CN211214198U

CN211214198U - Limb rehabilitation exoskeleton and limb rehabilitation system

Info

Publication number: CN211214198U
Application number: CN201921614612.4U
Authority: CN
Inventors: 谭高辉; 马舜; 姜德卉
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Hunan Chenghui Weishi Intelligent Technology Co., Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2020-08-11
Anticipated expiration: 2029-09-25

Abstract

The utility model discloses a recovered ectoskeleton of limbs and limb rehabilitation system. The limb rehabilitation exoskeleton comprises a first connecting arm, wherein a first guide wheel assembly is arranged at one end of the first connecting arm; the second connecting arm comprises a first component section and a sliding special-shaped rod, one end of the first component section is rotatably connected to one end, far away from the first guide wheel assembly, of the first component section, the cross section of the sliding special-shaped rod is arranged in a non-circular mode, one end of the sliding special-shaped rod is movably arranged on the first component section and moves relative to the first component section to be close to or far away from the first component section, and the end, far away from the first component section, of the sliding special-shaped rod is provided with a second guide wheel assembly; and the limiting assembly is arranged on the second connecting arm, and is adjusted to limit and fix the sliding special-shaped rod on the first component section. The technical proposal of the utility model improves the rehabilitation effect of the exoskeleton on the patient; meanwhile, the universality of the limb rehabilitation exoskeleton and the stability in the using process are improved.

Description

Limb rehabilitation exoskeleton and limb rehabilitation system

Technical Field

The utility model relates to an ectoskeleton technical field, in particular to limbs rehabilitation ectoskeleton and applied this limbs rehabilitation ectoskeleton's limbs rehabilitation system.

Background

In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.

In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in the acute stage, for example, effective switching between passive, active and impedance modes is performed, or the existing rehabilitation training can assist guidance rehabilitation through some machines, but the motion track of the existing auxiliary machines is not smooth enough, and a large error exists between the motion track and the limb, so that the rehabilitation effect is not ideal. Meanwhile, the length of the auxiliary machinery cannot be adjusted, and the height of patients is different, so that the universality of the auxiliary machinery is lower.

The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims at providing a limb rehabilitation exoskeleton, which aims to play a role of guiding when the exoskeleton is adopted to assist the human body to rehabilitate, and fit the motion trail of the limb to improve the rehabilitation effect; meanwhile, the universality of the limb rehabilitation exoskeleton and the stability in the using process are improved.

In order to achieve the above object, the utility model provides a recovered ectoskeleton of limbs includes:

the device comprises a first connecting arm, a second connecting arm and a third connecting arm, wherein one end of the first connecting arm is provided with a first guide wheel assembly;

the second connecting arm comprises a first component section and a sliding special-shaped rod, one end of the first component section is rotatably connected to one end, far away from the first guide wheel assembly, of the first component section, the cross section of the sliding special-shaped rod is in a non-circular arrangement, one end of the sliding special-shaped rod is movably arranged on the first component section and moves relative to the first component section to be close to or far away from the first component section, and a second guide wheel assembly is arranged at one end, far away from the first component section, of the sliding special-shaped rod; and

and the limiting assembly is arranged on the second connecting arm and is adjusted to enable the sliding special-shaped rod to be limited and fixed on the first component section.

In an embodiment of the present invention, the limiting component includes a base and an upper cover, the base is connected to the first component section, the upper cover is disposed on the base, the sliding special-shaped rod is disposed on the base and between the upper cover, and the upper cover is fixed to the base by matching with the base and clamping the sliding special-shaped rod.

In an embodiment of the present invention, the base faces the concave first slot, the concave surface of the base faces the upper cover is provided with a second slot, and the surface of the sliding special-shaped rod abuts against the slot walls of the first slot and the second slot.

In an embodiment of the present invention, the base is provided with a first mounting hole, the upper cover is provided with a second mounting hole, and the second mounting hole is opposite to the first mounting hole;

the limiting assembly further comprises a locking member, the locking member penetrates through the second mounting hole and is inserted into the first mounting hole, and the upper cover is connected to the base.

