CN209899987U

CN209899987U - Exoskeleton type bionic power knee joint rehabilitation device

Info

Publication number: CN209899987U
Application number: CN201920336919.6U
Authority: CN
Inventors: 曹福成; 李超; 叶明�; 李志瑶; 张月; 王岩; 张素军
Original assignee: Changchun University
Current assignee: Changchun University
Priority date: 2019-03-18
Filing date: 2019-03-18
Publication date: 2020-01-07
Anticipated expiration: 2029-03-18

Abstract

The utility model relates to an ectoskeleton type bionic power knee joint rehabilitation device, which belongs to the technical field of daily exercise assistance and exercise rehabilitation. Including recovered physiotherapy unit, power drive unit and function control unit, recovered physiotherapy unit includes light reflection module, infrared ray light emitting component and electric heating element, electric heating element sets up between light reflection module and infrared ray light emitting component, power drive unit includes ball screw straight line module, T type push rod and joint swing link mechanism, ball screw straight line module passes through motor support fixed mounting on thigh lagging, T type push rod is installed on the slider, joint swing link mechanism upper end fixed connection is on thigh lagging, and lower extreme fixed connection is on shank lagging. Has the advantages that: the knee joint hot-pressing moxibustion device has the advantages of small structural volume, light weight, capability of not only having the joint power-assisted rehabilitation function, but also generating infrared spectrum, capability of performing hot-pressing moxibustion on the knee joint, simplicity and convenience in operation and strong practicability.

Description

Exoskeleton type bionic power knee joint rehabilitation device

Technical Field

The utility model relates to a supplementary and recovered technical field of motion of daily motion, in particular to joint helping hand rehabilitation device indicates a bionic power knee joint rehabilitation device of ectoskeleton formula especially.

Background

With the aggravation of the aging of the society and the improvement of the living standard of people, the disabled population rapidly increases due to the reasons of cerebral apoplexy, spinal cord injury, cerebral trauma, traffic accidents and the like, so that some patients cannot walk like the ordinary people due to the diseased knee joints. In recent years, the human society develops towards high automation, informatization and mechanization, the influence of the robot on human life is deepening, and the exoskeleton type knee joint can provide knee joint walking power required by gait walking for old people or knee joint patients as a part of rehabilitation exoskeleton robots.

The current joint auxiliary rehabilitation device mainly comprises a driving force type and a non-driving force type, wherein the wearable power knee joint rehabilitation device is characterized in that a patient wears an exoskeleton robot joint on the lower limb of the human body and is fixed on the upper and lower legs of the human body through a binding band, and when the patient walks, the robot joint provides the bending and stretching force required by the knee joint for the patient according to a set gait motion track. The exoskeleton robot dynamic joint can promote early rehabilitation of the knee joint function of a patient by wearing the exoskeleton robot dynamic joint. Compared with a wearable power type knee joint rehabilitation device, the non-power type rehabilitation robot has the advantages that the structure is simple, walking auxiliary power cannot be provided for a patient, and the supporting and fixing effects are mainly achieved. At present, a power supply mode of a wearable power knee joint at home and abroad is that a motor and a speed reducer are connected in series and then are connected with a transmission system, and finally power is transmitted to the knee joint of a patient.

Disclosure of Invention

An object of the utility model is to provide a bionical power knee joint rehabilitation device of ectoskeleton formula has solved the above-mentioned problem that prior art exists. The utility model discloses a high integrated recovery, helping hand and joint hot compress trinity joint motion auxiliary rehabilitation device, compact structure, small, light in weight, compliance height. The infrared heating device has the joint power-assisted rehabilitation function, can generate infrared spectrum, can perform hot ironing and warm moxibustion on knee joints, is simple and convenient to operate, and is convenient for patients suffering from Parkinson's disease, stroke, traumatic brain injury or infantile cerebral palsy and other various people to use.

The above object of the utility model is realized through following technical scheme:

the bionic power knee joint rehabilitation device comprises a rehabilitation physical therapy unit, a power driving unit and a function control unit, wherein the rehabilitation physical therapy unit is respectively connected with a thigh sleeve plate 9 and a shank sleeve plate 10 through pin shafts, the driving unit is installed on the outer side of a power driving unit installation seat 21 through bolt connection, the power driving unit installation seat 21 is connected onto the thigh sleeve plate 9 through bolts, and the function control unit is arranged on the inner side of the power driving unit installation seat 21.

