CN113967149A - Outer skeleton for foot rehabilitation - Google Patents
Outer skeleton for foot rehabilitation Download PDFInfo
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- CN113967149A CN113967149A CN202010715952.7A CN202010715952A CN113967149A CN 113967149 A CN113967149 A CN 113967149A CN 202010715952 A CN202010715952 A CN 202010715952A CN 113967149 A CN113967149 A CN 113967149A
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- support frame
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- exoskeleton
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- 238000005253 cladding Methods 0.000 claims description 26
- 238000013016 damping Methods 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 229920000742 Cotton Polymers 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 210000001699 lower leg Anatomy 0.000 description 19
- 210000000689 upper leg Anatomy 0.000 description 10
- 238000005452 bending Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 5
- 230000005489 elastic deformation Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 206010017577 Gait disturbance Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical instruments, in particular to an exoskeleton for foot rehabilitation, which assists a patient to exercise through the exoskeleton, can save manpower for other people to assist the patient in exercising, and is convenient for the patient to independently complete the exercise work; including first support frame, second support frame, rotation support storehouse, carousel and support column, the second support frame is located the right downside of first support frame, all is provided with two sets of bundles on first support frame and the second support frame and ties up the device, rotates the support storehouse and installs at the upper left side of second support frame, and the inside that rotates the support storehouse is provided with first cavity.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an exoskeleton for foot rehabilitation.
Background
As is well known, because the emergence of all kinds of accidents, there are the injured or hemiplegia patient of more foot at present in china, they are because the injured can't normally walk, when carrying out the rehabilitation exercise, patient can't independently accomplish the exercise usually, need assist in with the help of exoskeleton or other personnel and take exercise, current exoskeleton is generally fixed, it can't be crooked in the knee position, it is comparatively difficult to lead to walking, it is great to temper the degree of difficulty, it is relatively poor to temper the effect, when adopting other personnel to assist the exercise simultaneously, need consume more manpower.
Disclosure of Invention
In order to solve the technical problems, the invention provides the exoskeleton for foot rehabilitation, which is used for assisting a patient to exercise through the exoskeleton, can save manpower for other people to support the patient to exercise, and is convenient for the patient to independently complete exercise work, and meanwhile, the equipment can drive the crus and the feet to bend, so that the knee position of the patient can be conveniently bent, the patient can conveniently exercise according to the normal walking mode of the human body, the walking difficulty and the exercise difficulty are reduced, the exercise effect is improved, and the practicability and the reliability are improved.
The invention relates to an exoskeleton for foot rehabilitation, which comprises a first support frame, a second support frame, a rotary support bin, a rotary table and a support column, wherein the second support frame is positioned at the lower right side of the first support frame, two groups of binding devices are respectively arranged on the first support frame and the second support frame, the rotary support bin is arranged at the upper left side of the second support frame, a first cavity is arranged inside the rotary support bin, the rotary table is positioned inside the first cavity and can rotate in the first cavity, the right end of the support column is arranged on the rotary table, the left end of the support column penetrates through the rotary support bin and is arranged at the lower right side of the first support frame, the support column and the rotary support bin can rotate relatively, a power groove is communicated with the middle part of the right end of the rotary table, the left side of the inner wall of the power groove extends into the support column, a power groove plate is arranged inside the power groove plate, the right end of the power groove plate is arranged at the right end of the inner wall of the first cavity, an inner gear ring is arranged on the inner wall of the power groove plate, the upper side of the inner wall of the inner gear ring is provided with a power straight gear in a meshed mode, the left end of the power straight gear is provided with a first rotating shaft, the left end of the first rotating shaft penetrates through a power groove, the lower sides of a support column and a first support frame extend out to the left side of the first support frame, the first rotating shaft is rotatably connected with the support column and the first support frame respectively, the left lower side of the first support frame is provided with a power device, the power device is in transmission connection with the left end of the first rotating shaft, the lower side of a second support frame is provided with a limiting device, a pedal support is arranged on the limiting device, a pedal is arranged below the pedal support, a plurality of groups of damping springs are uniformly arranged on the pedal, the tops of the plurality of groups of damping springs are all installed at the bottom of the pedal support, a central control box is arranged on the left side of the damping springs, and the central control box is electrically connected with the power device; through four groups of binding devices, a first support frame and a second support frame can be respectively fixed on thighs and shanks, the foot faces are placed on a pedal support, a central control box drives a first rotating shaft to rotate through a power device, the first rotating shaft drives a power straight gear to rotate, the power straight gear