CN213130626U - Exoskeleton ankle joint mechanism and rehabilitation training robot - Google Patents

Abstract

The utility model provides an exoskeleton ankle joint mechanism and a rehabilitation training robot, wherein the joint mechanism comprises a shank support plate, a shoe plate connecting plate, a hollow rotating shaft, a rear cover and a decorative cover; the pivot is passed the shank backup pad with the shoe board connecting plate, back lid fixed mounting be in the shoe board connecting plate deviates from one side of shank backup pad, dress trim cover fixed mounting be in the shank backup pad deviates from one side of shoe board connecting plate, wear to be equipped with in the pivot can not be relative back lid makes axial rotation and can be relative through compression spring back lid is done and is close to or the removal of keeping away from, and is worn out the outer button of dress trim cover, the button is kept away from lock when the back lid the pivot is so that the pivot is not relative the axial rotation is made to the shoe board connecting plate, the spacing cover in pivot outside is equipped with can make the shank backup pad is relative the pivot is done axial pivoted torsional spring in the set angle within range.

Description

Exoskeleton ankle joint mechanism and rehabilitation training robot

Technical Field

The utility model relates to medical equipment technical field especially involves an ectoskeleton ankle joint mechanism and rehabilitation training robot.

Background

In the existing exoskeleton ankle mechanisms:

one is to select rigid connection for shank component and shoe component without degree of freedom. The mechanism has low fitting degree with a human body, cannot provide swing and buffering of the ankle joint in the walking process of a patient, and has lower practicability.

A locking member is provided for selectively rotationally coupling the lower leg assembly to the footwear assembly, the locking member being configured to lock the lower leg assembly and the footwear assembly when the lower leg assembly is swung to a predetermined position relative to the footwear assembly. The mechanism improves the fitting degree of a patient when the patient wears, and the patient still cannot provide the swing and the buffering of the ankle joint in the walking process.

And a buffer mechanism is arranged for rotatably connecting the shank component and the shoe component. When a patient uses the ankle joint ankle; and through the buffer assembly, provide reverse effort at patient's walking in-process, prevent patient's joint damage, improve ectoskeleton ankle joint's practicality. Reference is made to the patent "an exoskeleton ankle joint mechanism and exoskeleton system", patent grant publication No. CN 209662127U. The initial angle (swing 0 position) of the shoe assembly and the shank assembly of the mechanism is fixed and cannot be adjusted. Because different patients, under nature or the state of suffering from injury, there is the deviation in its ankle joint and plantar initial angle also, dress the use kind, influence its laminating degree, if can not closely laminate, under buffer gear's effect, patient's ankle joint continuously receives external force, influences the travelling comfort.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defects of the prior art, and firstly provides an exoskeleton ankle joint mechanism.

The utility model discloses a realize through following technical scheme:

the utility model provides an exoskeleton ankle joint mechanism, which comprises a shank support plate, a shoe plate connecting plate, a hollow rotating shaft, a rear cover and a decorative cover; the pivot is passed the shank backup pad with the shoe board connecting plate, back lid fixed mounting be in the shoe board connecting plate deviates from one side of shank backup pad, dress trim cover fixed mounting be in the shank backup pad deviates from one side of shoe board connecting plate, the pivot spacing in back lid with between the dress trim cover, wear to be equipped with in the pivot can not be relative back lid makes axial rotation and can be relative through compression spring back lid is being close to or the removal of keeping away from in setting for the stroke, and is wearing out the outer button of dress trim cover, the button is kept away from lock during the back lid the pivot so that the pivot can not be relative the shoe board connecting plate makes axial rotation, the spacing cover in the pivot outside is equipped with can make the shank backup pad is relative the pivot is made axial pivoted torsional spring in setting for the angle within range.

Preferably, the lower end of the shoe plate connecting plate is fixedly connected with a shoe plate, and the shoe plate is provided with a bandage hole for fixing a bandage.