The rehabilitation physiotherapy unit comprises a light reflection module 1, an infrared light emitting element 2 and an electric heating element 3, wherein a variable frequency heating body 3-4 in the electric heating element 3 is arranged between the light reflection module 1 and the infrared light emitting element 2, and a magnetic energy generator 3-1 of the electric heating element 3 is arranged on the inner side of a power driving unit mounting seat 21; the light reflection module 1 is embedded in the knee unit 25, the frequency conversion heating bodies 3-4 are coiled on the knee unit 25 in a 'return' shape, and the infrared light emitting elements 2 are arranged on the knee unit 25.

The power driving unit comprises a ball screw linear module 4, a T-shaped push rod 5 and a joint swinging connecting rod mechanism 6, the ball screw linear module 4 is fixedly installed on a thigh sleeve plate 9 through a motor support 4-4, the T-shaped push rod 5 is installed on a sliding block 4-2, a linear spring 11 is installed between the joint swinging connecting rod mechanism 6 and the T-shaped push rod 5, the upper end of the joint swinging connecting rod mechanism 6 is fixedly connected onto the thigh sleeve plate 9, and the lower end of the joint swinging connecting rod mechanism 6 is fixedly connected onto a shank sleeve plate 10.

The electric heating element 3 is a magnetic energy variable frequency heating body, the electric heating element 3 is composed of a magnetic energy generator 3-1, a magnetic energy receiver 3-2, a magnetic energy transmission line 3-3 and a variable frequency heating body 3-4, the magnetic energy generator 3-1 is arranged on the function control unit, the magnetic energy receiver 3-2 and the magnetic energy generator 3-1 are matched and fixedly arranged on the inner side of the power driving unit mounting seat 21, and the variable frequency heating body 3-4 is connected with the magnetic energy receiver 3-2 through the magnetic energy transmission line 3-3.

The infrared light emitting element 2 is an infrared lamp.

The ball screw linear module 4 is composed of a screw motor 4-1, a sliding block 4-2, a cylindrical linear double guide rail 4-3, a motor support 4-4 and a screw terminal stop block 4-5, wherein the screw motor 4-1 is installed on the motor support 4-4, the sliding block 4-2 is connected to a screw shaft of the screw motor 4-1 and slides along the cylindrical linear double guide rail 4-3, and two ends of the cylindrical linear double guide rail 4-3 are respectively connected with the motor support 4-4 and the screw terminal stop block 4-5 through bearings.

The joint swinging link mechanism 6 is a five-link mechanism and comprises an upper rocker 6-1, a lower rocker 6-2 and a connecting rod 6-3, wherein the upper rocker 6-1 is connected with the lower rocker 6-2 through a pin shaft, the upper rocker 6-1 is connected with a thigh sleeve plate 9 through a pin shaft, the lower rocker 6-2 is connected with a shank sleeve plate 10 through a pin shaft, and the connecting rod 6-3 is connected with the upper rocker 6-1 through a rotating shaft arranged on the connecting rod 6-3.

The thigh sleeve plate 9 is provided with a joint rotating shaft 12, the shank sleeve plate 10 is provided with a ball bearing 13, and the thigh sleeve plate 9 and the shank sleeve plate 10 are connected with the ball bearing 13 through the joint rotating shaft 12 in a matching mode.

The thigh strap 17 is arranged on the thigh sleeve plate 9, the calf strap 18 is arranged on the calf sleeve plate 10, and the thigh strap 17 and the calf strap 18 are respectively connected in a binding mode through strap buckles 19.

The function control unit comprises a rehabilitation physiotherapy control module 7 and a power drive control module 8 which are respectively arranged on a system circuit board 22, and the system circuit board 22 is fixed on the inner side of a power drive unit mounting seat 21; the system circuit board 22 is provided with a rehabilitation physiotherapy temperature adjusting module 14 and an infrared light-emitting element control module 15, and the power drive control module 8 is provided with a motor driver and a joint position detection module 16.

And a rechargeable system power supply 20 is arranged on the power driving unit mounting seat 21.

The thigh sleeve plate 9 is provided with a control panel 24, and the control panel 24 is provided with a power switch 23 and a function adjusting key.

The beneficial effects of the utility model reside in that:

1. and (3) high integration design. The power exoskeleton type knee joint rehabilitation device integrates rehabilitation physiotherapy and assistance rehabilitation by considering the restriction of the size and the weight of the power exoskeleton type knee joint rehabilitation space and adopting an integrated design idea, thereby being beneficial to perfecting the miniaturization and lightweight design of the knee joint rehabilitation device.

