CN110575355A

CN110575355A - exoskeleton for limb rehabilitation

Info

Publication number: CN110575355A
Application number: CN201910915941.0A
Authority: CN
Inventors: 谭高辉; 马舜; 印涛; 徐博源
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 the second guide wheel assembly is arranged at the end part of the second supporting rod, which deviates from the first supporting rod, and the second guide wheel assembly is adjustable relative to the second supporting rod. 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, improves the recovery effect, and improves the adaptability to users with different heights.

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. And through artificially carrying out the rehabilitation training in the acute stage, the rehabilitation mode can not be well controlled, such as the effective switching of passive, active and impedance modes is carried out, or the existing rehabilitation training can also be assisted by some machines to guide the rehabilitation, but the existing auxiliary machines have the disadvantages of not smooth enough movement tracks, larger errors with the movement tracks of limbs and not stable enough during the movement, so that the rehabilitation effect is not ideal, and the adaptability is lower for users with different heights.

The above description is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission of prior art.

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 track of limbs, move stably, improve the rehabilitation effect and improve the adaptability to users with different heights.

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

The second guide wheel assembly is arranged at the end part of the second supporting rod, which deviates from the first supporting rod, and the second guide wheel assembly is adjustable relative to the second supporting rod.

optionally, the limb supporting exoskeleton further comprises a positioning structure, at least part of the positioning structure is movably connected with the second support rod and is rotatably connected with the second guide wheel assembly, and the positioning structure is used for enabling the second guide wheel assembly to be movable relative to the second support rod or to be locked and fixed relative to the second support rod.

Optionally, the positioning structure includes a first member, a second member, and a connecting plate, the connecting plate is fixedly connected to the second support rod, the second member is movably connected to the connecting plate, the second guide wheel assembly is rotatably disposed at an end of the second member far from the connecting plate, and the first member is telescopically disposed in a movement path of the second member and is used for limiting the second member.

optionally, the connecting plate is formed with a sliding groove, the second member is slidably disposed in the sliding groove, and the first member moves away from or towards the second member to slidably connect or lock the second member with the connecting plate.

optionally, the positioning structure further includes a mounting member, the mounting member is disposed adjacent to the notch of the sliding groove, the mounting member is formed with a screw hole, the first member is a screw member, and the screw member slidably abuts against the second member through the screw hole;

Or, a screw hole is formed in a groove wall of the sliding groove, the first component is a screw piece, and the screw piece penetrates through the screw hole and is slidably abutted against the second component.

Optionally, the second member is formed with a plurality of linearly arranged clamping positions, and the first member is movably abutted to the clamping positions.

optionally, the first guide wheel assembly further includes a first rotating shaft and a first guide wheel, 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 positioning structure deviating from the second supporting rod, and the second guide wheel is rotatably sleeved on the second rotating shaft.

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, and at least a part of the positioning structure is bent from the second support rod toward the first support rod.

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 first guide wheel assembly is disposed on a side of the first support rod facing the second support rod, and the second guide wheel assembly is disposed on a side of the second support rod facing the first support rod.

Optionally, the first guide wheel assembly comprises at least two first guide wheels, and the second guide wheel assembly and the at least two first guide wheels are used together for supporting the limb rehabilitation exoskeleton;

and/or a one-way bearing is arranged between the first guide wheel and 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 second guide wheel assembly is adjustable relative to the second supporting rod, before the limb rehabilitation exoskeleton is used, a user can adjust the relative distance between the second guide wheel assembly and the second supporting rod according to the needs of the user, so that the limb rehabilitation exoskeleton adapts to people with different heights, the wearing comfort is improved, 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 when the second supporting rod moves, the second guide wheel assembly is contacted with the supporting surface, so that the resistance of the second supporting rod in the moving 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 structural diagram illustrating an installation state of the second support rod and the positioning structure of the limb rehabilitation exoskeleton according to an embodiment of the present invention;

Fig. 10 is a structural diagram illustrating an installation state of a second support rod and a positioning structure of the limb rehabilitation exoskeleton according to another embodiment of the present invention from another perspective;

Fig. 11 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	311	Supporting wheelHub
10	First support rod	3111	Inner wheel ring
				11	Second connecting hole	3112	Outer wheel ring
12	connecting frame	3113	Connecting rib
				121	support body	312	Hub bearing
1211	Supporting plate	40	Second guide wheel assembly
				1211a	abdicating groove	41	Second guide wheel
1212	supporting projection	50	Fixing piece
				122	connecting member	60	Positioning structure
1221	Clamping piece	61	First member
				1221a	Mounting hole	62	Second member
1221b	First connecting hole	621	clamping position
				123	first rotating shaft	63	Connecting plate
20	Second support rod	631	Sliding chute
				30	First guide wheel assembly	64	Mounting member
31	first guide wheel	70	Power plant

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 9-11, 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

And the second guide wheel assembly 40 is arranged at the end part of the second support rod 20, which is far away from the first support rod 10, and the second guide wheel assembly 40 is adjustable relative to the second support rod 20.

