CN211356553U

CN211356553U - Lower limb rehabilitation exoskeleton and lower limb rehabilitation system

Info

Publication number: CN211356553U
Application number: CN201921610511.XU
Authority: CN
Inventors: 谭高辉; 马舜; 姜德卉
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2020-08-28
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: the first supporting rod and the second supporting rod are rotatably connected; 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 angle adjusting mechanism is provided with a fixing part and a rotating part, the fixing part is fixedly connected to the second guide wheel assembly, and the rotating part can rotate relative to the second guide wheel assembly along multiple directions; and the ankle fixing piece comprises a shank fixing section and a heel fixing section, the shank fixing section is fixedly connected to the second guide wheel assembly, the side face of the heel fixing section is connected to the angle adjusting mechanism and rotates along with the rotating part, and the heel fixing section is in limited butt joint with the second guide wheel assembly in the rotating process. The technical scheme of the utility model can improve the recovered effect of patient's low limbs.

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. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in an acute stage, for example, effective switching of passive, active and impedance modes is performed, or the rehabilitation training in the related art is assisted by some machines to guide rehabilitation, but the motion track of the assisted 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 the ankle part usually only adopts a fixed corrector, so that the tread sense of the sole in the rehabilitation training process cannot be ensured, and the muscle strength of muscles around the ankle joint cannot be effectively improved.

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 aims at providing a recovered ectoskeleton of low limbs and recovered system of low limbs aims at improving patient's the recovered effect of low limbs, guarantees the plantar sense of trampling in the rehabilitation training process simultaneously, and improves the muscular force of the peripheral muscle of ankle joint effectively.

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 angle adjusting mechanism is provided with a fixing part and a rotating part, the fixing part is fixedly connected to the second guide wheel assembly, and the rotating part can rotate relative to the second guide wheel assembly along multiple directions; and the ankle fixing part comprises a shank fixing section and a heel fixing section, the shank fixing section and the heel fixing section are arranged at an axial interval of the second supporting rod, the shank fixing section is fixedly connected with the second guide wheel assembly, the side face of the heel fixing section is connected with the angle adjusting mechanism and follows the rotating part to rotate, and the heel fixing section is in limited butt joint in the rotating process with the second guide wheel assembly.

Optionally, the heel fixing section includes a base plate and two side plates, the base plate has a sole portion and a heel portion which are connected in a bent manner, the two side plates are all arc-shaped and are respectively arranged on two opposite sides of the base plate, and the rotating portion is fixedly connected to one of the side plates.

Optionally, angle adjustment mechanism includes mounting panel and universal ball bearing, universal ball bearing include the connecting axle, cup joint in universal ball and the cover of connecting axle one end are located the outer lane wheel in the universal ball outside, the mounting panel with the outer lane wheel forms the fixed part, the connecting axle with universal ball forms the rotation portion, mounting panel fixed mounting in the second guide pulley subassembly is located one side of the fixed section of heel, outer lane wheel fixed mounting in the mounting panel, the connecting axle is kept away from the one end fixed connection of universal ball in the curb plate.

Optionally, the second guide wheel assembly includes a connecting frame and a second guide wheel, the connecting frame is disposed at an end of the second support rod away from the first support rod, the second guide wheel is rotatably connected to the connecting frame, the shank fixing section is fixedly connected to the connecting frame, and the mounting plate is fixedly mounted to the connecting frame.

Optionally, the connecting frame comprises: the connecting plate is arranged at the end part, away from the first supporting rod, of the second supporting rod, the connecting plate is provided with a length direction, the length direction of the connecting plate is perpendicular to the axis direction of the second supporting rod, the second guide wheel is rotatably connected to the connecting plate, and the mounting plate is fixedly mounted on the connecting plate; and one side plate of the fixing plate is fixed on the connecting plate and extends towards the second supporting rod, and the shank fixing section is fixedly connected to the fixing plate.

Optionally, the surface of the connecting plate is recessed to form a mounting position, the mounting plate is fixedly connected to the mounting position, and the fixing plate is fixed to the surface of the connecting plate which is not recessed to form the mounting position; and/or two second guide wheels are arranged and are rotatably connected to two opposite sides of the connecting plate along the length direction.