2. And (4) designing serial flexibility. The linear spring is arranged between the T-shaped push rod and the five knee joint connecting rods to form a flexible transmission mode of serial elastic drive, so that when the output end is acted by external force, the rehabilitation device can not only relieve strain in a highly dynamic mode, and the protection device can reduce the impact of uncertain environment on the force, but also can complete the output of the force of accurate control of flexion and extension movement on a human body.

3. And (4) multi-sensor sensing. The position sensing detection of the lead screw motor encoder is utilized, the flexion and extension movement range of the knee joint is safely and effectively controlled, and the control accuracy of the joint is greatly improved.

4. The utility model discloses make full use of magnetic energy frequency conversion heating characteristic through adjustment magnetic energy generator electric current size, effectively realizes heating member intelligence thermostatic control, improves the knee joint temperature and presses the recovered health care effect of hot compress.

5. The whole mechanical structure is simple and compact, the curved exoskeleton mechanical structure is more fit with the outline of the leg when being worn and used, and the energy storage linear spring is utilized, so that the comfortable burden reduction effect is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate example embodiments of the invention and together with the description serve to explain the invention without limitation.

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a function control unit of the present invention;

fig. 3 is a schematic structural view of the magnetic energy heating body of the present invention;

fig. 4 is a schematic structural diagram of the ball screw linear module according to the present invention;

FIG. 5 is a schematic view of the rehabilitation physiotherapy unit of the present invention;

fig. 6 is a schematic structural view of the joint swing link mechanism of the present invention.

In the figure: 1. a light reflection module; 2. an infrared light emitting element; 3. an electrical heating element; 4. a ball screw linear module; 5. a T-shaped push rod; 6. a joint swing link mechanism; 7. a rehabilitation physiotherapy control module; 8. a power drive control module; 9. a thigh strap; 10. A shank sheathing board; 11. a linear spring; 12. a joint rotation shaft; 13. a ball bearing; 14. a temperature adjustment module; 15. an infrared light emitting element control module; 16. a joint position detection module; 17. a thigh strap; 18. a shank binding band; 19. fastening a binding band; 20. a rechargeable system power supply; 21. a power drive unit mount; 22 a system circuit board; 23. a power switch; 24. a control panel; 25. a knee unit; 3-1, a magnetic energy generator; 3-2, a magnetic energy receiver; 3-3, magnetic energy transmission line; 3-4, a variable frequency heating element; 4-1, a screw motor; 4-2, a sliding block; 4-3, cylindrical linear double guide rails; 4-4, a motor support; 4-5, a screw terminal stop block; 6-1, an upper rocker; 6-2, a lower rocker; 6-3 and a connecting rod.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.

Referring to fig. 1 to 6, the utility model discloses a bionical power knee joint rehabilitation device of ectoskeleton formula, including recovered physiotherapy unit, power drive unit and function control unit, recovered physiotherapy unit is connected with thigh lagging 9 and shank lagging 10 respectively through the round pin axle, drive unit passes through bolted connection and installs in the 21 outsides of power drive unit mount pad, power drive unit mount pad 21 sets up on thigh lagging 9 through bolted connection, function control unit set up in power drive unit mount pad 21 is inboard, thigh lagging 9 and shank lagging 10 inboard are the design of the bionical curve type of human body, guarantee that the patient dresses the leg appearance profile of laminating more when using, and is comfortable, fail safe nature is high.

The rehabilitation physiotherapy unit comprises a light reflection module 1, an infrared light emitting element 2 and an electric heating element 3, wherein a component frequency conversion heating body 3-4 in the electric heating element 3 is arranged between the light reflection module 1 and the infrared light emitting element 2, and a magnetic energy generator 3-1 of the electric heating element 3 is arranged on the inner side of a power driving unit mounting seat 21; the light reflection module 1 is embedded in the knee unit 25, the variable-frequency heating units 3-4 are coiled on the knee unit 25 in a 'return' shape, and the infrared light emitting elements 2 are arranged on the knee unit 25; the magnetic energy variable frequency heating body and the infrared radiation physiotherapy are beneficial to permeating skin and improving blood vessel circulation.

Referring to fig. 3, the electric heating element 3 is a magnetic energy variable frequency heating body, the electric heating element 3 is composed of a magnetic energy generator 3-1, a magnetic energy receiver 3-2, a magnetic energy transmission line 3-3 and a variable frequency heating body 3-4, the magnetic energy generator 3-1 is arranged on the function control unit, the magnetic energy receiver 3-2 and the magnetic energy generator 3-1 are matched and fixedly arranged on the power driving unit mounting seat 21, and the variable frequency heating body 3-4 is connected with the magnetic energy receiver 3-2 through the magnetic energy transmission line 3-3.

