ankle muscle. In other embodiments of the present invention, the angle adjusting groove is a bar-shaped hole, preferably an arc-shaped bar-shaped hole centered on the rotation connection of the support plate 61 and the angle adjusting plate 62, and the second connection hole 611 may be a circular through hole or may be configured in the same shape as the angle adjusting hole 6221. The fastening member 63 may be a pin, a screw or a bolt, and in this embodiment, the fastening member 63 is a butterfly bolt, so as to facilitate manual adjustment.
In this embodiment, the angle adjusting plate 62 includes a foot fixing plate 621 and adjusting plates 622 disposed on opposite sides of the foot fixing plate 621, a plurality of angle adjusting holes 6221 are disposed on the adjusting plates 622, two opposite supporting plates 61 are disposed on the guiding mechanism 50, and the two supporting plates 61 are respectively connected to the two adjusting plates 622. Wherein the support plate 61 is provided on the upper surface of the connection member 512 of the guide mechanism 50. In order to facilitate better adjustment of the ankle joint by the ankle adjustment means 60, a shank fastener 6413 is further provided on the connecting member 512, and the shank fastener 6413 is adapted to be connected to the shank to fix the shank from twisting. In order to make the binding and fixation of the calf more comfortable, the calf fastener 6413 may be provided with a relief 641 corresponding to the calf projection, so that the fit between the calf fastener 6413 and the calf is better, and the versatility of the calf fastener 6413 can be improved. In this embodiment, the shank fastener 6413 is flat and is arranged in an arc shape to fit the shank. In other embodiments of the invention, the calf fastener 6413 can also be made of an elastic material.
The ankle joint angle adjusting device is arranged in the embodiment, so that the ankle joint is fixed and restrained. The doctor or the family members can manually and rapidly adjust the angle of the ankle joint according to the actual muscle force condition of the patient, and the corresponding rehabilitation and protection of the ankle joint are realized. The complex of the additional adoption of the power mechanism is avoided, and the diseases such as drop foot, varus foot, valgus foot and the like can be effectively prevented. The ankle joint angle is fixed through a simple structure, so that the muscle strength of muscles around the ankle joint can be effectively improved, and the cerebral nerve remodeling is facilitated. And the power source is not required to be introduced into the ankle joint, so that the complexity of the system is reduced, and the weight of the system is reduced.
The present invention also proposes an exoskeleton robot (not shown), which includes a lower limb rehabilitation exoskeleton 100, and the specific structure of the lower limb rehabilitation exoskeleton 100 refers to the above embodiments, and since the exoskeleton robot adopts all the technical solutions of all the embodiments, at least has all the beneficial effects brought by the technical solutions of the embodiments, and will not be described in detail herein. Wherein, a low limbs recovered ectoskeleton 100, characterized by includes: the joint assembly 10, the joint assembly 10 includes the second link arm 11 and first link arm 12, the second link arm 11 and first link arm 12 rotate and connect; a transmission assembly 20 connecting the second connecting arm 11 and the first connecting arm 12; and the power device 30 is arranged at one end of the second connecting arm 11 away from the first connecting arm 12 and is connected with the transmission assembly 20, and the power device 30 drives the first connecting arm 12 to rotate relative to the second connecting arm 11 through the transmission assembly 20.
In use, the exoskeleton robot can include two lower limb rehabilitation exoskeleton 100 and other mechanisms coupled to lower limb rehabilitation exoskeleton 100 to facilitate simultaneous rehabilitation of two lower limbs of a patient.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (4)
1. A guide mechanism for a lower extremity rehabilitation exoskeleton comprising a first connecting arm, the guide mechanism comprising:
the guide wheel assembly is arranged at the end part of the first connecting arm so as to play a role in guiding the movement of the first connecting arm;
the guide wheel assembly comprises a connecting piece connected with the end part of the first connecting arm, the guide wheel assembly comprises at least two guide wheels arranged at intervals, at least two guide wheels are rotatably connected to the same rotating shaft and are rotatably connected with the connecting piece through the rotating shaft, one guide wheel is identical to the other guide wheel in shape and the size is enlarged or reduced in equal proportion, and the two guide wheels are connected to the same rotating shaft;
the guide wheel is in a round table shape and comprises a first side surface and a second side surface which are oppositely arranged, the first side surface and the second side surface are connected through an outer peripheral surface, the diameter of the guide wheel is gradually reduced from the first side surface to the second side surface, and an included angle between the axis of the guide wheel and a bus is alpha, and is more than or equal to 3 degrees and less than or equal to 10 degrees;
the outer circumferential surfaces of the guide wheels connected to the same rotating shaft are located on the same conical surface.
2. A lower limb rehabilitation exoskeleton, comprising:
the joint assembly comprises a second connecting arm and a first connecting arm, and the second connecting arm is rotationally connected with the first connecting arm; the method comprises the steps of,
the guide mechanism of claim 1, wherein the guide mechanism is disposed at an end of the first connecting arm facing away from the second connecting arm.
3. The lower extremity rehabilitation exoskeleton of claim 2 wherein said first connecting arm includes first and second detachably connected split sections, an end of said first split section facing away from said second split section being connected to said second connecting arm, an end of said second split section facing away from said first split section being connected to said guiding mechanism.
4. An exoskeleton robot comprising the lower limb rehabilitation exoskeleton of claim 2 or 3.
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| CN110575360A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575358B (en) * | 2019-09-25 | 2021-10-19 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton for limb rehabilitation |
| CN110575354A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575359B (en) * | 2019-09-25 | 2022-04-22 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575357B (en) * | 2019-09-25 | 2021-10-29 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
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