CN110575352A

CN110575352A - exoskeleton for limb rehabilitation

Info

Publication number: CN110575352A
Application number: CN201910915773.5A
Authority: CN
Inventors: 谭高辉; 马舜; 张莉萍
Original assignee: Shenzhen City Prime Minister Hui Wei Intelligent Technology Co Ltd
Current assignee: Shenzhen City Prime Minister Hui Wei Intelligent Technology Co Ltd; Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2019-12-17

Abstract

the invention discloses a limb rehabilitation exoskeleton, which comprises: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod, and comprises at least two first guide wheels; and the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod, and the second guide wheel assembly and the at least two first guide wheels are jointly used for supporting the limb rehabilitation exoskeleton. According to the technical scheme, the exoskeleton-assisted rehabilitation device has a guiding effect when the exoskeleton is adopted to assist the human body to recover, fits the motion trail of limbs, and improves the recovery effect.

Description

Exoskeleton for limb rehabilitation

Technical Field

The invention relates to the technical field of exoskeletons, in particular to a limb rehabilitation exoskeleton.

Background

In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.

in the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing acute-phase rehabilitation training, such as effective switching of passive, active and impedance modes, or the existing rehabilitation training can also assist guidance rehabilitation through some machines, but the existing auxiliary machines have insufficiently smooth motion tracks, have large errors with the motion tracks of limbs, and are insufficiently stable during motion, so that the rehabilitation effect is not ideal.

Disclosure of Invention

The invention mainly aims to provide a limb rehabilitation exoskeleton, which aims to play a role in guiding when the exoskeleton is adopted to assist human body rehabilitation, fit the motion trail of limbs, move stably and improve the rehabilitation effect.

To achieve the above object, the present invention provides a limb rehabilitation exoskeleton comprising:

A first support bar;

The second support rod is rotatably connected with the first support rod;

The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod, and comprises at least two first guide wheels; and

the second guide wheel assembly is arranged at the end part, deviating from the first supporting rod, of the second supporting rod, and the second guide wheel assembly and the at least two first guide wheels are jointly used for supporting the limb rehabilitation exoskeleton.

Optionally, in a rotation direction of the first support rod and/or the second support rod, the first support rod and/or the second support rod rotate to form an included angle, the at least two first guide wheels are disposed on the same side of the first support rod, and the second guide wheel assembly is disposed on one side of the second support rod facing the first guide wheel assembly.

optionally, the first guide wheel assembly further includes a first rotating shaft, the first rotating shaft is disposed at an end of the first support rod departing from the second support rod, and the first guide wheel is rotatably sleeved on the first rotating shaft;

the second guide wheel assembly comprises a second guide wheel and a second rotating shaft, the second rotating shaft is arranged at the end part of the second supporting rod, which deviates from the first supporting rod, and the second guide wheel is rotatably sleeved on the second rotating shaft.

Optionally, the first guide wheel assembly further includes a connecting frame, the connecting frame is provided at an end portion of the first support rod deviating from the second support rod, the connecting frame is along a radial extension of the first support rod, the first rotating shaft is along a radial extension of the first support rod, and is rotatably connected to the connecting frame.

Optionally, the connecting frame includes a supporting body and a connecting member connected to the supporting body, the connecting member is used to fixedly connect the first supporting rod to the supporting body, and the first rotating shaft is rotatably connected to the supporting body.

Optionally, the connecting member includes a connecting piece and a clamping piece detachably and fixedly connected with the supporting main body, the clamping piece is formed with a mounting hole for mounting the first supporting rod, the clamping piece is further formed with a first connecting hole penetrating through the mounting hole, the first supporting rod is formed with a second connecting hole, and the connecting piece passes through the first connecting hole and the second connecting hole to fixedly connect the clamping piece and the supporting first supporting rod;

Or, the connecting member includes a connecting piece and a clamping piece detachably and fixedly connected with the supporting body, the clamping piece is formed with a clamping groove for clamping the first supporting rod, a notch of the clamping groove is arranged towards the supporting plate, the clamping piece is further formed with a first connecting hole penetrating through a groove wall of the clamping groove, the first supporting rod is formed with a second connecting hole, and the connecting piece penetrates through the first connecting hole and the second connecting hole to fixedly connect the clamping piece and the supporting first supporting rod.