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 second guide wheel assembly 40 is adjustable relative to the second support rod 20, before the limb rehabilitation exoskeleton 100 is used, a user can adjust the relative distance between the second guide wheel assembly 40 and the second support rod 20 according to the needs of the user, so that the limb rehabilitation exoskeleton 100 is suitable for people with different heights, the wearing comfort is improved, the stable running 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, when users with different heights use the exoskeleton, the contact position of the second guide wheel assembly 40 and the supporting surface is changed relative to the center of gravity of the human body due to the adjustability of the second guide wheel assembly 40 relative to the second supporting rod 20, so that the stability of the limb rehabilitation exoskeleton 100 is improved, and when the second supporting rod 20 moves, the second guide wheel assembly 40 contacts with the supporting surface, so that the resistance of the second supporting rod 20 in the moving 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. 9-11, in an embodiment of the present application, the exoskeleton further comprises a positioning structure 60, at least a portion of the positioning structure 60 is movably connected to the second support rod 20 and rotatably connected to the second wheel guide assembly 40, and the positioning structure 60 is used to allow the second wheel guide assembly 40 to be movably or lockingly fixed relative to the second support rod 20. In this embodiment, the second guide wheel assembly 40 is mounted on the positioning structure 60, and the positioning structure 60 is connected to the second support rod 20, so that the second support rod 20 and the second guide wheel assembly 40 are adjustable by the positioning structure 60, and users with different heights can be adapted. And because the rod body of the second support rod 20 is not adjusted, the stability of the second rod body support is improved, and further, the stability of the limb rehabilitation exoskeleton 100 in the using process is improved.

Referring to fig. 9 and 11, in an embodiment of the present application, the positioning structure 60 includes a first member 61, a second member 62 and a connecting plate 63, the connecting plate 63 is fixedly connected to the second support rod 20, the second member 62 is movably connected to the connecting plate 63, the second guide wheel assembly 40 is rotatably disposed at an end of the second member 62 away from the connecting plate 63, and the first member 61 is telescopically disposed in a moving path of the second member 62 and is used for limiting the second member 62. In this embodiment, the connecting plate 63 is substantially a plate-shaped structure with a rectangular bottom surface, and the connecting plate 63 and the second support bar 20 may be connected by a connecting member, or may be fixed by clamping, welding, or the like. The second member 62 and the connecting plate 63 can be slidably connected, in an embodiment, the connecting plate 63 is formed with a sliding hole, the second member 62 is telescopically arranged in the sliding hole, the first member 61 limits the second member 62 in the sliding hole, and specifically, a limiting rib or a limiting block can be used to limit the movement of the second member 62 in the sliding hole. In another embodiment, the second member 62 and the connecting plate 63 may be rotatably connected, in which case, the connecting plate 63 and the second member 62 may be configured to be matched with each other by shaft holes, so that the second member 62 and the connecting plate 63 can rotate, and the first member 61 may be disposed in the rotating direction of the second member 62, so as to limit the rotating angle of the second member 62.

Referring to fig. 11, in an embodiment of the present application, the connecting plate 63 is formed with a sliding groove 631, the second member 62 is slidably disposed in the sliding groove 631, and the first member 61 moves away from or toward the second member 62 to slidably couple or lockingly fix the second member 62 with the connecting plate 63. In the present embodiment, the sliding groove 631 is disposed such that the second member 62 can slide in the sliding groove 631, and the sliding groove 631 has a larger installation space, so that the second member 62 can be conveniently installed, and it can be understood that the first member 61 is disposed adjacent to the sliding groove 631, and when the first member 61 moves towards the second member 62, in one embodiment, the first member 61 can limit the second member 62 on the moving path of the second member 62, and in another embodiment, the first member 61 can abut against the second member 62, so as to clamp and fix the second member 62 together with the connecting plate 63, and thus, the second member 62 can be well limited and fixed.

In an embodiment of the present application, the positioning structure 60 further includes a mounting part 64, the mounting part 64 is disposed adjacent to the notch of the sliding groove 631, the mounting part 64 is formed with a screw hole, the first member 61 is a screw member, and the screw member slidably abuts against the second member 62 through the screw hole; in this embodiment, the first member 61 can be mounted on the mounting part 64 of the positioning structure 60, so as to avoid reducing the strength of the sliding groove 631 when mounted on the sliding groove 631, and to better limit the position of the second member 62 by the first member 61.

in an embodiment of the present application, a screw hole is formed on a groove wall of the sliding groove 631, and the first member 61 is a screw member that slidably abuts against the second member 62 through the screw hole. Installing the first member 61 on the wall of the slot 631 saves unnecessary parts and reduces the installation space of the positioning structure 60, thereby reducing the space of the limb rehabilitation exoskeleton 100.

