CN110575364B

CN110575364B - Limb rehabilitation exoskeleton and limb rehabilitation system

Info

Publication number: CN110575364B
Application number: CN201910921143.9A
Authority: CN
Inventors: 谭高辉; 马舜; 蔡雪风; 徐博源
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: 2022-05-13
Anticipated expiration: 2039-09-25
Also published as: CN110575364A

Abstract

The invention discloses a limb rehabilitation exoskeleton and a limb rehabilitation system. The limb rehabilitation exoskeleton comprises a first supporting rod provided with a first guide wheel assembly; the second support rod comprises a first component section and a second component section, one end of the first component section is rotatably connected to one end, far away from the first guide wheel assembly, of the first support rod, one end of the second component section is movably arranged at one end, far away from the first support rod, of the first component section and moves relative to the first component section, and one end, far away from the first component section, of the second component section is provided with a second guide wheel assembly; the limiting assembly is adjusted to enable the second component section to be fixed on the first component section; and the power device is fixed on the first supporting rod and connected with the second supporting rod, and the power device drives the second supporting rod to rotate relative to the first supporting rod. According to the technical scheme, when the exoskeleton assists the human body to recover, the recovery effect is improved; meanwhile, the universality of the limb rehabilitation exoskeleton is improved.

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 using the same.

Background

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

In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in the acute stage, for example, effective switching between passive, active and impedance modes is performed, or the existing rehabilitation training can assist guidance rehabilitation through some machines, but the motion track of the existing auxiliary machines is not smooth enough, and a large error exists between the motion track and the limb, so that the rehabilitation effect is not ideal. Meanwhile, the length of the auxiliary machinery cannot be adjusted, and the height of patients is different, so that the universality of the auxiliary machinery is lower.

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

Disclosure of Invention

The invention mainly aims to provide a limb rehabilitation exoskeleton, which aims to play a role in guiding when a human body is assisted to be rehabilitated by adopting the exoskeleton, and fit the motion trail of limbs to improve the rehabilitation effect; meanwhile, the universality of the limb rehabilitation exoskeleton is improved.

In order to achieve the above object, the present invention provides a limb rehabilitation exoskeleton comprising:

one end of the first supporting rod is provided with a first guide wheel assembly;

the second support rod comprises a first component section and a second component section, one end of the first component section is rotatably connected to one end of the first support rod, which is far away from the first guide wheel assembly, one end of the second component section is movably arranged at one end of the first component section, which is far away from the first support rod, and moves relative to the first component section to be close to or far away from the first component section, and one end of the second component section, which is far away from the first component section, is provided with a second guide wheel assembly;

a spacing assembly adjusted to secure the second segment to the first segment; and

the power device is fixed on the first supporting rod and connected with the second supporting rod, and the power device drives the second supporting rod to rotate relative to the first supporting rod.

In an embodiment of the present invention, the first segment is provided with a first mounting hole, and an end of the second segment, which is far away from the second idler assembly, is inserted into the first mounting hole and is movable in the first mounting hole.

In an embodiment of the invention, the limiting component is disposed on the first segment and can abut against an outer wall of the second segment.

In an embodiment of the invention, the first component section is further provided with a second mounting hole communicated with the first mounting hole, and the limiting component is inserted into the second mounting hole and abuts against an outer wall of the second component section.

In an embodiment of the invention, the wall of the second mounting hole is provided with mounting threads, and the periphery of the limiting assembly is provided with connecting threads, which cooperate with the mounting threads to connect the limiting assembly to the first component section.

In an embodiment of the present invention, a moving distance of the second segment with respect to the first segment is defined as D₁，0mm≤D₁≤180mm。

In an embodiment of the present invention, the first component section is provided with one of a sliding rail or a sliding groove, the second component section is provided with the other of the sliding rail or the sliding groove, the sliding rail and the sliding groove extend along a moving direction of the second component section, and the sliding rail is inserted into the sliding groove.