Optionally, the support body includes a support plate and a support protrusion connected to a surface of the support plate, the connection member is disposed on a surface of the support protrusion departing from the support plate, the support plate extends along a radial direction of the first support rod, the support protrusion is formed with a through hole along the radial direction of the first support rod, and the first rotation shaft rotatably passes through the through hole.

Optionally, the number of the support protrusions is at least two, and the first rotating shaft rotatably passes through the through hole of each support protrusion.

Optionally, the supporting plate is recessed from the surface of the supporting protrusion to form an abdicating groove, and the abdicating groove is used for placing limbs.

Optionally, the first guide wheel comprises: the supporting hub comprises an inner ring, an outer ring and connecting ribs, the inner ring and the outer ring are sleeved with each other, and the connecting ribs are arranged between the inner ring and the outer ring and are connected with the inner ring and the outer ring; and

The outer ring of the hub bearing is fixedly connected with the inner ring, and the inner ring of the hub bearing is fixedly connected with the first rotating shaft.

According to the technical scheme, the first support rod is rotatably connected with the second support rod, the first guide wheel assembly is arranged at the end part, away from the second support rod, of the first support rod, the second guide wheel assembly is arranged at the end part, away from the first support rod, of the second support rod, when the first support rod rotates relative to the second support rod under the action of external force, the first guide wheel assembly can play a role in guiding the movement of the end part, away from the second support rod, of the first support rod, and the second guide wheel assembly can also play a role in guiding the movement of the end part, away from the first support rod, of the second support rod. And because the first guide wheel assembly is provided with the at least two first guide wheels, the second guide wheel assembly and the at least two first guide wheels are simultaneously used as supports, the area of the supports can be increased, the stable running of the limb rehabilitation exoskeleton during movement is ensured, and the rehabilitation effect is improved.

for example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod is fixed with a shank of the human body, and the second support rod is fixed with a thigh of the human body, the first support rod is driven to rotate relative to the second support rod, so that the lower limbs are driven to do flexion and extension movement. When a human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly is arranged on the first support rod, so that when the first support rod does exercise, the first guide wheel assembly is in contact with the support surface and rolls relative to the support surface, resistance of the first support rod in the exercise process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of limbs, and the human body is ensured to move along the set direction. And under the condition that at least two first guide wheels roll simultaneously, the contact area of the first guide wheel assemblies and the supporting surface is increased, the stability of the limb rehabilitation exoskeleton is improved, and when the second supporting rod moves, the second guide wheel assemblies are in contact with the supporting surface, so that the resistance of the second supporting rod in the movement process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover, and fit the motion trail of the limbs, thereby improving the recovery effect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a limb rehabilitation exoskeleton of the present invention;

FIG. 2 is a schematic structural diagram of another perspective of the exoskeleton for limb rehabilitation according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of another perspective of an embodiment of a limb rehabilitation exoskeleton of the present invention;

FIG. 4 is a schematic partial structural view of an embodiment of a first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 5 is a schematic partial schematic view of another embodiment of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 6 is a front view of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention with the first support rod removed;

FIG. 7 is an exploded view of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention with the first support bar removed;

fig. 8 is a schematic partial structural view of an embodiment of a first guide wheel of the limb rehabilitation exoskeleton of the invention;

Fig. 9 is a partial structural schematic view of an embodiment of a second guide wheel of the limb rehabilitation exoskeleton of the invention.