Optionally, the one end that the universal ball was kept away from to the connecting axle is provided with spacing dish, spacing dish fixed connection in the curb plate, spacing dish along with the universal ball rotates the in-process spacing butt in the mounting panel.

Optionally, the two angle adjusting mechanisms are respectively arranged on two opposite sides of the heel fixing section and are respectively and fixedly connected to two opposite side surfaces of the heel fixing section.

Optionally, the axes of the rotating parts of the two angle adjusting mechanisms are in the same straight line.

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 angle adjusting mechanism is provided with a fixing part and a rotating part, the fixing part is fixedly connected to the second guide wheel assembly, and the rotating part can rotate relative to the second guide wheel assembly along multiple directions; and the ankle fixing part comprises a shank fixing section and a heel fixing section, the shank fixing section and the heel fixing section are arranged at an axial interval of the second supporting rod, the shank fixing section is fixedly connected with the second guide wheel assembly, the side face of the heel fixing section is connected with the angle adjusting mechanism and follows the rotating part to rotate, and the heel fixing section is in limited butt joint in the rotating process with the second guide wheel assembly.

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. Simultaneously, still set up angle adjustment mechanism and ankle mounting at the second guide pulley subassembly, the ankle mounting includes the shank canned paragraph and the heel canned paragraph of components of a whole that can function independently, shank canned paragraph fixed connection in second guide pulley subassembly, angle adjustment mechanism has fixed part and rotation portion, fixed part fixed connection in second guide pulley subassembly, rotation portion fixed connection in the side of heel canned paragraph. 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, and the second bracing piece is fixed with the patient shank, and the shank canned paragraph of ankle mounting is fixed in patient's shank, and the heel canned paragraph is fixed in patient's heel department. Generally, the patient is in a prone position or a sitting position, and the second guide wheel assembly is arranged on the second support rod, so that when the second support rod moves, the second guide wheel assembly is in contact with the support surface and rolls relative to the support surface, resistance of the second support rod in the moving process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. 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 utility model can play the guide effect when adopting the supplementary patient of ectoskeleton recovered to correct improper action, thereby improve its recovered effect. Simultaneously, patient's ankle joint can carry out the rotation of less angle along a plurality of directions along with heel fixed segment, can effectively improve the muscular force of ankle joint surrounding muscle like this, helps the remolding of cranial nerve. Moreover, the heel fixing section can be attached to the heel fixing section in the rehabilitation training process of the patient, so that 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 a foundation is laid for the normal walking of the patient.

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 partial schematic structural view of another perspective of the lower extremity rehabilitation exoskeleton;

fig. 3 is a schematic sectional structure view of the universal ball bearing in fig. 2.

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 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 angle adjusting mechanism 50 having a fixed portion fixedly connected to the second guide wheel assembly 40 and a rotating portion rotatable in a plurality of directions relative to the second guide wheel assembly 40; and an ankle fixing member 70, wherein the ankle fixing member 70 includes a lower leg fixing section 71 and a heel fixing section 73, the lower leg fixing section 71 and the heel fixing section 73 are axially spaced apart from each other along the second support bar 20, the lower leg fixing section 71 is fixedly connected to the second guide wheel assembly 40, a side surface of the heel fixing section 73 is connected to the angle adjusting mechanism 50 and rotates along with the rotating portion, and the heel fixing section 73 is in limit abutment with the second guide wheel assembly 40 during the rotation.

