CN209253510U - A kind of exoskeleton rehabilitation robot with safeguard function - Google Patents
A kind of exoskeleton rehabilitation robot with safeguard function Download PDFInfo
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- CN209253510U CN209253510U CN201821943692.3U CN201821943692U CN209253510U CN 209253510 U CN209253510 U CN 209253510U CN 201821943692 U CN201821943692 U CN 201821943692U CN 209253510 U CN209253510 U CN 209253510U
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- fixedly connected
- exoskeleton
- ectoskeleton
- bandage
- fixedly installed
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Abstract
The utility model discloses a kind of exoskeleton rehabilitation robots with safeguard function, it is related to technical field of medical rehabilitation machinery, including back fixation seat and the first guard assembly being arranged in below back fixation seat, shoulder strap is fixedly installed at one side position of the back fixation seat, the bottom end of the back fixation seat is fixedly connected with connecting bracket, ectoskeleton thigh is connected at the two sides bottom position of the connecting bracket, huckle bandage is fixedly installed at the lateral location of the ectoskeleton thigh, the utility model is provided with rolling bearing units, exoskeleton feet, first fixed plate, second fixed plate, first limit plate, second limit plate, first buffer stopper, second buffer stopper, first spring and second spring, when patient is in the rehabilitation training for doing foot, play the role of better limit protection, prevent movement range It is excessive that patient's ankle is damaged, enhance the safety in utilization of product.
Description
Technical field
The utility model relates to technical field of medical rehabilitation machinery, specifically a kind of exoskeleton rehabilitation with safeguard function
Robot.
Background technique
Exoskeleton robot be based on sensing, control, signal processing, information fusion, electromechanical integration complex art, be
A kind of wearable device closer to the daily production and living of the mankind, as its name suggests, exoskeleton robot are a set of to be worn on body
The robot for playing the role of bone on body, in conjunction with control system hardware and control algolithm, can play provided for wearer it is additional
The effect of power.
However traditional exoskeleton rehabilitation robot lacks preferable safeguard function, causes patient when in use may be by
To secondary injury, and in use, comfort is lower, is unfavorable for the fast quick-recovery of patient, therefore, those skilled in the art
Provide a kind of exoskeleton rehabilitation robot with safeguard function.
Utility model content
It is above-mentioned to solve the purpose of this utility model is to provide a kind of exoskeleton rehabilitation robot with safeguard function
It proposes that traditional exoskeleton rehabilitation robot lacks preferable safeguard function in background technique, patient is caused when in use may
The problem of comfort is lower by secondary injury, and in use, is unfavorable for patient's fast quick-recovery.
To achieve the above object, the utility model provides the following technical solutions:
A kind of exoskeleton rehabilitation robot with safeguard function includes back fixation seat and is arranged below back fixation seat
The first guard assembly, be fixedly installed shoulder strap at a side position of the back fixation seat, the back fixation seat
Bottom end is fixedly connected with connecting bracket, and ectoskeleton thigh, institute are connected at the two sides bottom position of the connecting bracket
It states and is fixedly installed huckle bandage at the lateral location of ectoskeleton thigh, activity connects at the bottom position of the ectoskeleton thigh
It is connected to ectoskeleton shank, the bottom end side of the ectoskeleton shank is fixedly installed rolling bearing units, the side of the rolling bearing units
It is connected with exoskeleton feet at position, is fixedly installed the second guard assembly at the rearward position of the ectoskeleton shank,
The side of the ectoskeleton shank is fixedly installed calf bandage, and first guard assembly includes the first fixed plate, first
Buffer stopper and the first spring, first fixed plate are fixedly connected on the front side of ectoskeleton shank, the bottom of first fixed plate
End is fixedly connected with the first spring, and the bottom end of first spring is fixedly connected with the first buffer stopper, the exoskeleton feet
Side is fixedly connected with the first limit plate at a side position of the first buffer stopper, and the side fixation of the ectoskeleton shank is set
Being equipped with calf bandage includes the second fixed plate, second spring and the second buffer stopper, and second fixed plate is fixedly connected on outer
The rear side of bone shank, the bottom end of second fixed plate are fixedly connected with second spring, and the bottom end of the second spring is fixed
It is connected with the second buffer stopper, the rear side of the exoskeleton feet is fixedly connected with second at a side position of the second buffer stopper
Limit plate.