In an embodiment of the present invention, the base includes a base body and an embedded member embedded in the base body, the base body is provided with the first mounting hole, the embedded member is provided with a third mounting hole, the third mounting hole is opposite to the first mounting hole, the locking member passes through the first mounting hole and the second mounting hole, and is inserted into the third mounting hole, so that the upper cover is connected to the base.

In an embodiment of the present invention, the base is provided with at least two first mounting holes, at least two first mounting holes are disposed at intervals along the moving direction of the sliding special-shaped rod, the upper cover is provided with at least two second mounting holes, one second mounting hole is disposed opposite to the first mounting hole, the limiting component further includes at least two locking members, one locking member passes through one first mounting hole and is inserted into the second mounting hole corresponding to the first mounting hole.

In an embodiment of the present invention, the cross section of the sliding special-shaped rod is disposed in an oval shape.

In an embodiment of the present invention, the sliding profile rod is a hollow rod.

In an embodiment of the present invention, the limb rehabilitation exoskeleton further comprises a supporting member, the supporting member is connected to the end of the sliding special-shaped rod and inserted into the sliding special-shaped rod, and the supporting member abuts against the inner wall of the sliding special-shaped rod.

The utility model also provides a limbs rehabilitation system, including the recovered ectoskeleton of limbs of two sets of relative settings, the recovered ectoskeleton of limbs includes:

The technical scheme of the utility model connect through rotating the first component section with first linking arm and second linking arm, locate the tip that first connecting arm kept away from first component section with first leading wheel subassembly again, and locate the tip that first component section was kept away from to the slip abnormal shape pole of second linking arm with the second leading wheel subassembly, when first component section and slip abnormal shape pole are first connecting arm relatively under the effect of external force and rotate, the effect of direction is played in the tip motion that first component section was kept away from to slip abnormal shape pole to the second leading wheel subassembly, and the tip motion that first component section was kept away from to first connecting arm also can play the effect of direction. For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first connecting arm is fixed with a thigh of the human body, and the second connecting arm is fixed with a shank of the human body, the second connecting arm is driven to rotate relative to the first connecting arm so as to drive the lower limbs to do flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the second guide wheel assembly is arranged on the sliding special-shaped rod of the second connecting arm, so that the second guide wheel assembly is in contact with the supporting surface and rolls relative to the supporting surface when the second connecting arm does exercise, resistance of the second connecting arm in the exercise process can be reduced, the movement of the shank part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. When the first connecting arm moves, the first guide wheel assembly is in contact with the supporting surface, so that the resistance of the first connecting arm in the moving process can be reduced, and the motion of the thigh part is more fit with the normal motion trail of the limb. Therefore, when the exoskeleton is adopted to assist the human body to recover, the exoskeleton can play a role in guiding and is attached to the motion trail of the limb, and the recovery effect is improved.

And, the movable special-shaped pole of sliding is located first part section, and it makes the length of second linking arm adjustable to be close to or keep away from first part section through the special-shaped pole of sliding to it is spacing through spacing subassembly at its in-process that removes for first part section, makes the special-shaped pole of sliding fix in first part section. So when facing the patient of different heights, can adjust spacing subassembly to remove a definite position for first component section with the heterotypic pole that slides, again to first component section and the mutual spacing of the heterotypic pole of sliding fixed, can adapt to the patient of the difference of height, thereby improved the commonality of limbs rehabilitation ectoskeleton.

Furthermore, the cross section of the sliding special-shaped rod is in the non-circular arrangement, so that the sliding special-shaped rod is limited by certain degree of freedom, rotation is avoided, and the sliding special-shaped rod can only move along the moving direction of the first component section when moving relative to the first component section, and the stability of the limb rehabilitation exoskeleton in the using process is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of an embodiment of the limb rehabilitation exoskeleton of the present invention;

FIG. 2 is a schematic diagram of a partial structure of the limb rehabilitation exoskeleton of FIG. 1;

FIG. 3 is an exploded view of the stop assembly of FIG. 2;

FIG. 4 is a schematic view of a partial structure of the limb rehabilitation exoskeleton of FIG. 1 from a perspective;

fig. 5 is a schematic sectional view taken along line a-a in fig. 4.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a limb rehabilitation exoskeleton.

