CN110575362B

CN110575362B - Limb rehabilitation exoskeleton and limb rehabilitation system

Info

Publication number: CN110575362B
Application number: CN201910916452.7A
Authority: CN
Inventors: 谭高辉; 马舜; 陈海平
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2022-04-22
Anticipated expiration: 2039-09-25
Also published as: CN110575362A

Abstract

The invention discloses a limb rehabilitation exoskeleton and a limb rehabilitation system, wherein the limb rehabilitation exoskeleton 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 first guide wheel assembly is adjustable relative to the first 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 the advantages that the exoskeleton-assisted rehabilitation device can play a role in guiding when assisting human body rehabilitation, is attached to the motion trail of limbs, moves stably, is suitable for users with different heights, and improves rehabilitation effect.

Description

Limb rehabilitation exoskeleton and limb rehabilitation system

Technical Field

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

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, is attached to the motion track of limbs, moves stably, is suitable for users with different heights and improves 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 the first guide wheel assembly is adjustable relative to the first 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.

The invention also provides a limb rehabilitation system, which comprises at least two limb rehabilitation exoskeletons, wherein the at least two limb rehabilitation exoskeletons are oppositely arranged, and the limb rehabilitation exoskeletons comprise:

a first support bar;

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

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 adjustable relative to the first supporting rod, and 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 first guide wheel assembly and the first supporting rod and 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 system according to the present invention;

FIG. 2 is a schematic structural diagram of an embodiment of the limb rehabilitation exoskeleton of the present invention;

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

FIG. 4 is a schematic structural diagram of another perspective of an embodiment of a limb rehabilitation exoskeleton of the present invention;

FIG. 5 is a schematic structural view of the limb rehabilitation exoskeleton with the first shell removed according to one embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a first shell of the limb rehabilitation exoskeleton of the present invention;

fig. 7 is a schematic structural view of the positioning structure of the limb rehabilitation exoskeleton of the present invention in a state of being connected to the second support rod according to an embodiment of the present invention;

fig. 8 is a structural schematic view of another view angle of the positioning structure of the limb rehabilitation exoskeleton and the second support rod in a connected state according to the embodiment of the invention;

FIG. 9 is an exploded view of one embodiment of the transmission assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 10 is an exploded view of another perspective of the transmission assembly of the limb rehabilitation exoskeleton of the present invention;

fig. 11 is a structural schematic view of another view angle of the positioning structure of the limb rehabilitation exoskeleton of the invention in a state that the positioning structure is connected with the second support rod; (ii) a

FIG. 12 is a schematic structural view of one embodiment of the positioning structure and the second wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 13 is an exploded view of one embodiment of the positioning structure and second wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 14 is an exploded view of one embodiment of the lateral wheels of the second wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 15 is an exploded view of one embodiment of the medial wheels of the second wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 16 is an exploded view of one embodiment of the mounting ring for the limb rehabilitation exoskeleton of the present invention;

fig. 17 is a schematic structural view of an embodiment of a positioning structure of the limb rehabilitation exoskeleton of the present invention;

FIG. 18 is an exploded view of an embodiment of the positioning structure of the limb rehabilitation exoskeleton of the present invention;

FIG. 19 is a schematic structural diagram illustrating an embodiment of the second member of the limb rehabilitation exoskeleton of the present invention;

FIG. 20 is a cross-sectional view taken along line D-D of FIG. 19;

FIG. 21 is a schematic view of the limb rehabilitation exoskeleton shown with the second shell removed;

FIG. 22 is an exploded view of the first support bar portion of the limb rehabilitation exoskeleton of the present invention;

FIG. 23 is a schematic partial sectional view of an embodiment of a first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 24 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. 25 is an exploded view of the support shield of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 26 is a partial schematic structural view from another perspective of an embodiment of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 27 is a front view of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention with the first support rod removed;

FIG. 28 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. 29 is a partial structural schematic view of an embodiment of a first guide wheel of the limb rehabilitation exoskeleton of the invention.

The reference numbers illustrate:

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. 1-5 and 21, 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 is adjustable relative to the first support rod 10; 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. In addition, since the first guide wheel assembly 30 is adjustable relative to the first support rod 10 and 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 first guide wheel assembly 30 and the first support rod 10 and 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 can adapt to people with different heights, the wearing comfort is improved, the limb rehabilitation exoskeleton 100 can stably run during movement, 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 first guide wheel assembly 30 is adjustable relative to the first support rod 10, and the second guide wheel assembly 40 is adjustable relative to the second support rod 20, so that the contact position of the first guide wheel assembly 30 and the support surface and the contact position of the second guide wheel assembly 40 and the support surface are changed relative to the center of gravity of the human body, the stability of the limb rehabilitation exoskeleton 100 is improved, when the second support rod 20 moves, the second guide wheel assembly 40 is in contact with the support surface, 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, a fixing member 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 is disposed on the upper side of the first support rod 10 and the second support rod 20, or the fixing member 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, and when the limb rehabilitation exoskeleton 100 is connected to the human body, the patient can be in a lying or sitting state. Wherein, the material of mounting can be elastic material such as rubber, latex, also can be made by multilayer cloth and/or cotton yarn to increase its gas permeability, make things convenient for the patient to use.

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. 21 and 22, in an embodiment of the present application, the second support rod 20 includes a first segment and a second segment, the second segment is telescopically sleeved in the first segment 141, an end of the first segment 141 far away from the second segment 142 is rotatably connected to the first support rod 10, and an end of the second segment far away from the first segment is provided with a second guide wheel assembly 40; the length of the second support rod 20 is made adjustable by the second body segment being closer to or further from the first body segment. So, when facing the patient of different heights, adjust spacing subassembly, remove a definite position with the second segmentation for first segmentation section under the exogenic action, first segmentation section and the mutual spacing fixed patient that can adapt to the height difference of second segmentation section to the commonality of recovered ectoskeleton 100 of limbs has been improved. Similarly, the first guide wheel assembly 30 and the first support rod 10 can be adjusted in a sectional manner, so that the relative position of the rotational connection between the first guide wheel assembly 30 and the first support rod 10 and the second support rod 20 can be adjusted to adapt to users with different heights.