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, the angle adjusting mechanism 50 and the ankle fixing member 70 are provided at the second guide wheel assembly 40, the ankle fixing member 70 includes a lower leg fixing section 71 and a heel fixing section 73 which are separated, the lower leg fixing section 71 is used for supporting and fixing a lower leg of a patient and is fixedly connected to the second guide wheel assembly 40, the heel fixing section 73 is used for supporting and fixing an ankle joint of the patient, the angle adjusting mechanism 50 has a fixing portion and a rotating portion, the fixing portion is fixedly connected to the second guide wheel assembly 40, and the rotating portion is fixedly connected to a side surface of the heel fixing section 73, so that the heel fixing section 73 can rotate in a plurality of directions relative to the second guide wheel assembly 40 along with the rotating portion. Moreover, the heel fixing section 73 is limited and abutted against the second guide wheel assembly 40 in the rotating process, so that the condition that the sole and the shank slightly rotate in the bending and stretching motion process of the lower limb of the patient can be met, and the heel is always contacted with the heel fixing section 73. So, carry out the rehabilitation training in-process at the patient, the ankle joint of patient can carry out the degree of freedom activity under heel canned paragraph 73's drive, can improve the muscular force of ankle joint surrounding muscle effectively, help the remolding of cranial nerve, and simultaneously, owing to receive in self and the effect of the recovered ectoskeleton 100 auxiliary force of low limbs, patient's sole has the sensation of atress, reach the effect that similar sole landed when walking, thereby increase the body consciousness of patient's atress, improve its autonomic participation sense, remold sole and step on the perception nerve on ground when walking, favorable patient's low limbs are recovered, lay the basis for patient's normal walking.

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 second guide wheel assembly 40 is further provided with an angle adjusting mechanism 50 and an ankle fixing member 70, the ankle fixing member 70 includes a lower leg fixing section 71 and a heel fixing section 73 which are separated, the lower leg fixing section 71 is fixedly connected to the second guide wheel assembly 40, the angle adjusting mechanism 50 has a fixing portion fixedly connected to the second guide wheel assembly 40 and a rotating portion fixedly connected to a side surface of the heel fixing section 73. When the patient adopts the utility model discloses recovered ectoskeleton 100 of low limbs carries out the rehabilitation training, first bracing piece 10 is fixed with patient's thigh, and second bracing piece 20 is fixed with patient's shank, and the shank canned paragraph 71 of ankle mounting 70 is fixed in patient's shank, and heel canned paragraph 73 is fixed in patient's heel department. Generally, the patient is in a prone position or a sitting position, and the second guide wheel assembly 40 is arranged on the second support rod 20, so that when the second support rod 20 moves, the second guide wheel assembly 40 is in contact with the support surface and rolls relative to the support surface, resistance of the second support rod 20 in the movement 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. 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 utility model can play the guide effect when adopting the supplementary patient of ectoskeleton recovered to correct improper action, thereby improve its recovered effect. Meanwhile, the ankle joint of the patient can rotate in a small angle along a plurality of directions along with the heel fixing section 73, so that the muscle strength of muscles around the ankle joint can be effectively improved, and brain nerve remodeling is facilitated. Moreover, the heel of the patient can be attached to the heel fixing section 73 in the rehabilitation training process, so that 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 a foundation is laid for the normal walking of the patient.

It should be noted that, referring to fig. 2, the heel fixing section 73 has an X direction, a Y direction and a Z direction perpendicular to each other along with the rotation portion, and a plane where the X direction and the Y direction are located is parallel to a sole surface of the heel fixing section 73, so that the rotation angle range of the heel fixing section 73 along the X direction is from minus 10 degrees to plus 10 degrees, and the rotation angle range along the Y direction and the Z direction is from minus 8 degrees to plus 8 degrees. It can be understood that, during the rehabilitation training process of the patient, the ankle toe flexion and dorsiflexion directions have a rotation range of +/-10 degrees, and the rotation ranges of the other 2 directions are +/-8 degrees. The range of the rotation angle can not only meet the requirement of slight movement in the process of bending and stretching the legs, but also effectively prevent symptoms such as the foot varus and the foot drop and the like.

Optionally, the distance between the lower leg attachment section 71 and the heel attachment section 73 is in the range of 2cm to 4 cm. Here, a certain gap exists between the shank fixing section 71 and the heel fixing section 73 to ensure that the freedom degree rotation process of the heel fixing section 73 is smooth, so as to prevent the shank fixing section 71 from colliding with the shank fixing section to influence the freedom degree rotation process. In assembly, the distance between the lower leg attachment section 71 and the heel attachment section 73 can be set to 2cm, or 3cm, or 4 cm.