The infrared light emitting element 2 is an infrared lamp.

Referring to fig. 1 to 6, the power driving unit includes a ball screw linear module 4, a T-shaped push rod 5 and a joint swing link mechanism 6, the ball screw linear module 4 is fixedly mounted on a thigh sleeve plate 9 through a motor support 4-4, the T-shaped push rod 5 is mounted on a slider 4-2, a linear spring 11 is mounted between the joint swing link mechanism 6 and the T-shaped push rod 5, the upper end of the joint swing link mechanism 6 is fixedly connected to the thigh sleeve plate 9, and the lower end of the joint swing link mechanism 6 is fixedly connected to a shank sleeve plate 10.

The ball screw linear module 4 is composed of a screw motor 4-1, a sliding block 4-2, a cylindrical linear double guide rail 4-3, a motor support 4-4 and a screw terminal stop block 4-5, wherein the screw motor 4-1 is installed on the motor support 4-4, the sliding block 4-2 is connected to an output shaft of the screw motor 4-1 and slides along the cylindrical linear double guide rail 4-3, and two ends of the cylindrical linear double guide rail 4-3 are respectively connected with the motor support 4-4 and the screw terminal stop block 4-5 through bearings. The open structure is adopted, the double-guide-rail sliding block is arranged, and the two ends of the screw rod are fixed by the bearings, so that the operation stability can be improved.

The thigh sleeve plate 9 is provided with a control panel 24, and the control panel 24 is provided with a power switch 23 and a function adjusting key. The function adjusting keys are a temperature adjusting key, a hot ironing and warm moxibustion time key and a knee joint power-assisted rehabilitation and knee joint rehabilitation health care mode selecting key.

Referring to fig. 1 to 6, the working process and principle of the present invention are as follows:

after the power switch 23 is pressed down, the function adjusting keys on the touch control panel 24 are used for setting the rehabilitation physiotherapy temperature and the hot ironing moxibustion time, the knee joint power-assisted rehabilitation mode is started, the system circuit board 22 is electrified to control the rehabilitation physiotherapy control module 7 and the power driving module 8, so that the whole power knee joint rehabilitation device starts to work, the motor driver on the power driving module 8 controls the ball screw motor to drive the sliding block 4-2 to do linear reciprocating motion along the cylindrical linear double guide rails 4-3, the sliding block 4-2 transmits the linear reciprocating motion to the component connecting rod 6-3 of the joint swinging connecting rod mechanism 6 through the T-shaped push rod, the connecting rod 6-3 makes linear reciprocating motion on the upper rocker 6-1 to drive the upper rocker 6-1 to swing back and forth by taking the pin shaft as the center, and further the swinging motion of the upper rocker 6-1 is transmitted to the shank sleeve plate 10 through the lower rocker 6-2, the patient can complete the knee joint flexion and extension rehabilitation movement according to the set movement track under the driving of the exoskeleton type bionic power knee joint, and the rehabilitation physiotherapy module 7 controls the rehabilitation physiotherapy unit according to the set physiotherapy mode to provide infrared irradiation and hot-ironing moxibustion physiotherapy for the knee joint of the patient.

The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made to the present invention should be included in the protection scope of the present invention.

Claims

1. An exoskeleton-type bionic dynamic knee joint rehabilitation device is characterized in that: the rehabilitation physiotherapy device comprises a rehabilitation physiotherapy unit, a power driving unit and a function control unit, wherein the rehabilitation physiotherapy unit is respectively connected with a thigh sleeve plate (9) and a shank sleeve plate (10) through pin shafts, the driving unit is installed on the outer side of a power driving unit installation seat (21) through bolts, the power driving unit installation seat (21) is connected to the thigh sleeve plate (9) through bolts, and the function control unit is arranged on the inner side of the power driving unit installation seat (21);

the rehabilitation physiotherapy unit comprises a light reflection module (1), an infrared light emitting element (2) and an electric heating element (3), wherein a variable-frequency heating body (3-4) in the electric heating element (3) is arranged between the light reflection module (1) and the infrared light emitting element (2), and a magnetic energy generator (3-1) of the electric heating element (3) is arranged on the inner side of a power driving unit mounting seat (21); the light reflection module (1) is embedded in the knee unit (25), the variable-frequency heating bodies (3-4) are coiled on the knee unit (25) in a 'return' shape, and the infrared light emitting elements (2) are distributed on the knee unit (25).