The reference numbers illustrate:

Reference numerals	name (R)	reference numerals	Name (R)
				100	exoskeleton for limb rehabilitation	123	First rotating shaft
10	First support rod	20	second support rod
				11	Second connecting hole	30	First guide wheel assembly
12	Connecting frame	31	First guide wheel
				121	Support body	311	Support hub
1211	Supporting plate	3111	Inner wheel ring
				1211a	abdicating groove	3112	Outer wheel ring
1212	supporting projection	3113	connecting rib
				122	connecting member	312	Hub bearing
1221	Clamping piece	40	Second guide wheel assembly
				1221a	Mounting hole	41	Second guide wheel
1221b	First connecting hole	50	Fixing piece

The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

in the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a limb rehabilitation exoskeleton 100, which aims to facilitate the lower limb rehabilitation of a patient.

referring to fig. 1-3 and 9, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 includes:

A first support bar 10;

the second support rod 20 is rotatably connected with the first support rod 10;

the first guide wheel assembly 30 is arranged at the end part of the first support rod 10, which is far away from the second support rod 20, and the first guide wheel assembly 30 comprises at least two first guide wheels 31; and

a second guide wheel assembly 40, wherein the second guide wheel assembly 40 is arranged at the end of the second support rod 20 away from the first support rod 10, and the second guide wheel assembly 40 and at least two first guide wheels 31 are used together for supporting the limb rehabilitation exoskeleton 100.

According to the technical scheme, the first support rod 10 is rotatably connected with the second support rod 20, the first guide wheel assembly 30 is arranged at the end part, away from the second support rod 20, of the first support rod 10, and the second guide wheel assembly 40 is arranged at the end part, away from the first support rod 10, of the second support rod 20, when the first support rod 10 rotates relative to the second support rod 20 under the action of external force, the first guide wheel assembly 30 can play a role in guiding the movement of the end part, away from the second support rod 20, of the first support rod 10, and the second guide wheel assembly 40 also plays a role in guiding the movement of the end part, away from the first support rod 10, of the second support rod 20. And because the first guide wheel assembly 30 is provided with the at least two first guide wheels 31, the second guide wheel assembly 40 and the at least two first guide wheels 31 are simultaneously used as supports, so that the support area can be increased, the stable operation of the limb rehabilitation exoskeleton 100 during movement is ensured, and the rehabilitation effect is improved.

For example, when the exoskeleton assists in lower limb rehabilitation of a human body, the first support rod 10 is fixed with a calf of the human body, and the second support rod 20 is fixed with a thigh of the human body, the first support rod 10 is driven to rotate relative to the second support rod 20, so as to drive the lower limb to make flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly 30 is arranged on the first support rod 10, so that when the first support rod 10 does exercise, the first guide wheel assembly 30 is in contact with the support surface and rolls relative to the support surface, the resistance of the first support rod 10 in the exercise process can be reduced, the movement of the lower leg part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. Moreover, under the condition that the at least two first guide wheels 31 roll simultaneously, the contact area between the first guide wheel assembly 30 and the supporting surface is increased, the stability of the limb rehabilitation exoskeleton 100 is improved, and when the second support rod 20 moves, the second guide wheel assembly 40 contacts with the supporting surface, so that the resistance of the second support rod 20 in the movement process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover, and fit the motion trail of the limbs, thereby improving the recovery effect.

it will be appreciated that in one use configuration, a user may place a lower limb on the limb rehabilitation exoskeleton 100 such that the first support bar 10 supports the lower leg and the second support bar 20 supports the upper leg, thereby performing rehabilitation training on the lower leg and the upper leg when the first support bar 10 and the second support bar 20 are driven to rotate relatively. And, in order to fix the position of the limb of the patient relative to the first support rod 10 and the second support rod 20, in the present technical solution, the fixing member 50 is disposed on the first support rod 10 and/or the second support rod 20, in an embodiment of the present application, the fixing member 50 is disposed on the upper side of the first support rod 10 and the second support rod 20, or the fixing member 50 is correspondingly disposed on a plane parallel to the rotation direction of the first support rod 10 and the second support rod 20, so as to fix the leg laterally, when the limb rehabilitation exoskeleton 100 is connected to the human body, the patient can be in a lying posture or a sitting posture. The fixing member 50 may be made of elastic materials such as rubber, latex, etc., or may be made of multiple layers of cloth and/or cotton yarn to increase the air permeability and facilitate the use by the patient.

it should be noted that, in the present application, the "end portion" of the end portion of the first support rod 10, which is away from the second support rod 20, of the first guide wheel assembly 30 is not limited to the end surface of the first support rod 10 in the length direction, and may be understood as the free end of the first support rod 10, that is, the first guide wheel assembly 30 may be installed at the free end of the first support rod 10, and may be located at a distance from the end surface of the first support rod 10 in the length direction or fixed on the end surface, and the same "end portion" of the end portion of the second support rod 20, which is away from the first support rod 10, of the second guide wheel assembly 40 "is referred to the foregoing description, and is not repeated herein.

