CN209286071U - Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot - Google Patents

Abstract

The utility model discloses a kind of transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot, wherein transmission device, applied to ectoskeleton, the ectoskeleton includes the first linking arm and the second linking arm of rotation connection, the transmission device includes: transmission mechanism, the transmission mechanism includes the both ends being oppositely arranged, one end of the transmission mechanism is set to the one end of first linking arm far from second linking arm, the other end of the transmission mechanism is hinged close to one end of second linking arm with first linking arm, and connect with second linking arm；And damping mechanism, the damper assembly connect first linking arm and transmission mechanism, and the transmission mechanism is followed to move.The speed that technical solutions of the utility model can relatively rotate convenient for the first linking arm of adjusting ectoskeleton and the second linking arm.

Description

Transmissions, lower extremity rehabilitation exoskeletons and exoskeleton robots

technical field

The utility model relates to the technical field of exoskeleton, in particular to a transmission device, an exoskeleton for rehabilitation of lower limbs and an exoskeleton robot.

Background technique

In rehabilitation clinics, in the early and acute stages of rehabilitation for patients with stroke and cerebral palsy, it is often necessary to wake up and reshape the brain nervous system interrupted and disordered by brain tissue damage through joint activities. At the same time, joint activities can also be used to improve muscle strength and avoid Muscle atrophy, pressure sores on extremities, and other conditions.

In the existing clinical rehabilitation departments, most of the rehabilitation teachers artificially help patients perform corresponding rehabilitation actions. Because the active force of movement cannot be provided during the patient's flaccid paralysis period, it is completely necessary to rely on the rehabilitation practitioner to help the patient with training at this time, which greatly wastes manpower and time costs. Due to the limited amount of rehabilitation for each rehabilitation teacher per day, it cannot meet the rapidly growing needs of patients with brain tissue injuries and orthopedic injuries. Moreover, through artificial rehabilitation training in the acute phase, the rehabilitation mode cannot be well controlled, such as effective switching between passive, active and impedance modes, resulting in unsatisfactory rehabilitation effects.

Utility model content

The main purpose of the present utility model is to provide a transmission device, which aims at adjusting the relative rotation speed of the first connecting arm and the second connecting arm of the exoskeleton.

In order to achieve the above purpose, a transmission device proposed by the utility model is applied to an exoskeleton. The exoskeleton includes a first connecting arm and a second connecting arm connected in rotation. The transmission device includes:

A transmission mechanism, the transmission mechanism includes two opposite ends, one end of the transmission mechanism is set at the end of the first connecting arm away from the second connection arm, the other end of the transmission mechanism is connected to the first connecting arm an end of the connecting arm close to the second connecting arm is hinged and connected to the second connecting arm; and

A damping mechanism, the damping assembly is connected to the first connecting arm and the transmission mechanism, and follows the movement of the transmission mechanism.

Optionally, the transmission mechanism includes a first connecting rod, a second connecting rod and a third connecting rod hinged in sequence, and the end of the first connecting rod away from the second connecting rod is away from the first connecting arm One end of the second connecting arm is hinged, the end of the third connecting rod away from the second connecting rod is hinged with the end of the first connecting arm close to the second connecting arm, and is connected with the second connecting arm. The arm is connected, and the damping assembly is connected with the second connecting rod and follows the movement of the second connecting rod.

Optionally, the combination of the first connecting rod, the second connecting rod, the third connecting rod and the first connecting arm forms a parallelogram mechanism.

Optionally, the ratio of the length of the first connecting rod to the length of the second connecting rod is A, 1:4≤A≤2:5.

Optionally, the damping mechanism is elastically connected to the first connecting arm and the second connecting rod, and the transmission mechanism can drive the damping assembly to rotate relative to the first connecting arm.

Optionally, along the transmission direction of the second connecting rod, when the included angle between the first connecting rod and the second connecting rod is an acute angle, the damping provided by the damping mechanism is negative damping, and the first When the included angle between the connecting rod and the second connecting rod is a right angle, the damping provided by the damping mechanism is 0; when the included angle between the first connecting rod and the second connecting rod is an obtuse angle, the The damping provided by the damping mechanism is positive damping.

Optionally, the damping mechanism includes a damping body, the damping body is provided with a first connecting end and a second connecting end arranged at intervals, the first connecting end is rotatably connected to the first connecting arm, and the first connecting end The two connecting ends are rotatably connected to the damping body and fixedly connected to the second connecting rod, and the damping body is elastically connected between the first connecting end and the second connecting end.

Optionally, the damping body includes a housing, a damping rod and an elastic member, a housing chamber is provided in the middle of the housing, an opening communicating with the housing chamber is provided on the outer surface of the housing, and the damping rod The first end of the damping rod is set in the accommodating cavity, the elastic member is sleeved on the damping rod and abuts between the first end of the damping rod and the inner wall of the accommodating cavity, and the damping rod The second end is hinged to the second connection end, and the first connection end is arranged on the shell.

The utility model also proposes a lower limb rehabilitation exoskeleton, which includes a first connecting arm and a second connecting arm connected in rotation, and a transmission device. Among them, the transmission device includes:

A transmission mechanism, the transmission mechanism includes two opposite ends, one end of the transmission mechanism is set at the end of the first connecting arm away from the second connection arm, the other end of the transmission mechanism is connected to the first connecting arm an end of the connecting arm close to the second connecting arm is hinged and connected to the second connecting arm; and

A damping mechanism, the damping assembly is connected to the first connecting arm and the transmission mechanism, and follows the movement of the transmission mechanism.