As a further solution of the present invention: being fixedly installed waist at the intermediate inner side of the connecting bracket
Bandage.
It is fixedly installed at the upper end face position of the exoskeleton feet as a further solution of the present invention,
Skidproof soft cushion.
As a further solution of the present invention, the shoulder strap be it is a kind of with shrink elasticity Double-shoulder type tie up
Band member.
It is fixedly connected with and turns between the rolling bearing units and exoskeleton feet as a further solution of the present invention,
Axis.
Second is provided between the ectoskeleton thigh and huckle bandage as a further solution of the present invention,
Connector is provided with the first connector between the ectoskeleton shank and calf bandage.
Compared with prior art, the utility model has the beneficial effects that
1, the utility model is provided with rolling bearing units, exoskeleton feet, the first fixed plate, the second fixed plate, the first limit
Plate, the second limit plate, the first buffer stopper, the second buffer stopper, the first spring and second spring, when patient is in the rehabilitation instruction for doing foot
When practicing, plays the role of better limit protection, prevent movement range excessive and patient's ankle is damaged, enhance product
Safety in utilization.
2, the utility model is provided with Skidproof soft cushion and exoskeleton feet, so that the surface texturisation of exoskeleton feet is soft,
The usage comfort of product is enhanced, and plays anti-skidding effect, the foot of patient and exoskeleton feet is prevented to be easy hair
The phenomenon that raw sliding.
3, the utility model is provided with shoulder strap and back fixation seat, and shoulder strap is a kind of with pair for shrinking elasticity
Shoulder bandage component, the shoulder of patient is uniform by the power of shoulder strap when use, is prevented since unbalance stress is to patient
Bring discomfort, more safety and comfort when use.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of exoskeleton rehabilitation robot with safeguard function；
Fig. 2 is a kind of structural schematic diagram of the first guard assembly in exoskeleton rehabilitation robot with safeguard function；
Fig. 3 is a kind of structural schematic diagram of the second guard assembly in exoskeleton rehabilitation robot with safeguard function；
Fig. 4 is a kind of structural schematic diagram of exoskeleton feet in exoskeleton rehabilitation robot with safeguard function.
In figure: 1, back fixation seat；2, connecting bracket；3, ectoskeleton thigh；4, huckle bandage；5, calf bandage；
6, the second guard assembly；7, rolling bearing units；8, exoskeleton feet；9, the first guard assembly；10, ectoskeleton shank；11, first connects
Fitting；12, the second connector；13, waist bandage；14, shoulder strap；15, the first fixed plate；16, the first buffer stopper；17,
One limit plate；18, the first spring；19, the second fixed plate；20, second spring；21, the second buffer stopper；22, the second limit plate；
23, Skidproof soft cushion.
Specific embodiment
Please refer to Fig. 1~4, in the utility model embodiment, a kind of exoskeleton rehabilitation robot with safeguard function, packet
The first guard assembly 9 for including back fixation seat 1 and being arranged in below back fixation seat 1 is consolidated at a side position of back fixation seat 1
Surely it is provided with shoulder strap 14, the bottom end of back fixation seat 1 is fixedly connected with connecting bracket 2, the two sides bottom end position of connecting bracket 2
The place of setting is connected with ectoskeleton thigh 3, and huckle bandage 4, dermoskeleton are fixedly installed at the lateral location of ectoskeleton thigh 3
Ectoskeleton shank 10 is connected at the bottom position of bone thigh 3, the bottom end side of ectoskeleton shank 10 is fixedly installed band
Seat bearing 7 is connected with exoskeleton feet 8 at a side position of rolling bearing units 7, consolidates at the rearward position of ectoskeleton shank 10
Surely it is provided with the second guard assembly 6, the side of ectoskeleton shank 10 is fixedly installed calf bandage 5, the first guard assembly 9 packet
The first fixed plate 15, the first buffer stopper 16 and the first spring 18 are included, the first fixed plate 15 is fixedly connected on ectoskeleton shank 10
Front side, the bottom end of the first fixed plate 15 are fixedly connected with the first spring 18, and it is slow that the bottom end of the first spring 18 is fixedly connected with first
Block 16 is rushed, the side of exoskeleton feet 8 is fixedly connected with the first limit plate 17 at a side position of the first buffer stopper 16, outside
It includes the second fixed plate 19, second spring 20 and the second buffer stopper that the side of bone shank 10, which is fixedly installed calf bandage 5,
21, the second fixed plate 19 is fixedly connected on the rear side of ectoskeleton shank 10, and the bottom end of the second fixed plate 19 is fixedly connected with second
Spring 20, the bottom end of second spring 20 are fixedly connected with the second buffer stopper 21, and the rear side of exoskeleton feet 8 is close to the second buffer stopper
The second limit plate 22 is fixedly connected at 21 side position.
