CN211584100U

CN211584100U - Limb rehabilitation exoskeleton and limb rehabilitation system

Info

Publication number: CN211584100U
Application number: CN201921613786.9U
Authority: CN
Inventors: 谭高辉; 马舜; 杨静静
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: 2020-09-29
Anticipated expiration: 2029-09-25

Abstract

The utility model discloses a recovered ectoskeleton of limbs and limb rehabilitation system, the recovered ectoskeleton of limbs includes: 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; and the limiting structure is arranged at the end part of the second supporting rod, which deviates from the first supporting rod, the limiting structure is provided with a supporting surface for supporting, the supporting surface is provided with an anti-skid part, and the anti-skid part is of a flexible structure. The utility model discloses technical scheme when aiming at adopting the supplementary human body of ectoskeleton to recover, plays the effect of direction to the movement track of laminating limbs, and the motion is steady, improves recovered effect, guarantees simultaneously that the joint aligns and the sole is trampled on really, increases human sensation, and then is favorable to the neural recovery of human body.

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 the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode can not be well controlled by artificially performing the rehabilitation training in the acute stage, such as effective switching of passive, active and impedance modes, or the existing rehabilitation training can also be assisted by some machines to guide rehabilitation, but the motion track of the auxiliary machines in the related technology is not smooth enough, so that large errors exist between the motion track and limbs, the rehabilitation effect is not ideal, and the phenomena of uneven joints and uneven foot treading are easy to occur in the rehabilitation training process, which is not favorable for the recovery of the nerves of a patient.

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

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a recovered ectoskeleton of limbs, when aiming at adopting the supplementary human body of ectoskeleton recovered, play the effect of direction to the movement track of laminating limbs, and the motion is steady, improves recovered effect, guarantees simultaneously that the joint aligns and the sole is trampled really, increases human sensation, and then is favorable to human neural recovery.

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

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; and

the limiting structure is arranged at the end part of the first supporting rod, the second supporting rod deviates from the end part of the first supporting rod, the limiting structure is provided with a supporting surface for supporting, the supporting surface is provided with an anti-skid part, and the anti-skid part is of a flexible structure.

Optionally, the supporting surface is provided with a mounting groove, at least a part of the anti-slip part is mounted in the mounting groove, and the other part of the anti-slip part extends out of the mounting groove.

Optionally, the number of the anti-slip portions is multiple, the number of the mounting grooves is multiple, one of the anti-slip portions is mounted in one of the mounting grooves, and the mounting grooves are arranged at intervals along the length direction of the supporting surface.

Optionally, the second support rod is provided with a second rotating shaft, the limiting structure is provided with a rotating hole, and the rotating hole is rotatably sleeved on the second rotating shaft, so that the limiting structure is rotatably connected with the second support rod.

Optionally, the limiting structure is further formed with a reinforcing portion, the reinforcing portion and the mounting groove are arranged on the same surface, and the reinforcing portion is arranged around a notch enveloping the mounting groove;

and/or the anti-skid part is detachably connected with the mounting groove.

Optionally, the antiskid portion is annularly arranged, and the antiskid portion is sleeved on the outer surface of the limiting structure.

Optionally, the anti-slip part is attached and fixed to the supporting surface.

Optionally, the second bracing piece includes the body of rod and the location structure of being connected with the body of rod, the body of rod deviates from location structure's tip with first bracing piece rotates to be connected, the axis of rotation is located location structure, location structure is used for adjusting limit structure with the distance of the body of rod.

Optionally, in a rotation direction of the first support rod and/or the second support rod, the first support rod and/or the second support rod rotate to form an included angle, the first guide wheel assembly is disposed on a side of the first support rod facing the second support rod, and the limiting structure is disposed on a side of the second support rod facing the first support rod.

The technical scheme of the utility model a limb rehabilitation system is still provided, limb rehabilitation system includes two at least limbs rehabilitation ectoskeletons, at least two the limb rehabilitation ectoskeleton sets up relatively, the limb rehabilitation ectoskeleton includes:

a first support bar;

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

The utility model discloses technical scheme is through rotating first bracing piece and second bracing piece to be connected, locate the tip that first bracing piece deviates from the second bracing piece with first leading wheel subassembly again, and locate the tip that the second bracing piece deviates from first bracing piece with limit structure, because antiskid portion is the flexible material preparation, so under the action of gravity of the recovered ectoskeleton of limbs, antiskid portion has certain elastic deformation, and with the interference butt of mounting surface, thereby the position relatively fixed of limit structure and mounting surface has been guaranteed. When the first supporting rod rotates relative to the second supporting rod under the action of external force, the first guide wheel assembly moves on the placement surface and plays a role in guiding the movement of the end part of the first supporting rod, which is far away from the second supporting rod, the limiting structure enables the end part of the second supporting rod to be static relative to the placement surface when the first guide wheel assembly moves towards the limiting structure, and the limiting structure also enables the end part of the second supporting rod to be static relative to the placement surface when the first guide wheel assembly moves away from the limiting structure. So, when making first bracing piece and second bracing piece do the extension motion, the whole of the recovered ectoskeleton of limbs can not move along with the motion of first bracing piece, guarantee the stationarity of the recovered ectoskeleton of limbs when the user extends the limbs, when first bracing piece and second bracing piece are the shrink motion, the tip of second bracing piece keeps static, thereby the motion is steady, improve recovered effect, guarantee simultaneously that the joint aligns and the sole is trampled on really, increase human sensation, and then be favorable to human neural recovery.