Referring to fig. 1-5, 7, 8, 11-13, 17-20, in an embodiment of the present application, the extremity supporting 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 guide wheel assembly 40, and the positioning structure 60 is used to enable the second guide wheel 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. Similarly, the first guide wheel assembly 30 and the first support rod 10 can be adjusted by the positioning structure 60, so that the relative position of the rotational connection between the first guide wheel assembly 30 and the first support rod 10 and the second support rod 20 can be adjusted to adapt to users with different heights.

Referring to fig. 11 to 13, 17 to 20, 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. 12, 13 and 17, 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 connect or lock 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.

Referring to fig. 12, 13 and 17, 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. 20, 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 5, 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 lower leg and the upper leg, respectively, 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. 11 to 29, in an embodiment of the present application, the first guide wheel assembly 30 further includes a first rotating shaft 123 and at least two first guide wheels 31, 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 at least two first guide wheels 31 are rotatably sleeved on the first rotating shaft 123;

and/or the second guide wheel assembly 40 includes a second rotating shaft 43 and at least two second guide wheels 41, the second rotating shaft 43 is disposed at an end of the second support rod 20 away from the first support rod 10, and the at least two second guide wheels 41 are rotatably sleeved on the second rotating shaft 43. 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 rotating shaft 123 can also include the kerf which runs through the spacing portion, thus when installing first guide pulley 31, can be through combining the spacing portion, and then pass first guide pulley 31, after first rotating shaft 123 passes first guide pulley 31, spacing portion opens and limits first guide pulley 31 to first rotating shaft 123. Similarly, the second rotating shaft 43 is formed to extend in the radial direction of the second support rod 20, thereby facilitating the sleeve joint of the first guide pulley 31. The end of the second rotating shaft 43 departing from the second support rod 20 may include a limiting portion, so that the first guide wheel 31 may be prevented from flying out in the using process when the first guide wheel 31 is rotatably sleeved on the second rotating shaft 43. And, this second axis of rotation 43 can also include the kerf that runs through the spacing portion, thus when installing first guide pulley 31, can through combining the spacing portion, again pass first guide pulley 31, after the second axis of rotation passes first guide pulley 31, spacing portion opens and is spacing first guide pulley 31 in second axis of rotation 43.

Referring to fig. 12 to 16, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a limiting structure 44, wherein the limiting structure 44 is disposed at an end of the second support rod 20 away from the first support rod 10 and controls the second guide wheel assembly 40 to rotate in one direction in a direction close to the first guide wheel assembly 30. The end part of the second support rod 20 departing from the second support rod 20 is provided with a limiting structure 44, and the limiting structure 44 controls the second guide wheel assembly 40 to rotate in a single direction in the direction close to the first guide wheel assembly 30, namely when the second guide wheel assembly 40 moves towards the first guide wheel assembly 30, the friction between the second guide wheel assembly 40 and the support surface is rolling friction; when the second guide wheel assembly 40 moves away from the first guide wheel assembly 30, the friction between the second guide wheel 41 and the supporting surface is sliding friction, so that the resistance of the second supporting rod 20 in the moving process is reduced, the limb rehabilitation exoskeleton 100 can run stably during movement, and the rehabilitation effect is improved. For example, the exoskeleton assists the lower limb rehabilitation of the human body, the first support bar 10 is fixed with the human body lower leg, and the second support bar 20 is fixed with the human body lower leg, so that the second support bar 20 is driven to rotate relative to the first support bar 10 to drive the lower limb to make flexion and extension movement. A limiting structure 44 is arranged on the second support rod 20 away from the first support rod 10 to control the second guide wheel assembly 40 to rotate in one direction in the direction close to the first guide wheel assembly 30, so that when the calf is folded, the second guide wheel assembly 40 can rotate relative to the support surface, and the friction between the first guide wheel 31 and the support surface is rolling friction; conversely, when the lower leg is extended, the second guide wheel assembly 40 cannot rotate, and the friction with the support surface is sliding friction. The arrangement can reduce the resistance of the second support rod 20 in the movement process, is beneficial to the close contact of the limb rehabilitation exoskeleton 100 and a human body, effectively prevents the phenomena of misalignment of the joints of a patient and unrealistic foot treading, increases the treading feeling of the human body, and is further beneficial to the recovery of the nerve of the human body.

Referring to fig. 12 to 16, in an embodiment of the invention, the position-limiting structure 44 is a one-way bearing 44, the one-way bearing 44 is disposed between the second rotating shaft 43 and the second guide wheel 41, an inner ring of the one-way bearing 44 is fixedly connected to the second rotating shaft 43, and an outer ring of the one-way bearing 44 is fixedly connected to the second guide wheel 41. Here, the position-limiting structure 44 is a one-way bearing 44, and the one-way bearing 44 is a standard component, and is directly available on the market, and the structure of the one-way bearing 44 can refer to the structure of the existing one-way bearing 44, which is not described here, and the one-way bearing 44 is installed between the second rotating shaft 43 and the second guide pulley 41, and controls the second guide pulley 41 to rotate in one direction in a direction approaching the first guide pulley assembly 30. Adopt one-way bearing 44 as limit structure 44, the structure sets up comparatively simply, need not to improve original structure, and assembly operation is also comparatively convenient moreover.

In an embodiment of the present invention, there are two unidirectional bearings 44, the two unidirectional bearings 44 are spaced apart from each other along the axial direction of the second rotating shaft 43, inner rings of the two unidirectional bearings 44 are both fixed to the second rotating shaft 43, and outer rings of the two unidirectional bearings 44 are both fixed to the second guide wheel 41.

In an embodiment of the present application, the radial dimension of the second guide wheel 41 is relatively large, in order to more effectively ensure the reliability of the unidirectional rotation of the second guide wheel 41, two unidirectional bearings 44 are generally disposed, the two unidirectional bearings 44 are disposed along the radial direction of the second guide wheel 41 at intervals, an inner wall surface of an inner ring of each unidirectional bearing 44 is provided with a fixing groove 441, the second rotation shaft 43 is correspondingly provided with two limiting keys 431, so that a limiting member is clamped in the fixing groove 441 during assembly, so as to realize the fixed connection between the inner ring of each unidirectional bearing 44 and the second rotation shaft 43, thereby ensuring the stability and reliability of the rotation process of the second guide wheel 41. Here, the positioning boss is disposed in the middle of the second guide wheel 41, and the outer rings of the two one-way bearings 44 are respectively fixed to two opposite surfaces of the positioning boss by screws during assembly, so that the outer rings of the two one-way bearings 44 are both fixedly connected to the second guide wheel 41.