The utility model also proposes an exoskeleton robot, which includes a rehabilitation exoskeleton for lower limbs. The lower limb rehabilitation exoskeleton includes a first connecting arm and a second connecting arm connected in rotation, and a transmission device.

The technical scheme of the utility model adopts the combination scheme of the transmission mechanism and the damping mechanism. During the movement of the transmission mechanism, the damping mechanism is driven to move, and the damping characteristics of the damping mechanism are used to assist in adjusting the movement speed of the transmission mechanism, so that the transmission mechanism drives the first connection. The relative movement speed of the arm and the second connecting arm is more in line with the physiological characteristics of the human body.

When in use, the first connecting arm and the second connecting arm of the exoskeleton are respectively connected to the thigh and the lower leg of the human body through the binding piece. For example, the transmission device is connected to the power device to drive the second connecting arm to rotate relative to the first connecting arm. Then it drives the calf to move relative to the thigh to realize the rehabilitation exercise of the lower limbs. Because the lower limbs of the human body have different movement speeds when they are in different states, so in order to facilitate the adjustment of the movement speed of the second connecting arm relative to the first connecting arm, a damping mechanism is used between the first connecting arm and the transmission mechanism. The solution is to adjust the damping during the movement of the transmission mechanism, and then assist in adjusting the relative movement speed of the first connecting arm and the second connecting arm, so that the moving speed of the first connecting arm and the second connecting arm driven by the transmission device is more in line with the human body Physiological properties to better assist human recovery.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without creative work.

Fig. 1 is a structural schematic diagram of an embodiment of the lower limb rehabilitation exoskeleton of the present invention;

Fig. 2 is a structural schematic view of another perspective of an embodiment of the lower limb rehabilitation exoskeleton of the present invention;

Fig. 3 is a structural schematic view of another perspective of an embodiment of the lower limb rehabilitation exoskeleton of the present invention;

Fig. 4 is a structural schematic diagram of the first connecting arm, the power device and the transmission mechanism in an embodiment of the lower limb rehabilitation exoskeleton of the present invention;

Figure 5 is an exploded schematic view of Figure 4;

Fig. 6 is a structural schematic diagram of the arrangement of the first connecting arm and the second connecting arm at an included angle in an embodiment of the lower limb rehabilitation exoskeleton of the present invention;

Fig. 7 is a schematic diagram of the connection structure of the second connecting arm, the guide device and the ankle joint adjustment device of the present invention;

Fig. 8 is an exploded schematic diagram of the length adjusting device in the utility model;

Fig. 9 is a schematic structural view of the ankle joint adjusting device of the present invention;

Fig. 10 is an exploded schematic view of Fig. 9;

Fig. 11 is an exploded schematic view of the damping mechanism.

Explanation of reference numbers:

The realization of the purpose of the utility model, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

In this utility model, unless otherwise specified and limited, the terms "connection" and "fixation" should be understood in a broad sense, for example, "fixation" can be a fixed connection, a detachable connection, or an integration; It may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary, and it may be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model according to specific situations.

In addition, in the present application, descriptions such as "first", "second" and so on are used for description purposes only, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , also not within the scope of protection required by the utility model.

The utility model proposes a lower limb rehabilitation exoskeleton 100, which aims at facilitating the rehabilitation of the patient's lower limbs.

In the embodiment of the present utility model, the lower limb rehabilitation exoskeleton 100, as shown in FIGS. A connecting arm 11 or the first connecting arm 11 and the second connecting arm 12 are provided with a fixing member 13; the transmission mechanism 20, the transmission mechanism 20 includes two opposite ends, and one end of the transmission mechanism 20 is located on the first connecting arm 11 away from the second connecting arm. One end of the two connecting arms 12, the other end of the transmission mechanism 20 is hinged with the first connecting arm 11 near the end of the second connecting arm 12, and is connected with the second connecting arm 12; and the power unit 30, the power unit 30 is located at the first The end of the connecting arm 11 away from the second connecting arm 12 is connected to the end of the transmission mechanism 20 , and the power device 30 drives the second connecting arm 12 to rotate relative to the first connecting arm 11 through the transmission mechanism 20 .

In this embodiment, both the first connecting arm 11 and the second connecting arm 12 can be in the shape of a rod or a flat plate. In order to reduce the weight of the first connecting arm 11 and the second connecting arm 12, the first connecting arm can be 11 and the second connecting arm 12 are provided with hollow structures. The material of the first connecting arm 11 and the second connecting arm 12 can be selected from carbon fiber, aluminum alloy, stainless steel and the like.

The technical solution of the utility model adopts the power device 30 to be arranged at the end of the first connecting arm 11 away from the second connecting arm 12, so as to prevent the power device 30 from doing work against its own gravity and reduce energy waste.