is meshed with the upper side of the inner wall of an inner gear ring, the power straight gear can drive the inner gear ring to rotate, the inner gear ring can drive a rotating support bin and a second support frame to rotate through a power groove plate, so that the shanks are driven to bend, the rotating support bin in a rotating state can rotate on a rotary table and a support column, the rotary table and the support column can support the rotating support bin and the second support frame, the thighs can drive equipment to lift through the two groups of binding devices on the upper side, the equipment can drive the shanks and the feet to lift up, so that a human body can normally walk, the purpose of rehabilitation exercise is achieved, and meanwhile, when the pedal support frame is used as the pedal support, Footboard and multiunit damping spring whereabouts and when stepping on the ground, multiunit damping spring can cushion pedal support and foot, reduce and step on the impact to the foot, when foot takes exercise, the atress is less between foot face and the pedal support, human gravity accessible pedal support, second support frame and first support frame support, take exercise through outer skeleton auxiliary patient, can save other personnel and support the manpower when patient takes exercise in, conveniently make patient independently accomplish the exercise work, equipment can drive shank and foot and buckle simultaneously, thereby make things convenient for patient's knee position normal bending, conveniently make patient can take exercise according to human normal walking mode, reduce the walking degree of difficulty and the exercise degree of difficulty, improve the exercise effect, improve practicality and reliability.
The invention relates to an exoskeleton for foot rehabilitation, which comprises a power device and a control box, wherein the power device comprises a motor base, a motor, a speed reducer, a second rotating shaft and two groups of bevel gears, the motor base is arranged on a first support frame, the motor and the speed reducer are both arranged on the motor base and are in transmission connection with each other, the motor is in signal connection with the control box, the second rotating shaft is arranged on the output end of the lower side of the speed reducer, the two groups of bevel gears are respectively arranged at the bottom of the second rotating shaft and the left part of the first rotating shaft, and the two groups of bevel gears are mutually meshed; open the motor through well accuse case control, motor accessible reduction gear, second pivot and two sets of bevel gears drive first pivot and rotate, and the steerable motor turned angle of well accuse case and direction of rotation simultaneously to conveniently control second support frame and shank bending angle, conveniently control the shank crooked and even, improve practicality and reliability.
The invention relates to an external framework for foot rehabilitation, which comprises a supporting shaft, a guide bin, a sliding plate, two groups of adjusting rods and two groups of inserting columns, wherein the right side of the supporting shaft is arranged at the left lower side of a second supporting frame, the left side of the supporting shaft penetrates through the upper side of a pedal bracket and extends out to the left side of the pedal bracket, the pedal bracket is rotatably connected with the supporting shaft, the right end of the guide bin penetrates through the supporting shaft and is arranged at the left end of the second supporting frame, a second cavity is arranged inside the guide bin, a plurality of groups of adjusting springs are uniformly arranged at the right side of the inner wall of the second cavity, the right end of the sliding plate is arranged at the left end of the plurality of groups of adjusting springs, the left end of the sliding plate penetrates through the second cavity and extends out to the left side of the guide bin, the sliding plate is slidably connected with the guide bin, the two groups of adjusting rods are respectively arranged at the upper side and the lower side of the sliding plate, the upper side of the pedal bracket is uniformly provided with four groups of adjusting holes which are positioned at the outer side of the sliding plate, the left sides of the two groups of inserting columns are respectively arranged at the upper sides of the two groups of adjusting rods, and the right sides of the two groups of inserting columns respectively extend into the upper side adjusting holes and the lower side adjusting holes; the pedal bracket can be conveniently and fixedly connected with the second support frame by arranging the limiting device, when the angle of the pedal bracket needs to be adjusted, the sliding plate is pulled to move leftwards, the sliding plate drives the left ends of a plurality of groups of adjusting springs to move leftwards, the plurality of groups of adjusting springs all generate elastic deformation, meanwhile, the sliding plate drives two groups of adjusting rods and two groups of inserting columns to move leftwards, the two groups of inserting columns are respectively separated from the upper side adjusting holes and the lower side adjusting holes, the pedal bracket is rotated on the support shaft, the lower side of the pedal bracket moves backwards to a horizontal state, the pedal and a plurality of groups of damping springs all move backwards to a horizontal state, the front side adjusting holes and the rear side adjusting holes of the pedal bracket are respectively rotated to the positions of the original lower side adjusting holes and the original upper side adjusting holes, the sliding plate is loosened, the plurality of groups of adjusting springs pull the sliding plate to move rightwards, the sliding plate drives the two groups of adjusting rods and the two groups of inserting columns to move rightwards, and the two groups of inserting columns are respectively inserted into the lower side adjusting holes and the upper side adjusting holes, thereby fix again the position of footboard support, patient's foot can directly trample outside subaerially this moment, and the convenience is assisted the exercise to the patient in recovered later stage, improves practicality and reliability.