Preferably, fixed cover is equipped with axle housing spare in the pivot, the torsional spring spacing in the axle housing spare, just the torsional spring both ends all are located in the arc draw-in groove that sets up on the axle housing spare and the one-to-one support press in the arc draw-in groove both ends, the torsional spring both ends still all are located support between two spacing archs that set up in the shank backup pad and the one-to-one support press on two spacing archs, correspond on the axle housing spare the arc draw-in groove is equipped with the confession the arc that two spacing archs passed leads to the groove, the fixed being equipped with on the axle housing spare is worn to establish in the arc leads to the groove and is used for being in the button is close to restriction when the axle housing spare the pivot is relative the stopper of axial rotation scope is made to.

Preferably, the button is cylindrical and is provided with a step-shaped first limit ring table, a circular first spline is fixedly sleeved at the first limit ring table, a second limit ring table is fixedly arranged inside the rotating shaft, a circular second spline is fixedly arranged at the second limit ring table, and the second spline and the first spline are mutually clamped when the button is far away from the rear cover; button one end is equipped with the open-ended recess, the opening part of recess evenly is equipped with spacing breach groove along circumference, the fixed projection that is equipped with in back lid one side, along the fixed protruding muscle that can correspond the insertion of being equipped with of circumference on the projection spacing breach inslot, compression spring is spacing in the recess and the button is kept away from be the natural flexible state during the back lid.

Preferably, the decorative cover is provided with a through hole for the button to penetrate out.

Preferably, the rotary table further comprises a deep groove ball bearing, an inner ring of the deep groove ball bearing is matched with the rotary shaft, and an outer ring of the deep groove ball bearing is matched with the lower leg supporting plate.

Preferably, each end of the rotating shaft is fixedly connected with a slip-off preventing piece.

The utility model also provides a rehabilitation training robot, include as above arbitrary the ectoskeleton ankle joint mechanism.

In the embodiment, the rotation range of the ankle joint is fixed in a certain interval and is unchanged, the initial angle during wearing and using can be adjusted, and the use flexibility and stability of the exoskeleton system are improved.

Drawings

Fig. 1 is an assembly view of an exoskeleton ankle joint mechanism provided by an embodiment of the present invention;

fig. 2 is an exploded view of an exoskeleton ankle joint mechanism provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a rotating shaft according to an embodiment of the present invention;

fig. 4 is a side view of a rotating shaft provided by an embodiment of the present invention;

fig. 5 is a side cross-sectional view of a rotating shaft provided in an embodiment of the present invention;

fig. 6 is a top view of a rotating shaft provided in an embodiment of the present invention;

fig. 7 is a bottom view of a rotating shaft according to an embodiment of the present invention;

FIG. 8 is a view showing the relationship between the shaft and the connection plate of the shoe plate according to the embodiment of the present invention;

fig. 9 is a schematic structural diagram of a button provided in an embodiment of the present invention;

fig. 10 is a side view of a push button provided by an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a rear cover according to an embodiment of the present invention;

FIG. 12 is a side cross-sectional view of the hinge engaged with a shoe plate connecting plate according to an embodiment of the present invention;

figure 13 is a side cross-sectional view of the exoskeleton ankle mechanism provided in an embodiment of the present invention;

fig. 14 is a schematic diagram of an exoskeleton ankle joint mechanism provided by an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The utility model discloses aim at solving the patient when dressing the recovered robot of ectoskeleton, the deviation problem of "ankle joint and plantar initial angle" of patient self "ankle joint and the plantar initial angle" of ectoskeleton robot improves and dresses laminating nature and comfort level, simultaneously the utility model discloses also be equipped with buffer gear, provide reverse effort at patient walking in-process, prevent patient joint damage, improve the practicality of ectoskeleton ankle joint. The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and fig. 2, fig. 1 is an assembly diagram of an exoskeleton ankle joint mechanism provided in an embodiment of the present invention, and fig. 2 is an exploded diagram of the exoskeleton ankle joint mechanism provided in an embodiment of the present invention.