When in use, take the first connecting arm 11 connected to the thigh of the human body through the fixing piece 13, or the second connecting arm 12 connected to the lower leg of the human body through the fixing piece 13 as an example, the power device 30 is arranged on the first connecting arm 11 away from the second One end of the connecting arm 12, that is, the power device 30 is located at the hip joint of the human body. When the power device 30 drives the second connecting arm 12 to rotate through the transmission device, the second connecting arm 12 drives the lower leg to move, so that the human body completes actions such as knee bending and straightening. When these actions are completed, the position of the power device 30 changes greatly. Small, so it can reduce or even prevent the power device 30 from doing work against its own gravity. It also avoids the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint assembly 10, so as to better assist users in rehabilitation. In order to make it easier for the patient to wear the exoskeleton, in this embodiment, the power unit 30 and the first connecting arm 11 are detachably connected. The weight of the bones, after the joint assembly 10 is worn, the power unit 30 is installed on the first connecting arm 11 . In other embodiments of the present utility model, the scheme of fixed connection between the power device 30 and the first connecting arm 11 can also be adopted, so as to reduce the procedures when wearing the exoskeleton. Alternatively, the power unit 30 may be arranged at other positions convenient for assisting rehabilitation.

In this embodiment, the fixing part 13 is arranged on the upper side of the first connecting arm 11 and the second connecting arm 12, as shown in Fig. On the front side of the thigh and the front side of the joint, when wearing the exoskeleton, the patient can be in a lying or sitting position. The exoskeleton can be worn on the patient's leg from the front side of the patient, and then the patient can be put on by straps. The lower limbs and the exoskeleton can be fixed together, which is convenient for patients to wear. In order to prevent the joint from moving and twisting, a fixing part 13 for fixing the joint is connected to the end close to the first connecting arm 11 and the second connecting arm 12, and one end of the fixing part 13 is connected to the first connecting arm 11, and the other end is connected to the second connecting arm The two connecting arms 12 are connected, and the fixing member 13 is provided with a fixing hole 131 corresponding to the knee joint. When in use, the joints of the patient are arranged in cooperation with the fixing holes 131 so that the joint assembly 10 fits the joints of the human body to the greatest extent, effectively improving the resistance efficiency of the joint assembly 10 and improving the rehabilitation effect of the patient at the same time. Wherein, the material of the fixing member 13 can be rubber, latex and other elastic materials, and can also be made of multi-layer cloth and/or cotton yarn, so as to increase its air permeability and facilitate the use of the patient.

Further, in this embodiment, the transmission mechanism 20 includes a first connecting rod 21, a second connecting rod 22 and a third connecting rod 23 which are sequentially hinged head to tail, and the end of the first connecting rod 21 away from the second connecting rod 22 is connected to the power device. 30 connection, the end of the third connecting rod 23 away from the second connecting rod 22 is hinged to the end of the first connecting arm 11 close to the second connecting arm 12 , and is connected to the second connecting arm 12 . Wherein, the power device 30 is a motor 31 , the motor 31 is connected to the first connecting arm 11 through a motor bracket 32 , and the output end of the motor 31 is connected to the end of the first connecting rod 21 . In order to reduce the width of the lower limb rehabilitation exoskeleton 100 , the output end of the motor 31 is set toward the first connecting arm 11 , and the first connecting rod 21 is set between the motor 31 and the first connecting arm 11 . The form that the output end of motor 31 is connected with first connecting rod 21 can be that the output shaft of motor 31 is connected with first connecting rod 21, and the output shaft rotates to drive first connecting rod 21 to move, and simultaneously, on the first connecting arm 11 corresponding Located in the shaft hole, the output shaft of the motor 31 is rotationally connected to the shaft hole so as to increase the connection rigidity of the output shaft. Or the output end of the motor 31 is provided with a flange, and the flange is connected to the first connecting rod 21, and the flange moves under the action of the motor 31, and simultaneously drives the first connecting rod 21 to move.

In order to facilitate the assembly of the exoskeleton, in this embodiment, the motor bracket 32 is connected to the first connecting arm 11 by screws. The motor bracket 32 is cylindrical, and the motor 31 is connected to the bottom of the motor bracket 32. The bottom of the motor bracket 32 is provided with a mounting hole for installing and fixing the motor 31. The side wall of the motor bracket 32 is provided with a through gap, and the gap penetrates On the end face of the motor bracket 32 , the first connecting rod 21 is disposed in the gap, so as to be driven by the motor 31 . In order to reduce the weight of the motor bracket 32 , a plurality of through notches can be provided on the side wall of the motor bracket 32 , as long as the support rigidity of the motor bracket 32 is ensured. At the same time, a flanging is set at the end of the motor bracket 32, and a through hole is provided on the flanging. A connecting groove 111 corresponding to the flanging is set on the first connecting arm 11, and a connecting groove 111 corresponding to the flanging is provided on the bottom of the connecting groove 111. 11 through holes in the thickness direction. When the motor bracket 32 is connected to the first connecting arm 11 , the flanging of the motor bracket 32 is inserted into the connecting groove 111 , and then the motor bracket 32 is connected to the first connecting arm 11 by cooperation of bolts and through holes.

In the application, the power device 30 is preferably a servo motor 31, so as to control the relative rotation speed of the first connecting arm 11 and the second connecting arm 12 at different angles, so that it is more in line with the physiological characteristics of human body movement, and thus better assisted user recovery. Of course, the power unit 30 can also select power units 30 such as a hydraulic motor. Moreover, the structures of the first connecting rod 21 , the second connecting rod 22 and the third connecting rod 23 in this embodiment are not limited to straight rod shapes, and their structures are set according to specific requirements in applications. The materials of the first connecting rod 21 , the second connecting rod 22 and the third connecting rod 23 can be selected from carbon fiber, aluminum alloy, stainless steel and the like.