The binding device comprises two groups of arc-shaped cladding plates, two groups of supporting rods and a magic tape, the left sides of the two groups of arc-shaped cladding plates are rotatably connected, the two groups of arc-shaped cladding plates are respectively fixed on the first supporting frame through the two groups of supporting rods, the two groups of arc-shaped cladding plates are respectively rotatably connected with the two groups of supporting rods, inner protective cotton layers are uniformly arranged on the inner walls of the two groups of arc-shaped cladding plates, and the right sides of the two groups of arc-shaped cladding plates can be connected through the magic tape; open the magic subsides, rotate two sets of arc cladding plates, two sets of arc cladding plates can rotate on two sets of bracing pieces respectively, with two sets of arc cladding plate cladding on the thigh, merge two sets of arc cladding plates and paste through the magic and connect the right side of two sets of arc cladding plates to tie equipment on the thigh, the cotton layer of interior protection can protect the human shank simultaneously, prevents that two sets of arc cladding plates from causing the scotch to the shank, improves the travelling comfort.
The exoskeleton for foot rehabilitation further comprises two groups of limiting sleeves, two groups of sliding blocks and two groups of limiting rods, wherein the two groups of limiting sleeves are respectively arranged on the left side and the right side of the bottom of the pedal bracket; when the footboard reciprocated, the two sets of gag lever post of footboard accessible drove two sets of sliders and slides from top to bottom in two sets of gag lever posts, through setting up two sets of gag lever posts, two sets of sliders and two sets of gag lever posts, can conveniently reciprocate the position to the footboard and carry on spacingly, prevent that multiunit damping spring from rebounding patient to tumbling when producing great elastic deformation, guarantee that patient normally takes exercise, improvement practicality and reliability.
The exoskeleton for foot rehabilitation further comprises an outer sheath, wherein the outer sheath is sleeved on the outer sides of the pedal, the multiple groups of damping springs, the two groups of limiting sleeves and the two groups of limiting rods; through setting up the oversheath, can conveniently keep apart the protection to group damping spring, prevent that impurity such as external grit from getting into multiunit damping spring in and causing the hindrance to its normal compression, improve the practicality.
The invention relates to an outer framework for foot rehabilitation, wherein an anti-skid rubber layer is arranged at the bottom of a pedal; through setting up the non-slip rubber layer, can conveniently protect and anti-skidding to the footboard and handle, improve the practicality.
The invention relates to an exoskeleton for foot rehabilitation, which further comprises a shield, wherein the shield is positioned on the outer side of a power device, and the right side of the shield is arranged on a first support frame; through setting up the guard shield, can conveniently keep apart the protection to power device, prevent that its operation from causing the injury to the human body, improve practicality and reliability.
