CN211214211U

CN211214211U - Lower limb rehabilitation exoskeleton and lower limb rehabilitation system

Info

Publication number: CN211214211U
Application number: CN201921621886.6U
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 low limbs and recovered system of low limbs. The lower limb rehabilitation exoskeleton comprises a first supporting rod; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the ankle fixing piece is arranged on the second guide wheel assembly; and the knee fixing piece is movably arranged on the side surface of the second supporting rod and moves in an arc shape by taking the ankle fixing piece as a fulcrum. The technical scheme of the utility model can play a guiding role when the exoskeleton is adopted to assist the human body to recover, and the motion trail of the limbs is attached, thereby improving the recovery effect; meanwhile, the treading feeling of the soles of the patients can be ensured, and the rehabilitation effect of the patients can be improved.

Description

Lower limb rehabilitation exoskeleton and lower limb rehabilitation system

Technical Field

The utility model relates to an ectoskeleton technical field, in particular to recovered ectoskeleton of low limbs and recovered system of low limbs.

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 clinical rehabilitation departments in the related art, most of the rehabilitation doctors manually help patients to perform corresponding rehabilitation actions. 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. And through artificially carrying out the rehabilitation training in the acute stage, the rehabilitation mode can not be well controlled, such as effective switching of passive, active and impedance modes is carried out, or the rehabilitation training in the related art can also be assisted by some machines to guide rehabilitation, but the motion track of the auxiliary machines in the related art is not smooth enough, and has a large error with the motion track of limbs, so that the rehabilitation effect is not ideal, and in the rehabilitation training process, the ankle joint of the lower leg can not slightly rotate, so that the treading feeling of the sole of a patient can not be ensured, and the rehabilitation effect is poor.

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

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims at providing a lower limb rehabilitation exoskeleton and a lower limb rehabilitation system, which aims at playing a role of guiding when the exoskeleton is adopted to assist the human body to rehabilitate, and fitting the motion trail of limbs to improve the rehabilitation effect; meanwhile, the treading feeling of the soles of the patients can be ensured, and the rehabilitation effect of the patients can be improved.

In order to achieve the above object, the utility model provides a recovered ectoskeleton of low limbs, include: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the ankle fixing piece is arranged on the second guide wheel assembly; and the knee fixing piece is movably arranged on the side surface of the second supporting rod and takes the ankle fixing piece as a fulcrum to do arc movement.

Optionally, the knee fixing member is limited and abutted against the second support bar during the arc-shaped movement process.

Optionally, the recovered ectoskeleton of low limbs still includes moving adjustment mechanism, moving adjustment mechanism has fixed part and removal portion, the fixed part is fixed in the side of second bracing piece, the removal portion is fixed in the knee mounting, the removal portion drives the knee mounting uses the ankle mounting is the fulcrum edge the fixed part makes the arc and removes, and in the removal in-process spacing butt in the fixed part.

Optionally, one of the fixed portion and the moving portion is a sliding column, the other one of the fixed portion and the moving portion is a sliding chute, the sliding chute is an arc-shaped sliding chute, a concave surface of the arc-shaped sliding chute faces away from the first supporting rod, the sliding column is inserted into the sliding chute and moves in an arc shape along the sliding chute, and the sliding column is in limit abutting joint with an inner wall of the sliding chute in the moving process.

Optionally, a limiting plate is arranged on the side face of the second support rod, the sliding groove is formed in the limiting plate, the sliding column is arranged on the surface, facing the second support rod, of the knee fixing piece, and the sliding column is inserted into the sliding groove and moves in an arc shape along the sliding groove.

Optionally, an angle of the arc-shaped movement of the knee fixing piece is defined as a, and a is greater than or equal to 5 degrees and less than or equal to 10 degrees. Optionally, the second guide wheel assembly includes a connecting frame and a second guide wheel, the connecting frame is disposed at an end portion of the second supporting rod departing from the first supporting rod, the connecting frame has a length direction, the length direction of the connecting frame is perpendicular to an axis direction of the second supporting rod, the second guide wheel is rotatably connected to the connecting frame, and the ankle fixing member is fixed to the connecting frame.

Optionally, the surface of the connecting frame is recessed to form a mounting location to which the ankle securing member is secured.

