CN209361239U - A kind of lower limb rehabilitation exoskeleton system - Google Patents
A kind of lower limb rehabilitation exoskeleton system Download PDFInfo
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- CN209361239U CN209361239U CN201821029275.8U CN201821029275U CN209361239U CN 209361239 U CN209361239 U CN 209361239U CN 201821029275 U CN201821029275 U CN 201821029275U CN 209361239 U CN209361239 U CN 209361239U
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- lower limb
- limb rehabilitation
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- equipment
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Abstract
This application discloses a kind of lower limb rehabilitation exoskeleton systems, including lower limb rehabilitation ectoskeleton equipment and treatment water tank, the treatment water tank, and the outside of the lower limb rehabilitation ectoskeleton equipment is arranged in；The lower limb rehabilitation ectoskeleton equipment includes equipment body, big leg assembly, hip joint component, lift adjustment component and control assembly, wherein, the big leg assembly is rotatablely connected by the hip joint component and the equipment body, the lift adjustment component is mounted on the equipment body, wherein, the lift adjustment component includes suspender belt, and the suspender belt is strapped in the armpit position of human body, and the hip joint component and the lift adjustment component are electrically connected with the control assembly.Compared with prior art, the application has many advantages, such as simple structure, convenient control and human body lower limbs can be assisted to carry out passive movement to carry out rehabilitation.
Description
Technical field
The application belongs to the field of medical instrument technology, and in particular to a kind of lower limb rehabilitation exoskeleton system.
Background technique
Inside hospital, there are many people because of various reason, lead to lower limb or total paralysis.Such patient is very
Pain be can't take care of oneself, and infrequently be carried out to it if muscle massage loosens, and atrophy, blood can slowly occur for muscle
Liquid stream is led to unsmooth, deteriorates the state of an illness further.It is biological instead including functional point stimulation, electronics for the Physical rehabilitation of hemiplegic patient
Feedback, range of motion training, muscle drawing-off training, exercise for power, diversionary training, gait training etc., principle of reatment are in proper order
Progressive increase patient's muscular strength inhibits Muscle tensility, promotes muscle to carry out correct motor pattern, but requirement is daily repeatedly, long
Time performs physical exercise.When conventional massage needs healthcare givers or household to spend a large amount of if carrying out bending and stretching lower limb to patient
Between and energy, rehabilitation efficacy it is often unsatisfactory.
Summary of the invention
The application provides a kind of lower limb rehabilitation exoskeleton system, to assist human body lower limbs to carry out passive movement to carry out health
Multiple treatment.
The application has following constitute:
A kind of lower limb rehabilitation exoskeleton system, including lower limb rehabilitation ectoskeleton equipment and treatment water tank, the treatment water tank
The outside of the lower limb rehabilitation ectoskeleton equipment is set；The lower limb rehabilitation ectoskeleton equipment includes equipment body, thigh group
Part, hip joint component, lift adjustment component and control assembly, wherein the big leg assembly by the hip joint component with
The equipment body rotation connection, the lift adjustment component are mounted on the equipment body, wherein the lift adjustment group
Part includes suspender belt, and the suspender belt is strapped in the armpit position of human body, the hip joint component and the lift adjustment component with
The control assembly electrical connection.
In one example, the lower limb rehabilitation ectoskeleton equipment can also include shank component and knee components,
Wherein, the shank component is rotatablely connected by the knee components and the big leg assembly, the knee components and institute
State control assembly electrical connection.
In one example, the lower limb rehabilitation ectoskeleton equipment can also be used to support stepping on for human foot including one
Plate, the pedal are connect with the shank component.
Specifically, the knee components may include first motor, the first retarder, the first output shaft and first
Key, wherein the first motor is electrically connected with the control assembly, the first motor successively with first retarder, institute
The first output axis connection is stated, first key is mounted on the outside of first output shaft, and first key is for the company of rotation
Connect the big leg assembly and the shank component.
Specifically, the hip joint component may include the second motor, the second retarder, the second output shaft and second
Key, wherein second motor is electrically connected with the control assembly, second motor successively with second retarder, institute
The second output axis connection is stated, second key is mounted on the outside of second output shaft, and second key is for the company of rotation
Connect the equipment body and the big leg assembly.
In one example, the lower limb rehabilitation ectoskeleton equipment can also include the dismountable elastic webbing of at least one.
Specifically, the lift adjustment component can also include that suspender belt shakes component and at least one pulley, described to hang
Band shakes component and pulley and is installed on the equipment body, wherein the suspender belt be arranged around the pulley and with it is described
Suspender belt shakes component connection.
Specifically, the temperature inductor being electrically connected with the control assembly is equipped in the treatment water tank.