In order to better assist the user in rehabilitation, and to facilitate the control and adjustment of the movement effect of the second connecting arm 12, in this embodiment, the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the first connecting arm 11 Combined to form a parallelogram mechanism. That is, the lengths of the first connecting rod 21 and the third connecting rod 23 are the same, and the lengths of the second connecting rod 22 and the first connecting arm 11 are the same. The above-mentioned same length refers to the theoretical length of each connecting rod in the four-bar mechanism. rather than the actual length of each link. Since the four-bar mechanism is suitable for transmitting relatively large power, can realize a definite motion trajectory, and has the advantages of being easy to manufacture and capable of long-distance transmission, the four-bar mechanism is selected in this embodiment. Simultaneously, since the motions of the first connecting rod 21 and the third connecting rod 23 in the parallelogram mechanism are synchronous, therefore, the motion of the first connecting rod 21 can be set through the power device 30 to determine the movement of the third connecting rod 23. Movement, and then the movement of the second connecting arm 12 can be determined, which is convenient for users to use and also convenient for production and processing. In other embodiments of the present utility model, the transmission mechanism 20 can also adopt a pulley transmission device or a gear transmission device, and the pulley or gear located at the end of the first connecting arm 11 close to the second connecting arm 12 and the second connecting arm 12 connections.

During rehabilitation exercises, in order to ensure that the transmission mechanism 20 has the smallest movement range without interference, in this embodiment, the ratio between the length of the first connecting rod 21 and the length of the second connecting rod 22 is A, 1 :4≤A≤2:5. That is, the ratio between the length of the first connecting rod 21 and the length of the second connecting rod 22 ranges from 0.25 to 0.4. In practical applications, the ratio between the length of the first connecting rod 21 and the length of the second connecting rod 22 The ratio can be 0.25, 0.28, 0.3, 0.32, 0.35, 0.37 or 0.4 etc.

In this embodiment, the transmission mechanism 20 is connected with the damping mechanism 40 to form a transmission device 70 . Specifically, the damping mechanism 40 connects the first connecting arm 11 and the transmission mechanism, and follows the movement of the transmission mechanism 20 . During the movement of the transmission mechanism 20, the damping mechanism 40 is driven to move, and the damping characteristic of the damping mechanism 40 is used to assist in adjusting the movement speed of the transmission mechanism 20, so that the transmission mechanism 20 drives the relative movement of the first connecting arm 11 and the second connecting arm 12 The speed is more in line with the physiological characteristics of the human body.

Further, along the transmission direction of the second connecting rod 22, when the angle between the first connecting rod 21 and the second connecting rod 22 is an acute angle, the damping provided by the damping mechanism 40 is negative damping, and the first connecting rod 21 and the second connecting rod When the included angle of the rod 22 is a right angle, the damping provided by the damping mechanism 40 is 0, and when the included angle between the first connecting rod 21 and the second connecting rod 22 is an obtuse angle, the damping provided by the damping mechanism 40 is positive damping. When in use, the first connecting arm 11 and the second connecting arm 12 of the exoskeleton are respectively connected to the thigh and the lower leg of the human body through binding pieces. The connecting arm 11 rotates, and then drives the calf to move relative to the thigh, so as to realize the rehabilitation exercise of the lower limbs. Because the lower limbs of the human body have different movement speeds when they are in different states, so in order to facilitate the adjustment of the movement speed of the second connecting arm 12 relative to the first connecting arm 11, a connection between the first connecting arm 11 and the transmission mechanism 20 is adopted. The damping mechanism 40 is provided to adjust the damping during the movement of the transmission mechanism 20, and then assist in adjusting the relative movement speed of the first connecting arm 11 and the second connecting arm 12, so that the first connecting arm 11 and the second connecting arm 11 driven by the transmission device 70 The movement speed of the two connecting arms 12 is more in line with the physiological characteristics of the human body, so as to better assist the rehabilitation of the human body. In application, the transmission 70 may also be used to assist in the rehabilitative movement of the upper extremity. In this embodiment, along the transmission direction of the second connecting rod 22, when the included angle between the first connecting rod 21 and the second connecting rod 22 is 0° to 30°, the damping provided by the damping mechanism 40 is negative damping, which is equivalent to The second connecting rod 22 exerts a force along its moving direction. When the angle between the first connecting rod 21 and the second connecting rod 22 is 30° to 90°, the damping mechanism 40 provides 0, and no force is applied to the second connecting rod. External force, when the angle between the first connecting rod 21 and the second connecting rod 22 is 90° to 120°, the damping provided by the damping mechanism 40 is positive damping, which is equivalent to applying a force opposite to the moving direction of the second connecting rod 22, To slow down the movement speed of the second connecting rod 22. In practical applications, other angles that are easy to adjust can be set according to actual needs.