Optionally, the number of the second guide wheels is two, and the two second guide wheels are rotatably connected to two opposite sides of the connecting frame along the length direction.

The utility model also provides a lower limb rehabilitation system, which comprises two groups of lower limb rehabilitation exoskeletons which are arranged oppositely; the lower limb rehabilitation exoskeleton comprises: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the ankle fixing piece is arranged on the second guide wheel assembly; and the knee fixing piece is movably arranged on the side surface of the second supporting rod and takes the ankle fixing piece as a fulcrum to do arc movement.

The technical scheme of the utility model, through rotating first bracing piece and second bracing piece and connecting, set up first guide pulley subassembly again in the tip that first bracing piece deviates from the second bracing piece, set up the second guide pulley in the tip that the second bracing piece deviates from first bracing piece. When the first supporting rod rotates relative to the second supporting rod under the action of external force, the first guide wheel assembly can guide the movement of the first supporting rod, and the second guide wheel assembly can also guide the movement of the second supporting rod. Meanwhile, the second guide wheel assembly is provided with an ankle fixing piece, the side surface of the second supporting rod is provided with a knee fixing piece, and the knee fixing piece can move relative to the second supporting rod and moves in an arc shape by taking the bottom of the ankle fixing piece as a fulcrum. When the patient adopts the utility model discloses during recovered ectoskeleton of low limbs carries out rehabilitation training, first bracing piece is fixed with the patient thigh, the second bracing piece is fixed with the patient shank, ankle mounting is fixed with patient ankle joint, the knee mounting is fixed with the patient knee, and when the patient carries out rehabilitation training, generally be in the state of prone position or position of sitting, because be provided with the second guide pulley subassembly at the second bracing piece, then when the motion of second bracing piece, second guide pulley subassembly and holding surface contact, and roll for the holding surface, consequently, can reduce the resistance in the second bracing piece motion process, and then make the motion of shank part more laminate the normal movement track of limb, guarantee the human direction motion along the settlement. Correspondingly, when the first supporting rod moves, the first guide wheel assembly is in contact with the supporting surface, so that the resistance of the first supporting rod in the moving process is reduced, and the movement of the thigh part is made to be more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the patient in rehabilitation and correct improper actions, thereby improving the rehabilitation effect. Meanwhile, the knee part of the patient can move in an arc shape along with the knee fixing piece by taking the ankle part as a fulcrum, so that the slight rotation of the lower leg and the ankle part of the patient can be ensured, the proprioception of the sole of the patient is enhanced, the sensory nerve stepped on the ground when the sole walks is remodeled, the lower limb rehabilitation of the patient is facilitated, and the phenomenon of over-extension of the knee of the patient can be effectively prevented.

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 structural view of an embodiment of the lower limb rehabilitation exoskeleton of the present invention;

fig. 2 is a schematic structural view of the lower limb rehabilitation exoskeleton from another perspective.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Exoskeleton for lower limb rehabilitation	43	Connecting frame
10	First support rod	431	Mounting position
				20	Second support rod	433	Mounting seat
21	Limiting plate	50	Ankle fixing piece
				30	First guide wheel assembly	60	Knee fixing piece
31	First guide wheel	70	Mobile adjusting mechanism
				40	Second guide wheel assembly	71	Sliding chute
41	Second guide wheel	80	Thigh fixing part

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 addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to 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 the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

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 technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

The utility model provides a recovered ectoskeleton 100 of low limbs aims at realizing the recovery of patient's low limbs.

Referring to fig. 1 and 2, in an embodiment of the present invention, a lower limb rehabilitation exoskeleton 100 includes: a first support bar 10; the second support rod 20, the second support rod 20 is connected with the first support rod 10 rotatably; the first guide wheel assembly 30 is arranged at the end part of the first support rod 10, which is far away from the second support rod 20; the second guide wheel assembly 40 is arranged at the end part of the second support rod 20, which is far away from the first support rod 10; an ankle fixing member 50, the ankle fixing member 50 being provided to the second guide wheel assembly 40; and a knee fixing member 60, the knee fixing member 60 being movably provided at a side surface of the second support bar 20 and moving in an arc shape with the ankle fixing member 50 as a fulcrum.