Further, the heel fixing section 73 includes a base plate 731 and two side plates 733, the base plate 731 has a bending connection sole portion and a heel portion, the two side plates 733 are both arc-shaped and respectively disposed on two opposite sides of the base plate 731, and the rotating portion is fixedly connected to the one side plate 733. The base plate 731 is substantially L-shaped and has a sole portion and a heel portion connected in a bent manner, a side plate 733 is disposed on each of two opposite sides of the base plate 731, the side plate 733 is substantially arc-shaped and is connected to the sole portion and the heel portion, the angle adjusting mechanism 50 is disposed on one side of the heel fixing section 73, and a rotating portion of the angle adjusting mechanism is fixedly connected to the side plate 733 by screws, so that the heel fixing section 73 slightly rotates along with the rotating portion. When can understand, when the patient adopts this recovered ectoskeleton 100 of low limbs to carry out the rehabilitation training, patient's sole face laminating in the sole portion, heel back butt in heel portion, and the both sides of ankle joint are laminated in two curb plates 733 respectively, and patient's ankle joint can be followed heel canned paragraph 73 and slightly rotated along a plurality of, in order to improve patient's ankle joint surrounding muscle power, help the remolding of cranial nerve like this.

Referring to fig. 2 and 3, in an embodiment of the present invention, the angle adjusting mechanism 50 includes a mounting plate 51 and a universal ball bearing 53, the universal ball bearing 53 includes a connecting shaft 533, a universal ball 531 sleeved on one end of the connecting shaft 533, and an outer ring wheel 535 sleeved on the outer side of the universal ball 531, the mounting plate 51 and the outer ring wheel 535 form a fixed portion, the connecting shaft 533 and the universal ball 531 form a rotating portion, the mounting plate 51 is fixedly mounted on the second guide wheel assembly 40 and located on one side of the heel fixing section 73, the outer ring wheel 535 is fixedly mounted on the mounting plate 51, and one end of the connecting shaft 533 far away from the universal ball 531 is fixedly connected to the side plate.

Specifically, the mounting plate 51 is fixedly mounted to the second guide wheel assembly 40, and the fixed mounting manner is generally screw fixation, which is simple and effective. The plate surface of the mounting plate 51 is perpendicular to the axial direction of the second guide wheel assembly 40, the outer ring wheel 535 of the universal ball bearing 53 is fixed on the mounting plate 51, generally, the outer ring wheel 535 is fixed on one side of the mounting plate 51 far away from the second guide wheel assembly 40, and the end of the connecting shaft 533 far away from the mounting plate 51 is fixedly connected to the side plate 733 through screws, so that the heel fixing section 73 can slightly rotate along with the universal ball 531 along multiple directions.

Referring to fig. 1 again, the first guide wheel assembly 30 includes a first guide wheel 31 and a first rotating shaft, 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, so as 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. 2 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 second guide wheel 41 is rotatably connected to the connecting frame 43, the shank fixing section 71 is fixedly connected to the connecting frame 43, and the mounting plate 51 is fixedly mounted on the connecting frame 43. The connecting frame 43 mainly plays a role of supporting and fixing, and the lower leg fixing section 71 extends along the axial direction of the second support rod 20 and is fixed to the connecting frame 43 by screws. The mounting plate 51 is fixedly mounted to the connecting frame 43 by screws and is located at one side of the heel fixing section 73, so that the connecting shaft 533 of the universal ball bearing 53 mounted to the mounting plate 51 is fixedly connected to the side plate 733. Due to the arrangement, the structures can be more compact, the overall size of the lower limb rehabilitation exoskeleton 100 is reduced, and meanwhile, the stability and the reliability of the rotation process of the heel fixing section 73 can be ensured.

Optionally, the connection frame 43 comprises: the connecting plate 431 is arranged at the end part, away from the first support rod 10, of the second support rod 20, the connecting plate 431 is provided with a length direction, the length direction of the connecting plate 431 is perpendicular to the axial direction of the second support rod 20, the second guide wheel 41 is rotatably connected to the connecting plate 431, and the mounting plate 51 is fixedly mounted on the connecting plate 431; and a fixing plate, one side plate 733 of which is fixed to the connecting plate 431 and extends toward the second support bar 20, and the shank fixing section 71 is fixedly connected to the fixing plate.

