CN211356556U

CN211356556U - Limb rehabilitation exoskeleton and limb rehabilitation system

Info

Publication number: CN211356556U
Application number: CN201921614688.7U
Authority: CN
Inventors: 谭高辉; 马舜
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 limbs recovered ectoskeleton and applied this limbs recovered ectoskeleton's limbs recovered system, this limbs recovered ectoskeleton includes first bracing piece, first bracing piece is including the first portion of rotating of locating its one end, the second bracing piece rotates to be connected in the tip that first bracing piece deviates from first portion of rotating, first bracing piece and second bracing piece are connected to drive assembly, first bracing piece is located to first leading wheel subassembly and deviates from the tip of second bracing piece, the tip that the second bracing piece deviates from first bracing piece is located to the second leading wheel subassembly, power device is including the installed part and the drive assembly that are connected, the installed part can be dismantled and connect in first bracing piece, drive assembly locates one side that drive assembly deviates from first bracing piece, and drive assembly's output shaft rotates and connects drive assembly and first portion of rotating. The utility model discloses can play the effect of direction when supplementary human recovered, improve recovered effect, the traction force of the recovered ectoskeleton of limbs is comparatively stable in addition.

Description

Limb rehabilitation exoskeleton and limb rehabilitation system

Technical Field

The utility model relates to an ectoskeleton technical field, in particular to recovered ectoskeleton of limbs and limb 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 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 the acute stage, for example, effective switching between 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, so that a large error exists between the motion track of the limbs, and the rehabilitation effect is not ideal. The strength of the existing power device is not high after installation, and in the process of movement, due to the influence of external force, the power device can rotate off-axis, so that the output power is unstable, the power output of the rehabilitation instrument is unstable, and the rehabilitation effect is influenced.

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 aims at providing a recovered ectoskeleton of limbs aims at assisting the patient and realizes the recovery of low limbs to guarantee that the recovered ectoskeleton output of limbs is stable, improve recovered effect.

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

the first supporting rod comprises a first rotating part arranged at one end of the first supporting rod;

the second supporting rod is rotatably connected to the end part, away from the first rotating part, of the first supporting rod;

the transmission assembly is connected with the first supporting rod and the second supporting 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, and 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;

power device, power device is including installed part and the drive assembly that is connected, the installed part can dismantle connect in first bracing piece, drive assembly locates drive assembly deviates from one side of first bracing piece, just drive assembly's output shaft rotates and connects drive assembly with first portion of rotating.

Optionally, the first rotating portion has a first mounting hole, and the output shaft of the driving assembly is rotatably sleeved in the first mounting hole.

Optionally, the first rotating portion further includes a first bearing, the first bearing is disposed in the first mounting hole, and an output shaft of the driving assembly is sleeved in a bearing hole of the first bearing.

Optionally, the transmission assembly comprises a first eccentric wheel disc, a second eccentric wheel disc and a connecting rod, the first eccentric wheel disc is in transmission connection with the output shaft of the driving assembly, the second eccentric wheel disc is connected with the second supporting rod, and the connecting rod is in rotation connection with the first eccentric wheel disc and the second eccentric wheel disc.

Optionally, the drive assembly includes driving piece and harmonic reducer ware, the driving piece connect in the installed part deviates from one side of first bracing piece, the harmonic reducer ware connect in the installed part orientation one side of first bracing piece, the output shaft transmission of driving piece is connected the harmonic reducer ware, the harmonic reducer ware is connected first eccentric rim plate.

Optionally, first bracing piece still includes second rotation portion and third rotation portion, second rotation portion and third rotation portion are located first bracing piece is kept away from the tip of first rotation portion, the connecting rod is kept away from the tip of first eccentric rim plate be located the second rotation portion with between the third rotation portion to the swivelling joint the eccentric rim plate of second, the eccentric rim plate of second rotate connect in the second rotation portion with the third rotation portion, the second bracing piece is connected the eccentric rim plate of second.

Optionally, the second rotating portion and the third rotating portion are provided with a second mounting hole and a third mounting hole, the second support rod is rotatably sleeved in the second mounting hole, and the second eccentric wheel disc is rotatably sleeved in the third mounting hole.