Specifically, the first support rod 10 and the second support rod 20 are both substantially rod-shaped, and the material thereof generally adopts a metal material, so as to ensure the support stability of the first support rod 10 and the second support rod 20, thereby improving the practicability, reliability and durability of the first support rod 10 and the second support rod 20. Adopt the utility model discloses when recovered ectoskeleton 100 of low limbs carries out the rehabilitation training, first bracing piece 10 is used for supporting fixed patient's thigh, and second bracing piece 20 is used for supporting fixed patient's shank, and first bracing piece 10 rotates with second bracing piece 20 to be connected, drives second bracing piece 20 like this and rotates for first bracing piece 10, can realize carrying out effectual rehabilitation training to patient's shank and thigh. And, set up first guide wheel subassembly 30 and second guide wheel subassembly 40 respectively at the tip that first bracing piece 10 deviates from second bracing piece 20 and the tip that second bracing piece 20 deviates from first bracing piece 10 to play the guide effect in the recovered training process of patient. Meanwhile, an ankle fixing member 50 is provided at the second guide wheel assembly 40 to support and fix the ankle joint of the patient; a knee fixing member 60 is provided at a side of the second support bar 20, and the knee fixing member 60 is provided adjacent to an end of the second support bar 20 facing the first support bar 10 to support and fix the knee portion of the patient. In addition, the knee fixing member 60 moves in an arc shape with the bottom of the ankle fixing member 50 as a fulcrum, so that when a patient uses the lower limb rehabilitation exoskeleton 100 for rehabilitation training, the knee part and the lower leg of the patient slightly rotate, the knee hyperextension of the patient can be effectively prevented, the proprioception of the sole of the patient can be effectively enhanced, the sensory nerve stepped on the ground when the sole walks can be reshaped, and the lower limb rehabilitation of the patient is facilitated.

It should be noted that ankle fixing member 50 is roughly L type structure, and junction rounding off, its shape and size and patient ankle joint looks adaptation, like this, the patient when dressing, the ankle joint can be laminated and be fixed in ankle fixing member 50, is favorable to its promotion of recovered effect. And knee mounting 60 is also roughly arc form, and its size and patient's knee portion adaptation, like this patient when dressing, the knee can be fully laminated and be fixed in knee mounting 60 to be favorable to the promotion of recovered effect.

Therefore, it can be understood that, the technical solution of the present invention is to connect the first support rod 10 and the second support rod 20 by rotating, and then to set the first guide wheel assembly 30 at the end of the first support rod 10 deviating from the second support rod 20, and to set the second guide wheel 41 at the end of the second support rod 20 deviating from the first support rod 10. When the first support rod 10 rotates relative to the second support rod 20 under the action of an external force, the first guide wheel assembly 30 can guide the movement of the first support rod 10, and the second guide wheel assembly 40 can also guide the movement of the second support rod 20. Meanwhile, the ankle fixing member 50 is provided at the second guide wheel assembly 40, and the knee fixing member 60 is provided at a side surface of the second support bar 20, so that the knee fixing member 60 can move with respect to the second support bar 20 and move in an arc shape with a bottom of the ankle fixing member 50 as a fulcrum. When the patient adopts the utility model discloses during recovered ectoskeleton 100 of low limbs carries out the rehabilitation training, first bracing piece 10 is fixed with the patient thigh, second bracing piece 20 is fixed with the patient shank, ankle mounting 50 is fixed with patient ankle joint, knee mounting 60 is fixed with the patient knee, and the patient carries out the rehabilitation training, generally be in the state of prone position or position of sitting, owing to be provided with second guide pulley subassembly 40 at second bracing piece 20, then when second bracing piece 20 moves, second guide pulley subassembly 40 and holding surface contact, and roll for the holding surface, consequently, can reduce the resistance in the second bracing piece 20 motion process, and then make the motion of shank part more laminate the normal movement track of limbs, guarantee the human direction motion along the settlement. Accordingly, when the first support rod 10 moves, the first guide wheel assembly 30 contacts with the support surface to reduce the resistance of the first support rod 10 during the movement, so that the movement of the thigh part is more suitable for the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the patient in rehabilitation and correct improper actions, thereby improving the rehabilitation effect. Meanwhile, the knee part of the patient can move in an arc shape along with the knee fixing piece 60 by taking the ankle part as a fulcrum, so that the slight rotation of the lower leg and the ankle part of the patient can be ensured, the proprioception of the sole of the patient is enhanced, the sensory nerve stepped on the ground when the sole walks is remodeled, the lower limb rehabilitation of the patient is facilitated, and the phenomenon of over-extension of the knee of the patient can be effectively prevented.