In an embodiment of the invention, two sets of the second guide wheel assemblies are provided, and the two sets of the second guide wheel assemblies are respectively located at two sides of the second section segment.

In an embodiment of the present invention, a distance between two sets of the second guide wheel assemblies is defined as D₂，250mm≤D₂≤450mm。

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

the second support rod comprises a first component section and a second component section, one end of the first component section is rotatably connected to one end of the first support rod, which is far away from the first guide wheel assembly, one end of the second component section is movably arranged at one end of the first component section, which is far away from the first support rod, and moves relative to the first component section to be close to or far away from the first component section, and one end of the second component section, which is far away from the first component section, is provided with a second guide wheel assembly; and

a stop assembly adjusted to secure the second segment to the first segment.

According to the technical scheme, the first support rod is rotatably connected with the first component section of the second support rod, the first guide wheel assembly is arranged at the end, away from the second support rod, of the first component section of the first support rod, and the second guide wheel assembly is arranged at the end, away from the first component section, of the second component section of the second support rod. Thus, when the first and second segment rotates relative to the first support rod under the action of external force, the second guide wheel assembly can guide the movement of the end part of the second segment far away from the first segment, and the first guide wheel assembly can also guide the movement of the end part of the first support rod far away from the first segment. For example, the exoskeleton assists the lower limb rehabilitation of the human body, the exoskeleton is fixed with the thigh of the human body through the first supporting rod, and after the first component section and/or the second component section of the second supporting rod is fixed with the shank of the human body, the first component section and the second component section are driven by the power device to rotate relative to the first supporting rod so as to drive the lower limb to make flexion and extension movement. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture state, and the second guide wheel assembly is arranged on the second split section of the second supporting rod, so that the second guide wheel assembly is in contact with the supporting surface and rolls relative to the supporting surface when the second supporting rod moves, resistance of the second supporting rod in the moving process can be reduced, the movement of the shank part is enabled to be more fit with the normal movement track of the limb, and the human body is ensured to move along the set direction. When the first supporting rod moves, the first guide wheel assembly is in contact with the supporting surface, so that the resistance of the first 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, when the exoskeleton is adopted to assist the human body to recover, the exoskeleton can play a role in guiding, and can be attached to the motion trail of the limb, so that the recovery effect is improved. And power device's setting up to the relative rotation of first bracing piece and second bracing piece provides power for need not medical personnel and control first bracing piece and second bracing piece and take place relative rotation, thereby reduced medical personnel's intensity of labour.

And, the first part section is movably located to the second part section, is close to or keeps away from first part section through the second part section and makes the length of second carriage bar adjustable to it supports tight second part section through spacing subassembly and carries out spacing fixedly for the in-process that first part section removed. So, when facing the patient of different heights, adjust spacing subassembly, make the second segmentation remove a definite position 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 limbs rehabilitation ectoskeleton has been improved.

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 overall structure diagram of an embodiment of the limb rehabilitation exoskeleton of the present invention;

fig. 2 is a schematic structural diagram of a second support rod of the limb rehabilitation exoskeleton of fig. 1.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	First support rod	213	Sliding rail
110	First guide wheel assembly	220	Second section
				200	Second support rod	221	Second guide wheel assembly
210	First component section	222	Sliding chute
				211	First mounting hole	300	Limiting assembly
212	Second mounting hole	400	Fixing piece

The implementation, functional features and advantages of the objects 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 for descriptive purposes only 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, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. 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.

Referring to fig. 1, in an embodiment of the present invention, the exoskeleton for limb rehabilitation includes a first supporting rod 100, a second supporting rod 200, a limiting assembly 300 and a power device; wherein, one end of the first supporting rod 100 is provided with a first guide wheel assembly 110; the second support rod 200 comprises a first segment 210 and a second segment 220, wherein one end of the first segment 210 is rotatably connected to one end of the first support rod 100 far away from the first guide wheel assembly 110, one end of the second segment 220 is movably disposed at one end of the first segment 210 far away from the first support rod 100 and moves relative to the first segment 210 to be close to or far away from the first segment 210, and one end of the second segment 220 far away from the first segment 210 is provided with a second guide wheel assembly 221; the adjustment stop assembly 300 secures the second body segment 220 to the first body segment 210.