Since the four-bar linkage mechanism moves to the limit position, the phenomenon that the distance between the first connecting arm 11 and the second connecting rod 22 will be the smallest will appear, and even the first connecting arm 11 will abut against the second connecting rod 22, resulting in movement The occurrence of the dead point, without the assistance of external force, the four-bar linkage mechanism is difficult to move. For this reason, in this embodiment, a damping mechanism 40 is connected between the first connecting arm 11 and the second connecting rod 22, as shown in Figure 1 As shown in FIG. 6 , the damping mechanism 40 is elastically supported between the first connecting arm 11 and the second connecting rod 22 . When the four-bar linkage mechanism moves to the position of the dead point of the mechanism, the negative damping applied by the damping mechanism 40 to the second connecting rod 22 is equivalent to the pulling force applied to the second connecting rod 22. When the power unit 30 drives the first connecting rod 21 When moving, the second connecting rod 22 not only receives the driving force of the first connecting rod 21 along the extending direction of the second connecting rod 22, but also receives the pulling force set at an angle between the damping mechanism 40 and the second connecting rod 22, then the second connecting rod The integrated force direction of 22 is inconsistent with its extension direction, so the second connecting rod 22 can move under the driving of the first connecting rod 21, avoiding the existence of a dead point in motion.

At the same time, the pulling force applied by the damping mechanism 40 to the second connecting rod 22 can partially offset the gravity of the human body, the weight of the joint assembly 10 and the force between the foot and the bed surface or the ground that the second connecting rod 22 needs to overcome during the movement. friction, etc., and thus the energy consumption of the power plant 30 can be reduced. In this embodiment, the damping mechanism 40 includes a damping body 41, on the damping body 41 there are two spaced apart first connecting ends 42 and second connecting ends 43, the first connecting end 42 is rotatably connected to the first connecting arm 11, The second connecting end 43 is rotatably connected to the damping body 41 and fixedly connected to the second connecting rod 22 . When the second connecting rod 22 moves under the action of the power device 30 , it simultaneously drives the second connecting end 43 to move, and the second connecting end 43 can drive the damping body 41 to rotate relative to the first connecting arm 11 . Since the distance between the second connecting rod 22 and the first connecting arm 11 changes during the movement, the damping mechanism 40 can be elongated or shortened under the action of the second connecting rod 22 and the first connecting arm 11 The phenomenon. In application, it can be designed that when the distance between the first connecting arm 11 and the second connecting rod 22 is the largest, the damping of the damping mechanism 40 is zero, and then as the distance between the first connecting arm 11 and the second connecting rod 22 increases decreases, the damping of the damping mechanism 40 gradually increases.

Please refer to FIG. 11 , the damping body 41 includes a housing 411, the first connecting end 42 is arranged on the outer surface of the housing 411, the middle part of the housing 411 is provided with a housing chamber, and the outer surface of the housing 411 is provided with an opening communicating with the housing chamber , the damping body 41 also includes a damping rod 412, one end of the damping rod 412 is located in the accommodating cavity, the other end is hinged to the second connecting end 43, the damping rod 412 is sleeved with a spring 413, and the damping rod 412 is located in the accommodating cavity One end inside is provided with a stopper 4121, and the stopper 4121 is used to block the spring 413, preventing the spring 413 from falling off from the damping rod 412. Of course, the scheme that the spring 413 is directly connected to the damping rod 412 can also be adopted, and the spring 413 can use an elastic sleeve Elastic parts such as barrel 1243 or disc spring replace. An end cover 414 is provided at the opening of the housing 411, and the end cover 414 is used to cover the opening. At the same time, a relief port 641 is provided on the end cap 414, and the damping rod 412 protrudes from the relief port 641. When the second connection When the end 43 pulls the damping rod 412 to move to the outside of the casing 411 under the action of the second connecting rod 22, the spring 413 moves with the damping rod 412 under the action of the stopper 4121, and at the same time, under the action of the end cover 414, it abuts against the Between the end cover 414 and the stopper 4121, the damping force of the damping rod 412 is increased. In order to facilitate the connection of the damping mechanism 40 on the transmission mechanism 20 and to facilitate the folding of the transmission device, in this embodiment, the damping rod 412 is threadedly connected to the second connecting end 43, for example, the damping rod 412 is provided with an external thread, and the second connecting end 43 is provided with a threaded hole matched therewith, or the damping rod 412 is provided with a threaded hole, and the second connecting end 43 is provided with an external thread matched therewith. When the lower limb rehabilitation exoskeleton 100 is not needed, the damping rod 412 can be rotated to separate it from the second connection end 43, thereby removing the external force applied to the second connecting rod 22, so as to adjust the state of the lower limb exoskeleton. Of course, the damping force of the damping mechanism 40 can also be adjusted by rotating the damping rod 412 so as to be suitable for patients with different weights.

Since the leg strength of the user or patient who needs lower limb rehabilitation is very weak, when the power device 30 drives the joint assembly 10 to drive the lower limbs to move, the lower limbs will appear hip external rotation, ankle external swing and other degrees of freedom movement, but During the bed rest rehabilitation treatment of stroke patients, it is necessary to use braces to prevent the patients from hip external rotation, ankle external swing, foot drop and other postures. activities, causing serious consequences. Therefore, during the acute phase of rehabilitation, it is very necessary to constrain the degrees of freedom of the relevant joints. Therefore, in this embodiment, a guide device 50 is added, and the guide device 50 is connected to an end of the second connecting arm 12 away from the first connecting arm 11 . When the second connecting arm 12 moves, the guiding device 50 plays a role of guiding and at the same time plays a role of limiting the joint assembly 10 to prevent the joint assembly 10 from rotating, so as to ensure the rehabilitation effect of the patient.