As shown in fig. 1 and 2, the exoskeleton ankle joint mechanism and rehabilitation training robot comprises a shank support plate 1, a shoe plate connecting plate 2, a hollow rotating shaft 3, a rear cover 4 and a decorative cover 5. The pivot 3 passes shank backup pad 1 and shoe board connecting plate 2, and back lid 4 fixed mounting deviates from one side of shank backup pad 1 at shoe board connecting plate 2, and dress trim cover 5 fixed mounting deviates from one side of shoe board connecting plate 2 at shank backup pad 1, and pivot 3 is spacing between back lid 4 and dress trim cover 5. The rear cover 4 can be detachably and fixedly connected with the shoe plate connecting plate 2 through screws, and the decorative cover 5 can be also detachably and fixedly connected with the shank supporting plate 1 through screws.

In this embodiment, each end of the rotating shaft 3 is fixedly connected with a slip-off preventing member 20, a button 7 which can not rotate relative to the rear cover 4, can move close to or away from the rear cover 4 in a set stroke through a compression spring 6 and penetrates out of the decorative cover 5 is arranged in the rotating shaft 3 in a penetrating manner, a through hole through which the button 7 penetrates out is particularly formed in the decorative cover 5, when the button 7 is far away from the rear cover 4, the rotating shaft 3 is locked so that the rotating shaft 3 can not axially rotate relative to the shoe plate connecting plate 2, and a torsion spring 8 which can enable the shank supporting plate 1 to axially rotate in a set angle range relative to the rotating shaft 3 is sleeved on the outer side of the rotating shaft 3 in a.

Please refer to fig. 3-7, fig. 3 is a schematic structural diagram of a rotating shaft according to an embodiment of the present invention, fig. 4 is a side view of the rotating shaft according to an embodiment of the present invention, fig. 5 is a side sectional view of the rotating shaft according to an embodiment of the present invention, fig. 6 is a top view of the rotating shaft according to an embodiment of the present invention, and fig. 7 is a bottom view of the rotating shaft according to an embodiment of the present invention. Fixed cover is equipped with axle housing spare 11 in pivot 3, and axle housing spare 11 is circular structure, during the installation, with 8 suit of torsional spring on pivot 3 to make 8 spacing in axle housing spare 11 of torsional spring, 8 whole ring shape that are of torsional spring, and 8 both ends of torsional spring are the form of bending, 8 both ends that are the form of bending all lie in the arc draw-in groove 12 that sets up on axle housing spare 11 and the both ends that press in arc draw-in groove 12 of supporting of one-to-one.

Please refer to fig. 8, fig. 8 is a diagram illustrating a relationship between the hinge and the shoe board connecting plate according to an embodiment of the present invention. As shown in fig. 8, the shoe plate connecting plate 2 is sleeved on the rotating shaft 3, a connecting plate shaft hole for the rotating shaft 3 to penetrate is formed in the shoe plate connecting plate 2, and the rotating shaft 3 and the shoe plate connecting plate 2 can rotate relative to each other due to clearance fit of the connecting plate shaft hole and the rotating shaft 3. During the assembly, 3 suit torsional springs 8's of pivot one end penetrates above-mentioned connecting plate shaft hole, penetrates above-mentioned connecting plate shaft hole with pivot 3 after, ends a piece 20 at 3 this end fixed connection assembly in pivot, will end a piece 20 locking at the 3 this ends of pivot specifically through the screw. Referring to fig. 12, fig. 12 is a side sectional view of the hinge and the shoe plate connecting plate according to the embodiment of the present invention, in which the hinge 3 and the torsion spring 8 are prevented from being separated from the shoe plate connecting plate 2 by installing the separation stopper 20 at the end of the hinge 3.

Please combine fig. 9-10, fig. 9 is a schematic structural diagram of the button provided in the embodiment of the present invention, fig. 10 is a side view of the button provided in the embodiment of the present invention, the button 7 is cylindrical and is provided with a first step-shaped limit ring platform, the first limit ring platform is fixedly sleeved with a first circular spline 15, and with reference to fig. 5, a second limit ring platform is fixedly provided inside the rotating shaft 3, the second limit ring platform is fixedly provided with a second circular spline 16, the second spline 16 and the first spline 15 both include a plurality of key teeth uniformly arranged along the circumferential direction, in this embodiment, the second spline 16 and the first spline 15 are mutually engaged when the button 7 is far away from the rear cover 4.