In Fig. 1: being fixedly installed waist bandage 13 at the intermediate inner side of connecting bracket 2, when having reached use just
In the purpose using 13 human body waist of waist bandage.
In Fig. 4: being fixedly installed Skidproof soft cushion 23 at the upper end face position of exoskeleton feet 8, using the dermoskeleton
When bone foot 8, Skidproof soft cushion 23 enhances usage comfort.
In Fig. 1: shoulder strap 14 is a kind of with the Double-shoulder type bandage component for shrinking elasticity, when having reached use more
The purpose of safety.
In figure 2 and figure 3: being fixedly connected with shaft between rolling bearing units 7 and exoskeleton feet 8, reached raising dermoskeleton
The purpose of 8 activity flexibility of bone foot.
In Fig. 1: being provided with the second connector 12,10 He of ectoskeleton shank between ectoskeleton thigh 3 and huckle bandage 4
It is provided with the first connector 11 between calf bandage 5, has achieved the purpose that convenient for fixing human leg portion and lower leg portion.
The working principle of the utility model is: when using the exoskeleton rehabilitation robot, the side of back fixation seat 1
It is provided with shoulder strap 14, shoulder strap 14 is bound to the shoulder of patient, shoulder strap 14 is a kind of elastic with shrinking
Double-shoulder type bandage component, the shoulder of patient is uniform by the power of shoulder strap 14 when use, prevent due to unbalance stress to
Patient brings uncomfortable, and huckle bandage 4 and calf bandage 5 are bound to the leg portion and lower leg portion of patient respectively,
The foot of patient places exoskeleton feet 8, and rolling bearing units 7 are connected with exoskeleton feet 8, passes through the multidirectional activity of rolling bearing units 7
Characteristic makes patient's ankle-joint have multiple degrees of freedom, keeps patient's ankle more comfortable, patient is in the rehabilitation training for doing foot, outside
Torsion certain angle, the second limit plate 22 are contacted with the second buffer stopper 21 downwards for bone foot 8, play the role of limit, the
Two springs 20 play the role of enhancing bumper and absorbing shock, prevent the second limit plate 22 and the second buffer stopper 21 contact impulsive contact force larger
Patient's ankle is damaged, otherwise when the torsion certain angle upwards of exoskeleton feet 8, the first limit plate 17 and the first buffering
Block 16 is in contact, and plays the role of limit protection.
It is above-described, the only preferable specific embodiment of the utility model, but the protection scope of the utility model is simultaneously
It is not limited to this, anyone skilled in the art within the technical scope disclosed by the utility model, according to this reality
It is subject to equivalent substitution or change with novel technical solution and its utility model design, should all covers the protection in the utility model
Within the scope of.