Optionally, the second rotating portion further includes a second bearing installed in the second installation hole, the third rotating portion further includes a third bearing installed in the third installation hole, the second support rod is rotatably sleeved on the second bearing, and the second eccentric wheel is rotatably sleeved on the third bearing.

Optionally, the transmission assembly further includes a torque sensor, the torque sensor is connected to the second support rod and the second eccentric disk, and the torque sensor is electrically connected to the power device.

The utility model also provides a limbs rehabilitation system, limbs rehabilitation system is including setting up two limbs rehabilitation ectoskeletons relatively, limbs rehabilitation ectoskeleton be as above limbs rehabilitation ectoskeleton.

The limb rehabilitation exoskeleton of the utility model comprises a first supporting rod and a second supporting rod which are connected in a rotating way, one end of the first supporting rod is provided with a first rotating part, a first guide wheel component is arranged at the end part of the first supporting rod deviating from the second supporting rod, a second guide wheel component is arranged at the end part of the second supporting rod deviating from the first supporting rod, a transmission component is connected with the first supporting rod and the second supporting rod, a power device comprises an installation component and a driving component, the installation component is connected with the first supporting rod, the driving component is connected with the installation component and is in transmission connection with the transmission component, when the power device drives the second supporting rod to rotate relative to the first supporting rod through the transmission assembly, the first guide wheel assembly can play a role in guiding the movement of the first supporting rod departing from the end part of the second supporting rod, and the second guide wheel assembly also plays a role in guiding the end movement of the second supporting rod away from the first supporting rod.

For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the second support rod is fixed with a shank of the human body, and after the first support rod is fixed with a thigh of the human body, the power device drives the second support rod to rotate relative to the first support rod through the transmission assembly, so as to drive the lower limbs to do flexion and extension movement. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture state, and the second guide wheel assembly is arranged on the second supporting rod, so that the second supporting rod is in contact with the supporting surface and rolls relative to the supporting surface when the second supporting rod moves, the resistance of the second supporting 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 ensured to move along the set direction. 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 can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the utility model can play the effect of direction when adopting the supplementary human body of ectoskeleton recovered to the movement track of laminating limbs improves recovered effect.

In addition, when drive assembly drives the drive assembly motion in this application, drive assembly can bear the effort that comes from drive assembly, be fixed in first bracing piece with drive assembly through the installed part, drive assembly's output shaft and first rotation portion rotate and be connected, so drive assembly's one end is fixed by the installed part, another terminal surface is supported by first rotation portion, the output shaft at pivoted in-process drive assembly can bear great effort and be unlikely to produce the condition of off-axis and beat, thereby drive assembly's output is comparatively stable, furthermore, the recovered effect of improvement.

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 limb rehabilitation exoskeleton of the present invention;

FIG. 2 is an exploded view of the structure of the limb rehabilitation exoskeleton portion shown in FIG. 1;

FIG. 3 is a top plan view of the configuration of the limb rehabilitation exoskeleton portion shown in FIG. 2;

FIG. 4 is a cross-sectional view of the limb rehabilitation exoskeleton portion structure shown in FIG. 3 taken along the direction A-A;

FIG. 5 is a cross-sectional view of the limb rehabilitation exoskeleton portion structure shown in FIG. 3 taken along the direction B-B;

FIG. 6 is an exploded view of the configuration of the limb rehabilitation exoskeleton portion shown in FIG. 3;

fig. 7 is a schematic structural view of an embodiment of the limb rehabilitation system of the present invention.

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, 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.

Referring to fig. 1 the present invention provides a limb rehabilitation exoskeleton 10.