Further, in another embodiment of the present invention, the limiting structure 44 includes a plurality of skewed tooth slots and an elastic limiting element, the skewed tooth slots are disposed on the inner wall surface of the second guide wheel 41 at intervals along the circumferential direction of the second guide wheel 41, the elastic limiting element is disposed on the first rotating shaft 123, the elastic limiting element slides and abuts against the inner wall surface of the skewed tooth slot when the second guide wheel 41 rotates along the skewed direction of the skewed tooth slot, and the elastic limiting element is engaged with one skewed tooth slot when the second guide wheel 41 rotates along the opposite direction. Here, the limiting structure 44 is a plurality of skewed tooth grooves provided on the inner wall surface of the second guide wheel 41, and an elastic limiting member provided on the first rotating shaft 123, and the elastic limiting member is generally in an elastic sheet shape and extends in an oblique direction of the skewed tooth grooves. In this way, when the second guide wheel 41 rotates along the inclination direction of the skewed tooth slot, the elastic limiting member slides and abuts against the inner wall surface of the skewed tooth slot, so that the second guide wheel 41 rotates unidirectionally around the first rotating shaft 123; on the contrary, when the second guide wheel 41 rotates in the opposite direction, the elastic limiting member is clamped in the oblique tooth groove to prevent the second guide wheel 41 from rotating. That is, the second guide wheel 41 can only rotate clockwise around the first rotation axis 123, but not counterclockwise, as viewed from the direction of the figure. It can be understood that, when the patient uses the limb rehabilitation exoskeleton 100 of the present invention to perform rehabilitation training, the limiting structure 44 controls the second guide wheel 41 to rotate around the first rotating shaft 123 when the lower leg is retracted, and the friction between the second guide wheel 41 and the supporting surface is rolling friction; on the contrary, when the lower leg is extended, the limiting structure 44 controls the second guide wheel 41 not to rotate, and the friction between the second guide wheel 41 and the supporting surface is sliding friction. Therefore, the patient can ensure that the joints are aligned and the soles are trampled in the rehabilitation training process, so that the human body feeling is increased, and the recovery of the human nerve is facilitated. It can be understood that the oblique tooth slot and the elastic limiting member in the present embodiment are similar to the oblique tooth slot of a belt buckle and a belt, and the belt has a function of sliding in one direction when being used for fastening the underpants.

Further, in another embodiment of the present invention, the limiting structure 44 includes a plurality of skewed tooth slots and elastic limiting members, the skewed tooth slots are disposed on the outer wall surface of the second guide wheel 41 at intervals along the circumferential direction of the second guide wheel 41, and the elastic limiting members are disposed on the end of the second support rod 20 away from the first support rod 10 and extend toward the second guide wheel 41; the elastic limiting member slides and abuts against the inner wall surface of each skewed tooth slot when the second guide wheel 41 rotates along the skewed tooth slot in the oblique direction, and the elastic limiting member is clamped in one skewed tooth slot when the second guide wheel 41 rotates along the opposite direction. Here, the limiting structure 44 is also a plurality of skewed tooth slots and an elastic limiting member, wherein the skewed tooth slots are disposed on the outer wall surface of the second guide wheel 41, and the elastic limiting member is located on the outer side of the second guide wheel 41 and extends along the oblique direction of the skewed tooth slots. Similarly, when the second guide wheel 41 rotates along the inclination direction of the oblique tooth socket, the elastic limiting member slides and abuts against the inner wall surface of the oblique tooth socket, so that the second guide wheel 41 rotates unidirectionally around the first rotating shaft 123; on the contrary, when the second guide wheel 41 rotates in the opposite direction, the elastic limiting member is clamped in the oblique tooth groove to prevent the second guide wheel 41 from rotating. Second stator 41 can only rotate clockwise, but not counterclockwise, about first axis of rotation 123.

Referring to fig. 5, 7 and 8, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further includes a power device 70 and a transmission assembly 130 in transmission connection with the power device 70, the power device 70 is disposed between the second guide wheel assembly 40 and the place where the first support rod 10 and the second support rod 20 rotate, is disposed adjacent to the second guide wheel assembly 40, and is fixedly connected to the second support rod 20, and the power device 70 drives the second support rod 20 to rotate relative to the first support rod 10 through the transmission assembly 130. The power device 70 is arranged between the second guide wheel assembly 40 and the rotating positions of the first support rod 10 and the second support rod 20, is arranged adjacent to the second guide wheel assembly 40, and is fixedly connected with the second support rod 20, so that the power device 70 is prevented from overcoming the gravity of the power device to do work, and the energy consumption is reduced. After the limb rehabilitation exoskeleton 100 is fixed on the legs of the human body, the power device 70 is arranged between the second guide wheel assembly 40 and the rotating positions of the first support rod 10 and the second support rod 20, is arranged adjacent to the second guide wheel assembly 40, and is fixedly connected with the second support rod 20, that is, the power device 70 is adjacent to the hip joint of the human body. When the power device 70 drives the first support rod 10 to rotate through the transmission assembly 130, the first support rod 10 drives the shank to move, so that the human body completes the actions of bending knees, straightening and the like, and when the actions are completed, the position of the power device 70 is almost unchanged, so that the power device 70 can be prevented from overcoming the self gravity to do work. Meanwhile, the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint components are avoided, and the rehabilitation effect is further improved.

In an embodiment of the present invention, the power device 70 is a motor, and preferably a servo motor, which has high speed control and position accuracy, so that it is more convenient to control the relative rotation speed of the second support rod 20 and the first support rod 10 at different angles, which makes them better conform to the physiological characteristics of human body movement, and thus better assist the user in rehabilitation. Of course, the power device 70 may also be a stepping motor, a hydraulic motor, a brushless motor, or a brush motor.

