CN213994129U - Exoskeleton ankle joint mechanism for lower limb rehabilitation training - Google Patents
Exoskeleton ankle joint mechanism for lower limb rehabilitation training Download PDFInfo
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- CN213994129U CN213994129U CN202020252651.0U CN202020252651U CN213994129U CN 213994129 U CN213994129 U CN 213994129U CN 202020252651 U CN202020252651 U CN 202020252651U CN 213994129 U CN213994129 U CN 213994129U
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Abstract
The utility model discloses a low limbs rehabilitation training ectoskeleton ankle joint mechanism, including shank 1, connecting axle 2, switching subassembly 3, connecting plate 4, pedal subassembly 5, 1 lower extreme of shank passes through connecting axle 2 and links to each other with switching subassembly 3 upper end, switching subassembly 3 lower extreme passes through the pivot and links to each other with connecting plate 4, connecting plate lower extreme 4 passes through the bolt and links to each other with sole board subassembly 5, contain buffer structure 30 in the switching subassembly 3. The connecting part of the transfer assembly and the crus of the utility model has relative swinging amount in the left and right directions, thus improving the flexibility of the exoskeleton ankle joint for lower limb rehabilitation training during walking; the buffering structure in the transfer assembly of the utility model improves the safety of the exoskeleton ankle joint for lower limb rehabilitation training through the reaction force with the connecting plate; the utility model discloses well footboard subassembly's structure accords with the structure at human ankle joint and foot position more, has improved the travelling comfort that low limbs rehabilitation training ectoskeleton was dressed.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially a technical field of low limbs rehabilitation training ectoskeleton ankle joint mechanism.
Background
The utility model discloses use the walking ability that resumes, promotes chronic osteoarticular disease patient, spine hip injury patient and brain damage patient as the target. At present, most of patients with lower limb dysfunction are caused by osteoarticular diseases, and the rest are mainly caused by spine hip injury and brain injury. Exoskeleton robots suitable for these patients are also currently available in the market to assist in the recovery of their lower limb mobility.
The existing exoskeleton ankle joint mechanism for lower limb rehabilitation training mainly has two problems, namely 1, the exoskeleton ankle joint mechanism only has the function of fixing ankle joints, can only realize the functions of lifting and pressing down of a patient, and completely ignores the walking posture of a normal person; 2. the ankle joint mechanism is relatively complex and relatively clumsy, and the cost is not effectively controlled. When a patient walks, the ankle joint contusion is easily caused by the problems, the completion of the foot lifting and retracting actions of the patient is not facilitated, and the use performance of the exoskeleton for lower limb rehabilitation training is influenced.
Disclosure of Invention
The utility model aims at solving the problem in the prior art and providing a lower limb rehabilitation training exoskeleton ankle joint mechanism to overcome the problem that the existing lower limb exoskeleton ankle joint structure is heavy and not flexible enough.
In order to realize the purpose, the utility model provides a low limbs rehabilitation training ectoskeleton ankle joint mechanism, including shank 1, connecting axle 2, switching subassembly 3, connecting plate 4, sole board subassembly 5, 1 lower extreme of shank passes through connecting axle 2 and links to each other with switching subassembly 3 upper end, switching subassembly 3 lower extreme passes through the pivot and links to each other with connecting plate 4, connecting plate lower extreme 4 passes through the bolt and links to each other with sole board subassembly 5, be equipped with buffer structure 30 in the switching subassembly 3.
Preferably, the lower end of the lower leg 1 is provided with a front-back symmetrical limiting hole 11 and a connecting hole 12, and the limiting hole 11 is positioned right above the connecting hole 12; the connecting shaft 2 passes through the connecting hole 12 and the adapter assembly 3.