In an embodiment of the present invention, the first support bar 100 is used for fixing the thigh of the patient, and the second support bar 200 is used for fixing the lower leg of the patient, so that when the first support bar 100 and the second support bar 200 are driven to rotate relatively, rehabilitation training for the thigh and the lower leg of the patient is achieved. The first support bar 100 and the second support bar 200 may be plate-shaped structures or rod-shaped structures, and the specific shape thereof is not limited in the present application. The first support bar 100 and the second support bar 200 may be made of metal, for example: aluminum materials, aluminum alloy materials, copper alloy materials, iron materials and stainless steel materials; of course, plastic materials are also possible, such as: ABS, POM, PS, PMMA, PC, PET, etc., and the specific material thereof may be selected according to the required strength of the first and

second support bars

100 and 200. Also, since the size of the thigh of the human body is larger than that of the calf, in an embodiment of the present invention, the size of the first support bar 100 for supporting the thigh is set to be larger than that of the second support bar 200 for supporting the calf, so that the structure of the limb rehabilitation exoskeleton is more stable. The dimension may be any one or more of geometric dimensions such as length, width, thickness, and the like.

The power device is mainly used for providing power to drive the second support rod 200 to rotate relative to the first support rod 100 so as to reduce the working strength of the medical staff. The power device may be a motor, specifically, a stepping motor, a servo motor, a brush motor, a brushless motor, or the like. Of course, the present application is not limited thereto, and in other embodiments, the output shaft of the motor may be drivingly connected to the first supporting bar 100 and/or the second supporting bar 200 through a transmission assembly. For example, the transmission member may be a belt, a chain, a gear, or the like, and the present application does not limit the specific form of the transmission member, and it is sufficient that the rotation of the motor can be transmitted to the first support bar 100 and/or the second support bar 200. Further, a motor may be provided on the first support bar 100. Therefore, when the patient uses the limb rehabilitation exoskeleton, the second support rod 200 is driven to rotate through the transmission assembly, and the second support rod 200 drives the shank to move, so that the human body finishes actions of bending knees, straightening and the like. In doing so, the magnitude of the change in position due to the power unit is small. Therefore, the power device can be reduced or even avoided to overcome self gravity to do work, and the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint assembly are also avoided, so that the rehabilitation of the user is better assisted. In order to facilitate the patient to wear the exoskeleton, in this embodiment, the power device is detachably connected to the first support rod 100, so that when the exoskeleton is worn by the patient, the power device can be firstly detached to reduce the weight of the exoskeleton; after the joint assembly is worn, the power unit is then mounted on the first support bar 100. Of course, in other embodiments, the power device may be fixedly connected to the first support rod 100, thereby reducing the number of steps for wearing the exoskeleton and improving the wearing efficiency.

In order to facilitate the fixation of the thigh of the patient to the first support bar 100 and the lower leg of the patient to the second support bar 200, in an embodiment of the present invention, the first support bar 100 and/or the second support bar 200 are provided with fixing members 400, and specifically, the fixing members 400 may be provided on the second segment 220 of the first support bar 100 and the second support bar 200, respectively, to ensure the stability of the fixation of the limb of the patient. More specifically, the fixing member 400 is provided on the upper side of the first and second support bars 100 and 200, or the fixing member 400 is correspondingly provided on a plane parallel to the rotation direction of the first and second support bars 100 and 200, thereby fixing the leg in a lateral direction, so that the patient can be in a lying or sitting posture when using the limb rehabilitation exoskeleton. Further, the fixing member 400 may be made of elastic materials such as rubber, latex, etc., or may be made of multiple layers of cloth and/or cotton yarn to increase the air permeability, so as to facilitate the use of the patient. To facilitate the fixation of the fixture 400 to the limb of the patient, in one embodiment of the present invention, the fixture 400 is provided in an arcuate configuration for better fit to the body.