Referring to fig. 7 to 10, in an embodiment of the present invention, the transmission assembly 130 includes a first rotating disc 131, a second rotating disc 132 and a connecting rod 133, the first rotating disc 131 includes a first disc body and a first connecting portion, the first disc body is integrally disc-shaped, a shaft hole is formed at a center of a circle, and the first disc body rotates relative to the first supporting rod 10 with the center of the circle as a rotation center; it should be noted that, the first disk body rotates relative to the first supporting rod 10, so that the first supporting rod 10 is provided with a rotating shaft matched with the shaft hole, and the first disk body is rotatably sleeved on the rotating shaft through the shaft hole; in the present application, the power device 70 is mounted on the first support rod 10 through a fitting, and the shaft hole of the first disk is sleeved on the output end of the power device 70, so that the first disk rotates relative to the first support rod 10. The first connecting portion may be fixedly connected to the first disc body or detachably connected to the first disc body, and the first connecting portion is disposed on the surface of the first disc body and deviates from the center of the first disc, so that the first rotary disc 131 is in an eccentric wheel structure. The structure of the second turntable 132 is referred to the first turntable 131, and will not be described in detail herein. The connecting rod 133 is connected to the first connecting portion and the second connecting portion in this application, so first carousel 131, second carousel 132 and connecting rod 133 form four connecting rod 133 mechanism in the plane promptly, thereby realize through this four connecting rod 133 mechanism that second bracing piece 20 swings for first bracing piece 10, the motion trail of first bracing piece 10 and second bracing piece 20 and the action of stretching of limbs are more laminated to further improve recovered effect. Meanwhile, the first and

second turnplates

131 and 132 are in eccentric wheel structure, and the whole structure is more compact compared with the plane four-bar linkage 133 mechanism formed by all the connecting bars 133 being hinged, so that the volume of the limb rehabilitation exoskeleton 100 can be reduced. And after the connecting rod 133 is connected to the first rotating disc 131 and the second rotating disc 132, the first disc body and the second disc body can be attached to the side surface of the connecting rod 133 to support the connecting rod 133, so that the transmission assembly 130 is not easy to dislocate and swing when in use, and the transmission performance of the transmission assembly 130 is more stable.

It is understood that the first rotating disc 131, the second rotating disc 132 and the connecting rod 133 are provided for forming a four-bar linkage 133 mechanism in a plane, so the transmission assembly 130 may be in other forms as long as the four-bar linkage 133 mechanism can be realized, and the four-bar linkage 133 mechanism in a plane formed by the connecting rod 133 is adopted as described above, or the first rotating disc 131 and the second rotating disc 132 are in a cam structure, or the rotating centers of the first rotating disc 131 and the second rotating disc 132 are deviated from the center of a circle, which is within the protection scope of the present application.

In an embodiment of the invention, the first connecting portion is specifically a first protrusion formed on the first tray body, and the first protrusion is cylindrical, and may be integrally formed with the first tray body, or may be fixedly connected to the first tray body by a screw or a pin. First mounting hole 1221a and second mounting hole 1221a have been seted up at the both ends of connecting rod 133, and first arch and second arch are located to first mounting hole 1221a and second mounting hole 1221a cover respectively, and so first disk body rotates, drive connecting rod 133 motion, and connecting rod 133 drives the second disk body rotation again for the second support piece swing of being connected with the second disk body.

In order to improve the transmission performance of the transmission assembly 130, in an embodiment of the invention, bearings are further respectively sleeved in the first mounting hole 1221a and the second mounting hole 1221a, and diameters of the first protrusion and the second protrusion are slightly larger than the bearing holes of the bearings, so that the first protrusion and the second protrusion are tightly fitted after being sleeved in the bearing holes, and thus, both ends of the connecting rod 133 can be respectively fixed to the first protrusion and the second protrusion, thereby preventing the connecting rod 133 from falling off in a use process, and enabling the connecting rod 133 to be more easily rotated relative to the first disc body and the second disc body through the bearings, thereby improving the transmission efficiency of the transmission assembly 130. Of course, the bearing may also be sleeved on the first protrusion and the second protrusion, and the effects achieved by the above embodiments may also be achieved, which are not described in detail herein.

It is understood that the transmission assembly 130 is used for transmitting the kinetic energy of the power device 70 to the second support rod 20 to drive the second support rod 20 to rotate relative to the first support rod 10, and therefore the transmission assembly 130 may be in other forms, for example, the transmission assembly 130 may be a plurality of gears engaged with each other, or may be a belt pulley, or a worm transmission, so long as the transmission assembly can drive the second support rod 20 to rotate relative to the first support rod 10 under the driving of the power device 70, which will not be described in detail herein.

Referring to fig. 10, in an embodiment of the present application, the extremity rehabilitation exoskeleton 100 further comprises a rotation control mechanism 80, wherein the rotation control mechanism 80 is disposed on the transmission assembly 130 and electrically connected to the power device 70 for controlling the output power of the power device 70. The rotation control mechanism 80 is disposed on the transmission assembly 130, and the rotation control mechanism 80 is electrically connected to the power device 70 to control the output power of the power device 70, so as to improve the output precision of the power device 70, ensure that the power device 70 has stable output power, and also improve the output precision and output stability of the limb rehabilitation exoskeleton 100.

Specifically, the transmission assembly 130 has a length direction and extends along the length direction of the second support rod 20, one end (the first rotating disc 131 portion) of the transmission assembly 130 is connected to the output shaft of the power device 70 in a transmission manner, and the other end (the second rotating disc 132 portion) of the transmission assembly 130 is connected to the second support rod 20, so that the driving power device 70 can drive the transmission assembly 130 to rotate, and further drive the first support rod 10 and the second support rod 20 to rotate relatively. Here, the rotation control mechanism 80 is a torque sensor 81, the torque sensor 81 is mounted at an end of the transmission assembly 130 away from the power device 70, and the torque sensor can rotate along with the second rotating disc 132 to detect the torsional moment of the first supporting rod 10 rotating relative to the second supporting rod 20, i.e. indirectly detect the rotation angle thereof, and convert the detected torsional moment into an electric signal to be fed back to the power device 70 for controlling the output power of the power device 70 so that the output power thereof is kept constant. The torque sensor 81 may be selected from a rotary torque sensor 81, a non-contact torque sensor 81, a strain gauge torque sensor 81, or other types of torque sensors 81, but not limited thereto.