Specifically, the connecting plate 431 has a length direction perpendicular to the axial direction of the second support rod 20, and a plate surface of the fixing plate is parallel to the plate surface of the connecting plate 431, and one side of the fixing plate is fixedly connected by a screw and extends toward the second support rod 20, and the fixing plate is used for fixing the lower leg fixing section 71. One side of the mounting plate 51 is fixedly connected to the connecting plate 431, the plate surface of the mounting plate 51 is perpendicular to the plate surface of the connecting plate 431, and the side of the mounting plate 51 away from the connecting plate 431 is provided with a universal ball bearing 53 for connecting with the side surface of the heel fixing section 73. It can be understood that, after the connecting plate 431 is assembled, the whole lower limb rehabilitation exoskeleton 100 is approximately arranged in a T shape, so that the structural stability can be ensured, and the reliability of a patient in the rehabilitation training process can be ensured.

It should be noted that, in order to reduce the overall weight of the lower limb rehabilitation exoskeleton 100, the surface of the fixing plate is provided with a plurality of weight reduction holes, and the shape of each weight reduction hole may be a triangle, a square, or another reasonable shape, which is not limited herein. In addition, the end of the fixing plate facing the second support bar 20 is substantially triangular, which not only can play a role of fixing and installing the shank fixing section 71, but also can save material cost to a certain extent and reduce the whole weight.

Further, a surface of the connection plate 431 facing the ankle fixing member 70 is recessed to form a mounting position 4311, the fixing plate is fixedly coupled to the mounting position 4311, and the mounting plate 51 is fixed to a surface of the connection plate 431 not recessed to the mounting position 4311. Here, the mounting position 4311 is substantially square and is arranged in the middle of the connecting plate 431, and the arrangement of the mounting position 4311 enables the axes of the thigh and the shank of the patient to be in the same axis when the patient performs rehabilitation training by using the lower limb rehabilitation exoskeleton 100, so as to effectively prevent the axes from being dislocated, thereby being beneficial to the lower limb rehabilitation of the patient. Furthermore, fixing the mounting plate 51 to the surface of the connection plate 431 that is not recessed into the mounting position 4311 can relatively reduce the size of the mounting plate 51, save material, and reduce weight.

Further, two second guide wheels 41 are provided, and the two second guide wheels 41 are rotatably connected to opposite sides of the connecting plate 431 in the length direction.

Specifically, a mounting shaft (not shown) is disposed on a surface of the connecting plate 431 facing away from the ankle fixing member 70, the mounting shaft extends along a length direction of the connecting plate 431, two ends of the mounting shaft are respectively exposed at two opposite side surfaces of the connecting plate 431 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.

Furthermore, one end of the connecting shaft 533 far away from the universal ball 531 is provided with a limiting disc 5331, the limiting disc 5331 is fixedly connected to the side plate 733, and the limiting disc 5331 is in limiting contact with the mounting plate 51 in the rotating process along with the universal ball 531. Here, the limiting disc 5331 is substantially disc-shaped and is disposed at an end of the connecting shaft 533 far away from the universal ball 531, and the limiting disc 5331 is fixedly connected to the side plate 733 by screws, so that the limiting disc 5331 is limited and abutted against the mounting plate 51 in the rotation process of the universal ball 531, so as to enable the ankle joint to slightly rotate when the patient uses the lower limb rehabilitation exoskeleton 100.

Further, in an embodiment of the present invention, the angle adjusting mechanisms 50 are provided in two, and the two angle adjusting mechanisms 50 are respectively disposed at two opposite sides of the heel fixing section 73 and are respectively fixedly connected to two opposite side surfaces of the heel fixing section 73. The arrangement of the two angle adjusting mechanisms 50 can ensure that the rotation process of the heel fixing section 73 is quicker and more effective, and the stability of the rotation process of the heel fixing section 73 can also be ensured, so that the muscle strength of the muscles around the ankle joint can be improved more effectively, and the brain nerve can be reshaped; the proprioception of the foot soles of the patients is effectively enhanced, the perception nerves treaded on the ground when the foot soles walk are remodeled, and the lower limb rehabilitation of the patients is facilitated.