For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first supporting rod is fixed with a thigh of the human body, and the second supporting rod is fixed with a shank of the human body, the first supporting rod is driven to rotate relative to the second supporting rod, so that the lower limbs are driven 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, and the first guide wheel assembly is arranged on the first supporting rod and rolls relative to the placing surface, so that the resistance of the first supporting rod in the exercise process can be reduced, the movement of the shank 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. And, because the tip that the second bracing piece deviates from first bracing piece sets up limit structure first guide pulley subassembly orientation during limit structure motion, make the tip of second bracing piece is static relative the plane of laying, guarantees the stationarity of the recovered ectoskeleton of user's limbs when contracting limbs, and when first bracing piece and second bracing piece were the shrink motion, the tip of second bracing piece remained static to the motion is steady, improves recovered effect, guarantees simultaneously that the joint aligns and the sole is trampled really, increases human sensation, and then is favorable to human neural recovery. The fitness of the limb rehabilitation exoskeleton and the limb movement track is improved, and the rehabilitation effect is improved; and when the lower leg extends, the first guide wheel assembly drives the first supporting rod to move towards the direction far away from the second supporting rod, namely the lower leg moves towards the direction far away from the thigh, and the limiting structure and the placing surface are relatively static, so that the end part of the second supporting rod and the placing surface are relatively static. Therefore, the foot soles are well attached to the exoskeleton, the limb rehabilitation exoskeleton can be favorably attached to a human body, the phenomena that the joints of a patient are not aligned and the foot soles are not stepped on really are effectively prevented, the human body feeling is increased, and the human body nerve recovery is further facilitated. And simultaneously, the technical scheme of the utility model can play the effect of direction when adopting the supplementary human body of ectoskeleton to the movement track of laminating limbs, and the motion is steady, improves recovered effect, guarantees simultaneously that the joint aligns and the sole is trampled really, increases human sensation, and then is favorable to human neural recovery.

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 a partially exploded schematic view of an embodiment of the limb rehabilitation exoskeleton of the present invention;

fig. 3 is a schematic structural view of an embodiment of a limit structure of the limb rehabilitation exoskeleton of the present invention;

fig. 4 is a schematic structural view of another embodiment of the limiting structure of the limb rehabilitation exoskeleton of the present invention;

fig. 5 is a schematic structural view of a further embodiment of the limit structure of the limb rehabilitation exoskeleton of the present invention;

fig. 6 is a bottom view of another embodiment of the limit structure of the limb rehabilitation exoskeleton of the present invention;

fig. 7 is a schematic partial structural view of an embodiment of a first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention;

fig. 8 is a schematic partial structural view of another embodiment of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention;

fig. 9 is a front view of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention with the first support rod removed;

fig. 10 is an exploded view of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention with the first support bar removed;

fig. 11 is a schematic partial structural view of an embodiment of a first guide wheel of the exoskeleton for limb rehabilitation according to the present invention.

The reference numbers illustrate:

the purpose of the present invention is to provide a novel and improved method and apparatus for operating a computer.

Detailed Description

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

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

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

In addition, 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 addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a limb rehabilitation exoskeleton 100, which aims to facilitate the lower limb rehabilitation of patients.

Referring to fig. 1-3 and 7-11, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 includes:

a first support bar 10;

the second support rod 20 is rotatably connected with the first support rod 10;

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; and

limit structure 40, limit structure 40 locates second bracing piece 20 deviates from the tip of first bracing piece 10, limit structure 40 has the holding surface 41 that is used for supporting, holding surface 41 is equipped with anti-skidding portion 411, anti-skidding portion 411 is flexible structure.