Further, the knee fixing member 60 is limited and abutted against the second support bar 20 during the arc-shaped movement. Here, the knee fixing member 60 is limited to have a small-angle movement range when performing arc movement, so that slight rotation of the knee and the lower leg of the patient can be met, and the sole is always in contact with the ankle fixing member 50, so that in the rotation process, the sole of the patient can have a stressed feeling due to the action of self gravity and the assistance of the lower limb rehabilitation exoskeleton 100, and an effect similar to sole landing during walking is achieved, so that the sole proprioception of the patient is enhanced, the autonomous participation feeling is improved, and the rehabilitation effect is favorably improved.

Further, referring to fig. 2 again, the lower limb rehabilitation exoskeleton 100 further comprises a movement adjusting mechanism 70, wherein the movement adjusting mechanism 70 has a fixed portion and a movable portion, the fixed portion is fixed on the side surface of the second support bar 20, the movable portion is fixed on the knee fixing member 60, the movable portion drives the knee fixing member 60 to move in an arc shape along the fixed portion with the ankle fixing member 50 as a fulcrum, and the movable portion is limited and abutted against the fixed portion during the moving process. The movement adjusting mechanism 70 is provided to enable the knee fixing member 60 to move in an arc shape with the ankle fixing member 50 as a fulcrum, that is, the fixed portion of the movement adjusting mechanism 70 is fixed to the side surface of the second support bar 20, and the movable portion is provided to the knee fixing member 60, so that the knee fixing member 60 can move in an arc shape with respect to the fixed portion by the movement of the movable portion.

Optionally, one of the fixed portion and the moving portion is a sliding pillar (not shown), the other one is a sliding groove 71, the sliding groove 71 is an arc-shaped sliding groove 71, a concave surface of the arc-shaped sliding groove 71 faces away from the first support rod 10, the sliding pillar is inserted into the sliding groove 71 and moves in an arc shape along the sliding groove 71, and the sliding pillar is in limit contact with an inner wall of the sliding groove 71 in the moving process. Here, the fixed portion may be a sliding groove 71, the moving portion may be a sliding post, the sliding groove 71 is disposed on a side surface of the second support bar 20, the sliding groove 71 is an arc-shaped sliding groove 71, a concave surface of the sliding groove faces the ankle fixing member 50, and the sliding post is protruded on a surface of the knee fixing member 60 facing the second support bar 20, so that the sliding post is inserted into the sliding groove 71 and the knee fixing member 60 moves in an arc shape in the arc-shaped sliding groove 71 along with the sliding post during assembly. It can be understood that, since the knee fixing member 60 moves in an arc shape with the ankle fixing member 50 as a fulcrum, the center of the arc chute 71 is located at the knee fixing member 60. Of course, here, the fixed portion may be a sliding pillar protruding from the side surface of the second support bar 20, and the moving portion may be a sliding groove 71 disposed on the surface of the knee fixing member 60 facing the second support bar 20, so that the knee fixing member 60 can move in an arc shape with respect to the second support bar 20 using the ankle fixing member 50 as a fulcrum.

Further, referring to fig. 2 again, in an embodiment of the present invention, a limiting plate 21 is disposed on a side surface of the second support bar 20, the sliding groove 71 is disposed on the limiting plate 21, the sliding pillar is disposed on a surface of the knee fixing member 60 facing the second support bar 20, and the sliding pillar is inserted into the sliding groove 71 and moves along the sliding groove 71 in an arc shape. Here, the position-limiting plate 21 is generally fixed to the side of the second support bar 20 by screws, and the sliding groove 71 is disposed on the surface of the position-limiting plate 21 facing away from the second support bar 20, so as to facilitate the opening operation of the sliding groove 71. The sliding column is protruded from a surface of the knee fixing member 60 facing the second support bar 20, where the sliding column may also be fixed to the knee fixing member 60 by a connecting member to facilitate a machining operation.