Preferably, the adapter assembly 3 comprises an outer connecting member 31 and an inner connecting member 32, wherein the outer connecting member 31 extends to form a front end 33 and a rear end 34, the front end 33 and the rear end 34 are provided with a central hole 35 and an arc groove 36, the central hole 35 is positioned under the arc groove 36, the point on the central arc line of the arc groove 36 is superposed with the central point of the limiting hole 11, the outer connecting piece 31 and the inner connecting piece 32 are provided with symmetrical shaft pin holes 37, the rotating shaft 311 sequentially passes through the shaft pin hole 37 of the outer connecting piece 31, the shaft hole 41 of the connecting plate 4 and the shaft pin hole 37 of the inner connecting piece 32, the snap springs 312 are arranged at two ends of the rotating shaft 311, the inner connecting member 32 is fixed to the outer connecting member 31 by means of screws 310, the outer connecting member 31 is provided with a first torsion spring groove 38, the inside connecting piece 32 is provided with a second torsion spring groove 39, and a buffer structure 30 is connected between the outside connecting piece 31 and the inside connecting piece 32.
Preferably, the buffer structure 30 includes a left torsion spring 301 and a right torsion spring 302, the height of the torsion spring is greater than the depth of the torsion spring groove, the left and right sides of the upper end of the connecting plate 4 are provided with a third torsion spring groove 42 and a fourth torsion spring groove 43, the left torsion spring 301 is installed between the first torsion spring groove 38 and the third torsion spring groove 42, the right torsion spring 302 is installed between the second torsion spring groove 39 and the fourth torsion spring groove 43, the front end of the left torsion spring 301 is higher than the first torsion spring groove 38, the part of the left torsion spring 301 higher than the first torsion spring groove 38 is clamped in the third torsion spring groove 42, the rear end of the right torsion spring 302 is higher than the second torsion spring groove 39, and the part of the right torsion spring 302 higher than the second torsion spring groove 39 is clamped in the fourth torsion spring groove 43.
Preferably, the sole plate assembly 5 comprises a sole plate 51, a side panel 52, an upper strap 53 and a rear strap 54, wherein the upper strap 53 is connected to the upper end of the side panel 52, the rear strap 53 is connected to the rear end of the side panel 52, the side panels 52 are fixed to the left and right sides of the sole plate 51 and are symmetrically distributed, the front surface, the rear surface and the upper surface of the side panel 52 are provided with a certain inclination, the sole plate 51 is connected with the lower end of the connecting plate 4 through bolts, and the bottom surface of the sole plate 51 is provided with 7 grooves.
The utility model has the advantages that: the connecting part of the transfer assembly and the crus of the utility model has relative swinging amount in the left and right directions, thus improving the flexibility of the exoskeleton ankle joint for lower limb rehabilitation training during walking and being more in line with the walking posture of the human body; the buffering structure in the transfer assembly of the utility model provides reaction force for the patient in the walking process through the reaction force with the connecting plate, improves the safety of the exoskeleton ankle joint of the lower limb rehabilitation training, and can effectively prevent the ankle joint of the patient from contusion in the walking process; the resilience force generated by the buffer structure of the utility model is not only beneficial for the patient to smoothly complete the actions of lifting and retracting feet, but also ensures that the part below the ankle joint of the relatively serious patient is in the normal walking posture in the walking process; the utility model discloses well footboard subassembly's structure accords with the structure at human ankle joint and foot position more, has improved the travelling comfort that low limbs rehabilitation training ectoskeleton was dressed.
The features and advantages of the present invention will be described in detail by embodiments with reference to the accompanying drawings.
[ description of the drawings ]
Fig. 1 is a schematic view of an exoskeleton ankle joint mechanism for lower limb rehabilitation training of the present invention;
fig. 2 is a schematic view of a lower leg of the exoskeleton ankle joint mechanism for lower limb rehabilitation training of the present invention;
fig. 3 and fig. 4 are schematic diagrams of the explosion of the exoskeleton ankle joint mechanism for lower limb rehabilitation training of the present invention.