The utility model discloses technical scheme is through rotating first bracing piece 10 and second bracing piece 20 and connecting, locate the tip that first bracing piece 10 deviates from second bracing piece 20 with first guide pulley subassembly 30 again, and locate the tip that second bracing piece 20 deviates from first bracing piece 10 with limit structure 40, because antiskid 411 is the flexible material preparation, so under the effect of gravity of the recovered ectoskeleton 100 of limbs, antiskid 411 has certain elastic deformation, and with the interference butt of mounting surface, thereby the position relatively fixed of limit structure 40 and mounting surface has been guaranteed. When the first support rod 10 rotates relative to the second support rod 20 under the action of external force, the first guide wheel assembly 30 moves on the setting surface and plays a role in guiding the movement of the end part of the first support rod 10 departing from the second support rod 20, the limiting structure 40 makes the end part of the second support rod 20 stationary relative to the setting surface when the first guide wheel assembly 30 moves towards the limiting structure 40, and the limiting structure 40 also makes the end part of the second support rod 20 stationary relative to the setting surface when the first guide wheel assembly 30 moves away from the limiting structure 40. So, when making first bracing piece 10 and second bracing piece 20 do the extension motion, the whole of recovered ectoskeleton 100 of limbs can not move along with the motion of first bracing piece 10, guarantee the stationarity of recovered ectoskeleton 100 of limbs when the user extends the limbs, when first bracing piece 10 and second bracing piece 20 are the shrink motion, the tip of second bracing piece 20 keeps static, thereby the motion is steady, improve recovered effect, guarantee simultaneously that the joint aligns and the sole is trampled really, increase human sensation, and then be favorable to human neural recovery.

For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod 10 is fixed to a thigh of the human body, and the second support rod 20 is fixed to a shank of the human body, the first support rod 10 is driven to rotate relative to the second support rod 20, so as to drive the lower limbs to make flexion and extension movements. When a human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly 30 is arranged on the first supporting rod 10 and rolls relative to the placing surface, so that the resistance of the first supporting rod 10 in the exercise 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. And, because the tip that second bracing piece 20 deviates from first bracing piece 10 sets up limit structure 40 first guide pulley subassembly 30 orientation during limit structure 40 moves, make the tip of second bracing piece 20 is static relatively to the plane of laying, guarantees the stationarity of user's recovered ectoskeleton 100 of limbs when contracting limbs, and when first bracing piece 10 and second bracing piece 20 were the contraction motion, the tip of second bracing piece 20 kept static to the motion is steady, improves recovered effect, guarantees simultaneously that the joint aligns and the sole is trampled actually, increases human sensation, and then is favorable to human neural recovery. The fitness of the limb rehabilitation exoskeleton 100 to the motion track of the limb is improved, and the rehabilitation effect is improved; and when the lower leg is extended, the first guide wheel assembly 30 brings the first support rod 10 to the direction away from the second support rod 20, that is, the lower leg moves towards the direction away from the upper leg, and the limiting structure 40 is stationary relative to the mounting surface, so that the end of the second support rod 20 is stationary relative to the mounting surface. Therefore, the foot soles are well attached to the exoskeleton, the limb rehabilitation exoskeleton 100 is favorably attached to a human body, the phenomena that the joints of a patient are not aligned and the foot soles are not stepped on really are effectively prevented, the human body feeling is increased, and the human body nerve recovery is further facilitated. And simultaneously, the technical scheme of the utility model can play the effect of direction when adopting the supplementary human body of ectoskeleton to the movement track of laminating limbs, and the motion is steady, improves recovered effect, guarantees simultaneously that the joint aligns and the sole is trampled really, increases human sensation, and then is favorable to human neural recovery.

It will be appreciated that in one use configuration, a user may place a lower limb on the limb rehabilitation exoskeleton 100 such that the first support bar 10 supports the lower leg and the second support bar 20 supports the upper leg, thereby performing rehabilitation training on the lower leg and the upper leg when the first support bar 10 and the second support bar 20 are driven to rotate relatively. And, in order to fix the position of the limb of the patient relative to the first support rod 10 and the second support rod 20, in the present technical solution, a fixing member is disposed on the first support rod 10 and/or the second support rod 20, in an embodiment of the present application, the fixing member is disposed on the upper side of the first support rod 10 and the second support rod 20, or the fixing member is correspondingly disposed on a plane parallel to the rotation direction of the first support rod 10 and the second support rod 20, so as to fix the leg laterally, and when the limb rehabilitation exoskeleton 100 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 first guide wheel assembly 30 disposed in the end portion of the first support rod 10 away from the second support rod 20" is not limited to the end surface of the first support rod 10 in the length direction, and may be understood as the free end of the first support rod 10, that is, the first guide wheel assembly 30 may be disposed at the free end of the first support rod 10, and its specific position may be a distance from the end surface of the first support rod 10 in the length direction or fixed on the end surface, and the same "end portion of the second support rod 20 disposed in the end portion of the second support rod 20 away from the first support rod 10" is referred to the foregoing description, and is not repeated herein.