Further, as shown in FIG. 7 , the guide device 50 includes a guide wheel 51 disposed at an end of the second connecting arm 12 away from the first connecting arm 11 . Guide wheel 51 can be directly connected on the second connecting arm 12 by the rotating shaft in its middle, also can set connecting plate 52 at the end of second connecting arm 12 away from first connecting arm 11, and guiding wheel 51 is connected with connecting plate 52, simultaneously , the patient can also place their feet on the connecting plate 52 to better assist the patient. In this embodiment, the connecting plate 52 is perpendicular to the second connecting arm 12 and extends toward the side where the second connecting arm 12 is connected to the user, so that the user can place the foot on the connecting plate 52 . The guide wheels 51 are arranged on both sides of the connecting plate 52 , or are arranged under the connecting plate 52 . Since the structure of the guide wheel 51 is relatively simple and occupies less space, the exoskeleton in this embodiment is convenient for performing rehabilitation exercises on the hospital bed when the patient is in a bedridden state. In other embodiments of the present utility model, the guiding device 50 may also be a guide rail or a lead screw mechanism arranged at the end of the second connecting arm 12 away from the first connecting arm 11, etc., and the space occupied by the guide rail or the lead screw mechanism Larger, but its trajectory is determined, which can reduce the external rotation of the hip in patients.

In order to facilitate the assembly and transportation of the exoskeleton, the second connecting arm 12 in this embodiment includes a first split section 121 and a second split section 122 that are detachably connected, and one end of the first split section 121 is connected to the transmission mechanism 20 , the other end is connected to one end of the second split section 122 , and the other end of the second split section 122 is provided with a guide device 50 . When wearing the exoskeleton on the patient, the first connecting arm 11 and the first split section 121 can be worn first, and then the second split section 122 can be worn, which is convenient for the patient to wear. The first split section 121 and the second split section 122 adopt a detachable connection scheme, which can also facilitate the connection of the first split section 121 and the second split section 122 .

Due to the inconsistency of the patient's height, in order to increase the versatility of the product produced by the technical solution of the utility model, so that the guide device 50 can assist the patient, in this embodiment, the second connecting arm 12 includes first connecting arms connected in sequence. Split body section 121, the second split body section 122 and the third split body section 123, one end of the first split body section 121 is connected with the transmission mechanism 20, and the other end of the first split body section 121 can be connected with the second split body section 122 After the connection is disassembled, a length adjusting device 124 is connected between the other end of the second split section 122 and one end of the third split section 123 . The length adjusting device 124 is used to connect between the second split body section 122 and the third split body segment 123, therefore, the distance between the second split body segment 122 and the third split body segment 123 can be adjusted by the length adjusting device 124, and then The length of the second connecting arm 12 is extended so that the guide device 50 is always in contact with the bed surface or the ground when the patient uses it.

In this embodiment, as shown in FIG. 8 , the length adjusting device 124 is a screw 1241 arranged between the second split body section 122 and the third split body section 123, and the second split body section 122 is provided with an adjusting threaded tube. 1242, the adjusting threaded pipe 1242 is connected to one end of the screw rod 1241, the other end of the screw rod 1241 is connected to the third split section 123, and the screw rod 1241 can be driven to move by rotating the adjusting threaded pipe 1242, thereby adjusting the second split body section 122 and the third split body section 1242. The distance between the split sections 123 is to adjust the length of the second connecting arm 12 . In order to facilitate the adjustment of the length of the second connecting arm 12, the second connecting arm 12 moves smoothly and is balanced in force, a guide rod 1244 is also provided between the second split body section 122 and the third split body section 123, the second split body Sleeve 1243 is also arranged on section 122, and one end of guide rod 1244 is arranged in sleeve 1243, and the other end of guide rod 1244 is connected with the 3rd split section 123, when adjusting the length of second connecting arm 12, play guiding role. In other embodiments of the present invention, the length adjusting device 124 can also be a rack and pinion mechanism arranged between the second split section 122 and the third split section 123 .

In another embodiment of the present utility model, the second connecting arm 12 includes a second split body section 122 detachably connected to the first split body section 121, and a The length adjusting device 124 is directly connected with the guiding device 50 . This simplifies the structure of the second connecting arm 12 and saves the amount of raw materials used.

At the same time, in this embodiment, the first split body section 121 and the second split body section 122 adopt a detachable connection scheme. When the lower limb rehabilitation exoskeleton 100 is not in use, the first split body section 121 and the second split body section can be connected Part of the second connecting arm 12 and the lower guiding device 50 are disassembled from the first split body section 121 at the joint of the body section 122 for easy storage and transportation. Wherein, the scheme of the detachable connection of the first split body section 121 and the second split body section 122 can be a scheme in which the first split body section 121 and the second split body section 122 are connected by screws, a plug connection scheme or a screw thread Connection schemes and more.