Referring to fig. 1, in an embodiment of the present invention, the exoskeleton for limb rehabilitation includes a first connecting arm 100, a second connecting arm 200 and a limiting component 300; wherein, one end of the first connecting arm 100 is provided with a first guide wheel assembly 110; the second connecting arm 200 comprises a first segment 210 and a sliding profile rod 220, one end of the first segment 210 is rotatably connected to one end of the first segment 210 far from the first guide-wheel assembly 110, one end of the sliding profile rod 220 is movably arranged on the first segment 210 and moves relative to the first segment 210 to be close to or far from the first segment 210, and one end of the sliding profile rod 220 far from the first segment 210 is provided with a second guide-wheel assembly 221; the limiting component 300 is disposed on the second connecting arm 200, and the limiting component 300 is adjusted to limit and fix the sliding profile bar 220 to the first component section 210.

In an embodiment of the present invention, the first connecting arm 100 is used for fixing the thigh of the patient, and the second connecting arm 200 is used for fixing the shank of the patient, specifically, the shank can be fixed on the sliding profile bar 220 of the second connecting arm 200. Thereby realizing rehabilitation training of the thigh and the calf of the patient when the first connecting arm 100 and the second connecting arm 200 are driven to rotate relatively. Wherein, the first connecting arm 100 may be a plate-shaped structure or a rod-shaped structure; the first component section 210 of the second connecting arm 200 may also be a plate-like structure or a rod-like structure, and the specific shape thereof is not limited in the present application. The first connecting arm 100 and the second connecting arm 200 may be made of metal, for example: aluminum materials, aluminum alloy materials, copper alloy materials, iron materials and stainless steel materials; of course, plastic materials are also possible, such as: ABS, POM, PS, PMMA, PC, PET, etc., and the specific material thereof may be selected according to the required strength of the first and

second link arms

100 and 200. And, since the size of the thigh of the human body is larger than that of the shank, in an embodiment of the present invention, the size of the first connecting arm 100 for supporting the thigh is set to be larger than that of the second connecting arm 200 for supporting the shank, so that the structure of the limb rehabilitation exoskeleton is more stable. The dimension may be any one or more of geometric dimensions such as length, width, thickness, and the like. In addition, the cross section of the sliding special-shaped rod 220 is non-circular, so that the sliding special-shaped rod has the limitation of freedom, the sliding special-shaped rod 220 is prevented from rotating in the using process of the limb rehabilitation exoskeleton, and the stability of the sliding special-shaped rod 220 in the moving process is improved. Wherein, the cross section of slip profile pole 220 can be for oval, square or other polygons etc. this application does not limit its concrete shape, can guarantee that slip profile pole 220 avoids taking place self to rotate can.

In order to improve the automation degree of the limb rehabilitation exoskeleton, in an embodiment of the present invention, the limb rehabilitation exoskeleton further includes a power device, and the second connecting arm 200 is driven by the power device to rotate relative to the first connecting arm 100 so as to reduce the working strength of the medical staff. The power device may be a motor, specifically, a stepping motor, a servo motor, a brush motor, a brushless motor, or the like. Of course, the present application is not limited thereto, and in other embodiments, the output shaft of the motor may be drivingly connected to the first connecting arm 100 and/or the second connecting arm 200 through a transmission assembly. For example, the transmission member may be a belt, a chain, a gear, or the like, and the present application does not limit the specific form of the transmission member, and it is sufficient that the rotation of the motor can be transmitted to the first connecting arm 100 and/or the second connecting arm 200. Further, a motor may be provided on the first connection arm 100. Therefore, when the patient uses the limb rehabilitation exoskeleton, the second connecting arm 200 is driven to rotate through the transmission assembly, and the second connecting arm 200 drives the shank to move, so that the human body finishes actions of bending knees, straightening and the like. In doing so, the magnitude of the change in position due to the power unit is small. Therefore, the power device can be reduced or even avoided to overcome self gravity to do work, and the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint assembly are also avoided, so that the rehabilitation of the user is better assisted.