In an embodiment of the present application, each of the first support bar 10 and the second support bar 20 may be rod-shaped or flat-plate-shaped, and in order to reduce the weight of the first support bar 10 and the second support bar 20, a hollow structure may be disposed on the first support bar 10 and the second support bar 20. The first support rod 10 and the second support rod 20 may be made of metal (the metal may be made of stainless steel, aluminum alloy, copper alloy, iron alloy, etc.), plastic (the plastic may be made of hard plastic, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), other alloy materials, etc. Or a mixture of a metal material and plastic may be used as long as the stability of the first and second support bars 10 and 20 is improved. So, be favorable to promoting the stability that sets up of first bracing piece 10 and second bracing piece 20 more to effectively promote practicality, reliability, and the durability of first bracing piece 10 and second bracing piece 20. In an embodiment of the present application, the second support bar 20 is larger than the first support bar 10, and since the size of the thigh of the human body is larger than the size of the shank, the size of the second support bar 20 for supporting the thigh is larger than the size of the first support bar 10 for supporting the shank, which makes the structure of the extremity rehabilitation exoskeleton 100 more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc.

In an embodiment, the anti-slip portion 411 may be made of rubber (natural rubber or synthetic rubber is selected for rubber) which is completely amorphous polymer, and is elastic at room temperature, and can generate large deformation under the action of small external force, and can recover to the original shape after the external force is removed, so that the anti-slip portion 411 can be in interference abutment with the mounting surface under the action of gravity, and the position of the limiting structure 40 and the position of the mounting surface are relatively fixed. Or the material of this flip lid can adopt silica gel spare (can select organic silica gel or inorganic silica gel), and silica gel has better chemical stability and possesses better pliability, can realize equally well under the action of gravity that antiskid 411 and mounting surface interference butt to the relative fixed in position of limit structure 40 and mounting surface has been guaranteed.

Referring to fig. 6, in an embodiment of the present application, the supporting surface 41 is provided with a mounting groove 43, at least a portion of the anti-slip portion 411 is mounted in the mounting groove 43, and another portion of the anti-slip portion 411 extends out of the mounting groove 43. Carry out better fixed mounting to non-slip portion 411 through setting up mounting groove 43, the notch of this mounting groove 43 can slightly be less than the outline of non-slip portion 411 to guarantee that non-slip portion 411 closely installs in mounting groove 43, and stretch out part non-slip portion 411 in mounting groove 43, can guarantee that non-slip portion 411 has great butt area with the mounting surface, guarantee non-slip portion 411's spacing effect.

In an embodiment of the present application, the anti-slip portion 411 may be detachably connected with the mounting groove 43 in an interference manner, so that when the anti-slip effect of the anti-slip portion 411 is reduced, the anti-slip portion 411 is replaced, and the positioning effect of the anti-slip portion 411 on the limb rehabilitation exoskeleton 100 is ensured.

Referring to fig. 5 and 6, in an embodiment of the present application, the number of the anti-slip portions 411 is multiple, the number of the mounting grooves 43 is multiple, one anti-slip portion 411 is mounted in one mounting groove 43, and the mounting grooves 43 are arranged at intervals along the length direction of the supporting surface 41. Set up the butt area that a plurality of antiskid portions 411 can further increase and the mounting surface to further increase the frictional force of antiskid portion 411 and mounting surface, guarantee in the use, antiskid portion 411 is fixed in the mounting surface with the tip that deviates from first bracing piece 10 of second bracing piece 20 all the time, thereby the motion is steady, improve recovered effect, guarantee simultaneously that the joint aligns and the sole is trampled on really, increase human sensation, and then be favorable to human neural recovery. The anti-slip parts 411 are arranged along the length direction of the supporting surface 41, so that more anti-slip parts 411 can be arranged in a limited surface, and the contact area between the limiting structure 40 and the placing surface is increased. It can be understood that the anti-slip portion 411 may be disposed at an angle with respect to the length direction of the supporting surface 41, so long as the end of the second supporting rod 20 is limited.

Referring to fig. 3 to 6, in an embodiment of the present application, the second support bar 20 is provided with a second rotation shaft 62, the limiting structure 40 is provided with a rotation hole 42, and the rotation hole 42 is rotatably sleeved on the second rotation shaft 62, so that the limiting structure 40 is rotatably connected to the second support bar 20. It will be appreciated that the rotation axis is formed along the radial extension of the second support rod 20 so as to facilitate the socket coupling of the position limiting structure 40, thereby facilitating the rotation of the position limiting structure 40 on the second rotation axis 62. The end of the second rotating shaft 62 departing from the second support rod 20 may include a limiting portion, so that the limiting structure 40 may be prevented from flying out in the using process when the limiting structure 40 is rotatably sleeved on the second rotating shaft 62. And, this second axis of rotation 62 can also include the kerf that runs through the spacing portion, thus when installing limit structure 40, can through combining the spacing portion, pass limit structure 40 again, after first axis of rotation passed limit structure 40, spacing portion opened and is spacing in second axis of rotation 62 with limit structure 40. The limiting structure 40 is rotatably connected with the second support rod 20, so that softness of the limiting structure 40 during limiting is further guaranteed, and the end of the second support rod 20 of the limb rehabilitation exoskeleton 100 is guaranteed to be static during movement of the first support rod 10, so that the limb rehabilitation exoskeleton 100 is attached to the movement track of a human body, and the rehabilitation effect is improved.