In the embodiment of the present invention, the limb rehabilitation exoskeleton 10 includes:

a first support bar 110, the first support bar 110 including a first rotation part 111 provided at one end thereof;

a second support rod 120, wherein the second support rod 120 is rotatably connected to an end of the first support rod 110 away from the first rotating part 111;

a driving assembly 130, wherein the driving assembly 130 connects the first support bar 110 and the second support bar 120;

a first guide wheel assembly 140 and a second guide wheel assembly 150, wherein the first guide wheel assembly 140 is disposed at an end of the first support rod 110 facing away from the second support rod 120, and the second guide wheel assembly 150 is disposed at an end of the second support rod 120 facing away from the first support rod 110;

the power device 160 comprises a mounting part 161 and a driving component 162 which are connected, the mounting part 161 is detachably connected to the first supporting rod 110, the driving component 162 is arranged on one side of the transmission component 130, which is far away from the first supporting rod 110, and an output shaft of the driving component 162 is in transmission connection with the transmission component 130 and the first rotating part 111.

The utility model discloses a recovered ectoskeleton 10 of limbs is including rotating first bracing piece 110 and the second bracing piece 120 of connecting, the one end of first bracing piece 110 is equipped with first rotation portion 111, first guide pulley subassembly 140 is located the tip that first bracing piece 110 deviates from second bracing piece 120, second guide pulley subassembly 150 is located the tip that second bracing piece 120 deviates from first bracing piece 110, first bracing piece 110 and second bracing piece 120 are connected to transmission subassembly 130, power device 160 includes installed part 161 and drive assembly 162, first bracing piece 110 is connected to installed part 161, drive assembly 162 connects installed part 161 and transmission connection transmission assembly 130, when power device 160 passes through transmission assembly 130 drive second bracing piece 120 and rotates first bracing piece 110 relatively, first guide pulley subassembly 140 can play the effect of direction to the motion that first bracing piece 110 deviates from second bracing piece 120 tip, and second guide pulley subassembly 150 also can play the effect of direction to the tip motion that second bracing piece 120 deviates from first bracing piece 110.

For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the second support rod 120 is fixed to a lower leg of the human body, and the first support rod 110 is fixed to a thigh of the human body, the driving assembly 162 drives the second support rod 120 to rotate relative to the first support rod 110 through the transmission assembly 130, 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 150 is arranged on the second support rod 120, so that when the second support rod 120 moves, the second guide wheel assembly 150 is in contact with the support surface and rolls relative to the support surface, the resistance of the second support rod 120 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. When the first support rod 110 moves, the first guide wheel assembly 140 contacts with the support surface, so that the resistance of the first support rod 110 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, the technical scheme of the utility model can play the effect of direction when adopting the supplementary human body of ectoskeleton recovered to the movement track of laminating limbs improves recovered effect.

In addition, in the present application, when the driving component 162 drives the transmission component 130 to move, the driving component 162 can bear an acting force from the transmission component 130, the driving component 162 is fixed on the first supporting rod 110 through the mounting component 161, and an output shaft of the driving component 162 is rotatably connected with the first rotating portion 111, so that one end of the driving component 162 is fixed by the mounting component 161, and the other end surface is supported by the first rotating portion 111, and the output shaft of the driving component 162 can bear a larger acting force in the rotating process without generating the conditions of off-axis and off-swinging, so that the output power of the driving component 162 is relatively stable, and further, the rehabilitation effect is improved.

It is understood that in one use state, the user can place the lower limbs on the limb rehabilitation exoskeleton 10, so that the second support rod 120 supports the lower leg, the first support rod 110 supports the upper leg, the power device 160 drives the transmission assembly 130, and the transmission assembly 130 drives the second support rod 120 to rotate relative to the first support rod 110, so as to perform rehabilitation training on the lower leg and the upper leg. And, in order to fix the position of the limb of the patient relative to the first support bar 110 and the second support bar 120, in the present technical solution, a fixing member is disposed on the first support bar 110 and/or the second support bar 120, in an embodiment of the present application, the fixing member is disposed on the upper side of the first support bar 110 and the second support bar 120, or the fixing member is correspondingly disposed on a plane parallel to the rotation direction of the first support bar 110 and the second support bar 120, so as to fix the leg laterally, and when the limb rehabilitation exoskeleton 10 is connected to the human body, the patient can be in a lying or sitting state. Wherein, the material of mounting can be elastic material such as rubber, latex, also can be made by multilayer cloth and/or cotton yarn to increase its gas permeability, make things convenient for the patient to use.