In an embodiment of the present invention, the rotation control mechanism 80 further includes an angle sensor 82, and an angle driver is disposed at an end of the transmission assembly 130 facing the first support rod 10 and electrically connected to the power device 70. Here, the angle sensor 82 is configured to detect the rotation angle of the transmission assembly 130, i.e. the rotation angle of the first support rod 10 relative to the second support rod 20, and feed back the rotation angle signal to the power device 70 for controlling the output power of the power device 70, so that the output of the extremity rehabilitation exoskeleton 100 is kept constant; meanwhile, the arrangement of the angle sensor 82 can further improve the output precision of the tail end of the limb rehabilitation exoskeleton 100, so that the rehabilitation effect is further improved. It should be noted that, here, the angle sensor 82 may be a rotary variable angle sensor 82, a magneto-electric angle sensor 82, or another type of angle sensor 82, which is not limited herein.

Referring to fig. 5, 6, 21, 22 and 25, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further includes a first protection shell 91, the first protection shell 91 is provided with a first receiving cavity 911, the first support rod 10 is disposed in the first receiving cavity 911, the first support rod 10 has two opposite ends, the two opposite ends of the first support rod 10 penetrate through the first protection shell 91, and the first guide wheel assembly 30 is disposed on a portion of the first support rod 10 extending out of the first protection shell 91; the first supporting rod 10 is mostly arranged in the first protecting shell 91, and the first protecting shell 91 has a protecting effect on the first supporting rod 10, so that the first supporting rod is prevented from being exposed outside and being easily damaged, and the service life of the limb rehabilitation exoskeleton 100 is prolonged.

And/or, the limb rehabilitation exoskeleton 100 further comprises a second protective shell 92, the second protective shell 92 is provided with a second accommodating cavity 921, the second support rod 20 is arranged in the second accommodating cavity 921, the second support rod 20 has two opposite ends, the two opposite ends of the second support rod 20 penetrate through the second protective shell 92, and the second guide wheel assembly 40 is arranged on a portion of the second support rod 20 extending out of the second protective shell 92; the second support rod 20 is mostly disposed in the second protective case 92, and the second protective case 92 protects the second support rod 20 from being damaged when it is exposed, so as to prolong the service life of the exoskeleton 100 for limb rehabilitation.

And/or, the limb rehabilitation exoskeleton 100 further comprises:

the support protective shell 93 is provided with a third accommodating cavity 931; and

a connecting frame 12, the connecting frame 12 being disposed in the third receiving cavity 931, the connecting frame 12 passing through the bracket protective housing 93 and being provided with a second guide wheel assembly 40 and an ankle fixing member, and an end of the first support rod 10 away from the second support rod 20 extending into the third receiving cavity 931 and being connected to the connecting frame 12. Because the connecting frame 12 is mostly arranged in the support protective shell 93, the support protective shell 93 has a protective effect on the connecting frame 12, and the connecting frame is prevented from being exposed outside and being easily damaged, so that the service life of the limb rehabilitation exoskeleton 100 is prolonged.

Referring to fig. 1 to 5, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a binding structure 50, wherein the binding structure 50 is used for fixing a part of a limb to the first support rod 10 and fixing a part of a limb to the second support rod 20. The binding structure 50 can fix a part of the limb at one end of the joint to the first support rod 10, and fix a part of the limb at the other end of the joint to the second support rod 20, so that when the first support rod 10 and the second support rod 20 rotate, the limb around the joint can be driven to move relatively, and the limb can be effectively rehabilitated.

In an embodiment of the present application, the binding structure 50 is disposed on one side of the second support rod 20, the second guide wheel 41 includes an inner side wheel 41a and an outer side wheel 42, the inner side wheel 41a and the outer side wheel 42 are respectively disposed on two sides of the second support rod 20, and the inner side wheel 41a and the binding structure 50 are located on the same side of the second support rod 20. Because the second guide wheel 41 is provided with the inner side wheel 41a and the outer side wheel 42, the first guide wheel assembly 30, the inner side wheel 41a and the outer side wheel 42 are simultaneously used as supports, so that the area of the supports can be increased, the stable running of the limb rehabilitation exoskeleton 100 during movement is ensured, and the rehabilitation effect is improved; and, when the binding structure 50 is used to fix a limb, the limb rehabilitation exoskeleton 100 may tilt to the side where the binding structure 50 is arranged, and the gravity is concentrated on one side of the outer side wheel 42, so that the outer side wheel 42 is unevenly stressed, resulting in the deviation of the overall motion trajectory. The inner side wheels 41a are added to share the gravity, the inner side wheels 41a and the binding structures 50 are arranged on the same side, so that the limb rehabilitation exoskeleton 100 can be supported by the inner side wheels 41a when inclined, the two side supporting wheels are more uniformly stressed and cannot overturn, the track deviation is prevented, and adverse effects caused by the inclination of the limb rehabilitation exoskeleton 100 are avoided.

In an embodiment of the present application, the number of the one-way bearings 44 disposed on the outer wheel 42 is at least two, and at least two of the hub bearings 312 are disposed at intervals along the axial direction of the outer wheel 42. It can be understood that the two one-way bearings 44 are mounted on the axial end surface of the outer wheel 42, so as to ensure that both sides of the outer bearing in the axial direction can be supported, and improve the rotating smoothness of the outer wheel 42.