In an embodiment of the present application, the limiting structure 40 is further formed with a reinforcing portion, the reinforcing portion and the mounting groove 43 are disposed on the same surface, and the reinforcing portion surrounds and envelops the notch of the mounting groove 43. Set up the reinforcement portion and can guarantee to carry out certain reinforcement to the part that antiskid portion 411 stretches out mounting groove 43 notch fixed, guarantee to stretch out the stable in structure of the antiskid portion 411 of mounting groove 43 notch, and then improve the stable in structure of recovered ectoskeleton 100 of limbs, improve recovered effect.

Referring to fig. 1 to 3, in an embodiment of the present application, the anti-slip portion 411 is annularly disposed, and the anti-slip portion 411 is sleeved on an outer surface of the limiting structure 40. So set up, guaranteed on the one hand that the area of contact of antiskid 411 with the mounting surface is great, do benefit to the frictional force that improves between antiskid 411 and the mounting surface, guarantee the spacing effect of antiskid 411, on the other hand is convenient for carry out the dismouting to antiskid 411, has improved the efficiency of installation.

Referring to fig. 4, in an embodiment of the present application, the anti-slip portion 411 is attached and fixed to the supporting surface 41. Specifically, can adopt the cemented piece to be fixed in the laminating of antiskid portion 411 to holding surface 41, so set up and to have great area of contact guaranteeing antiskid portion 411 and the face of placeeing to can not consume too much antiskid portion 411 system material, reduced manufacturing cost.

In an embodiment of the application, the surface of the anti-slip part 411 away from the supporting surface 41 is further provided with anti-slip bumps or anti-slip corrugations, so that the friction force between the anti-slip part 411 and the placing surface can be further improved, and the end of the second supporting rod 20 of the limb rehabilitation exoskeleton 100 is ensured to be static when the first supporting rod 10 moves, so that the limb rehabilitation exoskeleton 100 fits the movement track of the human body, and the rehabilitation effect is improved.

Referring to fig. 1 to 3, in an embodiment of the present application, the length of the limiting structure 40 gradually increases in a direction from the rotation hole 42 to the supporting surface 41; so set up the area that can make limit structure 40's holding surface 41 great, improved limit structure 40 and the area of contact of mounting surface, and then improve the effect of limit structure 40's spacing second bracing piece 20 tip.

In an embodiment of the present application, the second support rod 20 includes a rod body 21 and a positioning structure 60 connected to the rod body 21, an end of the rod body 21 departing from the positioning structure 60 is rotatably connected to the first support rod 10, the second rotation shaft 62 is disposed on the positioning structure 60, and the positioning structure 60 is used for adjusting the distance between the limiting structure 40 and the rod body 21. When the exoskeleton 100 is used by users with different heights, the position of the limiting structure 40 in contact with the placing surface is changed relative to the center of gravity of the human body due to the fact that the limiting structure 40 is adjustable relative to the second support rod 20, so that the stability of the exoskeleton 100 for limb rehabilitation is improved, and when the second support rod 20 moves, the limiting structure 40 is in contact with the placing surface, so that the movement of the thigh part is more fit with the normal movement track of the limb.

Referring to fig. 1 and 2, in an embodiment of the present application, in a rotation direction of the first support rod 10 and/or the second support rod 20, the first support rod 10 and/or the second support rod 20 rotate to form an included angle, at least two first guide wheels 31 are disposed on the same side of the first support rod 10, and the limiting structure 40 is disposed on a side of the second support rod 20 facing the first guide wheel assembly 30. When the first support rod 10 and the second support rod 20 form an included angle, that is, when the user is in a state of leg-folding during use, the first guide wheel assembly 30 is disposed on one side of the first support rod 10 (that is, at least two first guide wheels 31 are disposed on the same side in the rotation direction of the first support rod 10), the limit structure 40 is disposed on one side of the second support rod 20 facing the first guide wheel assembly 30, and may be the opposite inner surfaces of the first support rod 10 and the second support rod 20 (that is, the first guide wheel assembly 30 is disposed on one side of the inner surface of the first support rod 10, and the limit structure 40 is disposed on one side of the inner surface of the second support rod 20), that is, similar to the rear side of the lower leg and the rear side of the upper leg, because the muscle tissue of the human body and the upper leg are wrapped on the upper leg and the lower leg, the first guide wheel assembly 30 and the limit structure 40 are disposed on the rear side of the lower leg and the upper leg respectively, so, thereby, the thighs and the shanks are abducted, the muscle of the user is prevented from contacting the arrangement surface, the recovery effect is prevented from being influenced by the excessive force of the muscle, and the support of the limb recovery exoskeleton 100 is facilitated. It will be appreciated that when the first support rod 10 and the second support rod 20 are parallel, the portion of the first wheel guide assembly 30 for supporting and the portion of the position limiting structure 40 for supporting are disposed on the same side of the limb rehabilitation exoskeleton 100 (the rear side of the leg), so that the limb rehabilitation exoskeleton 100 can support the user on the same side, and the support stability is improved. And the arrangement of at least two first guide wheels 31 on the same side of the first support rod 10 also facilitates the simultaneous support of the first guide wheels 31, thereby improving the structural stability of the limb rehabilitation exoskeleton 100. It can be understood that the number of the first guide wheels 31 of the first guide wheel assembly 30 can also be 3, 4, 5, 6, etc., which can increase the contact area between the first guide wheel assembly 30 and the installation surface and improve the structural stability.