It should be noted that, in the present application, "the end portion of the second support rod 120 is rotatably connected to the end portion of the first support rod 110 departing from the first rotating portion 111", but is not limited to the end surface of the second support rod 120 in the length direction, and may be understood as the free end of the second support rod 120, that is, the first rotating portion 111 may be located at the free end of the second support rod 120, and its specific position may be a distance from the end surface of the second support rod 120 in the length direction or fixed on the end surface, the same "the first guide wheel assembly 140 is located at the end portion of the first support rod 110 departing from the second support rod 120, and the second guide wheel assembly 150 is located at the end portion of the second support rod 120 departing from the end portion of the first support rod 110", which is referred to the foregoing description and is not repeated herein.

In an embodiment of the present invention, the first support rod 110 and the second support rod 120 are plate-shaped structures, but may also be rod-shaped structures, and the size of the first support rod 110 is larger than that of the second support rod 120, so that the size of the first support rod 110 for supporting the thigh is larger than that of the second support rod 120 for supporting the calf, so that the structure of the limb rehabilitation exoskeleton 10 can be more stable. In order to reduce the weight of the first support bar 110 and the second support bar 120, hollow structures are disposed on the first support bar 110 and the second support bar 120. The first support bar 110 and the second support bar 120 can be made of metal, plastic, other alloy materials, and the like. Or a mixture of metal and plastic may be used as long as the stability of the first support bar 110 and the second support bar 120 is improved. Therefore, the stability of the first support rod 110 and the second support rod 120 is improved, and the practicability, reliability and durability of the first support rod 110 and the second support rod 120 are effectively improved.

Referring to fig. 3 and 4, in order to support the output shaft of the driving assembly 162, in the present application, the first rotating portion 111 has a first mounting hole 111a, and the output shaft of the driving assembly 162 is rotatably sleeved in the first mounting hole 111 a.

Specifically, the first mounting hole 111a is opened in the first support rod 110, the first support rod 110 is disposed in a plate shape, the first mounting hole 111a is a through hole penetrating through two opposite surfaces of the first support rod 110, and the aperture of the first mounting hole 111a is slightly larger than the diameter of the output shaft of the driving assembly 162, so that the output shaft of the driving assembly 162 can be sleeved in the first mounting hole 111a and can rotate in the first mounting hole 111 a; therefore, when the driving assembly 162 drives the transmission assembly 130 to move, and further drives the second support rod 120 to rotate relative to the first support rod 110, the output shaft of the driving assembly 162 receives the acting force from the transmission assembly 130, due to the fixing effect of the mounting member 161 and the supporting and limiting effect of the first rotating portion 111, both ends of the driving assembly 162 receive the reacting force from the mounting member 161 and the first rotating portion 111, so that the stress of the driving assembly 162 is balanced, the off-axis or swinging condition is not easy to occur, the position degree of the driving assembly 162 is stable, the output power is balanced and stable, the transmission effect of the transmission assembly 130 connected with the output shaft of the transmission assembly 130 is better, the transmission efficiency is stable, and the performance stability and the rehabilitation effect of the limb rehabilitation exoskeleton 10 are further ensured.

Further, for better output shaft to drive assembly 162 plays supporting role to make drive assembly 162's rotation effect better, rotation efficiency is higher, the utility model discloses an embodiment still is provided with first bearing 1111 in the first mounting hole 111a, and first bearing 1111 diameter slightly is greater than the diameter of first mounting hole 111a for in first bearing 1111 can the joint and be fixed in first mounting hole 111a, the output shaft of drive assembly 162 further joint in the bearing hole of first bearing 1111 again. So adopt first bearing 1111 to support drive assembly 162's output shaft fixed, not only can more effectively avoid drive assembly 162's output shaft to take place the condition of off-axis wobbling, drive assembly 162's rotation effect is better moreover, rotates the in-process also difficult pine and take off, drive assembly 162's output efficiency is higher and more stable.