Alternatively, the axes of the rotating portions of the two angle adjusting mechanisms 50 may be on the same straight line. The arrangement is more labor-saving, rapid and effective in the rotation process of the heel fixing section 73.

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 is 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 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 angle adjusting mechanism is provided with a fixing part and a rotating part, the fixing part is fixedly connected to the second guide wheel assembly, and the rotating part can rotate relative to the second guide wheel assembly along multiple directions; and

the ankle mounting, the ankle mounting includes shank canned paragraph and heel canned paragraph, the shank canned paragraph with the heel canned paragraph is followed the axial interval of second bracing piece sets up, shank canned paragraph fixed connection in the second guide pulley subassembly, the side of heel canned paragraph connect in angle adjustment mechanism, and follow the portion of rotating rotates and rotates, the heel canned paragraph in rotate the in-process spacing butt in the second guide pulley subassembly.

2. The lower extremity rehabilitation exoskeleton of claim 1 wherein said heel fixing section includes a base plate having a bottom portion and a heel portion connected in a bent manner, and two side plates each having a circular arc shape and disposed on opposite sides of said base plate, said rotating portion being fixedly connected to one of said side plates.

3. The lower limb rehabilitation exoskeleton of claim 2 wherein said angle adjustment mechanism comprises a mounting plate and a universal ball bearing, said universal ball bearing comprises a connecting shaft, a universal ball sleeved on one end of said connecting shaft and an outer ring wheel sleeved on the outer side of said universal ball, said mounting plate and said outer ring wheel form said fixed portion, said connecting shaft and said universal ball form said rotating portion, said mounting plate is fixedly mounted on said second guide wheel assembly and located on one side of said heel fixing section, said outer ring wheel is fixedly mounted on said mounting plate, and one end of said connecting shaft away from said universal ball is fixedly connected to said side plate.

4. The lower extremity rehabilitation exoskeleton of claim 3 wherein said second guide wheel assembly comprises a connecting frame and a second guide wheel, said connecting frame is disposed at an end of said second support bar opposite to said first support bar, said second guide wheel is rotatably connected to said connecting frame, said lower leg fixing segment is fixedly connected to said connecting frame, and said mounting plate is fixedly mounted to said connecting frame.

5. The lower extremity rehabilitation exoskeleton of claim 4 wherein said connecting frame comprises:

the connecting plate is arranged at the end part, away from the first supporting rod, of the second supporting rod, the connecting plate is provided with a length direction, the length direction of the connecting plate is perpendicular to the axis direction of the second supporting rod, the second guide wheel is rotatably connected to the connecting plate, and the mounting plate is fixedly mounted on the connecting plate; and

and one side plate of the fixing plate is fixed on the connecting plate and extends towards the second supporting rod, and the shank fixing section is fixedly connected to the fixing plate.

6. The lower extremity rehabilitation exoskeleton of claim 5 wherein said attachment plate is recessed from a surface thereof to form a mounting location, said mounting plate is fixedly attached to said mounting location, and said fixation plate is secured to a surface of said attachment plate not recessed to form said mounting location; and/or the presence of a gas in the gas,

the two second guide wheels are rotatably connected to two opposite sides of the connecting plate in the length direction.

7. The lower limb rehabilitation exoskeleton of claim 3 wherein a limiting plate is arranged at one end of the connecting shaft, which is far away from the universal ball, the limiting plate is fixedly connected to the side plate, and the limiting plate is in limiting abutment with the mounting plate during rotation with the universal ball.

8. The lower extremity rehabilitation exoskeleton of any one of claims 1 to 7 wherein there are two of said angle adjustment mechanisms, one on each of opposite sides of said heel fixing section and fixedly attached to each of opposite sides of said heel fixing section.

9. The lower extremity rehabilitation exoskeleton of claim 8 wherein the axes of the rotating portions of both of said angle adjustment mechanisms are collinear.

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.