Referring to fig. 1, in an embodiment of the present application, a length L1 of the first guide wheel 31 in the axial direction has a range of values: l1 is more than or equal to 10mm and less than or equal to 200 mm; when the axial length of the first guide wheel 31 is less than 10mm, the contact area of the first guide wheel 31 and the placing surface is small, so that the unstable support of the limb rehabilitation exoskeleton 100 is easily caused in the rolling process, and the rehabilitation effect of the user is influenced; when the axial length of first guide wheel 31 is greater than 200mm, the occupied space of first guide wheel 31 is too large, the overall structure of limb rehabilitation exoskeleton 100 is too large, the arrangement of a user is not facilitated, and when the value range of L1 is 10mm to 200mm, the user can be supported conveniently on one hand, and the user can not occupy too large volume and is convenient to use on the other hand. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 90mm, 100mm, 120mm, 150mm, 160mm, 180mm and the like, which are convenient for supporting and do not occupy too large volume.

In an implementation of the present application, the second support rod 20 includes a first segment and a second segment, the second segment is telescopically sleeved in the first segment, an end of the first segment away from the second segment is rotatably connected to the first support rod 10, and an end of the second segment away from the first segment is provided with a limiting structure 40; the second segment is movably provided to the first segment, and the length of the second support rod 20 is made adjustable by the second segment being close to or far from the first segment. So, when facing the patient of different heights, adjust spacing subassembly, remove a definite position with the second segmentation for first segmentation section under the exogenic action, first segmentation section and the mutual spacing fixed patient that can adapt to the height difference of second segmentation section to the commonality of recovered ectoskeleton 100 of limbs has been improved.

Referring to fig. 1, 2, 7 to 11, in an embodiment of the present application, the first guide wheel assembly 30 further includes a connecting frame 12, the connecting frame 12 is disposed at an end of the first support rod 10 facing away from the second support rod 20, the connecting frame 12 extends along a radial direction of the first support rod 10, and the first rotating shaft 123 extends along the radial direction of the first support rod 10 and is rotatably connected to the connecting frame 12. The arrangement of the connecting frame 12 and the first rotating shaft 123 extending along the radial direction of the first supporting rod 10 can increase the installation space of the first guide wheel 31, so that more first guide wheels 31 can be arranged on the first guide wheel assembly 30, thereby further increasing the contact area with the placing surface and improving the structural stability of the limb rehabilitation exoskeleton 100. And it can be understood that when the first guide wheels 31 and the limiting structures 40 support the ground at the same time, the supporting positions are distributed in a substantially triangular shape, so that the stability of the limb rehabilitation exoskeleton 100 during movement can be improved. In one embodiment, the connecting frame 12 is substantially in the form of an elongated plate, which is arranged to save production costs on the one hand and to extend in the radial direction of the first support bar 10 on the other hand. When the connecting frame 12 is connected to the first supporting rod 10, the limb rehabilitation exoskeleton 100 is substantially arranged in a T shape or an L shape, so that the structural stability is ensured.

Referring to fig. 8 and 9, in an embodiment of the present application, the connection frame 12 includes a support body 121 and a connection member 122 connected to the support body 121, the connection member 122 is used to fixedly connect the first support rod 10 to the support body 121, and the first rotation shaft 123 is rotatably connected to the support body 121. The connecting member 122 can be a nut or a snap structure or a position limiting structure 40, and the first support rod 10 can further be provided with a screw hole, a snap position 621 or a matching position, so that the connecting member 122 can connect the first support rod 10 and the support body 121. The connection member 122 may fix the first support bar 10 to a surface of the support body 121, thereby facilitating the installation of a user. And, the support body 121 is arranged, so that the connecting frame 12 can be better used for supporting the limb rehabilitation exoskeleton 100, and the structural stability is improved.