2. The exoskeletal biomimetic powered knee rehabilitation device according to claim 1, characterized in that: the power driving unit comprises a ball screw linear module (4), a T-shaped push rod (5) and a joint swinging connecting rod mechanism (6), the ball screw linear module (4) is fixedly installed on a thigh sleeve plate (9) through a motor support (4-4), the T-shaped push rod (5) is installed on a sliding block (4-2), a linear spring (11) is installed between the joint swinging connecting rod mechanism (6) and the T-shaped push rod (5), the upper end of the joint swinging connecting rod mechanism (6) is fixedly connected onto the thigh sleeve plate (9), and the lower end of the joint swinging connecting rod mechanism (6) is fixedly connected onto a shank sleeve plate (10).

3. The exoskeletal biomimetic powered knee rehabilitation device according to claim 1, characterized in that: the electric heating element (3) is a magnetic energy variable-frequency heating body, the electric heating element (3) is composed of a magnetic energy generator (3-1), a magnetic energy receiver (3-2), a magnetic energy transmission line (3-3) and a variable-frequency heating body (3-4), the magnetic energy generator (3-1) is arranged on the function control unit, the magnetic energy receiver (3-2) and the magnetic energy generator (3-1) are matched and fixedly arranged on the inner side of the power driving unit mounting seat (21), and the variable-frequency heating body (3-4) is connected with the magnetic energy receiver (3-2) through the magnetic energy transmission line (3-3).

4. The exoskeletal biomimetic powered knee rehabilitation device according to claim 1, characterized in that: the infrared light-emitting element (2) is an infrared lamp.

5. The exoskeletal biomimetic powered knee rehabilitation device of claim 2, wherein: the ball screw linear module (4) is composed of a screw motor (4-1), a sliding block (4-2), a cylindrical linear double guide rail (4-3), a motor support (4-4) and a screw terminal stop block (4-5), wherein the screw motor (4-1) is installed on the motor support (4-4), the sliding block (4-2) is connected to a screw shaft of the screw motor (4-1) and slides along the cylindrical linear double guide rail (4-3), and two ends of the cylindrical linear double guide rail (4-3) are respectively connected with the motor support (4-4) and the screw terminal stop block (4-5) through bearings.

6. The exoskeletal biomimetic powered knee rehabilitation device of claim 2, wherein: the joint swing link mechanism (6) is a five-link mechanism and comprises an upper rocker (6-1), a lower rocker (6-2) and a connecting rod (6-3), the upper rocker (6-1) is connected with the lower rocker (6-2) through a pin shaft, the upper rocker (6-1) is connected with a thigh sleeve plate (9) through a pin shaft, the lower rocker (6-2) is connected with a shank sleeve plate (10) through a pin shaft, and the connecting rod (6-3) is connected with the upper rocker (6-1) through a rotating shaft arranged on the connecting rod (6-3).

7. The exoskeletal biomimetic powered knee rehabilitation device according to claim 1, characterized in that: the thigh sleeve plate (9) is provided with a joint rotating shaft (12), the shank sleeve plate (10) is provided with a ball bearing (13), and the thigh sleeve plate (9) and the shank sleeve plate (10) are connected with the ball bearing (13) through the joint rotating shaft (12) in a matching manner.

8. The exoskeletal biomimetic powered knee rehabilitation device of claim 7, wherein: thigh straps (17) are arranged on the thigh sleeve plate (9), calf straps (18) are arranged on the calf sleeve plate (10), and the thigh straps (17) and the calf straps (18) are respectively connected in a binding mode through strap buckles (19).

9. The exoskeletal biomimetic powered knee rehabilitation device according to claim 1, characterized in that: the function control unit comprises a rehabilitation physiotherapy control module (7) and a power drive control module (8) which are respectively arranged on a system circuit board (22), and the system circuit board (22) is fixed on the inner side of a power drive unit mounting seat (21); a rehabilitation physiotherapy temperature adjusting module (14) and an infrared light-emitting element control module (15) are arranged on the system circuit board (22), and a motor driver and a joint position detection module (16) are arranged on the power driving control module (8); and a rechargeable system power supply (20) is arranged on the power driving unit mounting seat (21).

10. The exoskeletal biomimetic powered knee rehabilitation device according to claim 1, 7, 8 or 9, characterized in that: the thigh sleeve plate (9) is provided with a control panel (24), and the control panel (24) is provided with a power switch (23) and a function adjusting key.