In order to facilitate the connection of the first split body section 121 and the second split body section 122, as shown in Figure 4, Figure 5 and Figure 7, a surface of the first split body section 121 facing the second split body section 122 is provided with a socket Groove 1211, the opposite side walls of the insertion groove 1211 are provided with through holes, when the second split body section 122 is connected with the first split body section 121, the second split body section 122 is away from the third split body section 123 The end is plugged into the insertion slot 1211, and at the same time, the second split section 122 is provided with a connecting hole 611 corresponding to the through hole, and then the first split section 121 and the second split section 122 are connected with the through hole and the second split section 122 by bolts. The fit of the holes 611 achieves the connection. In order to facilitate the cooperation between the first split section 121 and the second split section 122, in this embodiment, grooves 1221 are provided on both surfaces opposite to the end of the second split section 122 connected to the first split section 121, The groove 1221 is provided through the end surface of the second split section 122, when the end of the second split section 122 is inserted into the insertion groove 1211, the end of the first split section 121 extends into the groove 1221, The side surface of the first split section 121 abuts against the side wall of the groove 1221, and then only needs to push the end surface of the second split section 122 to abut against the bottom wall of the insertion groove 1211, which realizes the through hole and For the corresponding setting of the connection hole 611 , it is only necessary to install bolts in the through hole to realize the connection between the first split body section 121 and the second split body section 122 .

Because the patient also needs to perform recovery training on the muscles of the ankle joint during rehabilitation, so as to restore the muscle strength of the muscles, for this reason, in this embodiment, an ankle joint is also provided at the end of the second connecting arm 12 away from the first connecting arm 11. The joint angle adjustment device and the ankle joint angle adjustment device are arranged on the guide device 50 . The ankle joint angle adjustment device is used to adjust the angle between the calf and the foot, so as to adjust the muscle strength of the ankle joint and different positions of the foot. As shown in Fig. 1, Fig. 7, Fig. 9 and Fig. 10, the ankle joint angle adjustment device includes a support plate 61 located on the guide device 50, and the support plate 61 is rotatably connected with an angle adjustment plate 62, and the angle adjustment plate 62 is used for supporting For the patient's foot, in order to keep the patient's foot in contact with the angle adjustment plate 62, the angle adjustment plate 62 is fixedly connected to the patient's foot through a bandage. One of the support plate 61 and the angle adjustment plate 62 is provided with an angle adjustment hole 6221, and the other is provided with a connection hole 611 corresponding to the angle adjustment hole 6221, and the support plate 61 and the angle adjustment plate 62 are connected by a fastener 63 . In this embodiment, the support plate 61 is provided with a circular through hole connected with the fastener 63, and the angle adjustment plate 62 is provided with a plurality of rotating joints centered on the support plate 61 and the angle adjustment plate 62 and arranged at intervals. For the angle adjustment holes 6221, in order to evenly adjust the muscle strength at the ankle joint, the included angle between the adjacent angle adjustment holes 6221 and the line formed by the rotational connection between the support plate 61 and the angle adjustment plate 62 is 10°. For example, the plurality of angle adjustment holes 6221 respectively correspond to the dorsiflexion angles of the feet being 20° and 10°, and the toe bending angles being 0°, -10°, -20° and -30°. In practical applications, it is also possible to set the included angle between adjacent angle adjustment holes 6221 and the connecting line formed by the rotating connection between the support plate 61 and the angle adjustment plate 62 to be 5° or other angles that facilitate the adjustment of ankle joint and foot muscles. . In other embodiments of the present utility model, the angle adjustment groove is a bar-shaped hole, and the bar-shaped hole is preferably an arc-shaped bar-shaped hole centered at the rotating joint between the support plate 61 and the angle adjustment plate 62, and the connecting hole 611 can be a circle. Shaped through holes can also be set to the same structure as the angle adjustment hole 6221. Wherein, the fastener 63 may be a pin, a screw or a bolt. In this embodiment, the fastener 63 is a butterfly bolt, so as to facilitate manual adjustment.

In this embodiment, the angle adjustment plate 62 includes a foot fixing plate 621 and an adjustment plate 622 arranged on opposite sides of the foot fixing plate 621. The adjustment plate 622 is provided with a plurality of angle adjustment holes 6221, and the guide device 50 is provided with The two supporting plates 61 are oppositely arranged, and the two supporting plates 61 are respectively connected with the two adjusting plates 622 . Wherein, the supporting plate 61 is disposed on the upper surface of the connecting plate 52 of the guiding device 50 . In order to facilitate the ankle joint adjustment device 60 to better adjust the ankle joint, a lower leg fixing piece 6413 is also provided on the connecting plate 52, and the lower leg fixing piece 6413 is used to connect with the lower leg to fix the lower leg and prevent it from twisting. In order to make the calf binding and fixing more comfortable, a relief opening 641 corresponding to the protruding part of the calf can be provided on the calf fixing part 6413, so that the calf fixing part 6413 fits better with the calf, and at the same time can improve the calf The versatility of the fixture 6413. In this embodiment, the calf fixing member 6413 is flat and is arranged in an arc shape that fits the calf. In other embodiments of the present utility model, the lower leg fixing member 6413 can also be made of elastic material.

In this embodiment, the ankle joint angle adjustment device is provided to realize the fixed constraint on the ankle joint. Doctors or family members can manually and quickly adjust the angle of the ankle joint according to the actual muscle strength of the patient to achieve corresponding rehabilitation and protection of the ankle joint. It avoids the complexity of additional power mechanism, and can effectively prevent the occurrence of diseases such as foot drop, foot inversion, and foot valgus. Fixing the angle of the ankle joint through a simple structure can effectively improve the muscle strength of the muscles around the ankle joint and contribute to the remodeling of the brain nerves. And there is no need to introduce a power source at the ankle joint, reducing the complexity of the system and reducing the weight of the system.