Compared with prior art, the application has the following technical effect that
The application is based on lower limb rehabilitation ectoskeleton equipment and carries out passive movement to carry out rehabilitation, greatly to patient's lower limb
The time and efforts of healthcare givers or household are saved greatly, and preferable rehabilitation effect can be obtained；Further, described to control
Treating water tank cooperates the lower limb rehabilitation ectoskeleton equipment to use, and pair of athletic rehabilitation and single hydrotherapy is brought to patient's lower limb rehabilitation
Weight exercise effect.
The application is sling patient using lift adjustment component, and enters lower limb in treatment water tank, and patient is in treatment water
By being carried out outside reconditioning by greatly/shank component imitation lower limb walking in case, moreover it is possible to the temperature treated in water tank, float
Power and hydrostatic effect etc. carry out a variety of reconditionings.
First motor and the second motor is respectively adopted in the buckling stretching, extension of hip joint component and knee components in the application
Driving, under the control action of control assembly, can imitate people take a step walking angle and amplitude, conducive to the lower limb health of patient
It is multiple；Lower limb are placed in the treatment water tank of predetermined treatment water temperature simultaneously, and the swing of lower limb also corresponds to give the massage in water simultaneously,
With athletic rehabilitation and the dual exercise effect of single hydrotherapy.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1: the structural schematic diagram of the application lower limb rehabilitation exoskeleton system.
Specific embodiment
It is described further below with reference to technical effect of the attached drawing to the design of the application, specific structure and generation, with
It is fully understood from the purpose, feature and effect of the application.
As shown in Figure 1, the present embodiment lower limb rehabilitation exoskeleton system, including lower limb rehabilitation ectoskeleton equipment and treatment water tank
1, wherein the outside of the lower limb rehabilitation ectoskeleton equipment is arranged in the treatment water tank 1；The lower limb rehabilitation ectoskeleton equipment
Including equipment body 9, big leg assembly 6, hip joint component 3, lift adjustment component 4 and control assembly 5, wherein the thigh
Component 6 is rotatablely connected by the hip joint component 3 with the equipment body 9, and the lift adjustment component 4 is mounted on described set
In standby main body 9, wherein the lift adjustment component 4 includes suspender belt 41, and the suspender belt 41 is strapped in the armpit position of human body, institute
It states hip joint component 3 and the lift adjustment component 4 is electrically connected with the control assembly 5.
Patient is sling using lift adjustment component 4 and is placed in the conjunction of the lower limb rehabilitation ectoskeleton equipment by the present embodiment
It sets right position, wherein the suspender belt 41 in lift adjustment component 4 is strapped in the armpit position of human body, in the control action of control assembly 5
Under, the fixed big leg assembly 6 rotate relative to the equipment body 9 and can imitate people and takes a step the angle walked with human thigh
Degree and amplitude, so that human thigh be made to obtain medical treatment；Also, it carries out lower limb using the present embodiment lower limb rehabilitation ectoskeleton equipment to bend
Movement is stretched, does not need to expend healthcare givers or a large amount of time and efforts of household, the treatment water tank cooperates the lower limb rehabilitation
Ectoskeleton equipment uses, and the dual exercise effect of athletic rehabilitation and single hydrotherapy is brought to patient's lower limb rehabilitation.
The present embodiment is by the functional training of the ectoskeleton of lower limb rehabilitation ectoskeleton equipment and the hydrotherapy of combined treatment water tank
Effect carries out complex treatment to patient's lower limb rehabilitation, and people can be imitated under the control action of lower limb rehabilitation ectoskeleton equipment and is stepped
The angle and amplitude that walking is walked, while lower limb are placed in the treatment water tank 1 of predetermined treatment water temperature, the swing of lower limb while also phase
When in giving the massage in water, there is athletic rehabilitation and the dual exercise effect of single hydrotherapy；Furthermore the treatment water tank 1 of setting
It plays a driving role to lower limb rehabilitation ectoskeleton equipment control lower extremity movement, enables lower limb that water body resistance to be overcome to carry out passive
Movement, can get preferable therapeutic effect.
Specifically, the temperature inductor being electrically connected with the control assembly 5 is equipped in the treatment water tank 1.Specific real
During applying, can to treatment water tank 1 in temperature carry out real-time monitoring, carry out lower water temperature when necessary, such as by treat water
Cold/hot water etc. is filled into case 1, to meet the temperature requirement of hydrotherapy.
In one example, the lower limb rehabilitation ectoskeleton equipment can also include shank component 7 and knee components
2, wherein the shank component 7 is rotatablely connected by the knee components 2 and the big leg assembly 6, the knee components
2 are electrically connected with the control assembly 5.Under the control action of control assembly 5, shank component 7 is 9 turns of equipment body relatively described
It is dynamic, and people can be imitated and taken a step the angle and amplitude of walking, so that human calf be made to obtain medical treatment.