[ detailed description ] embodiments
Referring to fig. 1, fig. 2, fig. 3, fig. 4, the utility model provides a lower limbs rehabilitation training ectoskeleton ankle joint, including shank 1, connecting axle 2, switching subassembly 3, connecting plate 4, sole board subassembly 5, shank 1 lower extreme passes through connecting axle 2 and links to each other with switching subassembly 3 upper end, and switching subassembly 3 lower extreme passes through the pivot and links to each other with connecting plate 4, and connecting plate 4 lower extreme passes through the bolt and links to each other with sole board subassembly 5, is equipped with buffer structure 30 in the switching subassembly 3. In the specific implementation process, in the walking process, the adapter component 3 can generate a small swinging amount relative to the lower leg 1 in the left-right direction around the connecting shaft 2, and the connecting plate 4 generates a reaction force through the buffer structure 30 in the adapter component 3, so that the sole plate component 5 can have a good buffer effect when stepping on the ground.
Preferably, the lower end of the lower leg 1 is provided with a front-back symmetrical limiting hole 11 and a connecting hole 12, and the limiting hole 11 is positioned right above the connecting hole 12; the connecting shaft 2 passes through the connecting hole 12 and the adapter assembly 3. In a specific implementation process, the limiting hole 11 on the lower leg 1 is used for inserting a limiting pin into the lower limb rehabilitation training exoskeleton to limit the swing amount of the switching component 3 relative to the lower leg 1 in a walking process, so that ankle joint contusion caused by the fact that the switching component 3 generates a large swing amount in the left and right directions is prevented.
Preferably, the adapter assembly 3 includes an outer connecting member 31 and an inner connecting member 32, the outer connecting member 31 extends from the front side to the rear side to form a front end 33 and a rear end 34, the front end 33 and the rear end 34 are provided with a central hole 35 and an arc groove 36, the central hole 35 is located right below the arc groove 36, a point on a central arc of the arc groove 36 coincides with a central point of the limiting hole 11, the outer connecting member 31 and the inner connecting member 32 are provided with symmetrical pin holes 37, a rotating shaft 40 passes through the pin holes 37 of the outer connecting member 31 and the inner connecting member 32, two ends of the rotating shaft 311 are provided with snap springs 312, the inner connecting member 32 is fixed on the outer connecting member 31 by a screw 310, the outer connecting member 31 is provided with a first torsion spring groove 38, the inner connecting member 32 is provided with a second torsion spring groove 39, and a buffer structure 30 is connected between the outer connecting member 31 and the inner connecting member 32. In the specific implementation process, the connecting shaft 2 sequentially penetrates through the central hole 35 and the connecting hole 12, the clamping springs mounted at two ends of the connecting shaft 2 prevent the connecting shaft 2 from falling off, the arc groove 36 is aligned to the limiting hole 11, the arc groove 36 is used for limiting the stroke of the swinging amount, and the switching assembly 3 is prevented from generating large swinging amount in the left and right directions to cause ankle joint contusion.
Preferably, the buffer structure 30 includes a left torsion spring 301 and a right torsion spring 302, the height of the torsion spring is greater than the depth of the torsion spring groove, the left and right sides of the upper end of the connecting plate 4 are provided with a third torsion spring groove 42 and a fourth torsion spring groove 43, the left torsion spring 301 is installed between the first torsion spring groove 38 and the third torsion spring groove 42, the right torsion spring 302 is installed between the second torsion spring groove 39 and the fourth torsion spring groove 43, the front end of the left torsion spring 301 is higher than the first torsion spring groove 38 and is clamped in the third torsion spring groove 42, the rear end of the right torsion spring 302 is higher than the second torsion spring groove 39, and the rear end of the right torsion spring 302 is higher than the second torsion spring groove 39 and is clamped in the fourth torsion spring groove 43. In a specific implementation process, when a patient steps on the ground in a walking process, the left torsion spring 301 arranged between the first torsion spring groove 38 and the third torsion spring groove 42 and the right torsion spring 302 arranged between the second torsion spring groove 39 and the fourth torsion spring groove 43 generate buffering forces in opposite directions, so that the ankle joint is protected; meanwhile, when a patient lifts the foot (or falls the foot), the resilience force of the right torsion spring 302 (or the left torsion spring 301) is provided for the connecting plate 4, and the connecting plate 4 drives the sole plate component 5 to lift (or fall down), so that the patient is assisted to easily complete the foot lifting or falling action in the walking process; when the part below the ankle joint of a serious patient naturally droops, the part below the ankle joint of the patient is ensured to be in a normal walking posture in the walking process through the joint elastic action of the left torsion spring 301 and the right torsion spring 302.