Referring to fig. 11, in an embodiment of the present application, the second member 62 is formed with a plurality of linearly arranged clamping positions 621, and the first member 61 is movably abutted against the clamping positions 621. The plurality of clamping positions 621 are arranged, so that the first member 61 can be clamped at different positions of the second member 62 better, the second guide wheel assembly 40 and the second supporting rod 20 have a plurality of adjusting gears, and the use of different users is adapted. In an embodiment of the present application, the distance between each of the clamping positions 621 is a, and the value range of a may be: a is more than or equal to 10mm and less than or equal to 50mm, so that when users with different heights use the exoskeleton 100 for limb rehabilitation, the gravity center is stable, and the rehabilitation effect is improved. It is understood that the value of a may also be: the height of the gravity center of the limb rehabilitation exoskeleton 100 is 15mm, 20mm, 25mm, 30mm, 35mm, 40mm, 45mm and the like, so that when users with different heights use the exoskeleton, the gravity center of the limb rehabilitation exoskeleton 100 is stable, and the rehabilitation effect is improved.

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 rotates to form an included angle, the first guide wheel assembly 30 is disposed on a side of the first support rod 10 facing the second support rod 20, and the second guide wheel assembly 40 is disposed on a side of the second support rod 20 facing the first support rod 10. 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 621 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 through the mounting hole 1221a, the first support rod 10 is formed with a second connection hole 11, and the connection member passes through 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 fig. 4 and 5, in an embodiment of the present application, a 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.

referring to fig. 9, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a power device 70, wherein the power device 70 drives the first support rod 10 to rotate relative to the second support rod 20. The power device 70 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 member may be a steel wire, a gear, a worm or a belt, etc., as long as it is convenient for transmission, in an embodiment, the motor may be disposed on the second support rod 20, when the power device 70 drives the first support rod 10 to rotate through the transmission assembly, the first support rod 10 drives the shank to move, so that the human body completes the actions of bending knees, straightening, etc., when these actions are completed, the position change amplitude of the power device 70 is very small, thereby reducing or even avoiding the power device 70 from doing work by overcoming its own gravity. 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 the embodiment, the power device 70 is detachably connected to the second support rod 20, when the exoskeleton is worn by the patient, the power device 70 can be detached first to reduce the weight of the exoskeleton when the patient wears the exoskeleton, and after the joint assembly is worn, the power device 70 is installed on the second support rod 20. In other embodiments of the present invention, the power device 70 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:

A first support bar;

The second support rod is rotatably connected with the first support rod, and the size of the second support rod is larger than that of the first support rod;

2. The limb rehabilitation exoskeleton of claim 1 wherein the limb support exoskeleton further comprises a positioning structure, at least a portion of the positioning structure being movably coupled to the second support bar and rotatably coupled to the second guide wheel assembly, the positioning structure being configured to allow the second guide wheel assembly to be moved or locked relative to the second support bar.

3. The limb rehabilitation exoskeleton of claim 2 wherein said positioning structure comprises a first member, a second member and a connecting plate, said connecting plate is fixedly connected to said second support rod, said second member is movably connected to said connecting plate, said second wheel guide assembly is rotatably disposed at an end of said second member remote from said connecting plate, said first member is telescopically disposed in a movement path of said second member and is used for restraining said second member.

4. The limb rehabilitation exoskeleton of claim 3 wherein said link plate defines a slot, said second member is slidably disposed in said slot, and said first member is moved away from or toward said second member to slidably couple or lockingly secure said second member to said link plate.

5. The limb rehabilitation exoskeleton of claim 4 wherein the positioning structure further comprises a mounting member disposed adjacent to the slot of the chute, the mounting member defining a threaded aperture, the first member being a threaded member slidably received through the threaded aperture against the second member;

6. The limb rehabilitation exoskeleton of claim 3 wherein said second member is formed with a plurality of linearly arranged snap locations and said first member is movably abutted against said snap locations.

7. The limb rehabilitation exoskeleton of claim 3 wherein the first guide wheel assembly further comprises a first rotating shaft and a first guide wheel, wherein 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;

8. the limb rehabilitation exoskeleton of claim 3 wherein said first support bar and/or said second support bar are rotated to form an included angle in the rotation direction of said first support bar and/or said second support bar, and at least part of said positioning structure is bent from said second support bar towards said first support bar.

9. The limb rehabilitation exoskeleton of any one of claims 1 to 8 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, the first guide wheel assembly is arranged on the side of the first support bar facing the second support bar, and the second guide wheel assembly is arranged on the side of the second support bar facing the first support bar.

10. The limb rehabilitation exoskeleton of claim 9 wherein the first guide wheel assembly comprises at least two first guide wheels, and the second guide wheel assembly is used with the at least two first guide wheels for supporting the limb rehabilitation exoskeleton;