In an embodiment of the present application, each of the first support bar 10 and the second support bar 20 may be rod-shaped or flat-plate-shaped, and in order to reduce the weight of the first support bar 10 and the second support bar 20, a hollow structure may be disposed on the first support bar 10 and the second support bar 20. The first support rod 10 and the second support rod 20 may be made of metal (the metal may be made of stainless steel, aluminum alloy, copper alloy, iron alloy, etc.), plastic (the plastic may be made of hard plastic, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), other alloy materials, etc. Or a mixture of a metal material and plastic may be used as long as the stability of the first and second support bars 10 and 20 is improved. So, be favorable to promoting the stability that sets up of first bracing piece 10 and second bracing piece 20 more to effectively promote practicality, reliability, and the durability of first bracing piece 10 and second bracing piece 20. In an embodiment of the present application, the second support bar 20 is larger than the first support bar 10, and since the size of the thigh of the human body is larger than the size of the shank, the size of the second support bar 20 for supporting the thigh is larger than the size of the first support bar 10 for supporting the shank, which makes the structure of the extremity rehabilitation exoskeleton 100 more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc.

Referring to fig. 1 to 3, in an embodiment of the present application, in a rotation direction of the first support rod 10 and/or the second support rod 20, the first support rod 10 and/or the second support rod 20 rotate to form an included angle, at least two first guide wheels 31 are disposed on a same side of the first support rod 10, and the second guide wheel assembly 40 is disposed on a side of the second support rod 20 facing the first guide wheel assembly 30. When the first support rod 10 and the second support rod 20 form an included angle, that is, when the user is in a state of leg-folding during use, the first guide wheel assembly 30 is disposed on one side of the first support rod 10 (that is, at least two first guide wheels 31 are disposed on the same side in the rotation direction of the first support rod 10), the second guide wheel assembly 40 is disposed on one side of the second support rod 20 facing the first guide wheel assembly 30, and may be inner surfaces of the first support rod 10 and the second support rod 20 opposite to each other (that is, the first guide wheel assembly 30 is disposed on one side of the inner surface of the first support rod 10, and the second guide wheel assembly 40 is disposed on one side of the inner surface of the second support rod 20), that is, a rear side similar to the lower leg and a rear side of the upper leg, because muscle tissue of the human body wraps the upper leg and the lower leg, the first guide wheel assembly 30 and the second guide wheel assembly 40 are disposed on the rear side of, the limb rehabilitation exoskeleton 100 can be lifted by the first guide wheel assembly 30 and the second guide wheel assembly 40, so that the thighs and the shanks can be placed in abdicating mode, the muscle of the user is prevented from contacting a supporting surface, the rehabilitation effect is prevented from being influenced by excessive force output of the muscle, and the limb rehabilitation exoskeleton 100 can be supported favorably. It will be appreciated that when the first support rod 10 and the second support rod 20 are parallel, the portion of the first wheel guide assembly 30 that supports is disposed on the same side of the limb rehabilitation exoskeleton 100 (the rear side of the leg) as the portion of the second wheel guide assembly 40 that supports, which allows the limb rehabilitation exoskeleton 100 to support the user on the same side, providing increased support stability. And the arrangement of at least two first guide wheels 31 on the same side of the first support rod 10 also facilitates the simultaneous support of the first guide wheels 31, thereby improving the structural stability of the limb rehabilitation exoskeleton 100. It can be understood that the number of the first guide wheels 31 of the first guide wheel assembly 30 can also be 3, 4, 5, 6, etc., which can increase the contact area between the first guide wheel assembly 30 and the supporting surface and improve the structural stability.