Claims (6)
1. a kind of exoskeleton rehabilitation robot with safeguard function, including back fixation seat (1) and setting are in back fixation seat
(1) the first guard assembly (9) below, which is characterized in that be fixedly installed shoulder at a side position of the back fixation seat (1)
The bottom end of portion's bandage (14), the back fixation seat (1) is fixedly connected with connecting bracket (2), the two sides of the connecting bracket (2)
It is connected with ectoskeleton thigh (3), is fixedly installed at the lateral location of the ectoskeleton thigh (3) big at bottom position
Leg strap (4) is connected with ectoskeleton shank (10), the ectoskeleton at the bottom position of the ectoskeleton thigh (3)
The bottom end side of shank (10) is fixedly installed rolling bearing units (7), is connected at a side position of the rolling bearing units (7)
Exoskeleton feet (8) is fixedly installed the second guard assembly (6) at the rearward position of the ectoskeleton shank (10), described outer
The side of bone shank (10) is fixedly installed calf bandage (5), and first guard assembly (9) includes the first fixed plate
(15), the first buffer stopper (16) and the first spring (18), first fixed plate (15) are fixedly connected on ectoskeleton shank (10)
Front side, the bottom end of first fixed plate (15) is fixedly connected with the first spring (18), the bottom end of first spring (18)
It is fixedly connected with the first buffer stopper (16), the side position of the side of the exoskeleton feet (8) close to the first buffer stopper (16)
Place is fixedly connected with the first limit plate (17), and the side of the ectoskeleton shank (10) is fixedly installed calf bandage (5) packet
The second fixed plate (19), second spring (20) and the second buffer stopper (21) are included, second fixed plate (19) is fixedly connected on outer
The bottom end of the rear side of bone shank (10), second fixed plate (19) is fixedly connected with second spring (20), second bullet
The bottom end of spring (20) is fixedly connected with the second buffer stopper (21), and the rear side of the exoskeleton feet (8) is close to the second buffer stopper
(21) the second limit plate (22) are fixedly connected at a side position.
2. a kind of exoskeleton rehabilitation robot with safeguard function according to claim 1, which is characterized in that the company
It connects and is fixedly installed waist bandage (13) at the intermediate inner side of bracket (2).
3. a kind of exoskeleton rehabilitation robot with safeguard function according to claim 1, which is characterized in that described outer
Skidproof soft cushion (23) are fixedly installed at the upper end face position of bone foot (8).
4. a kind of exoskeleton rehabilitation robot with safeguard function according to claim 1, which is characterized in that the shoulder
Portion's bandage (14) is a kind of with the Double-shoulder type bandage component for shrinking elasticity.
5. a kind of exoskeleton rehabilitation robot with safeguard function according to claim 1, which is characterized in that the band
Shaft is fixedly connected between seat bearing (7) and exoskeleton feet (8).
6. a kind of exoskeleton rehabilitation robot with safeguard function according to claim 1, which is characterized in that described outer
It is provided between bone thigh (3) and huckle bandage (4) the second connector (12), the ectoskeleton shank (10) and calf
The first connector (11) are provided between bandage (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821943692.3U CN209253510U (en) | 2018-11-23 | 2018-11-23 | A kind of exoskeleton rehabilitation robot with safeguard function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821943692.3U CN209253510U (en) | 2018-11-23 | 2018-11-23 | A kind of exoskeleton rehabilitation robot with safeguard function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209253510U true CN209253510U (en) | 2019-08-16 |
Family
ID=67563948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821943692.3U Active CN209253510U (en) | 2018-11-23 | 2018-11-23 | A kind of exoskeleton rehabilitation robot with safeguard function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209253510U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
| CN111840009A (en) * | 2020-07-22 | 2020-10-30 | 陈涛 | Leg rehabilitation treatment device with protection function and using method thereof |
| CN112402190A (en) * | 2020-11-23 | 2021-02-26 | 湖南文理学院 | Back-hanging type walking assisting rehabilitation instrument based on anti-falling supporting mechanism |
-
2018
- 2018-11-23 CN CN201821943692.3U patent/CN209253510U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
| CN111840009A (en) * | 2020-07-22 | 2020-10-30 | 陈涛 | Leg rehabilitation treatment device with protection function and using method thereof |
| CN112402190A (en) * | 2020-11-23 | 2021-02-26 | 湖南文理学院 | Back-hanging type walking assisting rehabilitation instrument based on anti-falling supporting mechanism |
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