Optionally, the angle of the arc-shaped movement of the knee fixing member 60 is defined as A, and A is greater than or equal to 5 degrees and less than or equal to 10 degrees. Due to the arrangement, when a patient adopts the lower limb rehabilitation exoskeleton 100 to perform rehabilitation training, the rotation range of the crus and the ankles around the bottom rotating shaft is limited to 5-10 degrees, so that the knee hyperextension can be effectively prevented, the slight rotation of the crus and the ankles can be ensured, and the proprioception of the soles is increased.

Referring to fig. 1 again, the first guide wheel assembly 30 includes a first guide wheel 31 and a first rotating shaft (not shown), the first rotating shaft is disposed at an end of the first support rod 10 away from the second support rod 20, and the first guide wheel 31 is rotatably sleeved on the first rotating shaft, it can be understood that the first rotating shaft extends along a radial direction of the first support rod 10 to facilitate the sleeved installation of the first guide wheel 31. Here, a limiting portion may be disposed at an end of the first rotating shaft away from the first support rod 10 to axially position the first guide wheel 31, so that the first guide wheel 31 can be effectively prevented from being separated from the first rotating shaft and flying out during the rotation process.

Referring to fig. 1 again, the second guide wheel assembly 40 includes a connecting frame 43 and a second guide wheel 41, the connecting frame 43 is disposed at an end of the second support rod 20 away from the first support rod 10, the connecting frame 43 has a length direction, the length direction is perpendicular to the axial direction of the second support rod 20, the second guide wheel 41 is rotatably connected to the connecting frame 43, and the ankle fixing member 50 is fixed to the connecting frame 43.

Specifically, the connecting frame 43 has a length direction, which is the axial direction of the second guide wheel assembly 40, and it can be understood that the length direction is perpendicular to the axial direction of the second support rod 20, so that when the connecting frame 43 is installed at the end of the second support rod 20 far away from the first support rod 10, the lower limb rehabilitation exoskeleton 100 is approximately arranged in a "T" shape, and thus, the structural stability can be effectively ensured. The second guide wheel 41 may be disposed on one side or the bottom of the connecting frame 43, and the axial direction of the second guide wheel 41 is the length direction of the connecting frame 43. Generally, the connecting frame 43 is provided with a rotating shaft for mounting the second guide wheel 41, and the second guide wheel 41 is rotatably sleeved on the rotating shaft, so that the guiding function can be realized. The ankle is fixedly mounted on the surface of the connecting frame 43, and the fixing manner is generally screw fixing, which is simple and effective.

Further, the surface of the connecting frame 43 is recessed to form a mounting location 431, and the ankle fixing member 50 is fixed to the mounting location 431. Here, the middle of the connecting frame 43 is recessed to form the mounting position 431, and the mounting position 431 is arranged, so that when a patient uses the lower limb rehabilitation exoskeleton 100 for rehabilitation training, the axes of the thigh and the shank of the patient are in the same axis, thereby effectively preventing the axes from being dislocated, and being beneficial to the lower limb rehabilitation of the patient.

It should be noted that the surface of the connecting frame 43 is further provided with a mounting seat 433, and the mounting seat 433 is used for fixing the end of the second supporting rod 20 away from the first supporting rod 10. And the mounting seat 433 is arranged on the non-sunken surface of the connecting frame 43, so that when the patient adopts the lower limb exoskeleton to perform rehabilitation training, the axes of the thigh and the shank of the patient can be ensured to be in the same axis, thereby effectively preventing the axes from being dislocated, and being beneficial to the lower limb rehabilitation of the patient.

Referring to fig. 1, in an embodiment of the present invention, two second guide wheels 41 are provided, and the two second guide wheels 41 are rotatably connected to two opposite sides of the connecting frame 43 along the length direction.

Specifically, a mounting shaft (not shown) is disposed on a surface of the connecting frame 43 opposite to the ankle fixing member 50, the mounting shaft extends along a length direction of the connecting frame 43, two ends of the mounting shaft are respectively exposed at two opposite side surfaces of the connecting frame 43 along the length direction, and the two second guide wheels 41 are respectively rotatably sleeved at the two exposed ends of the mounting shaft, so that the second guide wheels 41 can rotate. The two second guide wheels 41 are arranged to further increase the contact area with the supporting surface, thereby improving the structural stability of the lower limb rehabilitation exoskeleton 100.