Referring to fig. 8 and 9, in an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected to the support main body 121, the clamping member 1221 is formed with a mounting hole 1221a for mounting the first support rod 10, the clamping member 1221 is further formed with a first connection hole 1221b penetrating through the mounting hole 1221a, the first support rod 10 is formed with a second connection hole 11, and the connection member passes through the first connection hole 1221b and the second connection hole 11 to fixedly connect the clamping member 1221 and the first support rod 10. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, it can be understood that, the installation hole 1221a is provided to limit the position of the first support rod 10 in the radial direction of the hole, and the cross-sectional profile of the installation hole 1221a is preferably adapted to the cross-sectional profile of the first support rod 10, so as to improve the fixing effect when the first support rod 10 is inserted into the installation hole 1221 a. In this embodiment, the connector may be a nut, and the first connection hole 1221b and the second connection hole 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

In an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected with the support body 121, the clamping member 1221 is formed with a clamping groove for clamping the first support rod 10, a notch of the clamping groove faces the support plate 1211, the clamping member 1221 is further formed with a first connection hole 1221b penetrating through a wall of the clamping groove, the first support rod 10 is formed with a second connection hole 11, the connection member passes through the first connection hole 1221b and the second connection hole 11, and the clamping member 1221 and the first support rod 10 are fixedly connected. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, since the clamping groove has a notch, the provision of the clamping groove may facilitate the installation of the first support bar 10 by a user. It is understood that the connector may be a nut, and the first coupling hole 1221b and the second coupling hole 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

Referring to fig. 9 and 10, in an embodiment of the present application, the support body 121 includes a support plate 1211 and a support protrusion 1212 connected to a surface of the support plate 1211, the connection member 122 is disposed on a surface of the support protrusion 1212 facing away from the support plate 1211, the support plate 1211 extends along a radial direction of the first support rod 10, the support protrusion 1212 is formed with a through hole along the radial direction of the first support rod 10, and the first rotation shaft 123 rotatably passes through the through hole. The first rotating shaft 123 may be supported by the support protrusion 1212, and the support protrusion 1212 and the support plate 1211 may be provided with screw holes, so that the support plate 1211 and the support protrusion 1212 may be fixedly connected by a nut.

Referring to fig. 9 and 10, in an embodiment of the present application, the number of the supporting protrusions 1212 is at least two, and the first rotating shaft 123 rotatably passes through the through hole of each supporting protrusion 1212. The provision of the plurality of support protrusions 1212 may allow the first rotating shaft 123 to be supported at a plurality of positions, thereby improving rotational stability of the first rotating shaft 123. When the plurality of first guide wheels 31 are provided, portions of the plurality of first guide wheels 31 may be disposed between the two support protrusions 1212, so that the first guide wheel assembly 30 has a better guiding effect.

Referring to fig. 8 and 9, in an embodiment of the present application, a surface of the support plate 1211 facing away from the support protrusion 1212 is recessed to form an abdicating groove 1211a, and the abdicating groove 1211a is used for positioning the limb. The abdicating groove 1211a can reduce the occupied space of the connecting frame 12 on one hand, and can position the limbs on the other hand, thereby improving the rehabilitation effect.

Referring to fig. 11, in an embodiment of the present application, the first guide pulley 31 includes:

a support hub 311, wherein the support hub 311 includes an inner rim 3111, an outer rim 3112 and a connecting rib 3113, the inner rim 3111 and the outer rim 3112 are sleeved with each other, the connecting rib 3113 is disposed between the inner rim 3111 and the outer rim 3112 and connects the inner rim 3111 and the outer rim 3112; and

an outer ring of the hub bearing 312 is fixedly connected to the inner ring 3111, and an inner ring of the hub bearing 312 is fixedly connected to the first rotating shaft 123. In an embodiment, the material of the support hub 311 may be made of plastic (the plastic may be selected from rigid plastics, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), so as to reduce the cost and facilitate the molding. The first guide roller 31 is disposed substantially in a cylindrical shape so as to facilitate rolling. Set up tie-bar 3113 and can further improve interior rim 3111 and outer rim 3112's stability to make the weight of first guide pulley 31 not too heavy, influence user's use experience. The hub bearing 312 is arranged to change the connection between the first guide wheel 31 and the first rotating shaft 123 into rolling friction, so that the rotating friction force is reduced, and therefore, when a user uses the limb rehabilitation exoskeleton 100 for rehabilitation training, the normal movement track of the limb is closer, and the use is convenient.

In an embodiment of the present application, one of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a convex key, and the other of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a key groove, and the convex key is inserted into the key groove to fixedly connect the first rotating shaft 123 and the hub bearing 312. In this embodiment, the mode through convex key and keyway realizes the fixed of bearing and axle, so set up can make the fixed effect of the two better, can adopt fixed modes such as spline, triangle key, as long as can realize better fixed can.