The present invention is to rotatably connect the first segment 210 of the first support rod 100 and the first segment 210 of the second support rod 200, and then to dispose the first guide wheel assembly 110 at the end of the first support rod 100 away from the first segment 210 of the second support rod 200, and to dispose the second guide wheel assembly 221 at the end of the second segment 220 of the second support rod 200 away from the first segment 210. Thus, when the first and

second segment

210 and 220 rotate under the action of external force relative to the first support rod 100, the second guide wheel assembly 221 can guide the movement of the end of the second segment 220 away from the first segment 210, and the first guide wheel assembly 110 can also guide the movement of the end of the first support rod 100 away from the first segment 210. For example, the exoskeleton assists the lower limb rehabilitation of the human body, the exoskeleton is fixed to the thigh of the human body through the first support rod 100, and the first segment 210 and/or the second segment 220 of the second support rod 200 are fixed to the calf of the human body, so that the first segment 210 and the second segment 220 are driven to rotate relative to the first support rod 100 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 second guide wheel assembly 221 is arranged on the second section segment 220 of the second support rod 200, so that when the second support rod 200 moves, the second guide wheel assembly 221 is in contact with the support surface and rolls relative to the support surface, resistance of the second support rod 200 in the movement 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. When the first support rod 100 moves, the first guide wheel assembly 110 is in contact with the support surface, so that the resistance of the first support rod 100 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, when the exoskeleton is adopted to assist the human body to recover, the exoskeleton can play a role in guiding, and can be attached to the motion trail of the limb, so that the recovery effect is improved.

And, the second body segment 220 is movably disposed on the first body segment, the length of the second support rod 200 is adjustable by the second body segment 220 approaching or departing from the first body segment 210, and the second support rod is fixed by the position-limiting assembly 300 abutting against the second body segment 220 during the movement relative to the first body segment 210. So, when facing the patient of different heights, adjust spacing subassembly 300, make second component section 220 remove a definite position for first component section 210 under the exogenic action, first component section 210 and second component section 220 spacing fixed each other can adapt to the different patient of height to the commonality of limbs rehabilitation ectoskeleton has been improved. The power device provides power for the relative rotation of the first support rod 100 and the second support rod 200, so that medical staff is not required to operate the first support rod 100 and the second support rod 200 to rotate relatively, and the labor intensity of the medical staff is reduced.

Referring to fig. 2, in an embodiment of the present invention, the first segment 210 has a first mounting hole 211, and an end of the second segment 220 away from the second idler assembly 221 is inserted into the first mounting hole 211 and can move in the first mounting hole 211.

It will be appreciated that the provision of the first mounting holes 211 provides a positive guide for the second body segment 220, making the movement of the second body segment 220 relative to the first body segment 210 more smooth. Meanwhile, the provision of the first mounting hole 211 provides a mounting space for the second body section 220 so that the second body section 220 can be inserted into the mounting space, and the mounting is more compact, thereby reducing the occupied space of the second body section 220. The specific shape of the first mounting hole 211 may be a circular hole or a square hole, and is determined by the shape of the second section 220, that is, it is sufficient to ensure that the first mounting hole 211 is matched with the second section 220.

In an embodiment of the invention, the position-limiting component 300 is disposed on the first segment 210 and can abut against the outer wall of the second segment 220.

It can be understood that, when the length of the second support rod 200 is adjusted, the second segment 220 moves in the first mounting hole 211 of the first segment 210, and the limiting assembly 300 is disposed in the first segment 210, so that the limiting assembly 300 can be located at a fixed position to limit and fix the second support rod 200, thereby preventing the position of the limiting assembly 300 from being affected by the adjustment of the length of the second support rod 200, and improving the convenience of the use of the limiting assembly 300.