Referring to fig. 1 to 5, in an embodiment of the present application, the first guide wheel assembly 30 further includes a first rotating shaft 123, the first rotating shaft 123 is disposed at an end of the first support rod 10 facing away from the second support rod 20, and the first guide wheel 31 is rotatably sleeved on the first rotating shaft 123;

The second guide wheel assembly 40 includes a second guide wheel 41 and a second rotating shaft, the second rotating shaft is disposed at an end of the second support rod 20 departing from the first support rod 10, and the second guide wheel 41 is rotatably sleeved on the second rotating shaft. It is understood that first rotating shaft 123 is formed along a radial extension of first support rod 10 to facilitate the sleeving of first guide wheel 31, thereby facilitating the rotation of first guide wheel 31 on first rotating shaft 123. The end of first rotating shaft 123 facing away from first support rod 10 may include a limiting portion, so that when first guide wheel 31 is rotatably sleeved on first rotating shaft 123, first guide wheel 31 may be prevented from flying out in the using process. And, this first pivot 123 can also include the kerf that runs through the spacing portion, thus when installing first guide pulley 31, can through combining the spacing portion, and then pass first guide pulley 31, after first pivot passed first guide pulley 31, spacing portion opened and is spacing first guide pulley 31 in first pivot 123. Also, a second rotation shaft is formed to extend in a radial direction of the second support rod 20, thereby facilitating the bell-and-spigot coupling of the second guide pulley 41. The end of the second rotating shaft away from the second support rod 20 may include a limiting portion, so that the second guide wheel 41 may be prevented from flying out in the using process when the second guide wheel 41 is rotatably sleeved on the second rotating shaft. And, this second axis of rotation can also include the kerf that runs through spacing portion, thus when installing second guide pulley 41, can through combining spacing portion, again pass second guide pulley 41, after second axis of rotation passed second guide pulley 41, spacing portion opened and is spacing second guide pulley 41 in the second axis of rotation.

it is understood that the second guide wheel assembly 40 may also include a plurality of second guide wheels 41, and the plurality of second guide wheels 41 are coaxially disposed, so as to further improve the structural stability of the limb rehabilitation exoskeleton 100.

Referring to fig. 2, in an embodiment of the present application, a length L1 of the first guide wheel 31 in the axial direction has a range of values: l1 is more than or equal to 10mm and less than or equal to 200 mm; when the axial length of the first guide wheel 31 is less than 10mm, the contact area of the first guide wheel 31 and the supporting surface is small, which is easy to cause unstable support of the limb rehabilitation exoskeleton 100 in the rolling process and affect the rehabilitation effect of the user; when the axial length of first guide wheel 31 is greater than 200mm, the occupied space of first guide wheel 31 is too large, the overall structure of limb rehabilitation exoskeleton 100 is too large, the arrangement of a user is not facilitated, and when the value range of L1 is 10mm to 200mm, the user can be supported conveniently on one hand, and the user can not occupy too large volume and is convenient to use on the other hand. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 90mm, 100mm, 120mm, 150mm, 160mm, 180mm and the like, which are convenient for supporting and do not occupy too large volume.

The axial length L2 of the second guide wheel 41 has a value range of: l2 is more than or equal to 30mm and less than or equal to 120 mm. When the axial length of the second guide wheel 41 is less than 30mm, the contact area of the second guide wheel 41 and the supporting surface is small, which is likely to cause unstable support of the limb rehabilitation exoskeleton 100 in the rolling process and affect the rehabilitation effect of the user; when the length of the second guide wheel 41 in the axial direction is greater than 120mm, the occupied space of the second guide wheel 41 is too large, the overall structure of the limb rehabilitation exoskeleton 100 is too large, the arrangement of a user is not facilitated, and when the value range of the L2 is 30mm to 120mm, the user can be supported conveniently on one hand, and the overlarge volume cannot be occupied on the other hand, so that the use is facilitated. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 90mm, 100mm and the like, can be conveniently supported and do not occupy too large a volume.