In one example, the lower limb rehabilitation ectoskeleton equipment can also include the dismountable elastic webbing of at least one,
The elastic webbing is used to big 6/ shank component 7 of leg assembly lower limb corresponding with patient carrying out bondage to fix, wherein the elasticity
Band, which mainly serves, to be auxiliarily fixed, and the bondage for also coming from suspender belt 41 to the main active force of patient supports.
In one example, the lower limb rehabilitation ectoskeleton equipment can also include pedal 8, the pedal 8 with it is described small
Leg assembly 7 connects.Wherein, the pedal 8 is used for Auxiliary support human foot.Wherein, the knee components 2 include the first electricity
Machine, the first retarder, the first output shaft and the first key, wherein the first motor is electrically connected with the control assembly 5, institute
First motor is stated successively with first retarder, the first output axis connection, and it is defeated that first key is mounted on described first
The outside of shaft, and first key is for being rotatablely connected the big leg assembly 6 and the shank component 7.Pass through control assembly 5
The program pre-set rotates first motor, and first motor torque passes through the first retarder, the first output shaft and first
Key is transmitted to big 6/ shank component 7 of leg assembly, so that the left and right lower limb tied up and need to take exercise above be driven to carry out rehabilitation training.
Specifically, the hip joint component 3 may include the second motor, the second retarder, the second output shaft and second
Key, wherein second motor is electrically connected with the control assembly 5, second motor successively with second retarder, institute
The second output axis connection is stated, second key is mounted on the outside of second output shaft, and second key is for the company of rotation
Connect the equipment body 9 and the big leg assembly 6.The second motor is rotated by the program that control assembly 5 is pre-set, the
Two Motor torques are transmitted to big leg assembly 6 by the second retarder, the second output shaft and the second key, tie up to drive above
The left and right lower limb for needing to take exercise carry out rehabilitation training.
Specifically, the lift adjustment component 4 can also include that suspender belt shakes component 42 and at least one pulley 43, institute
It states suspender belt shake component 42 and pulley 43 is installed on the equipment body 9, wherein the suspender belt 41 bypasses the pulley 43
It is arranged and shakes component 42 with the suspender belt and connect.It shakes the suspender belt and shakes component 42, and then adjust and be strapped in human body armpit
The length of the suspender belt 41 of position, so that the adjustable height to human body is adjusted.
The working principle of the application is as follows:
Patient is sling with the suspender belt 41 in lift adjustment component 4, after adjusting proper height, and patient's lower limb is put into and are controlled
Treat (is advisable) in water tank 1 with water surface waist portion, is then started switch, and is controlled by program that control assembly 5 is pre-set
The work of 3/ knee components 2 of hip joint component, and the second motor/first motor torque is delivered to big 6/ shank of leg assembly
Component 7 imitates that people takes a step the angle of walking and amplitude moves to drive and tie up the left and right lower limb that need to take exercise above；
The lower limb of patient are placed in the treatment water tank 1 according to the temperature of Treatment need setting simultaneously, and the swing of lower limb is simultaneously also in water
In give the massage, reached the dual exercise effect of athletic rehabilitation and single hydrotherapy.
The application is based on lower limb rehabilitation ectoskeleton equipment and carries out passive movement to carry out rehabilitation, greatly to patient's lower limb
Healthcare givers or household's time and efforts are saved greatly, and preferable rehabilitation effect can be obtained；And by the function of ectoskeleton
Hydrotherapy can be tempered and be combined, better therapeutic effect is brought to patient's lower limb rehabilitation；The application will using lift adjustment component
Patient slings, and enters lower limb in treatment water tank, and patient is in treatment water tank by imitating under patient by big/shank component
Limb walking carries out outside reconditioning, moreover it is possible to carry out a variety of rehabilitations with temperature, buoyancy and the hydrostatic effect etc. in treatment water tank
It takes exercise；First motor is respectively adopted for the buckling stretching, extension of hip joint component and knee components in the application and the second motor drives
It is dynamic, under the control action of control assembly, people can be imitated and taken a step the angle and amplitude of walking, conducive to the lower limb rehabilitation of patient；
Lower limb are placed in the treatment water tank of predetermined treatment water temperature simultaneously, and the swing of lower limb also corresponds to give the massage in water simultaneously, are had
There are athletic rehabilitation and the dual exercise effect of single hydrotherapy.
Above embodiments are only to illustrate the technical solution of the application and non-limiting, referring to preferred embodiment to the application into
Detailed description is gone.Those skilled in the art should understand that the technical solution of the application can be modified or be waited
With replacement, without departing from the spirit and scope of technical scheme, should all cover within the scope of claims hereof.