Compared with the prior art, the invention has the beneficial effects that: through four groups of binding devices, a first support frame and a second support frame can be respectively fixed on thighs and shanks, the foot faces are placed on a pedal support, a central control box drives a first rotating shaft to rotate through a power device, the first rotating shaft drives a power straight gear to rotate, the power straight gear is meshed with the upper side of the inner wall of an inner gear ring, the power straight gear can drive the inner gear ring to rotate, the inner gear ring can drive a rotating support bin and a second support frame to rotate through a power groove plate, so that the shanks are driven to bend, the rotating support bin in a rotating state can rotate on a rotary table and a support column, the rotary table and the support column can support the rotating support bin and the second support frame, the thighs can drive equipment to lift through the two groups of binding devices on the upper side, the equipment can drive the shanks and the feet to lift up, so that a human body can normally walk, the purpose of rehabilitation exercise is achieved, and meanwhile, when the pedal support frame is used as the pedal support, Footboard and multiunit damping spring whereabouts and when stepping on the ground, multiunit damping spring can cushion pedal support and foot, reduce and step on the impact to the foot, when foot takes exercise, the atress is less between foot face and the pedal support, human gravity accessible pedal support, second support frame and first support frame support, take exercise through outer skeleton auxiliary patient, can save other personnel and support the manpower when patient takes exercise in, conveniently make patient independently accomplish the exercise work, equipment can drive shank and foot and buckle simultaneously, thereby make things convenient for patient's knee position normal bending, conveniently make patient can take exercise according to human normal walking mode, reduce the walking degree of difficulty and the exercise degree of difficulty, improve the exercise effect, improve practicality and reliability.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the rotary support silo of FIG. 1;
FIG. 3 is an enlarged view of the pedal of FIG. 1;
FIG. 4 is an enlarged schematic view of the motor of FIG. 1;
FIG. 5 is an enlarged view of the slide plate of FIG. 1;
FIG. 6 is a left enlarged view of the skateboard of FIG. 1;
FIG. 7 is an enlarged top view of the arced cover sheet of FIG. 1;
in the drawings, the reference numbers: 1. a first support frame; 2. a second support frame; 3. rotating the supporting bin; 4. a turntable; 5. a support pillar; 6. a power groove plate; 7. an inner gear ring; 8. a powered spur gear; 9. a first rotating shaft; 10. a pedal bracket; 11. a pedal; 12. a damping spring; 13. a central control box; 14. a motor base; 15. a motor; 16. a speed reducer; 17. a second rotating shaft; 18. a bevel gear; 19. a support shaft; 20. a guide bin; 21. adjusting the spring; 22. a slide plate; 23. an adjusting lever; 24. an adjustment hole; 25. inserting a column; 26. an arc-shaped cladding plate; 27. a support bar; 28. an inner protective cotton layer; 29. magic paste; 30. a limiting sleeve; 31. a slider; 32. a limiting rod; 33. an outer sheath; 34. an anti-slip rubber layer; 35. a shield.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 7, in the external skeleton for foot rehabilitation of the present invention, when in operation, a first support frame 1 and a second support frame 2 can be respectively fixed on thighs and shanks by four groups of binding devices, the foot surface is placed on a pedal support 10, a central control box 13 drives a first rotating shaft 9 to rotate by a power device, the first rotating shaft 9 drives a power spur gear 8 to rotate, the power spur gear 8 is engaged with the upper side of the inner wall of an inner toothed ring 7, the power spur gear 8 can drive the inner toothed ring 7 to rotate, the inner toothed ring 7 can drive a rotating support bin 3 and the second support frame 2 to rotate by a power trough plate 6, thereby driving the shanks to bend, the rotating support bin 3 in a rotating state can rotate on the rotating disc 4 and the support column 5, the rotating disc 4 and the support column 5 can support the rotating support bin 3 and the second support frame 2, the thighs can be lifted by two groups of binding devices on the upper side, equipment can drive shank and foot and lift up to can make human normal walking, realize the purpose of recovered exercise, simultaneously when pedal support 10, footboard 11 and the whereabouts of multiunit damping spring 12 and step on the ground, multiunit damping spring 12 can cushion pedal support 10 and foot, reduce and step on the impact to the foot, when the foot was taken exercise, the atress is less between instep and the pedal support 10, human gravity accessible pedal support 10, second support frame 2 and first support frame 1 support.