Referring to fig. 2 again, in order to realize that the transmission assembly 130 transmits the power of the driving assembly 162 to one side of the second supporting rod 120 and drives the second supporting rod 120 to rotate relative to the first supporting rod 110, in an embodiment of the present invention, the transmission assembly 130 includes a first eccentric wheel 131, a second eccentric wheel 132 and a connecting rod 133, the first eccentric wheel 131 is connected to the output shaft of the driving assembly 162 in a transmission manner, the second eccentric wheel 132 is connected to the second supporting rod 120, and the connecting rod 133 is rotatably connected to the first eccentric wheel 131 and the second eccentric wheel 132.

Specifically, the switches of the first eccentric wheel 131 and the second eccentric wheel 132 are integrally disc-shaped, the surfaces of the first eccentric wheel 131 and the second eccentric wheel 132 are provided with connecting protrusions which are cylindrical and deviate from the circle centers of the first eccentric wheel 131 and the second eccentric wheel 132, the whole connecting rod 133 is long-strip-shaped, two ends of the connecting rod are provided with connecting holes, the two connecting holes are respectively sleeved on the connecting protrusions of the first eccentric wheel 131 and the second eccentric wheel 132, and thus the first eccentric wheel 131, the second eccentric wheel 132 and the connecting rod 133 are combined to form a four-connecting-rod 133 mechanism in a plane; the first eccentric wheel 131 is in transmission connection with an output shaft of the driving component 162, because the driving component 162 drives the first eccentric wheel 131 to rotate, the second eccentric wheel 132 is connected with the second supporting rod 120 in a rotating manner, and the connecting rod 133 is respectively sleeved on connecting protrusions of the first eccentric wheel 131 and the second eccentric wheel 132 through connecting holes at two ends, so that the first eccentric wheel 131 rotates under the driving of the driving component 162, the connecting rod 133 drives the second eccentric wheel 132 to rotate, and further the second supporting rod 120 connected with the second eccentric wheel 132 can rotate relative to the first supporting rod 110. The planar four-bar linkage 133 mechanism formed by the first eccentric wheel 131, the second eccentric wheel 132 and the connecting bar 133 drives the second supporting bar 120 to rotate relative to the first supporting bar 110, so that the transmission assembly 130 is stable and compact in structure. Of course, the transmission assembly 130 may also adopt a pulley or gear transmission structure, and the technical effect of the second support rod 120 rotating relative to the first support rod 110 in the present application can also be achieved, which is not described herein in detail.

It can be understood that, in the actual use, human limbs have certain quality, consequently for making limbs recovered ectoskeleton 10 have great traction force, can play traction to limbs, the utility model discloses an embodiment, drive assembly 162 includes driving piece 1621 and harmonic speed reducer 1622, and driving piece 1621 is connected in the one side that the installed part 161 deviates from first bracing piece 110, and harmonic speed reducer 1622 is connected in the one side of installed part 161 towards first bracing piece 110, and harmonic speed reducer 1622 is connected in the output shaft transmission of driving piece 1621, and first eccentric rim plate 131 is connected to harmonic speed reducer 1622.

Specifically, the mounting part 161 is provided with an avoiding hole penetrating through two opposite surfaces, the driving part 1621 is positioned at the opposite side of the mounting part 161, an output shaft of the driving part 1621 is connected with a wave generator of the harmonic speed reducer 1622 through the avoiding hole, and the flexible gear is connected with the first eccentric wheel disc 131. Through setting up harmonic reduction gear 1622 for driving piece 1621 drives harmonic reduction gear 1622, and harmonic reduction gear 1622 drives first eccentric wheel 131 again and rotates. The harmonic reducer 1622 has the characteristics of large transmission speed ratio, high bearing capacity, high transmission precision, high transmission efficiency, stable movement, small size and light weight, so that the movement track of the rehabilitation exoskeleton is more matched with the movement track of limbs of a human body, the driving piece 1621 outputs larger torque through the harmonic reducer 1622, and the overall size of the limb rehabilitation exoskeleton 10 is further reduced. Therefore, the utility model discloses a recovered ectoskeleton 10 of limbs is whole quality lighter, and installation space is compact to realize reasonable drive ratio configuration, satisfy the output requirement of high rotational speed, big moment of torsion, facilitate the use. It can be understood that the harmonic generator is installed to obtain a larger transmission ratio, so that the torque output by the driving element 1621 is larger, therefore, the harmonic generator can also be replaced by a way of matching a plurality of gears, and by reasonably setting the number of the teeth of the plurality of gears, the driving element 1621 can output the corresponding torque, so that the rehabilitation limb exoskeleton obtains the preset traction force.