In an embodiment of the present application, the first guide wheel assembly 30 and the limiting structure 40 are disposed on a disposition surface, the first guide wheel assembly 30 is projected on the disposition surface to form a first projection area, the connecting frame 12 and the first support rod 10 are projected on the disposition surface to form a second projection area, and a length of the first projection area is greater than a length of the second projection area in an axial direction of the first guide wheel 31. That is, the width of first guide wheel subassembly 30 is greater than the width of first bracing piece 10 and link 12, because the one end that the limbs shank deviates from the thigh does not have other similar organs (unlike the thigh, the thigh root is similar), be difficult to obtain stably through the support of human body, it can make the structure of limbs recovered ectoskeleton 100 more stable to set up the great first guide wheel subassembly 30 of width, and then improves the first bracing piece 10 and the rotation of second bracing piece 20 steady in the rehabilitation training process, improves recovered effect.

In an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a power device, wherein the power device drives the first support rod 10 to rotate relative to the second support rod 20. The power device may be a motor, which may be a stepper motor or a servo motor or a brush motor or a brushless motor. The output shaft of the motor can also be in transmission connection with the first support rod 10 and/or the second support rod 20 through a transmission member. The transmission part can be a steel wire, a gear, a worm or a belt, and the like, as long as the transmission is convenient, in one embodiment, the motor can be arranged on the second support rod 20, when the power device drives the first support rod 10 to rotate through the transmission component during use, the first support rod 10 drives the shank to move, so that the human body completes actions of bending knees, straightening and the like, and when the actions are completed, the position change amplitude of the power device is very small, so that the power device can be reduced or even prevented from overcoming self gravity to do work. The problems of leg rotation and joint misalignment caused by uneven gravity distribution of joint components are also avoided, and the rehabilitation of a user is better assisted. In order to facilitate the patient to wear the exoskeleton, in this embodiment, the power device is detachably connected to the second support rod 20, when the exoskeleton is worn by the patient, the power device can be detached first to reduce the weight of the exoskeleton when the exoskeleton is worn, and then the power device is mounted on the second support rod 20 after the joint assembly is worn. In other embodiments of the present invention, a scheme of fixedly connecting the power device to the second support rod 20 can be adopted to reduce the number of steps for wearing the exoskeleton.

The utility model discloses still provide a limbs rehabilitation system, limbs rehabilitation system includes two at least as before the limbs rehabilitation ectoskeleton 100, two at least limbs rehabilitation ectoskeletons 100 set up relatively, and this limbs rehabilitation ectoskeleton 100's concrete structure refers to aforementioned embodiment. Since the 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 no further description is given here.

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 limb rehabilitation exoskeleton, comprising:

a first support bar;

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

2. The limb rehabilitation exoskeleton of claim 1 wherein said support surface is provided with a mounting slot, at least a portion of said non-slip portion being mounted in said mounting slot, another portion of said non-slip portion extending out of said mounting slot.

3. The limb rehabilitation exoskeleton of claim 2 wherein said anti-skid portion is plural in number, said mounting grooves are plural in number, one said anti-skid portion is mounted in one said mounting groove, and said mounting grooves are spaced apart along the length of said support surface.

4. The limb rehabilitation exoskeleton of claim 3 wherein said second support rod is provided with a second rotation shaft, and said limit structure is provided with a rotation hole, and said rotation hole is rotatably sleeved on said second rotation shaft, so that said limit structure and said second support rod are rotatably connected.

5. The limb rehabilitation exoskeleton of claim 4 wherein said retaining structure further forms a reinforcement portion, said reinforcement portion is disposed on the same surface as said mounting groove, said reinforcement portion is disposed around a notch enveloping said mounting groove;

and/or the anti-skid part is detachably connected with the mounting groove.

6. The limb rehabilitation exoskeleton of claim 1 wherein said anti-slip portion is in a ring shape and is sleeved on the outer surface of said limiting structure.

7. The limb rehabilitation exoskeleton of claim 1 wherein said non-slip portion is snugly secured to said support surface.

8. The limb rehabilitation exoskeleton of claim 4 wherein said second support bar comprises a bar body and a positioning structure connected to said bar body, wherein an end of said bar body facing away from said positioning structure is rotatably connected to said first support bar, said second rotation shaft is disposed on said positioning structure, and said positioning structure is used for adjusting a distance between said limiting structure and said bar body.

9. The limb rehabilitation exoskeleton of any one of claims 1 to 8 wherein the first support bar and/or the second support bar are rotated to form an included angle in the rotation direction of the first support bar and/or the second support bar, the first guide wheel assembly is arranged on one side of the first support bar facing the second support bar, and the limiting structure is arranged on one side of the second support bar facing the first support bar.

10. A limb rehabilitation system comprising at least two limb rehabilitation exoskeletons, the at least two limb rehabilitation exoskeletons being oppositely disposed, the limb rehabilitation exoskeletons comprising the limb rehabilitation exoskeletons of any of claims 1 to 9.