The main functions realized by the invention are as follows: the outer framework is used for assisting the patient to take exercise, so that the manpower of other personnel for assisting the patient to take exercise can be saved, the patient can conveniently independently complete the exercise work, meanwhile, the equipment can drive the shank and the foot to bend, the knee position of the patient can be conveniently bent normally, the patient can conveniently take exercise according to the normal walking mode of the human body, the walking difficulty and the exercise difficulty are reduced, and the exercise effect is improved; the power device works in a mode that the central control box controls the motor to be turned on, the motor can drive the first rotating shaft to rotate through the speed reducer, the second rotating shaft and the two groups of bevel gears, and meanwhile, the central control box can control the rotating angle and the rotating direction of the motor, so that the bending angle of the second support frame and the shank can be conveniently controlled, and the bending and even the bending of the shank can be conveniently controlled; the limiting device is used in a mode that the pedal support can be conveniently and fixedly connected with the second support frame by arranging the limiting device, when the angle of the pedal support needs to be adjusted, the sliding plate is pulled to move leftwards, the sliding plate drives the left ends of a plurality of groups of adjusting springs to move leftwards, the plurality of groups of adjusting springs elastically deform, the sliding plate drives two groups of adjusting rods and two groups of inserting columns to move leftwards, the two groups of inserting columns are separated from the upper side adjusting holes and the lower side adjusting holes respectively, the pedal support is rotated on the support shaft, the lower side of the pedal support moves backwards to a horizontal state, the pedal and a plurality of groups of damping springs move backwards to a horizontal state, the front side adjusting holes and the rear side adjusting holes of the pedal support are rotated to the positions of the original lower side adjusting holes and the original upper side adjusting holes respectively, the sliding plate is loosened, the plurality of groups of adjusting springs pull the sliding plate to move rightwards, and the sliding plate drives the two groups of adjusting rods and the two groups of inserting columns to move rightwards, the two groups of inserting columns are respectively inserted into the lower side adjusting hole and the upper side adjusting hole, so that the position of the pedal support is fixed again, the feet of the patient can directly step on the external ground, and the patient in the later period of rehabilitation can be conveniently assisted to exercise; the binding device is used in a mode that the magic tape is opened, the two groups of arc-shaped cladding plates are rotated, the two groups of arc-shaped cladding plates can rotate on the two groups of supporting rods respectively, the two groups of arc-shaped cladding plates are coated on the thighs, the two groups of arc-shaped cladding plates are combined and connected to the right sides of the two groups of arc-shaped cladding plates through the magic tape, so that equipment is bound on the thighs, meanwhile, the inner protective cotton layer can protect the legs of a human body, and the legs are prevented from being scratched by the two groups of arc-shaped cladding plates; when the pedal moves up and down, the pedal can drive the two sets of slide blocks to slide up and down in the two sets of limiting sleeves through the two sets of limiting rods, the two sets of slide blocks and the two sets of limiting rods can conveniently limit the up-and-down moving position of the pedal, the phenomenon that a patient rebounds to fall down when a plurality of sets of damping springs generate large elastic deformation is prevented, and the normal exercise of the patient is ensured; by arranging the outer sheath, the damping springs can be conveniently isolated and protected, and impurities such as external sand stones and the like are prevented from entering the damping springs and blocking the normal compression of the damping springs; the anti-skid rubber layer is arranged, so that the pedal can be conveniently protected and subjected to anti-skid treatment; through setting up the guard shield, can conveniently keep apart the protection to power device, prevent that its operation from causing the injury to the human body, improve practicality and reliability.
The foot rehabilitation exoskeleton is characterized in that the mounting mode, the connecting mode or the setting mode are common mechanical modes, and the mounting mode, the connecting mode or the setting mode can be implemented as long as the beneficial effects of the exoskeleton can be achieved; the central control box can be purchased in the market.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The exoskeleton for foot rehabilitation is characterized by comprising a first support frame (1), a second support frame (2), a rotary support bin (3), a rotary table (4) and support columns (5), wherein the second support frame (2) is positioned at the lower right side of the first support frame (1), two groups of binding devices are respectively arranged on the first support frame (1) and the second support frame (2), the rotary support bin (3) is arranged at the upper left side of the second support frame (2), a first cavity is arranged inside the rotary support bin (3), the rotary table (4) is positioned inside the first cavity and can rotate in the first cavity, the right end of each support column (5) is arranged on the rotary table (4), the left end of each support column (5) penetrates through the rotary support bin (3) and is arranged at the lower right side of the first support frame (1), the support columns (5) and the rotary support bin (3) can rotate relatively, a power groove is communicated with the middle part of the right end of the rotary table (4), the left side of the inner wall of the power groove extends into the support column (5), a power groove plate (6) is arranged inside the power groove, the right end of the power groove plate (6) is arranged at the right end of the inner wall of the first cavity, an inner toothed ring (7) is arranged on the inner wall of the power groove plate (6), a power straight gear (8) is meshed with the upper side of the inner wall of the inner toothed ring (7), a first rotating shaft (9) is arranged at the left end of the power straight gear (8), the left end of the first rotating shaft (9) penetrates through the power groove, the support column (5) and the lower side of the first support frame (1) extend out to the left side of the first support frame (1), the first rotating shaft (9) is respectively and rotatably connected with the support column (5) and the first support frame (1), a power device is arranged at the left lower side of the first support frame (1), the power device is in transmission connection with the left end of the first rotating shaft (9), a limiting device is arranged at the lower side of the second support frame (2), the limiting device is provided with a pedal support (10), a pedal (11) is arranged below the pedal support (10), a plurality of groups of damping springs (12) are uniformly arranged on the pedal (11), the tops of the groups of damping springs (12) are all installed at the bottom of the pedal support (10), a central control box (13) is arranged on the left side of each damping spring (12), and the central control box (13) is electrically connected with a power device.