In an embodiment of the present invention, the first segment 210 further has a second mounting hole 212 communicating with the first mounting hole 211, and the limiting member 300 is inserted into the second mounting hole 212 and abuts against the outer wall of the second segment 220.

Specifically, when the length of the second support rod 200 needs to be adjusted, the limiting assembly 300 is adjusted to be separated from the outer wall of the second segment 220, and then the second segment 220 is moved relative to the first segment 210 to be close to or far away from the first segment 210 under the action of external force, so that the adjustment of the length of the second support rod 200 is completed to adapt to patients with different heights. It can be understood that the second mounting hole 212 is provided to provide a limiting guide for the limiting assembly 300, so that it is stable and reliable during the adjustment process. Meanwhile, the arrangement of the second mounting hole 212 provides a mounting space for the limiting assembly 300, so that the limiting assembly 300 can be inserted into the mounting space, the mounting is more compact, and the occupied space of the limiting assembly 300 is reduced. The shape of the second mounting hole 212 may be circular or square, and the specific shape and structure thereof are determined by the shape and structure of the limiting assembly 300, that is, it is sufficient to ensure that the second mounting hole 212 is matched with the limiting assembly 300, and the specific shape and structure of the second mounting hole 212 are not limited in the present application.

In one embodiment of the present invention, the wall of the second mounting hole 212 is provided with mounting threads, and the periphery of the position-limiting assembly 300 is provided with connecting threads, which are engaged with the mounting threads to connect the position-limiting assembly 300 to the first body section 210.

It can be understood that the threaded connection has the advantages of simple structure, reliable connection and convenient disassembly and assembly, thus simplifying the structure of the limiting assembly 300 and reducing the manufacturing cost; the stability of the limiting component 300 for limiting and fixing the second body section 220 is also ensured; meanwhile, the installation and adjustment of the limiting assembly 300 are facilitated. Of course, the present application is not limited thereto, and in other embodiments, the limiting assembly 300 and the first body section 210 may be detachably clamped and fixed. Specifically, one of a slot or a latch is disposed on the hole wall of the second mounting hole 212, and the other of the slot or the latch is disposed on the limiting component 300, so that when the limiting component 300 is inserted into the second mounting hole 212, the latch is latched into the slot, and the limiting component 300 is connected to the first component section 210 and abuts against the second component section 220. Alternatively, the position-limiting assembly 300 is connected to the first segment 210 by an elastic member, specifically, the elastic member is disposed between the position-limiting assembly 300 and the first segment 210, and under the elastic tension thereof, the position-limiting assembly 300 is connected to the first segment 210 and abuts against the second segment 220. Thus, after the length of the second support rod 200 is adjusted, the elastic member can drive the limiting assembly 300 to automatically return to abut against the second body segment 220.

In one embodiment of the present invention, the moving distance of the second segment 220 relative to the first segment 210 is defined as D₁，0mm≤D₁≤180mm。

It will be appreciated that the distance D of movement of the second segment 220 relative to the first segment 210₁Too large a setting would require the length of the first segment 210 to be set large, thus the overall structure of the limb rehabilitation exoskeleton occupies a large volume; at the same time, when the second segment 220 moves a distance D relative to the first segment 210₁When too large, the second support bar 200 may also have poor stability in supporting the limb of the patient, thereby affecting the treatment of the patient. Thus, the second segment 220 is brought into phaseThe first component segment 210 is moved by a distance D₁Set to be less than or equal to D of 0mm₁Less than or equal to 180mm, so that the limb rehabilitation exoskeleton can meet the requirements of patients with different heights, and can also reduce the occupied space and ensure certain supporting strength. In particular, D₁May be 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, 90mm, 100mm, 110mm, 120mm, 130mm, 140mm, 150mm, 160mm, 170mm, 180mm, etc., of course, any value in the above interval may be used, and the application is directed to D₁The specific value of (b) is not limited.