Preferably, the sole plate assembly 5 comprises a sole plate 51, a side panel 52, an upper strap 53, and a rear strap 54, wherein the upper strap 53 is connected to the upper end of the side panel 52, the rear strap 53 is connected to the rear end of the side panel 52, the lower end surfaces of the side panels 52 are fixed to the left and right sides of the sole plate 51 by screws and are symmetrically distributed, the front surface, the rear surface and the upper surface of the side panel 52 are provided with a certain inclination, the sole plate 51 is connected to the lower end of the connecting plate 4 by bolts, and the bottom surface of the sole plate 51 is provided with 7 grooves. In the specific implementation process, the side baffle 52 is used for limiting the feet of the patient to greatly shake in the left-right direction, and meanwhile, the slopes of the front surface, the rear surface and the upper surface of the side baffle 52 can ensure the wearing comfort of the patient and better accord with the structures of the ankle joints and the feet of the human body; when a patient wears the lower limb rehabilitation training exoskeleton, the sole of the patient is fixed with the sole plate 51 through the upper binding belt 53 and the rear binding belt 54, so that the looseness of the feet of the patient on the sole plate 51 in multiple directions is well limited, the feet of the patient are conveniently bound with the ankle joints of the lower limb rehabilitation training exoskeleton, and the fitting degree of the feet of the patient with the sole plate 51 and the walking comfort are improved in the walking process of the patient; the 7 grooves on the bottom surface of the foot bottom plate 51 can not only play a role of anti-skidding, but also save materials and reduce the weight of the exoskeleton for lower limb rehabilitation training.
The connecting part of the transfer assembly and the crus of the utility model has relative swinging amount in the left and right directions, thus improving the flexibility of the exoskeleton ankle joint for lower limb rehabilitation training during walking and being more in line with the walking posture of the human body; the buffering structure in the transfer assembly of the utility model provides reaction force for the patient in the walking process through the reaction force with the connecting plate, improves the safety of the exoskeleton ankle joint of the lower limb rehabilitation training, and can effectively prevent the ankle joint of the patient from contusion in the walking process; the resilience force generated by the buffer structure of the utility model is not only beneficial for the patient to smoothly complete the actions of lifting and retracting feet, but also ensures that the part below the ankle joint of the relatively serious patient is in the normal walking posture in the walking process; the utility model discloses well footboard subassembly's structure accords with the structure at human ankle joint and foot position more, has improved the travelling comfort that low limbs rehabilitation training ectoskeleton was dressed.
The above-mentioned embodiment is right the utility model discloses an explanation, it is not right the utility model discloses a limited, any right the scheme after the simple transform of the utility model all belongs to the protection scope of the utility model.
Claims (4)
1. The utility model provides a lower limbs rehabilitation training ectoskeleton ankle joint mechanism which characterized in that: including shank (1), connecting axle (2), switching subassembly (3), connecting plate (4), sole board subassembly (5), spacing hole (11), connecting hole (12), be equipped with spacing hole (11) of symmetry around on shank (1), shank (1) lower extreme is equipped with connecting hole (12), connecting axle (2) pass connecting hole (12) and are used for connecting shank (1) and switching subassembly (3) and link to each other, switching subassembly (3) lower extreme passes through the pivot and links to each other with connecting plate (4), connecting plate (4) lower extreme passes through the bolt and links to each other with sole board subassembly (5), be equipped with buffer structure (30) in switching subassembly (3).