Further, 7 one end of button is equipped with the open-ended recess, the opening part of recess evenly is equipped with spacing breach groove 17 along circumference, please combine fig. 11, fig. 11 is the utility model provides a structural schematic diagram of back lid, the fixed projection that is equipped with in 4 one side of back lid, along the fixed spacing protruding muscle 18 that can correspond and insert in spacing breach groove 17 that is equipped with of circumference on the projection, compression spring 6 spacing in be the nature telescopic state in the recess and when button 7 keeps away from back lid 4.

During assembly, the compression spring 6 is limited and assembled in the groove of the button 7 as shown in fig. 12, the button 7 is inserted into the other end of the rotating shaft 3, the limiting convex rib 18 on the rear cover 4 is correspondingly inserted into the limiting notch groove 17 on the button 7, so that the button 7 cannot axially rotate relative to the rear cover 4 and can move close to or away from the rear cover 4 in a set stroke through the compression spring 6, when the button 7 is far away from the rear cover 4, the compression spring 6 is in a natural telescopic state, at the moment, the first spline 15 on the button 7 is mutually clamped with the second spline 16 inside the rotating shaft 3, and the rotating shaft 3 is locked and cannot axially rotate relative to the shoe plate connecting plate 2. When the angle needs to be adjusted, the button 7 is pressed to enable the button 7 to be close to the rear cover 4, at the moment, the compression spring 6 is in a compression state, the first spline 15 on the button 7 is separated from the second spline 16 inside the rotating shaft 3, and at the moment, the rotating shaft 3 can axially rotate relative to the shoe plate connecting plate 2 to achieve angle adjustment. When the required angle is reached, the button 7 is loosened, the first spline 15 on the button 7 is clamped with the second spline 16 inside the rotating shaft 3 under the action of the compression spring 6, at the moment, the rotating shaft 3 and the shoe plate connecting plate 2 are locked with each other and cannot rotate, and the rotating shaft 3 forms the expected angle relative to the shoe plate connecting plate 2.

Further, the novel leg support plate device further comprises two deep groove ball bearings 19, the number of the deep groove ball bearings 19 is two, the inner ring of each deep groove ball bearing 19 is matched with the rotating shaft 3, and the outer ring of each deep groove ball bearing 19 is matched with the leg support plate 1. Please combine fig. 13, fig. 13 is a sectional side view of the exoskeleton ankle joint mechanism provided in the embodiment of the present invention, a support plate shaft hole for the rotation shaft 3 to penetrate is provided on the lower leg support plate 1, two deep groove ball bearings 19 are all fixedly installed in the support plate shaft hole, the rotation shaft 3 is fixedly inserted into the inner rings of the two deep groove ball bearings 19, and the bearing 3 is provided with a slip-off preventing member 20 for fixedly connecting the inner rings of the two deep groove ball bearings 19, the slip-off preventing member 20 is locked at the end of the rotation shaft 3 by a screw, and the slip-off preventing member 20 is installed at the end of the rotation shaft 3, so as to prevent the deep groove ball bearings 19 and the lower leg support plate 1 from being disengaged from the rotation shaft 3 and the shoe plate connecting plate 2. After the above assembly is completed, the cosmetic cover 5 is finally mounted on the calf support plate 1. The shank support plate 1 can axially rotate relative to the rotating shaft 3 through the deep groove ball bearing 19.