Referring to fig. 3, in an embodiment of the present application, a radius of the first guide wheel 31 is r1, a radius of the second guide wheel 41 is r2, and a relationship between r1 and r2 is: r1 is not more than r 2. Considering that the diameter of the thigh of the human body is generally larger than that of the shank, the radius of the first guide wheel 31 is set to be smaller than or equal to that of the second guide wheel 41, so that the shape of the limb rehabilitation exoskeleton 100 is more adaptive to the shape of the human body, and the adaptation degree and the rehabilitation effect are improved.

Referring to fig. 1, 4 to 7, in an embodiment of the present application, the first guide wheel assembly 30 further includes a connecting frame 12, the connecting frame 12 is disposed at an end of the first support rod 10 facing away from the second support rod 20, the connecting frame 12 extends along a radial direction of the first support rod 10, and the first rotating shaft 123 extends along the radial direction of the first support rod 10 and is rotatably connected to the connecting frame 12. The arrangement of the connecting frame 12 and the first rotating shaft 123 extending along the radial direction of the first supporting rod 10 can increase the installation space of the first guide wheel 31, so that more first guide wheels 31 can be arranged on the first guide wheel assembly 30, thereby further increasing the contact area with the supporting surface and improving the structural stability of the limb rehabilitation exoskeleton 100. And it can be appreciated that when first guide wheel 31 and second guide wheel assembly 40 support the ground simultaneously, the support positions are distributed in a substantially triangular shape, and thus the stability of limb rehabilitation exoskeleton 100 during movement can be improved. In one embodiment, the connecting frame 12 is substantially in the form of an elongated plate, which is arranged to save production costs on the one hand and to extend in the radial direction of the first support bar 10 on the other hand. When the connecting frame 12 is connected to the first supporting rod 10, the limb rehabilitation exoskeleton 100 is substantially arranged in a T shape or an L shape, so that the structural stability is ensured.

Referring to fig. 4 and 5, in an embodiment of the present application, the connection frame 12 includes a support body 121 and a connection member 122 connected to the support body 121, the connection member 122 is used to fixedly connect the first support rod 10 to the support body 121, and the first rotation shaft 123 is rotatably connected to the support body 121. The connecting member 122 may be a nut, a snap structure or a limiting structure, and the first support rod 10 may further have a screw hole, a snap position or a matching position, so that the connecting member 122 can connect the first support rod 10 and the support body 121. The connection member 122 may fix the first support bar 10 to a surface of the support body 121, thereby facilitating the installation of a user. And, the support body 121 is arranged, so that the connecting frame 12 can be better used for supporting the limb rehabilitation exoskeleton 100, and the structural stability is improved.

Referring to fig. 4 and 5, in an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected to the support main body 121, the clamping member 1221 is formed with a mounting hole 1221a for mounting the first support rod 10, the clamping member 1221 is further formed with a first connection hole 1221b penetrating the mounting hole 1221a, the first support rod 10 is formed with a second connection hole 11, and the connection member penetrates the first connection hole 1221b and the second connection hole 11 to fixedly connect the clamping member 1221 and the first support rod 10. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, it can be understood that, the installation hole 1221a is provided to limit the position of the first support rod 10 in the radial direction of the hole, and the cross-sectional profile of the installation hole 1221a is preferably adapted to the cross-sectional profile of the first support rod 10, so as to improve the fixing effect when the first support rod 10 is inserted into the installation hole 1221 a. In this embodiment, the connector may be a nut, and the first connection hole 1221b and the second connection hole 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

In an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected with the support body 121, the clamping member 1221 is formed with a clamping groove for clamping the first support rod 10, a notch of the clamping groove faces the support plate 1211, the clamping member 1221 is further formed with a first connection hole 1221b penetrating through a wall of the clamping groove, the first support rod 10 is formed with a second connection hole 11, the connection member passes through the first connection hole 1221b and the second connection hole 11, and the clamping member 1221 and the first support rod 10 are fixedly connected. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, since the clamping groove has a notch, the provision of the clamping groove may facilitate the installation of the first support bar 10 by a user. It is understood that the connector may be a nut, and the first coupling hole 1221b and the second coupling hole 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

Referring to fig. 6 and 7, in an embodiment of the present application, the support body 121 includes a support plate 1211 and a support protrusion 1212 connected to a surface of the support plate 1211, the connection member 122 is disposed on a surface of the support protrusion 1212 facing away from the support plate 1211, the support plate 1211 extends along a radial direction of the first support rod 10, the support protrusion 1212 is formed with a through hole along the radial direction of the first support rod 10, and the first rotation shaft 123 rotatably passes through the through hole. The first rotating shaft 123 may be supported by the support protrusion 1212, and the support protrusion 1212 and the support plate 1211 may be provided with screw holes, so that the support plate 1211 and the support protrusion 1212 may be fixedly connected by a nut.