Referring to fig. 13 to 16, in an embodiment of the present application, the outer wheel 42 includes an outer wheel body 421 and a mounting ring 422, the outer wheel body 421 is formed with a mounting cylinder 4211, the mounting ring 422 includes a first mounting ring 4221 and at least two second mounting rings 4222, an outer ring of the one-way bearing 44 is fixedly connected to the first mounting ring 4221, the two second mounting rings 4222 are arranged along an axial direction of the first mounting ring 4221 and cover a joint of the one-way axial direction and the first mounting ring 4221, and the first mounting ring 4221 and the one-way bearing 44 are secondarily fixed. The outer edge of the first mounting ring 4221 is sleeved in the mounting cylinder 4211 of the outer wheel body 421 and is fixedly connected with the outer wheel body 421. It can be understood that the fixed connection in the embodiment adopts a threaded connection mode of a threaded hole and a threaded connector, so that the structure is simple, and the installation is easy. Similarly, the inner wheel 41a may also be installed in the same way as the outer wheel 42, and the inner wheel 41a may include an inner wheel body 411, where the inner wheel body 411 is formed with an installation groove 4111, and at this time, the installation ring 422 and the one-way bearing 44 may be installed in the installation groove 4111, but when the thickness of the inner wheel 41a is small, only one-way bearing 44 may be installed.

Referring to fig. 1 to 5, in an embodiment of the present invention, the binding structure 50 includes:

the first binding component is arranged on the first supporting rod 10 and is used for fixing part of limbs on the first supporting rod 10; and

and the second binding assembly is arranged on the second support rod 20 and is used for fixing part of the limb on the second support rod 20.

Referring to fig. 1 to 5, taking the example of the exoskeleton assisting the lower limb rehabilitation of the human body, considering that the diameter of the thigh of the human body is generally larger than the diameter of the calf, for the stability of the fixation, two binding structures 50 are provided, which are respectively a first binding component and a second binding component, the first binding component is used for fixing the calf at the first support rod 10, the second binding component is used for fixing the thigh at the second support rod 20, and by independent fixation of two points, the first binding component can completely wrap the calf and is firmly fixed at the first support rod 10, and the second binding component also completely wraps the thigh and is firmly fixed at the second support rod 20.

In an embodiment of the present invention, referring to fig. 1, the first banding assembly includes a first bearing member 511 and a first bearing member 511, the first bearing member 511 is connected to the first support bar 10, and the first binding member cooperates with the first bearing member 511 to form a first fixing space. It can be understood that the first supporting member 511 can be detachably connected to the first supporting rod 10, so as to facilitate replacement and maintenance of the first supporting member 511 when damaged, and specifically, the first supporting member 511 can be connected to the first supporting rod 10 by a screw, a clamping connection, or the like, for example, a threaded hole is formed in the first supporting member 10, a corresponding through hole is formed in the first supporting member 511, and a screw passes through the through hole and is threadedly connected to the threaded hole, so that the first supporting member 511 abuts against the first supporting rod 10. Secondly, because support piece is used for contacting with the limbs and bears the limbs, consequently can select the material of support piece to be flexible material, such as cotton, material such as sponge to avoid the rigidity contact of limbs, reduce the possibility that causes the harm to patient's limbs. In addition, in order to guarantee the stability of support, can be connected with the reinforcement in the one side that first carrier 511 deviates from the limbs, this reinforcement can strengthen the stability that support of support piece and have certain deflection, if the plate body that is formed by elastic material, thereby when limbs were placed on support piece, existing certain deflection, reduce the rigid contact, can improve the stability of support again, it needs to explain that, first binding can be for magic subsides or strap, set up the connecting hole at first carrier 511, pass first binding and pass the connecting hole and drive the both ends that first carrier 511 compressed tightly patient's limbs, thereby make patient's limbs can be fixed in on first bracing piece 10 steadily.

In an embodiment of the present invention, referring to fig. 1 and 5 in combination, an abutting plate 513 is disposed at an end of the first carrier 511 close to the first guide wheel assembly 30, and the abutting plate 513 is used for abutting against the limb. It can be understood that, for example, the exoskeleton assists the lower limb rehabilitation of the human body, the first carrier 511 is used for fixing the lower leg part, so as to fix the foot of the patient while fixing the lower leg, therefore, the abutting plate 513 is bent at one end of the first carrier 511 close to the first guide wheel assembly 30 for abutting against the foot of the patient, and generally, the foot and the lower leg are vertically arranged, so that the bending angle of the abutting plate 513 is also set to be ninety degrees, and meanwhile, the shape of the abutting plate 513 can be set to be consistent with the shape of the foot of the human body, so as to better conform to the structure of the human body, and further better fix the limb of the patient.

In an embodiment of the present invention, the second binding assembly includes a second binding member 521 and a second bearing member 521, the second bearing member 521 is connected to the second support rod 20, and the second binding member and the second bearing member 521 cooperate to form a second fixing space. That is, the second supporting member 521 can be detachably connected to the second supporting rod 20, so as to facilitate replacement and maintenance of the second supporting member 521 when damaged, and in particular, reference may be made to the connection manner of the first supporting member 511 and the first supporting rod 10, which will not be described herein. It should be noted that, for example, the exoskeleton assists the lower limb rehabilitation of the human body, since the second binding assembly is used for fixing the thigh at the second support rod 20, and the diameter of the thigh is generally larger than the diameter of the shank, the contact area between the second bearing member 521 and the limb is larger than the contact area between the first bearing member 511 and the limb, and therefore, the size of the second bearing member 521 is larger than the size of the first bearing member 511 during the design, so that the binding structure 50 of the limb rehabilitation exoskeleton 100 can be more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc. In addition, in order to ensure the stability of the support, a reinforcing member may be connected to a side of the second bearing member 521 facing away from the limb, and the reinforcing member may enhance the stability of the support, such as a plate body formed of an elastic material, so that when the limb is placed on the support, there is a certain amount of deformation, which reduces the rigid contact and improves the stability of the support. In addition, the second binding piece can be for magic subsides or strap, set up the connecting hole at second carrier 521, and pass the connecting hole with the second binding piece and drive the both ends that second carrier 521 compressed tightly patient's limbs to make patient's limbs can be fixed in on second bracing piece 20 steadily.