With continuing reference to fig. 8 and with reference to fig. 14, fig. 14 is a schematic diagram of the exoskeleton ankle joint mechanism provided by the embodiment of the present invention, in which two limiting protrusions 13 are provided on the lower leg support plate 1, when the assembly is completed, the two ends of the torsion spring 8 are still located between the two limiting protrusions 13 provided on the lower leg support plate 1, and are supported by the two limiting protrusions 13 in a one-to-one correspondence. Specifically, an arc through groove 14 for two limiting protrusions 13 to pass through is arranged on the shaft shell 11 corresponding to the arc clamping groove 12, and when the assembly is completed, the two limiting protrusions 13 correspondingly abut against and press two ends of the torsion spring 8 after passing through the arc through groove 14. In addition, the shaft shell 11 is fixedly provided with two limiting blocks 21 penetrating through the arc-shaped through groove 14, when the assembly is completed, the two limiting blocks 21 penetrate through the arc-shaped through groove 14 and then are correspondingly positioned on the outer side between the two ends of the torsion spring 8, and the two limiting blocks 21 and the two ends of the arc-shaped through groove 14 are respectively provided with a certain distance, so that the two limiting blocks 21 are used for limiting the range of axial rotation of the rotating shaft 3 relative to the shoe plate connecting plate 2 when the button 7 is close to the shaft shell 11, that is, the rotating shaft 3 is axially rotated within the range of the angle [ alpha 1, alpha 2] relative to the shoe plate connecting plate 2, and alpha 1 and alpha 2 can be equal. Simultaneously, because two stopper 21 correspond the outside that is located between 8 both ends of torsional spring after passing arc through groove 14 for two stopper 21 have the certain distance respectively with 8 both ends of torsional spring, moreover because when the assembly was accomplished, two spacing archs 13 in the shank backup pad 1 correspond after passing arc through groove 14 and support the both ends that press and be located torsional spring 8, can realize: the shank supporting plate 1 rotates axially in the interval [ beta 1, beta 2] relative to the rotating shaft 3, and the beta 1 and the beta 2 can be equal. Like this, under the effect of torsional spring 8, there is the buffering when shank backup pad 1 does the axial rotation for pivot 3, and this buffering can provide counter-acting force at the patient walking in-process, reinforcing user experience. When no external force is applied, a static balance point exists between the lower leg support plate 1 and the rotating shaft 3 under the action of the torsion spring 8, and the static balance point can be set as a zero point.

In this embodiment, 2 lower extremes of shoes board connecting plate 2 fixedly connected with shoes board 9 is equipped with the bandage hole 10 that is used for fixing the bandage on the shoes board 9, and user's accessible bandage is fixed sole vamp and shoes board 9, and the user of being convenient for wears the shoes of oneself and binds with ectoskeleton ankle joint mechanism to and walk, improve the laminating degree of patient and shoes board 9 and the travelling comfort of walking.

Description of the working principle:

as shown in fig. 14, the lower leg support plate 1 can rotate around the rotation shaft 3 within the range of [ β 1, β 2 ]; the shoe board connecting plate 2 can rotate around the rotating shaft 3, and the rotating angle range is [ alpha 1, alpha 2 ]. Setting the position state as the zero position according to the position state in fig. 13, namely when the sole and the shank form an angle of 90 degrees;

when the ankle joint is at a zero position, the anteversion angle range of the ankle joint is beta 1, the supination angle range is beta 2, and referring to human engineering, the angle beta 1 is 30 degrees;

if the sole and the shank of the patient form an angle of 85 degrees, the patient is in a natural and comfortable state, and the device can be adjusted: after the button 7 is pressed down, the shoe plate connecting plate 2 rotates 5 degrees anticlockwise around the rotating shaft 3, the button 7 is loosened, and the shoe plate connecting plate 2 and the rotating shaft 3 are locked. At this time, the initial angle of the ankle joint is 5 °, β 1 is 30 ° -5 ° -25 °, β 2 is 30 ° +5 ° -35 °, and the range of motion of the ankle joint is still [ -30 °, 30 ° ], relative to the zero position;

if the sole and the shank of the patient form an angle of 95 degrees, the patient is in a natural and comfortable state, and the device can be adjusted: after the button 7 is pressed down, the shoe plate connecting plate 2 is rotated clockwise by 5 degrees around the rotating shaft 3, the button 7 is loosened, and the shoe plate connecting plate 2 and the rotating shaft 3 are locked. At this time, the initial angle of the ankle joint is-5 °, β 1 ═ 30 ° +5 ° + 35 °, β 2 ═ 30 ° -5 ° -25 °, and the range of motion of the ankle joint is still [ -30 °, 30 ° ], relative to the zero position;

the remaining angles may be analogized.