Referring to fig. 6 and 7, in an embodiment of the present application, the number of the supporting protrusions 1212 is at least two, and the first rotating shaft 123 rotatably passes through the through hole of each supporting protrusion 1212. The provision of the plurality of support protrusions 1212 may allow the first rotating shaft 123 to be supported at a plurality of positions, thereby improving rotational stability of the first rotating shaft 123. When the plurality of first guide wheels 31 are provided, portions of the plurality of first guide wheels 31 may be disposed between the two support protrusions 1212, so that the first guide wheel assembly 30 has a better guiding effect.

Referring to the figures, in an embodiment of the present application, the surface of the support plate 1211 facing away from the support protrusion 1212 is recessed to form an abdicating groove 1211a, and the abdicating groove 1211a is used for positioning the limb. The abdicating groove 1211a can reduce the occupied space of the connecting frame 12 on one hand, and can position the limbs on the other hand, thereby improving the rehabilitation effect.

referring to fig. 8, in an embodiment of the present application, the first guide pulley 31 includes:

A support hub 311, wherein the support hub 311 includes an inner rim 3111, an outer rim 3112 and a connecting rib 3113, the inner rim 3111 and the outer rim 3112 are sleeved with each other, the connecting rib 3113 is disposed between the inner rim 3111 and the outer rim 3112 and connects the inner rim 3111 and the outer rim 3112; and

An outer ring of the hub bearing 312 is fixedly connected to the inner ring 3111, and an inner ring of the hub bearing 312 is fixedly connected to the first rotating shaft 123. In an embodiment, the material of the support hub 311 may be made of plastic (the plastic may be selected from rigid plastics, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), so as to reduce the cost and facilitate the molding. The first guide roller 31 is disposed substantially in a cylindrical shape so as to facilitate rolling. Set up tie-bar 3113 and can further improve interior rim 3111 and outer rim 3112's stability to make the weight of first guide pulley 31 not too heavy, influence user's use experience. The hub bearing 312 is arranged to change the connection between the first guide wheel 31 and the first rotating shaft 123 into rolling friction, so that the rotating friction force is reduced, and therefore, when a user uses the limb rehabilitation exoskeleton 100 for rehabilitation training, the normal movement track of the limb is closer, and the use is convenient.

In an embodiment of the present application, one of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a convex key, and the other of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a key groove, and the convex key is inserted into the key groove to fixedly connect the first rotating shaft 123 and the hub bearing 312. In this embodiment, the mode through convex key and keyway realizes the fixed of bearing and axle, so set up can make the fixed effect of the two better, can adopt fixed modes such as spline, triangle key, as long as can realize better fixed can.

in an embodiment of the present application, the first guide wheel assembly 30 and the second guide wheel assembly 40 are disposed on a supporting surface, the first guide wheel assembly 30 is projected on the supporting surface to form a first projection area, the connecting frame 12 and the first support rod 10 are projected on the supporting surface to form a second projection area, and the length of the first projection area is greater than the length of the second projection area in the axial direction of the first guide wheel 31. That is, the width of first guide wheel subassembly 30 is greater than the width of first bracing piece 10 and link 12, because the one end that the limbs shank deviates from the thigh does not have other similar organs (unlike the thigh, the thigh root is similar), be difficult to obtain stably through the support of human body, it can make the structure of limbs recovered ectoskeleton 100 more stable to set up the great first guide wheel subassembly 30 of width, and then improves the first bracing piece 10 and the rotation of second bracing piece 20 steady in the rehabilitation training process, improves recovered effect.