Referring to fig. 1 and 5 in combination, in an embodiment of the present invention, the binding structure 50 further includes an auxiliary binding assembly connected to the first support bar 10 or the second support bar 20, the auxiliary binding assembly being located between the first binding assembly and the second binding assembly. Because there is the interval between first bundle subassembly and the second bundle subassembly to make the fixed stability of limbs between first bundle subassembly and the second bundle subassembly not high, in order to further improve the fixed stability of limbs, thereby set up the auxiliary group and bind between subassembly and first bundle subassembly and the second bundle subassembly, it should be noted that this auxiliary bundle subassembly can be connected in first bracing piece 10 or second bracing piece 20, only need can fix the partial limbs between subassembly and the second bundle subassembly. When the user binds and fixes the lower side of the limb through the first binding assembly and the second binding assembly, the auxiliary binding piece can fix the limb of the user on the upper side, so that the binding and fixing of the limb of the user in a triangular form are realized, the three-point binding can improve the binding stability, and the limb rehabilitation exoskeleton 100 is convenient for the user to use.

In an embodiment of the present invention, the auxiliary binding assembly includes an auxiliary carrier 531 and an auxiliary binding, the auxiliary carrier 531 being connected to the first support bar 10, the auxiliary binding forming an auxiliary binding space with the auxiliary carrier 531. For convenience of maintenance and replacement, the auxiliary supporting member may be detachably connected to the first supporting rod 10, for example, a threaded hole is formed in the first supporting rod 10, the auxiliary supporting member is provided with a corresponding connecting hole, and a screw passes through the connecting hole to be matched with the threaded hole, so that the auxiliary bearing member 531 is fixed at the first supporting rod 10, or the auxiliary supporting member may be fastened or adhered, specifically, selected by a person skilled in the art according to actual situations, and will not be described herein. In addition, supplementary piece of binding can be for magic subsides or strap, sets up supplementary connecting hole at supplementary carrier 531, will assist and bind the piece and pass supplementary connecting hole and drive the both ends that supplementary carrier 531 compresses tightly patient's limbs to make patient's limbs can be fixed in on first bracing piece 10 steadily.

Referring to fig. 25-28, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises:

an angle adjustment mechanism m50, the angle adjustment mechanism m50 being rotatably connected to the first guide wheel assembly 30, and the axis of rotation of the angle adjustment mechanism m50 being parallel to the axis of the first guide wheel assembly 30; and

an ankle fixing member fixedly connected to the angle adjusting mechanism m50 and rotated following the angle adjusting mechanism m 50.

The angle adjusting mechanism m50 is rotatably connected to the first guide wheel assembly 30 with the rotation axis of the angle adjusting mechanism m50 being parallel to the axis of the first guide wheel assembly 30, and the ankle fixing member is fixed to the angle adjusting mechanism m50 and rotates following the angle adjusting mechanism m 50. Therefore, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the ankle joint of the human body is fixed on the ankle fixing piece, and therefore, when the angle adjusting mechanism m50 rotates relative to the first guide wheel assembly 30, the ankle joint of the human body can be driven to move freely, muscle strength of muscles around the ankle joint can be effectively improved, and brain nerve remodeling is facilitated. Moreover, since the rotation axis of the angle adjusting mechanism m50 is parallel to the axis of the first guide wheel assembly 30, the ankle can be effectively prevented from turning outwards during the freedom of movement, which is beneficial to the rehabilitation of the ankle joint of the human body.

Referring to fig. 25 to 28, in an embodiment of the present invention, the length direction of the connecting frame 12 is the axial direction of the first guide wheel assembly 30, and the first guide wheel 31 is rotatably connected to the connecting frame 12; the angle adjustment mechanism m50 is rotatably connected to the connecting frame 12, and the ankle fixing piece is limited and abutted against the connecting frame 12 during the rotation of the angle adjustment mechanism m 50.

Specifically, the connecting frame 12 is substantially in a long strip shape, has a length direction, and the length direction thereof is the axial direction of the first guide wheel assembly 30, so that when the connecting frame 12 is installed at the end of the first support rod 10 away from the second support rod 20, the limb rehabilitation exoskeleton 0 is substantially in a "T" shape, and thus, the structural stability can be ensured. The first guide wheel 31 may be disposed on one side or the bottom of the connecting frame 12, and the axial direction of the first guide wheel 31 is the length direction of the connecting frame 12. Generally, the connecting frame 12 is provided with a rotating shaft for mounting the first guide wheel 31, so that the connecting frame 12 is rotatably sleeved on the rotating shaft and can rotate around the rotating shaft. The angle adjusting mechanism m50 is rotatably connected to the connecting frame 12, and the limiting butt is connected to the connecting frame 12 in the rotating process, so that the ankle fixing piece is enabled to rotate slightly with the angle adjusting mechanism m50, the heel is enabled to be in contact with the ankle fixing piece all the time, the body consciousness of the stress of the foot of the patient is increased, and the autonomous participation sense of the body is improved.

Further, the middle of the connecting frame 12 is recessed to form a mounting position 1213, the angle adjusting mechanism m50 is rotatably connected to the mounting position 1213, and the ankle fixing member is in limit abutment with the mounting position 1213 during rotation of the angle adjusting mechanism m 50. With the arrangement, when the limb rehabilitation exoskeleton is used for rehabilitation training of lower limbs of a patient, the installation positions 1213 can ensure that the axes of the thighs and the shanks of the patient are on the same axis, so that the dislocation of the thighs and the shanks is effectively prevented, and the lower limb rehabilitation of the patient is facilitated.

Referring to fig. 25 and 28, in an embodiment of the present invention, the angle adjustment mechanism m50 includes a first connecting rod m51 and a second connecting rod m53 connected in a bending manner, an end of the first connecting rod m51 away from the second connecting rod m53 is rotatably connected to the mounting position 1213, and the second connecting rod m53 is in limit contact with the mounting position 1213 during the rotation process along with the first connecting rod m 51; the ankle fixing member includes an abutting plate 513 and a first bearing member 511, the abutting plate 513 is fixedly connected to a side of the second connecting rod m53 facing the first connecting rod m51, and the first bearing member 511 is fixedly connected to a side of the first connecting rod m51 facing the second connecting rod m 53.