The utility model also proposes an exoskeleton robot (not shown), the exoskeleton robot includes a lower limb rehabilitation exoskeleton 100, the specific structure of the lower limb rehabilitation exoskeleton 100 refers to the above-mentioned embodiment, because this exoskeleton robot adopts all the above-mentioned All the technical solutions of the embodiments at least have all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be repeated here. Wherein, a lower limb rehabilitation exoskeleton 100 is characterized in that it includes:

The joint assembly 10, the joint assembly 10 includes a first connecting arm 11 and a second connecting arm 12 arranged oppositely, and the first connecting arm 11 or the first connecting arm 11 and the second connecting arm 12 are provided with a fixing member 13;

The transmission mechanism 20, the transmission mechanism 20 includes two opposite ends, one end of the transmission mechanism 20 is located at the end of the first connecting arm 11 away from the second connecting arm 12, and the other end of the transmission mechanism 20 is close to the first connecting arm 11 and the second connecting arm 11. One end of the connecting arm 12 is hinged and connected to the second connecting arm 12; and

Power device 30, the power device 30 is arranged on the end of the first connecting arm 11 away from the second connecting arm 12, and is connected with the end of the transmission mechanism 20, and the power device 30 drives the second connecting arm 12 through the transmission mechanism 20 to connect with the first connecting arm 12. The arm 11 turns.

In application, the exoskeleton robot may include two lower limb rehabilitation exoskeletons 100 and other mechanisms connected with the lower limb rehabilitation exoskeleton 100, so as to simultaneously perform rehabilitation on the patient's two lower limbs.

The above is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. Under the utility model concept of the utility model, the equivalent structural transformation made by using the specification of the utility model and the contents of the accompanying drawings, Or directly/indirectly used in other related technical fields are all included in the patent protection scope of the present utility model.

Claims (10)

1. a kind of transmission device, is applied to ectoskeleton, the ectoskeleton includes the first linking arm and the second connection of rotation connection Arm, which is characterized in that the transmission device includes:

Transmission mechanism, the transmission mechanism include the both ends being oppositely arranged, and one end of the transmission mechanism is set to described first and connects The one end of arm far from second linking arm is connect, the other end of the transmission mechanism and first linking arm are close to described second One end of linking arm is hinged, and connect with second linking arm；With

Damping mechanism, the damping mechanism connect first linking arm and transmission mechanism, and the transmission mechanism is followed to move.

2. transmission device as described in claim 1, which is characterized in that the transmission mechanism includes the first successively hinged company Bar, second connecting rod and third connecting rod, the one end of the first connecting rod far from the second connecting rod deviate from first linking arm One end of second linking arm is hinged, and the third connecting rod is leaned on away from one end of the second connecting rod with first linking arm One end of nearly second linking arm is hinged, and connect with second linking arm, the damping mechanism and the second connecting rod Connection, and the second connecting rod is followed to move.

3. transmission device as claimed in claim 2, which is characterized in that the first connecting rod, second connecting rod, third connecting rod and One linking arm combines to form a parallelogram mechanism.

4. transmission device as claimed in claim 3, which is characterized in that the length of the first connecting rod and the second connecting rod Lenth ratio is A, 1:4≤A≤2:5.

5. the transmission device as described in any in claim 2 to 4, which is characterized in that described in the damping mechanism elastic connection First linking arm and the second connecting rod, the transmission mechanism can drive relatively described first linking arm of the damping mechanism to turn It is dynamic.

6. transmission device as claimed in claim 5, which is characterized in that along the transmission direction of the second connecting rod, described first When the angle of connecting rod and the second connecting rod is acute angle, the damping that the damping mechanism provides is negative damping, the first connecting rod When angle with the second connecting rod is right angle, the damping that the damping mechanism provides is 0, the first connecting rod and described second When the angle of connecting rod is obtuse angle, the damping that the damping mechanism provides is positive damping.

7. transmission device as claimed in claim 5, which is characterized in that the damping mechanism includes damping ontology, the damping Ontology is equipped with spaced first connecting pin and second connection end, and first connecting pin and first linking arm rotation connect It connects, the second connection end and the damping ontology are rotatablely connected, and are fixedly connected with second connecting rod, described this body elasticity of damping It is connected between first connecting pin and the second connection end.

8. transmission device as claimed in claim 7, which is characterized in that the damping ontology includes shell, damper rod and elasticity Part, the middle part of the shell are equipped with accommodating cavity, and the outer surface of the shell is equipped with the opening being connected to the accommodating cavity, the resistance The first end of Buddhist nun's bar is set in the accommodating cavity, and the elastic component is sheathed on the damper rod and is connected to the of the damper rod Between one end and the inner wall of accommodating cavity, the second end of the damper rod and the second connection end are hinged, first connecting pin Set on the shell.

9. a kind of lower limb rehabilitation ectoskeleton, which is characterized in that the first linking arm and the second linking arm including rotation connection, and Transmission device as described in any in claim 1 to 8.

10. a kind of exoskeleton robot, which is characterized in that including lower limb rehabilitation ectoskeleton as described in claim 9.