In an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a power device, wherein the power device drives the first support rod 10 to rotate relative to the second support rod 20. The power device may be a motor, which may be a stepper motor or a servo motor or a brush motor or a brushless motor. The output shaft of the motor can also be in transmission connection with the first support rod 10 and/or the second support rod 20 through a transmission member. The transmission part can be a steel wire, a gear, a worm or a belt, and the like, as long as the transmission is convenient, in one embodiment, the motor can be arranged on the second support rod 20, when the power device drives the first support rod 10 to rotate through the transmission component during use, the first support rod 10 drives the shank to move, so that the human body completes actions of bending knees, straightening and the like, and when the actions are completed, the position change amplitude of the power device is very small, so that the power device can be reduced or even prevented from overcoming self gravity to do work. The problems of leg rotation and joint misalignment caused by uneven gravity distribution of joint components are also avoided, and the rehabilitation of a user is better assisted. In order to facilitate the patient to wear the exoskeleton, in this embodiment, the power device is detachably connected to the second support rod 20, when the exoskeleton is worn by the patient, the power device can be detached first to reduce the weight of the exoskeleton when the exoskeleton is worn, and then the power device is mounted on the second support rod 20 after the joint assembly is worn. In other embodiments of the present invention, a power device may be fixedly connected to the second support rod 20 to reduce the number of steps required to wear the exoskeleton.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. a limb rehabilitation exoskeleton, comprising:

the first support rod is provided with a hollow structure;

The second support rod is rotatably connected with the first support rod and is provided with a hollow structure;

2. The limb rehabilitation exoskeleton of claim 1 wherein the first support bar and/or the second support bar are rotated to form an included angle in the rotation direction of the first support bar and/or the second support bar, at least two first guide wheels are arranged on the same side of the first support bar, and the second guide wheel assembly is arranged on one side of the second support bar facing the first guide wheel assembly.

3. The limb rehabilitation exoskeleton of claim 1 wherein the first guide wheel assembly further comprises a first rotating shaft, the first rotating shaft is arranged at the end of the first support rod, which is far away from the second support rod, and the first guide wheel is rotatably sleeved on the first rotating shaft;

4. The limb rehabilitation exoskeleton of claim 3 wherein said first guide wheel assembly further comprises a connecting bracket mounted to an end of said first support bar opposite to said second support bar, said connecting bracket extending in a radial direction of said first support bar, said first rotating shaft extending in a radial direction of said first support bar and rotatably coupled to said connecting bracket.

5. The limb rehabilitation exoskeleton of claim 4 wherein said link frame comprises a support body and a link member coupled to said support body for fixedly coupling said first support bar to said support body, said first pivot axis being rotatably coupled to said support body.

6. The limb rehabilitation exoskeleton of claim 5 wherein said coupling member comprises a coupling member and a clamp member removably and fixedly coupled to said support body, said clamp member defining a mounting hole for mounting said first support rod, said clamp member further defining a first coupling hole extending through said mounting hole, said first support rod defining a second coupling hole, said coupling member passing through said first coupling hole and said second coupling hole to fixedly couple said clamp member to said support first support rod;

7. The limb rehabilitation exoskeleton of claim 5 wherein said support body comprises a support plate and a support protrusion connected to the surface of the support plate, said connection member is provided on the surface of said support protrusion facing away from said support plate, said support plate extends along the radial direction of said first support rod, said support protrusion is formed with a through hole along the radial direction of said first support rod, and said first rotation shaft is rotatably passed through said through hole.

8. The limb rehabilitation exoskeleton of claim 7 wherein the number of said support protrusions is at least two, and said first rotation axis rotatably passes through said through hole of each said support protrusion.

9. The limb rehabilitation exoskeleton of claim 7 wherein the surface of said support plate facing away from said support protrusions is recessed to form an abduction slot for positioning a limb.

10. A limb rehabilitation exoskeleton as claimed in any one of claims 3 to 9 wherein the first guide wheel comprises:

The supporting hub comprises an inner ring, an outer ring and connecting ribs, the inner ring and the outer ring are sleeved with each other, and the connecting ribs are arranged between the inner ring and the outer ring and are connected with the inner ring and the outer ring; and