Referring to fig. 1 again, the first supporting rod 10 is further provided with a thigh fixing member 80 at a side thereof, and the thigh fixing member 80, the knee fixing member 60 and the ankle fixing member 50 are all located at the same side of the lower limb rehabilitation exoskeleton 100, wherein the thigh fixing member 80 is also substantially arc-shaped and has a size corresponding to the size of the patient's thigh for supporting and fixing the patient's thigh.

The utility model also provides a recovered system of low limbs, recovered system of low limbs includes two sets ofly as before recovered ectoskeleton 100 of low limbs, two sets of recovered ectoskeleton 100 of low limbs set up relatively, are used for supporting patient's the limbs of the left and right sides respectively, and this recovered ectoskeleton 100 of low limbs concrete structure refers to aforementioned embodiment. Since the lower limb rehabilitation system adopts all the technical schemes of all the embodiments, at least all the beneficial effects brought by the technical schemes of the embodiments are achieved, and the detailed description is omitted.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A lower extremity rehabilitation exoskeleton, said lower extremity rehabilitation exoskeleton comprising:

a first support bar;

the second support rod is rotatably connected with the first support rod;

the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod;

the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod;

the ankle fixing piece is arranged on the second guide wheel assembly; and

and the knee fixing piece is movably arranged on the side surface of the second supporting rod and takes the ankle fixing piece as a fulcrum to do arc movement.

2. The lower extremity rehabilitation exoskeleton of claim 1 wherein said knee fastener is restrained against said second support bar during said arcuate movement.

3. The lower extremity rehabilitation exoskeleton of claim 2 further comprising a movement adjustment mechanism, wherein the movement adjustment mechanism has a fixed portion and a movable portion, the fixed portion is fixed on a side surface of the second support bar, the movable portion is fixed on the knee fixing member, the movable portion drives the knee fixing member to move along the fixed portion in an arc shape with the ankle fixing member as a fulcrum, and the movable portion is in limit abutment with the fixed portion during movement.

4. The lower extremity rehabilitation exoskeleton of claim 3 wherein one of the fixed portion and the movable portion is a sliding post, the other of the fixed portion and the movable portion is a sliding slot, the sliding slot is an arc-shaped sliding slot, a concave surface of the arc-shaped sliding slot faces away from the first support rod, the sliding post is inserted into the sliding slot and moves in an arc shape along the sliding slot, and the sliding post is in limit abutment with an inner wall of the sliding slot during movement.

5. The lower extremity rehabilitation exoskeleton of claim 4 wherein a limit plate is disposed on a side of said second support bar, said slide slot is disposed on said limit plate, said slide post is disposed on a surface of said knee fastener facing said second support bar, said slide post is inserted into said slide slot and moves arcuately along said slide slot.

6. The lower extremity rehabilitation exoskeleton of any one of claims 1 to 5 wherein the arcuate movement of said knee fastener is defined by an angle A, 5 degrees A10 degrees.

7. The lower extremity rehabilitation exoskeleton of claim 6 wherein said second guide wheel assembly includes a connecting frame and a second guide wheel, said connecting frame is mounted to an end of said second support bar opposite to said first support bar, said connecting frame has a length direction perpendicular to an axial direction of said second support bar, said second guide wheel is rotatably connected to said connecting frame, and said ankle fixing member is fixed to said connecting frame.

8. The lower extremity rehabilitation exoskeleton of claim 7 wherein said attachment frame is recessed from a surface thereof to form a mounting location to which said ankle securement member is secured.

9. The lower extremity rehabilitation exoskeleton of claim 7 wherein two of said second guide wheels are provided, and wherein two of said second guide wheels are rotatably coupled to opposite sides of said connecting frame along the length direction.

10. A lower extremity rehabilitation system comprising two sets of lower extremity rehabilitation exoskeletons as claimed in any one of claims 1 to 9, wherein the two sets of lower extremity rehabilitation exoskeletons are disposed in opposition.