2. The exoskeleton ankle joint mechanism for lower limb rehabilitation training as claimed in claim 1, wherein the switching assembly (3) comprises an outer connecting piece (31), an inner connecting piece (32) and a rotating shaft (311), the outer connecting piece (31) extends upwards from the front side to the rear side to form a front end (33) and a rear end (34), the front end (33) and the rear end (34) are provided with a central hole (35) and an arc groove (36), the central hole (35) is located right below the arc groove (36), a point on a central arc of the arc groove (36) coincides with a central point of the limiting hole (11), the outer connecting piece (31) and the inner connecting piece (32) are provided with symmetrical shaft pin holes (37), and the rotating shaft (311) sequentially passes through the shaft pin hole (37) of the outer connecting piece (31), the shaft hole (41) of the connecting plate (4) and the shaft pin hole (37) of the inner connecting piece (32), jump ring (312) are equipped with at pivot (311) both ends, inboard connecting piece (32) are fixed on outside connecting piece (31) through screw (310), outside connecting piece (31) are equipped with first torsion spring groove (38), inboard connecting piece (32) are equipped with second torsion spring groove (39), be connected with buffer structure (30) between outside connecting piece (31) and inboard connecting piece (32).
3. The exoskeleton ankle joint mechanism for lower limb rehabilitation training as claimed in claim 1, the buffer structure (30) comprises a left torsion spring (301) and a right torsion spring (302), a third torsion spring groove (42) and a fourth torsion spring groove (43) are arranged on the left side surface and the right side surface of the upper end of the connecting plate (4), the left torsion spring (301) is installed between the first torsion spring groove (38) and the third torsion spring groove (42), the right torsion spring (302) is arranged between the second torsion spring groove (39) and the fourth torsion spring groove (43), the front end of the left side torsion spring (301) is higher than the first torsion spring groove (38), the part of the front end of the left side torsion spring (301) higher than the first torsion spring groove (38) is clamped in the third torsion spring groove (42), the rear end part of the right torsion spring (302) is higher than the second torsion spring groove (39), the part of the rear end of the right torsion spring (302) higher than the second torsion spring groove (39) is clamped in the fourth torsion spring groove (43).
4. The lower limb rehabilitation training exoskeleton ankle joint mechanism as claimed in claim 1, wherein the sole plate assembly (5) comprises a sole plate (51), side baffles (52), an upper binding band (53) and a rear binding band (54), the upper binding band (53) is connected to the upper end of the side baffles (52), the rear binding band (54) is connected to the rear end of the side baffles (52), the lower end faces of the side baffles (52) are fixed to the left and right sides of the sole plate (51) through screws and are symmetrically distributed, the front surface, the rear surface and the upper surface of each side baffle (52) are provided with a certain inclination, the sole plate (51) is connected with the lower end of the connecting plate (4) through bolts, and the bottom face of the sole plate (51) is provided with 7 grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020252651.0U CN213994129U (en) | 2020-03-04 | 2020-03-04 | Exoskeleton ankle joint mechanism for lower limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020252651.0U CN213994129U (en) | 2020-03-04 | 2020-03-04 | Exoskeleton ankle joint mechanism for lower limb rehabilitation training |
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| Publication Number | Publication Date |
|---|---|
| CN213994129U true CN213994129U (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020252651.0U Active CN213994129U (en) | 2020-03-04 | 2020-03-04 | Exoskeleton ankle joint mechanism for lower limb rehabilitation training |
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| Country | Link |
|---|---|
| CN (1) | CN213994129U (en) |
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- 2020-03-04 CN CN202020252651.0U patent/CN213994129U/en active Active
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