In order to facilitate the fixation of the thigh of the patient with the first connecting arm 100 and the shank of the patient with the second connecting arm 200, in an embodiment of the present invention, a fixing member 500 is disposed on the first connecting arm 100 and/or the second connecting arm 200, and particularly, the sliding special-shaped rods 220 of the first connecting arm 100 and the second connecting arm 200 can be respectively disposed with the fixing member 500, so as to ensure the stability of the limb fixation of the patient. More specifically, the fixing member 500 is provided on the upper side of the first and second connecting

arms

100 and 200, or the fixing member 500 is correspondingly provided on a plane parallel to the rotation direction of the first and second connecting

arms

100 and 200, so as to fix the leg in a lateral direction, so that the patient can be in a lying or sitting posture when using the limb rehabilitation exoskeleton. Further, the fixing member 500 may be made of elastic materials such as rubber, latex, etc., or may be made of multiple layers of cloth and/or cotton yarn to increase the air permeability, so as to facilitate the use of the patient.

The technical scheme of the utility model is through rotating the first connector section 210 with first link arm 100 and second link arm 200 and connecting, locate the tip that first connector section 210 was kept away from to first link arm 100 again with first leading wheel subassembly 110, and locate the tip that first connector section 210 was kept away from to the slip profile pole 220 of second link arm 200 with second leading wheel subassembly 221, when first connector section 210 and slip profile pole 220 rotate first link arm 100 relatively under the effect of external force, second leading wheel subassembly 221 can play the effect of direction to the tip motion that first connector section 210 was kept away from to slip profile pole 220, and first leading wheel subassembly 110 also can play the effect of direction to the tip motion that first connector section 210 was kept away from to first link arm 100. For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first connecting arm 100 is fixed to a thigh of the human body, and the second connecting arm 200 is fixed to a shank of the human body, the second connecting arm 200 is driven to rotate relative to the first connecting arm 100, so as to drive the lower limbs to make flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the second guide wheel assembly 221 is arranged on the sliding special-shaped rod 220 of the second connecting arm 200, so that when the second connecting arm 200 does exercise, the second guide wheel assembly 221 is in contact with the supporting surface and rolls relative to the supporting surface, resistance of the second connecting arm 200 in the exercise process can be reduced, the movement of the lower leg part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. When the first connecting arm 100 moves, the first guide wheel assembly 110 contacts with the supporting surface, so that the resistance of the first connecting arm 100 in the moving process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, when the exoskeleton is adopted to assist the human body to recover, the exoskeleton can play a role in guiding and is attached to the motion trail of the limb, and the recovery effect is improved.

And, the sliding profile bar 220 is movably provided to the first component section, so that the length of the second connecting arm 200 is adjustable by the sliding profile bar 220 approaching or departing from the first component section 210, and is restrained by the restraining assembly 300 during its movement relative to the first component section 210, so that the sliding profile bar 220 is fixed to the first component section 210. So when facing the patient of different heights, can adjust spacing subassembly 300 to remove slip profile pole 220 to a definite position for first component section 210, again to first component section 210 and slip profile pole 220 spacing fixed each other, can adapt to the patient of the difference of height, thereby improved the commonality of limbs rehabilitation ectoskeleton.

Further, since the cross section of the sliding special-shaped rod 220 is non-circular, the sliding special-shaped rod 220 has a certain degree of freedom, and is prevented from rotating, and can only move along the moving direction when moving relative to the first component section 210, so that the stability of the limb rehabilitation exoskeleton in the using process is improved.

Referring to fig. 2, in an embodiment of the present invention, the position-limiting assembly 300 includes a base 310 and an upper cover 320, the base 310 is connected to the first body section 210, the upper cover 320 is covered on the base 310, the sliding special-shaped rod 220 is inserted between the base 310 and the upper cover 320, and the upper cover 320 and the base 310 cooperate to clamp and fix the sliding special-shaped rod 220.