Claims (8)
1. a kind of lower limb rehabilitation exoskeleton system, which is characterized in that including lower limb rehabilitation ectoskeleton equipment and water tank (1) is treated,
The outside of the lower limb rehabilitation ectoskeleton equipment is arranged in treatment water tank (1)；
The lower limb rehabilitation ectoskeleton equipment includes equipment body (9), big leg assembly (6), hip joint component (3), lift adjustment
Component (4) and control assembly (5), wherein
The big leg assembly (6) is rotatablely connected by the hip joint component (3) and the equipment body (9),
The lift adjustment component (4) is mounted on the equipment body (9), wherein the lift adjustment component (4) includes hanging
Band (41), the suspender belt (41) are strapped in the armpit position of human body,
The hip joint component (3) and the lift adjustment component (4) are electrically connected with the control assembly (5).
2. a kind of lower limb rehabilitation exoskeleton system according to claim 1, which is characterized in that the lower limb rehabilitation ectoskeleton
Equipment further includes shank component (7) and knee components (2), wherein the shank component (7) passes through the knee components
(2) it is rotatablely connected with the big leg assembly (6), the knee components (2) are electrically connected with the control assembly (5).
3. a kind of lower limb rehabilitation exoskeleton system according to claim 2, which is characterized in that the lower limb rehabilitation ectoskeleton
Equipment further includes a pedal (8) for being used to support human foot, and the pedal (8) connect with the shank component (7).
4. a kind of lower limb rehabilitation exoskeleton system according to claim 2, which is characterized in that the knee components (2)
Including first motor, the first retarder, the first output shaft and the first key, wherein
The first motor is electrically connected with the control assembly (5),
The first motor successively exports axis connection with first retarder, described first,
First key is mounted on the outside of first output shaft, and first key is for being rotatablely connected the big leg assembly
(6) and the shank component (7).
5. a kind of lower limb rehabilitation exoskeleton system according to any one of claims 1 to 4, which is characterized in that the hip closes
Saving component (3) includes the second motor, the second retarder, the second output shaft and the second key, wherein
Second motor is electrically connected with the control assembly (5),
Second motor successively exports axis connection with second retarder, described second,
Second key is mounted on the outside of second output shaft, and second key is for being rotatablely connected the equipment body
(9) and the big leg assembly (6).
6. a kind of lower limb rehabilitation exoskeleton system according to any one of claims 1 to 4, which is characterized in that the lower limb
Rehabilitation ectoskeleton equipment includes the dismountable elastic webbing of at least one.
7. a kind of lower limb rehabilitation exoskeleton system according to any one of claims 1 to 4, which is characterized in that the lifting
Adjusting component (4) further includes that suspender belt shakes component (42) and at least one pulley (43), the suspender belt shake component (42) and
Pulley (43) is installed on the equipment body (9), wherein the suspender belt (41) around the pulley (43) be arranged and with institute
It states suspender belt and shakes component (42) connection.
8. a kind of lower limb rehabilitation exoskeleton system according to any one of claims 1 to 4, which is characterized in that the treatment
The temperature inductor being electrically connected with the control assembly (5) is equipped in water tank (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821029275.8U CN209361239U (en) | 2018-06-29 | 2018-06-29 | A kind of lower limb rehabilitation exoskeleton system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821029275.8U CN209361239U (en) | 2018-06-29 | 2018-06-29 | A kind of lower limb rehabilitation exoskeleton system |
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| Publication Number | Publication Date |
|---|---|
| CN209361239U true CN209361239U (en) | 2019-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821029275.8U Active CN209361239U (en) | 2018-06-29 | 2018-06-29 | A kind of lower limb rehabilitation exoskeleton system |
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| CN (1) | CN209361239U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836748A (en) * | 2018-06-29 | 2018-11-20 | 上海掌门科技有限公司 | A kind of lower limb rehabilitation exoskeleton system |
| CN113616484A (en) * | 2021-09-15 | 2021-11-09 | 杭州程天科技发展有限公司 | Isolated exoskeleton robot system for underwater rehabilitation and underwater rehabilitation method |
-
2018
- 2018-06-29 CN CN201821029275.8U patent/CN209361239U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836748A (en) * | 2018-06-29 | 2018-11-20 | 上海掌门科技有限公司 | A kind of lower limb rehabilitation exoskeleton system |
| CN113616484A (en) * | 2021-09-15 | 2021-11-09 | 杭州程天科技发展有限公司 | Isolated exoskeleton robot system for underwater rehabilitation and underwater rehabilitation method |
| CN113616484B (en) * | 2021-09-15 | 2023-06-20 | 杭州程天科技发展有限公司 | Isolated exoskeleton robot system for underwater rehabilitation and underwater rehabilitation method |
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