2. The exoskeleton of claim 1, wherein the power device comprises a motor base (14), a motor (15), a speed reducer (16), a second rotating shaft (17) and two sets of bevel gears (18), the motor base (14) is installed on the first support frame (1), the motor (15) and the speed reducer (16) are installed on the motor base (14) and are in transmission connection with each other, the motor (15) is in signal connection with the central control box (13), the second rotating shaft (17) is installed on the lower output end of the speed reducer (16), the two sets of bevel gears (18) are respectively installed at the bottom of the second rotating shaft (17) and the left of the first rotating shaft (9), and the two sets of bevel gears (18) are meshed with each other.
3. The exoskeleton of claim 2, wherein the limiting device comprises a support shaft (19), a guide bin (20), a sliding plate (22), two sets of adjusting rods (23) and two sets of insertion posts (25), the right side of the support shaft (19) is installed at the left lower side of the second support frame (2), the left side of the support shaft (19) penetrates through the upper side of the pedal bracket (10) and extends to the left side of the pedal bracket (10), the pedal bracket (10) is rotatably connected with the support shaft (19), the right end of the guide bin (20) penetrates through the support shaft (19) and is installed at the left end of the second support frame (2), a second cavity is arranged inside the guide bin (20), a plurality of sets of adjusting springs (21) are uniformly arranged at the right side of the inner wall of the second cavity, the right end of the sliding plate (22) is installed at the left ends of the plurality of sets of adjusting springs (21), the left end of the sliding plate (22) penetrates through the second cavity and extends to the left side of the guide bin (20), but slide (22) and direction storehouse (20) sliding connection, install respectively at the upside and the downside of slide (22) two sets of adjusting lever (23), the upside of footboard support (10) evenly is provided with four group's adjusting hole (24) that run through about, the position of four group's adjusting hole (24) all is located the outside of slide (22), the upside in two sets of adjusting lever (23) is installed respectively in the left side of two sets of posts (25) of inserting, the right side of two sets of posts (25) of inserting stretches into respectively in supreme side adjusting hole (24) and downside adjusting hole (24).
4. The exoskeleton of claim 3, wherein the binding device comprises two sets of arc-shaped cladding plates (26), two sets of support rods (27) and a magic tape (29), the left sides of the two sets of arc-shaped cladding plates (26) are rotatably connected, the two sets of arc-shaped cladding plates (26) are respectively fixed on the first support frame (1) through the two sets of support rods (27), the two sets of arc-shaped cladding plates (26) are respectively rotatably connected with the two sets of support rods (27), inner protective cotton layers (28) are uniformly arranged on the inner walls of the two sets of arc-shaped cladding plates (26), and the right sides of the two sets of arc-shaped cladding plates (26) are connected through the magic tape (29).
5. The exoskeleton of claim 4, further comprising two sets of position-limiting sleeves (30), two sets of sliding blocks (31) and two sets of position-limiting rods (32), wherein the two sets of position-limiting sleeves (30) are respectively installed at the left side and the right side of the bottom of the pedal bracket (10), the two sets of sliding blocks (31) are respectively located in the two sets of position-limiting sleeves (30) and can slide in the two sets of position-limiting sleeves (30), the bottoms of the two sets of position-limiting rods (32) are respectively installed at the left side and the right side of the top of the pedal (11), and the tops of the two sets of position-limiting rods (32) respectively penetrate through the bottoms of the two sets of position-limiting sleeves (30) and are installed on the two sets of sliding blocks (31).
6. The exoskeleton of claim 5, further comprising an outer sheath (33), wherein the outer sheath (33) is sleeved on the outer sides of the pedal (11), the plurality of sets of damping springs (12), the two sets of position-limiting sleeves (30) and the two sets of position-limiting rods (32).
7. The exoskeleton of claim 6, wherein the bottom of the pedal (11) is provided with a non-slip rubber layer (34).
8. The exoskeleton of claim 7, further comprising a shield (35), wherein the shield (35) is located outside the power unit, and the right side of the shield (35) is mounted on the first support frame (1).
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