Specifically, when the length of the second connecting arm 200 needs to be adjusted, the tightness degree of the connection between the upper cover 320 and the base 310 is adjusted, so that the connection between the upper cover and the base is looser, and at this time, the sliding profile rod 220 can move relative to the first component section 210 under the external force to adjust the length of the second connecting arm 200; when the length of the second connecting arm 200 is adjusted to a proper position, the connection between the upper cover 320 and the base 310 is tight, and at this time, the sliding profile rod 220 is clamped, fixed and limited by the base 310 and the upper cover 320, so that the adjustment process of the length of the second connecting arm 200 is completed. It can be understood that the sliding profile bar 220 is clamped and fixed by the base 310 and the upper cover 320, the contact area between the limiting assembly 300 and the sliding profile bar 220 is increased, and thus the friction force between the two is increased, so that the fixing of the sliding profile bar 220 is more stable. Meanwhile, the stress area of the sliding special-shaped rod 220 is increased, the sliding special-shaped rod 220 is prevented from being damaged due to stress concentration, and the service life of the sliding special-shaped rod 220 is prolonged.

Referring to fig. 2 and 3, in an embodiment of the present invention, a first engaging groove 3111 is concavely disposed on the surface of the base 310 facing the upper cover 320, a second engaging groove 321 is disposed on the concave surface of the upper cover 320 facing the base 310, and the surface of the sliding special-shaped rod 220 abuts against the groove walls of the first engaging groove 3111 and the second engaging groove 321, respectively.

It can be understood that the first engaging groove 3111 and the second engaging groove 321 are disposed to make the sliding profile bar 220 and the base 310 and the upper cover 320 fit together more tightly, so as to improve the stability of the base 310 and the upper cover 320 for limiting and fixing the sliding profile bar 220. The first engaging groove 3111 and the second engaging groove 321 may be in an arc shape, a square shape, or another polygonal shape, which is not limited in this application and may be adapted to the sliding special-shaped rod 220.

In an embodiment of the present invention, the base 310 is provided with a first mounting hole 3112, the upper cover 320 is provided with a second mounting hole 322, and the second mounting hole 322 is disposed opposite to the first mounting hole 3112; the spacing assembly 300 further includes a locking member 330, and the locking member 330 passes through the second mounting hole 322 and is inserted into the first mounting hole 3112, so that the upper cover 320 is coupled to the base 310.

Specifically, the first mounting hole 3112 is provided with mounting threads, and the locker 330 is provided with connecting threads, which are engaged with the mounting threads, so that the locker 330 is coupled to the base 310. It can be understood that the clamping tightness of the sliding special-shaped rod 220 by the base 310 and the upper cover 320 is adjusted by adopting a thread adjusting mode, the operation is simple, and the clamping is stable and reliable. Of course, the present application is not limited thereto, and in other embodiments, the base 310 and the upper cover 320 may be connected by a snap, specifically, the base 310 is provided with one of the snap or the hook, and the upper cover 320 is provided with the other of the snap or the hook, and the snap is buckled by the hook, so that the upper cover 320 is connected to the base 310 to clamp, limit and fix the sliding special-shaped rod 220.

In an embodiment of the present invention, the base 310 includes a seat body 311 and an embedded part 312 embedded in the seat body 311, the base 310 is provided with a first mounting hole 3112, the embedded part 312 is provided with a third mounting hole 3121, the third mounting hole 3121 is opposite to the first mounting hole 3112, the locking member 330 passes through the first mounting hole 3112 and the second mounting hole 322, and the third mounting hole 3121 is inserted to connect the upper cover 320 to the base 310.

Specifically, the hole wall of the third mounting hole 3121 is provided with the mounting thread, so that the extending height of the mounting thread on the hole wall is reduced, thereby simplifying the locking process of the locking member 330 and improving the locking efficiency of the locking member 330. Meanwhile, the base 310 is provided with the base body 311 and the embedded part 312, so that the whole base 310 is prevented from being maintained or replaced when the installation threads in the embedded part 312 are worn, and the maintenance or replacement cost of the base 310 is reduced.