In conclusion, the rotation range of the ankle joint is fixed in a certain interval and is unchanged, and the initial angle of the ankle joint can be adjusted when the ankle joint is worn and used.

The utility model also provides a rehabilitation training robot, this rehabilitation training robot includes foretell ectoskeleton ankle joint mechanism, improves flexibility and the stability of using through this ectoskeleton ankle joint mechanism.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. An exoskeleton ankle joint mechanism comprising: a shank support plate, a shoe plate connecting plate, a hollow rotating shaft, a rear cover and a decorative cover; the pivot is passed the shank backup pad with the shoe board connecting plate, back lid fixed mounting be in the shoe board connecting plate deviates from one side of shank backup pad, dress trim cover fixed mounting be in the shank backup pad deviates from one side of shoe board connecting plate, the pivot spacing in back lid with between the dress trim cover, wear to be equipped with in the pivot can not be relative back lid makes axial rotation and can be relative through compression spring back lid is being close to or the removal of keeping away from in setting for the stroke, and is wearing out the outer button of dress trim cover, the button is kept away from lock during the back lid the pivot so that the pivot can not be relative the shoe board connecting plate makes axial rotation, the spacing cover in the pivot outside is equipped with can make the shank backup pad is relative the pivot is made axial pivoted torsional spring in setting for the angle within range.

2. The exoskeleton ankle joint mechanism of claim 1, wherein a shoe plate is fixedly connected to the lower end of the shoe plate connecting plate, and a strap hole for fixing a strap is formed in the shoe plate.

3. The exoskeleton ankle joint mechanism as claimed in claim 1, wherein a shaft housing member is fixedly sleeved on the rotating shaft, the torsion spring is limited in the shaft housing member, and two ends of the torsion spring are located in arc-shaped slots provided on the shaft housing member and are pressed against two ends of the arc-shaped slots in a one-to-one correspondence manner, two ends of the torsion spring are located between two limiting protrusions provided on the shank supporting plate and are pressed against the two limiting protrusions in a one-to-one correspondence manner, an arc-shaped through slot for the two limiting protrusions to pass through is provided on the shaft housing member corresponding to the arc-shaped slots, and a limiting block is fixedly provided on the shaft housing member and is inserted in the arc-shaped through slot and used for limiting the rotating shaft to make an axial rotation range relative to the shoe plate connecting plate when the button is close to the shaft housing member.

4. The exoskeleton ankle joint mechanism according to claim 1, wherein the button is cylindrical and provided with a first step-shaped limit ring platform, a first annular spline is fixedly sleeved on the first limit ring platform, a second limit ring platform is fixedly arranged inside the rotating shaft, a second annular spline is fixedly arranged on the second limit ring platform, and the second spline and the first spline are mutually clamped when the button is far away from the rear cover; button one end is equipped with the open-ended recess, the opening part of recess evenly is equipped with spacing breach groove along circumference, the fixed projection that is equipped with in back lid one side, along the fixed protruding muscle that can correspond the insertion of being equipped with of circumference on the projection spacing breach inslot, compression spring is spacing in the recess and the button is kept away from be the natural flexible state during the back lid.

5. The exoskeleton ankle joint mechanism of claim 1, wherein the decorative cover has a through hole for the button to pass through.

6. The exoskeleton ankle joint mechanism of claim 1, further comprising a deep groove ball bearing, wherein an inner ring of the deep groove ball bearing is engaged with the spindle, and an outer ring of the deep groove ball bearing is engaged with the lower leg support plate.

7. The exoskeleton ankle joint mechanism of claim 1 wherein a slip stop is fixedly attached to each end of said shaft.

8. A rehabilitation training robot comprising the exoskeleton ankle joint mechanism of any one of claims 1 to 7.

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