The utility model discloses an in the embodiment, driving piece 1621 is the motor, preferably servo motor, and servo motor is fixed in first bracing piece 110 through the installation of installed part 161, and servo motor's speed control and position precision are higher, and the output torque of the drive assembly 162 of consequently being more convenient for control to the output torque's figure is higher and stable, and thereby the numerical value of the traction force of the recovered ectoskeleton 10 of limbs is more accurate, and then better auxiliary user recovers.

Further, referring to fig. 1 and 6 again, in the present application, one end of the connecting rod 133 is rotatably connected to the first eccentric disc 131, and the other end is rotatably connected to the second eccentric disc 132, so that the connecting rod 133 is easily swung in transmission toward one end of the first eccentric disc 131 and is not easily swung so as to make the other end of the connecting rod 133. The utility model discloses an in one embodiment, first bracing piece 110 still includes second rotation portion 112 and third rotation portion 113, the tip that first bracing piece 110 kept away from first rotation portion 111 is located to second rotation portion 112 and third rotation portion 113, the tip that first eccentric rim plate 131 was kept away from to connecting rod 133 is located between second rotation portion 112 and the third rotation portion 113, and rotate and connect second eccentric rim plate 132, second bracing piece 120 rotates to be connected in second rotation portion 112 and third rotation portion 113, through setting up second rotation portion 112 and third rotation portion 113, make the condition of beat easily take place at the both ends of connecting rod 133, further improve the transmission efficiency of limbs rehabilitation ectoskeleton 10. Meanwhile, the second eccentric wheel disc 132 is further connected with the second support rod 120, when the transmission assembly 130 drives the second support rod 120 to rotate relative to the first support rod 110, the second rotation portion 112 and the third rotation portion 113 support opposite sides of the second eccentric wheel disc 132, so that the second support rod 132 is not easy to swing, and therefore the second support rod 120 is not easy to swing after being fixed on a shank, so that the shank and a thigh are always on the same motion trajectory line, and the situation that the shank and the thigh are dislocated is avoided, and the rehabilitation effect is further improved.

Specifically, in the present application, the second rotating portion 112 has a second mounting hole 112a, the third rotating portion 113 has a third mounting hole 113a, the second mounting hole 112a and the third mounting hole 113a are opened at one end of the first support rod 110 far away from the first rotating portion 111, centers of the second mounting hole 112a and the third mounting hole 113a are located on the same axis, so as to ensure the rotating coaxiality of the second eccentric disc 132, two sides of the second eccentric disc 132 are sleeved on the second mounting hole 112a and the third mounting hole 113a, and under the driving of the connecting rod 133, the second eccentric disc 132 can rotate relative to the second mounting hole 112a and the third mounting hole 113a, and the second mounting hole 112a and the third mounting hole 113a support the second eccentric disc 132, thereby avoiding the situation that the connecting rod 133 swings during the movement.

In order to make the second eccentric wheel disc 132 rotate the effect better, rotate more efficiently, the utility model discloses an embodiment still is provided with second bearing 1121 and third bearing 1131 in second mounting hole 112a and the third mounting hole 113a, and connecting rod 133 rotates and cup joints behind second eccentric wheel disc 132, and the relative both sides of second eccentric wheel disc 132 correspond the joint ground and are fixed in the bearing hole of second bearing 1121 and third bearing 1131. Adopt second bearing 1121 and third bearing 1131 to support the relative both sides of second eccentric wheel dish 132 fixedly, not only can avoid connecting rod 133 to take place the wobbling condition at the in-process of motion, the rotation effect of second eccentric wheel dish 132 is better moreover, rotates the in-process and also difficult pine and take off for connecting rod 133's transmission efficiency is higher and more stable.