In an embodiment of the present invention, the base 310 is provided with at least two first mounting holes 3112, the at least two first mounting holes 3112 are spaced apart from each other along the moving direction of the sliding special-shaped rod 220, the upper cover 320 is provided with at least two second mounting holes 322, a second mounting hole 322 is disposed opposite to the first mounting hole 3112, the limiting component 300 further includes at least two locking members 330, a locking member passes through the first mounting hole 3112, and the limiting component is inserted into the second mounting hole 322 corresponding to the first mounting hole 3112.

Specifically, the first mounting hole 3112, the second mounting hole 322, and the locking member 330 may be provided in two and spaced apart in the moving direction of the sliding profile bar 220. Thus, the clamping, limiting and fixing efficiency of the base 310 and the upper cover 320 to the sliding special-shaped rod 220 can be improved by fixing through the two locking pieces 330; meanwhile, the two locking members 330 are spaced apart from each other to have a certain distance therebetween, so that the clamping force of the base 310 and the upper cover 320 to the sliding special-shaped rod 220 can be dispersed, thereby preventing the sliding special-shaped rod 220 from being damaged due to stress concentration, and improving the service life of the sliding special-shaped rod 220. Further, the two locking members 330 may be located on the same side of the upper cover 320, so that in the process of adjusting the length of the second connecting arm 200, the tightness of the connection between the base 310 and one side of the upper cover 320 may be adjusted, and the other side is still fixedly connected, and may be fixed by a screw or a buckle. It can be understood that, with such an arrangement, the tightness of the connection between the base 310 and the upper cover 320 can be adjusted, and the clamping, limiting and fixing effects on the sliding special-shaped rod 220 due to the relative movement between the base 310 and the upper cover 320 in the adjusting process can be avoided. It should be noted that, the present application is not limited thereto, and in other embodiments, the first mounting hole 3112, the second mounting hole 322 and the locking member 330 may be provided with three or more, and the specific number may be set according to the distance between the base 310 and the upper cover 320 in the moving direction of the sliding profile bar 220.

Referring to fig. 4 and 5, in an embodiment of the present invention, the cross section of the sliding profile bar 220 is disposed in an oval shape.

It can be understood that, with such an arrangement, the strength of the sliding special-shaped rod 220 is ensured, and the sliding special-shaped rod 220 is prevented from rotating in the using process, and meanwhile, the sliding special-shaped rod 220 with the oval cross section is convenient to form and manufacture, so that the manufacturing cost is reduced, and the attractiveness of the sliding special-shaped rod 220 is improved.

In an embodiment of the present invention, the sliding profile bar 220 is a hollow bar.

It will be appreciated that such an arrangement reduces the mass of the sliding profile bar 220 to facilitate movement relative to the first component section 210 when acted upon by an external force, thereby reducing the working strength of the medical personnel. Also, providing the sliding profile bar 220 as a hollow bar also reduces the use of material in the molding manufacturing process of the sliding profile bar 220, thereby reducing the manufacturing cost of the sliding profile bar 220.

In an embodiment of the present invention, the limb rehabilitation exoskeleton further includes a supporting member 400, the supporting member 400 is connected to the end of the sliding special-shaped rod 220 and inserted into the sliding special-shaped rod 220, and the supporting member 400 abuts against the inner wall of the sliding special-shaped rod 220.

It can be understood that the supporting member 400 abuts against the inner wall of the sliding profile bar 220 to support the sliding profile bar 220, thereby improving the supporting strength of the sliding profile bar 220 and preventing the sliding profile bar 220 from being damaged when the base 310 and the upper cover 320 clamp the sliding profile bar 220. Specifically, the part of the support member 400 has an abutting action against the inner wall of the sliding profile bar 220, such as: when the base 310 and the upper cover 320 clamp, limit and fix the sliding special-shaped rod 220 in the up-down direction, the supporting member 400 abuts against the upper and lower inner walls of the sliding special-shaped rod 220, so that the supporting member 400 can support the sliding special-shaped rod 220, and the production material of the supporting member 400 is reduced. Of course, in other embodiments, the circumferential side of the supporting member 400 may have an abutting effect on the inner wall of the sliding special-shaped bar 220, so as to improve the supporting effect of the supporting member 400 on the sliding special-shaped bar 220.