In an embodiment of the present invention, the first component section 210 is provided with one of a sliding rail 213 or a sliding groove 222, the second component section 220 is provided with the other of the sliding rail 213 or the sliding groove 222, the sliding rail 213 and the sliding groove 222 are disposed to extend along a moving direction of the second component section 220, and the sliding rail 213 is inserted into the sliding groove 222.

It can be understood that the matching arrangement of the sliding rail 213 and the sliding groove 222 has a limiting effect on the second body segment 220 in the moving process, so that the second body segment can only move along the extending direction of the sliding rail 213 and the sliding groove 222, and the stability of the second body segment 220 in the moving process is improved. In the embodiment, the slide rail 213 has a square structure, and the slide groove 222 has a U-shaped structure, so that the slide rail 213 and the slide groove 222 can be conveniently processed. Of course, the present application is not limited thereto, and in other embodiments, the sliding rail 213 and the sliding slot 222 may also be of a T-shaped or dovetail-shaped structure, so that the sliding rail 213 and the sliding slot 222 are more tightly fitted, and the smoothness of the second segment 220 during the moving process is further improved.

In an embodiment of the present invention, there are two sets of second guide wheel assemblies 221, and the two sets of second guide wheel assemblies 221 are respectively located at two sides of the second body segment 220.

It can be understood that the two sets of second guide wheel sets make the support of the second section 220 by the second guide wheel sets more stable, thereby improving the structural stability of the limb rehabilitation exoskeleton.

Referring to fig. 1, in an embodiment of the present invention, a distance between two sets of second guide wheel assemblies 221 is defined as D₂，250mm≤D₂≤450mm。

It can be understood that the distance D between the two sets of second guide wheel assemblies 221₂When the size is less than 250mm, the movement track of the exoskeleton is easy to deviate, so that the treatment of the exoskeleton for limb rehabilitation on patients is influenced; when the distance D between the two sets of second guide wheel assemblies 221₂When the distance is more than 450mm, the space occupied by the limb rehabilitation exoskeleton is large, and the other limb of the patient is affected, so that the distance between the two groups of second guide wheel assemblies 221 is D₂D is set to be more than or equal to 250mm₂Less than or equal to 450mm, in particular D₂Can be 250mm, 270mm, 290mm, 310mm, 330mm, 350mm, 370mm, 390mm, 420mm, 450mm and the like, of course, can also be any value in the interval, and the application can be used for D₂The specific value of (b) is not limited.

In an embodiment of the present invention, the first guide wheel assembly 110 includes a first guide wheel, the first support rod 100 has a first rotating shaft, and the first guide wheel is rotatably sleeved on the first rotating shaft; the second guide wheel assembly 221 includes a second guide wheel, the second support rod 200 has a second rotation axis, and the second guide wheel is rotatably sleeved on the second rotation axis.

Specifically, the first rotating shaft extends along the radial direction of the first supporting rod 100, so that the first guide wheel is conveniently sleeved and installed. Further, in order to improve the stability of the installation of the first guide wheel, the end of the first rotating shaft facing away from the first supporting rod 100 may be provided with a limiting member. After the first guide wheel is installed on the first rotating shaft, the limiting piece abuts against the first guide wheel to enable the first guide wheel to be fixed on the first rotating shaft, and therefore the first guide wheel is prevented from being separated from the first rotating shaft in the using process. Specifically, the limiting member may be a nut, and an end of the first rotating shaft departing from the first supporting rod 100 is disposed on an external thread matching with the nut. So, when the first guide pulley of needs installation, screw down the nut, after first guide pulley installation finishes the nut screw up can. Similarly, the second rotating shaft extends along the radial direction of the second supporting rod 200, so that the second guide wheel is sleeved and installed conveniently. Further, in order to improve the stability of the installation of the second guide wheel, a limiting member may be disposed at an end of the second rotating shaft away from the second support rod 200. After the second guide wheel is installed on the second rotating shaft, the limiting piece abuts against the second guide wheel to enable the second guide wheel to be fixed on the second rotating shaft, and therefore the second guide wheel is prevented from being separated from the second rotating shaft in the using process. Specifically, the limiting member may be two nuts, and the end of the second rotating shaft departing from the second supporting rod 200 is disposed on an external thread matched with the nuts. So, when needs installation second guide pulley, with the nut screw down, after the second guide pulley installation finishes with the nut screw up can.