Referring to fig. 6, it can be understood that, in practical applications, since the limb damage of each user is different and the same, therefore in order to make the traction of the limb rehabilitation exoskeleton 10 more appropriate to the physiological characteristics and reality of the user, the limb rehabilitation exoskeleton 10 of the utility model is also provided with a torque sensor 134, the torque sensor 134 is connected to the second eccentric disc 132 and the second support rod 120, and is connected to the driving member 1621 through a wire, when the limb is subjected to flexion and extension movements under the traction of the first support bar 110 and the second support bar 120, the torque sensor 134 may monitor the torque generated between the first support rod 110 and the second support rod 120 in real time, control the rotational speed of the driving member 1621, the rated torque is output through the action of the harmonic sensor, so that the traction force of the limb rehabilitation exoskeleton 10 is within a relatively constant threshold value. Thereby improving the rehabilitation effect of the limb rehabilitation exoskeleton 10.

Referring to fig. 7, the present invention further provides a limb rehabilitation system 1, wherein the limb rehabilitation system 1 includes two limb rehabilitation exoskeletons 10 disposed oppositely, the embodiments of the limb rehabilitation exoskeletons 10 refer to the above embodiments, and the limb rehabilitation system 1 adopts all technical solutions of all the above embodiments, so that all the beneficial effects brought by the technical solutions of the above embodiments are at least provided, and are not repeated herein.

In use, the limb rehabilitation system 1 may include a two-limb rehabilitation exoskeleton 10 and other mechanisms coupled to the limb rehabilitation exoskeleton 10 to facilitate simultaneous rehabilitation of both lower limbs of a patient.

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 limb rehabilitation exoskeleton comprising:

2. The limb rehabilitation exoskeleton of claim 1 wherein the first rotating portion has a first mounting hole, and the output shaft of the driving assembly is rotatably sleeved in the first mounting hole.

3. The limb rehabilitation exoskeleton of claim 2 wherein said first rotating part further comprises a first bearing, said first bearing is disposed in said first mounting hole, and said output shaft of said driving assembly is sleeved in a bearing hole of said first bearing.

4. The limb rehabilitation exoskeleton of any one of claims 1 to 3 wherein the transmission assembly comprises a first eccentric wheel, a second eccentric wheel and a link, the first eccentric wheel is drivingly connected to the output shaft of the drive assembly, the second eccentric wheel is connected to the second support rod, and the link is rotationally connected to the first eccentric wheel and the second eccentric wheel.

5. The limb rehabilitation exoskeleton of claim 4 wherein said drive assembly comprises a drive member and a harmonic reducer, said drive member is connected to a side of said mounting member facing away from said first support bar, said harmonic reducer is connected to a side of said mounting member facing towards said first support bar, an output shaft of said drive member is drivingly connected to said harmonic reducer, and said harmonic reducer is connected to said first eccentric wheel.

6. The limb rehabilitation exoskeleton of claim 4 wherein said first support rod further comprises a second rotating part and a third rotating part, said second rotating part and said third rotating part are disposed at the end of said first support rod far from said first rotating part, the end of said connecting rod far from said first eccentric wheel disc is disposed between said second rotating part and said third rotating part and is rotatably connected with said second eccentric wheel disc, said second eccentric wheel disc is rotatably connected with said second rotating part and said third rotating part, and said second support rod is connected with said second eccentric wheel disc.

7. The limb rehabilitation exoskeleton of claim 6 wherein the second rotating portion and the third rotating portion are provided with a second mounting hole and a third mounting hole, the second support rod is rotatably sleeved in the second mounting hole, and the second eccentric wheel disc is rotatably sleeved in the third mounting hole.

8. The limb rehabilitation exoskeleton of claim 7 wherein said second rotating portion further comprises a second bearing mounted in said second mounting hole, said third rotating portion further comprises a third bearing mounted in said third mounting hole, said second support rod is rotatably sleeved on said second bearing, and said second eccentric is rotatably sleeved on said third bearing.

9. The limb rehabilitation exoskeleton of claim 6 wherein said transmission assembly further comprises a torque sensor, said torque sensor is coupled to said second support bar and said second eccentric disk, and said torque sensor is electrically coupled to said power device.

10. A limb rehabilitation system comprising a two limb rehabilitation exoskeleton as claimed in any one of claims 1 to 9 arranged in opposition.