Referring to fig. 1, in an embodiment of the present invention, the first body section 210 has a receiving cavity, the base 310, the upper cover 320 and the sliding profile bar 220 are disposed in the receiving cavity, and the locking member 330 passes through the first body section 210 and the upper cover 320 and is connected to the base 310.

It can be understood that the installation space of the base 310, the upper cover 320 and the sliding special-shaped rod 220 is provided by the accommodating cavity, so that the installation among the base 310, the upper cover 320 and the sliding special-shaped rod 220 is more compact, the occupied space is reduced, and meanwhile, the base 310, the upper cover 320 and the sliding special-shaped rod 220 are arranged in the accommodating cavity, and the base 310, the upper cover 320 and the sliding special-shaped rod 220 are prevented from being exposed outside and being easily damaged. The base 310 may be fixed to a cavity sidewall of the accommodating cavity and fastened and fixed by a screw. Further, in order to improve the stability of the fixing of the base 310, the first component section 210 is recessed with a limiting groove on the cavity sidewall of the accommodating cavity, and the base 310 is partially embedded in the limiting groove.

The utility model discloses still provide a limbs rehabilitation system, this limbs rehabilitation system includes two sets of limbs rehabilitation ectoskeletons, and this limbs rehabilitation ectoskeleton's specific structure refers to above-mentioned embodiment, because this limbs rehabilitation system has adopted the whole technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, and the repeated description is no longer given here. Wherein, the two groups of limb rehabilitation exoskeletons are arranged oppositely and are respectively applied to the left leg and the right leg of the patient.

The above is only the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A limb rehabilitation exoskeleton comprising:

2. The limb rehabilitation exoskeleton of claim 1 wherein said restraint assembly comprises a base and an upper cover, said base is connected to said first segment, said upper cover is disposed on said base, said sliding profile bar is disposed between said base and said upper cover, and said upper cover and said base cooperate to hold said sliding profile bar in place.

3. The limb rehabilitation exoskeleton of claim 2 wherein a first slot is concavely provided on the surface of the base facing the upper cover, a second slot is provided on the concave surface of the upper cover facing the base, and the surface of the sliding profiled bar abuts against the slot walls of the first slot and the second slot, respectively.

4. The limb rehabilitation exoskeleton of claim 2 wherein said base is provided with a first mounting hole and said upper cover is provided with a second mounting hole, said second mounting hole being opposite to said first mounting hole;

5. The limb rehabilitation exoskeleton of claim 4 wherein said base comprises a seat body and an insert member embedded in said seat body, said seat body is provided with said first mounting hole, said insert member is provided with a third mounting hole, said third mounting hole is opposite to said first mounting hole, and said locking member is inserted through said first mounting hole and said second mounting hole and into said third mounting hole, so that said upper cover is connected to said base.

6. The limb rehabilitation exoskeleton of claim 4 wherein said base is provided with at least two said first mounting holes spaced apart along the direction of movement of said sliding profile bar, said upper cover is provided with at least two said second mounting holes, one said second mounting hole being disposed opposite one said first mounting hole, and said restraint assembly further comprises at least two said locking members, one said locking member passing through one said first mounting hole and being inserted into the corresponding said second mounting hole.

7. A limb rehabilitation exoskeleton as claimed in any one of claims 1 to 6 wherein said sliding profile bars are oval in cross section.

8. The limb rehabilitation exoskeleton of claim 7 wherein said sliding profile bar is a hollow bar.

9. The limb rehabilitation exoskeleton of claim 8 further comprising a support member connected to an end of the sliding profile bar and inserted into the sliding profile bar, the support member abutting against an inner wall of the sliding profile bar.

10. A limb rehabilitation system comprising two sets of limb rehabilitation exoskeletons as claimed in any one of claims 1 to 9, the two sets of limb rehabilitation exoskeletons being disposed in opposition.