Furthermore, the second rotating shaft is provided with one of a convex key and a key groove, the second guide wheel is provided with the other of the convex key and the key groove, and the convex key is inserted into the key groove, so that the second rotating shaft is fixedly connected with the second guide wheel. In this embodiment, realize the fixed of second transmission shaft and second guide pulley through the mode of convex key and keyway, so set up can make the fixed effect of the two better, specifically, the convex key can adopt forms such as spline, triangle key, and this application does not do the injecture to this, can guarantee that second axis of rotation and the firm installation of second guide pulley can. Of course, the present disclosure is not limited thereto, and in other embodiments, the second guide wheel and the second transmission shaft may be fixed in a clamping manner. Specifically, the second guide wheel is provided with one of a clamping groove or a clamping block, the second transmission shaft is provided with the other of the clamping groove or the clamping block, and when the second guide wheel is sleeved on the second transmission shaft, the clamping block is clamped in the clamping groove, so that the second guide wheel is connected to the second transmission shaft.

The present invention further provides a limb rehabilitation system, which includes two sets of limb rehabilitation exoskeletons, and the specific structure of the limb rehabilitation exoskeletons refers to the above embodiments. The two groups of limb rehabilitation exoskeletons are oppositely arranged and are respectively applied to the left leg and the right leg of a patient.

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 device comprises a first support rod, a second support rod and a third support rod, wherein one end of the first support rod is provided with a first guide wheel assembly which is provided with a first guide wheel;

the second support rod comprises a first component section and a second component section, one end of the first component section is rotatably connected to one end, far away from the first guide wheel assembly, of the first support rod, one end of the second component section is movably arranged at one end, far away from the first support rod, of the first component section and moves relative to the first component section to be close to or far away from the first component section, one end, far away from the first component section, of the second component section is provided with a second guide wheel assembly, the first component section is provided with a first mounting hole and a second mounting hole communicated with the first mounting hole, and one end, far away from the second guide wheel assembly, of the second component section is inserted into the first mounting hole and can move in the first mounting hole;

the limiting assembly is arranged in the first split section, inserted into the second mounting hole and abutted against the outer wall of the second split section, and adjusted to enable the second split section to be fixed on the first split section; and

the power device is fixed on the first supporting rod and connected with the second supporting rod, and the power device drives the second supporting rod to rotate relative to the first supporting rod;

the first component section is provided with one of a sliding rail or a sliding chute, the second component section is provided with the other of the sliding rail or the sliding chute, the sliding rail and the sliding chute extend along the moving direction of the second component section, and the sliding rail is inserted into the sliding chute.

2. The limb rehabilitation exoskeleton of claim 1 wherein said second mounting hole has mounting threads on a wall of said hole and said stop assembly has connecting threads on a periphery of said stop assembly, said connecting threads cooperating with said mounting threads to connect said stop assembly to said first segment.

3. The limb rehabilitation exoskeleton of claim 1 wherein the second segment is defined to move relative to the first segment by a distance D₁，0mm≤D₁≤180mm。

4. A limb rehabilitation exoskeleton as claimed in any one of claims 1 to 3 wherein there are two sets of second wheel assemblies, one on each side of the second segment.

5. The limb rehabilitation exoskeleton of claim 4 wherein a distance D is defined between two sets of said second wheel guide assemblies₂，250mm≤D₂≤450mm。

6. A limb rehabilitation system comprising two sets of limb rehabilitation exoskeletons as claimed in any one of claims 1 to 5, the two sets of limb rehabilitation exoskeletons being disposed in opposition.