Specifically, the angle adjusting mechanism m50 is substantially an L-shaped rod, and includes a first connecting rod m51 and a second connecting rod m53 which are connected in a bending manner, the end of the first connecting rod m51 facing away from the second connecting rod m53 is rotatably connected to the mounting position 1213 and is arranged close to the first supporting rod 10, and the second connecting rod m53 is positioned to abut against the side of the mounting position 1213 facing away from the first supporting rod 10 when the first connecting rod m51 rotates relative to the mounting position 1213, so that the angle adjusting mechanism m50 can rotate with a small angle relative to the mounting position 1213. Similarly, the ankle fixing piece also is roughly L type, including the butt plate 513 and the first carrier 511 of buckling the connection to butt plate 513 and first carrier 511 form towards the one side that deviates from link 12 and are used for settling the holding position of limbs, hold the shape of position and the outline looks adaptation of human ankle portion, can effectively fix patient's ankle portion like this to prevent that patient's ankle portion from taking place the drunkenness or deflecting in the rehabilitation training process, and then improve patient's lower limbs rehabilitation effect. The abutting plate 513 is fixedly connected to the side of the second connecting rod m53 facing the first connecting rod m51, which is generally fixed by screws, and the first load-bearing member 511 is fixedly connected to the side of the first connecting rod m51 facing the second connecting rod m53, which is also generally fixed by screws. Optionally, in order to ensure the installation stability of the first bearing piece 511, the first bearing piece 511 and the first connecting rod m51 are fixed by a plurality of screws, and the plurality of screws are arranged at intervals along the length direction of the first connecting rod m 51. It can be understood that the angle adjusting mechanism m50 is arranged to form the same L-shaped structure with the ankle fixing piece, so that the connecting contact surface of the ankle fixing piece and the angle adjusting mechanism m50 can be effectively enlarged, the mounting stability of the ankle fixing piece can be improved, and the stability of the freedom degree movement of the ankle joint of a patient can be ensured when the patient performs rehabilitation training by using the limb rehabilitation exoskeleton 0 of the invention.

Referring to fig. 28 and 29, 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 43, the second rotating shaft 43 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 43. 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 rotating shaft 43 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 43 departing 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 43. And, the second rotating shaft 43 may further include a slit penetrating through the limiting portion, so that when the second guide wheel 41 is installed, the limiting portion may be combined together and then pass through the second guide wheel 41, and after the second rotating shaft passes through the second guide wheel 41, the limiting portion is opened to limit the second guide wheel 41 to the second rotating shaft 43.

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. 4, 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 to 5 and 25 to 29, in an embodiment of the present application, 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. 25 to 29, 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 can be a nut or a snap structure or a position-limiting structure 44, and the first support rod 10 can further be provided with 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. 25 to 29, 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 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. 27 and 28, 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. 27 and 28, 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. 29, in an embodiment of the present application, first guide wheel 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.

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 made of a hard material;

the second supporting rod is rotatably connected with the first supporting rod and is made of a hard material;

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 is adjustable relative to the second supporting rod;

the limb rehabilitation exoskeleton further comprises a binding structure, wherein the binding structure is used for fixing part of the limb on the first support rod and fixing part of the limb on the second support rod;

the limb rehabilitation exoskeleton further comprises a limiting structure, the limiting structure is arranged at the end part, deviating from the first supporting rod, of the second supporting rod, and controls the second guide wheel assembly to rotate in a single direction in the direction close to the first guide wheel assembly.

2. The limb rehabilitation exoskeleton of claim 1 wherein the first support bar and/or the second support bar are angled in the direction of rotation of the first support bar and/or the second support bar, at least two of the first guide wheel assemblies are disposed on the same side of the first support bar, and the second guide wheel assembly is disposed on the side of the second support bar facing the first guide wheel assemblies.

3. The limb rehabilitation exoskeleton of claim 1 wherein the first guide wheel assembly further comprises a first rotating shaft and at least two first guide wheels, 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 at least two first guide wheels are rotatably sleeved on the first rotating shaft;

and/or the second guide wheel assembly comprises a second rotating shaft and at least two second guide wheels, the second rotating shaft is arranged at the end part of the second support rod departing from the first support rod, and the at least two second guide wheels are rotatably sleeved on the second rotating shaft.

4. The limb rehabilitation exoskeleton of claim 1 further comprising a power device and a transmission assembly in transmission connection with the power device, wherein the power device is disposed between the second guide wheel assembly and the location where the first support rod and the second support rod rotate, is disposed adjacent to the second guide wheel assembly, and is fixedly connected with the second support rod, and the power device drives the second support rod to rotate relative to the first support rod through the transmission assembly.

5. The limb rehabilitation exoskeleton of claim 4 further comprising a rotation control mechanism disposed on the transmission assembly and electrically connected to the power device for controlling the output power of the power device.

6. The limb rehabilitation exoskeleton of claim 1 further comprising a first protective shell having a first receiving cavity, wherein the first support rod is disposed in the first receiving cavity, the first support rod has opposite ends, the opposite ends of the first support rod extend through the first protective shell, and the first guide wheel assembly is disposed on a portion of the first support rod extending out of the first protective shell;

the limb rehabilitation exoskeleton further comprises a second protective shell, the second protective shell is provided with a second containing cavity, the second support rod is arranged in the second containing cavity and provided with two opposite ends, the two opposite ends of the second support rod penetrate through the second protective shell, and the second guide wheel assembly is arranged on a part of the second support rod extending out of the second protective shell;

and/or, the limb rehabilitation exoskeleton further comprises:

the bracket protective shell is provided with a third accommodating cavity; and

the connecting frame is arranged in the third accommodating cavity and penetrates through the support protective shell and is provided with a second guide wheel assembly and an ankle fixing piece, and one end, far away from the second supporting rod, of the first supporting rod extends into the third accommodating cavity and is connected to the connecting frame.

7. The limb rehabilitation exoskeleton of claim 1 further comprising:

the angle adjusting mechanism is rotatably connected to the first guide wheel assembly, and the rotating axis of the angle adjusting mechanism is parallel to the axis of the first guide wheel assembly; and

the ankle fixing part is fixedly connected to the angle adjusting mechanism and follows the angle adjusting mechanism to rotate.

8. A limb rehabilitation system comprising at least two limb rehabilitation exoskeletons as claimed in any one of claims 1 to 7, the at least two limb rehabilitation exoskeletons being oppositely disposed.