CN215193457U

CN215193457U - Exoskeleton robot for lower limb rehabilitation training

Info

Publication number: CN215193457U
Application number: CN202120796979.3U
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-12-17
Anticipated expiration: 2031-04-19

Abstract

The utility model provides an ectoskeleton robot for lower limb rehabilitation training. The exoskeleton robot for lower limb rehabilitation training comprises a mounting column; the first connecting rod is fixedly arranged on one side of the mounting column; the first adjusting rod is sleeved on the first connecting rod in a sliding manner; the second connecting rod is arranged at one end of the first adjusting rod; the second adjusting rod is rotatably arranged at one end of the second connecting rod, which is far away from the first adjusting rod; and the third connecting rod is slidably mounted on the second adjusting rod. The utility model provides a ectoskeleton robot for lower limbs rehabilitation training has the convenience and adjusts according to different patient leg length, and easy operation avoids making patient take place uncomfortable feeling often when carrying out the anteextension kicking leg action training to patient's shank, avoids causing the damage to the knee, improves the advantage of travelling comfort and security.

Description

Exoskeleton robot for lower limb rehabilitation training

Technical Field

The utility model relates to an ectoskeleton robot technical field especially relates to an ectoskeleton robot is used in low limbs rehabilitation training.

Background

The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. With the development of the technology, the exoskeleton robot is widely applied to the aspect of helping the rehabilitation training of patients.

For some patients, the lower limb rehabilitation can be performed only by sitting on a wheelchair in the early stage. When the existing exoskeleton robot for lower limb rehabilitation training carries out rehabilitation training on lower limbs of patients on wheelchairs, the legs of the patients on the wheelchairs are usually kicked forwards, so that the muscle function is increased, and the muscle tendon adhesion in the knees caused by long-term immobility is prevented. However, after the exoskeleton robot used in the existing wheelchair is fixed to the lower limbs of a patient, when rehabilitation training is performed on the lower limbs of the patient, when the lower limbs of the patient stretch forward and kick the legs, the patient inevitably moves the knees forward and backward, so that the hinged position of the exoskeleton robot fixed to the wheelchair and the lower limbs of the patient at the knees of the patient is dislocated, discomfort of the patient is caused, and even the knees of the patient are damaged during forced training. In addition, the exoskeleton robot used on a common wheelchair is troublesome to adjust and inconvenient to use when training the lower limbs of patients with different leg lengths.

Therefore, there is a need to provide a new exoskeleton robot for lower limb rehabilitation training to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The technical problem of the utility model be solved is to provide a can conveniently adjust according to different patient leg lengths, easy operation avoids making patient take place uncomfortable feeling often when carrying out the anteextension kicking leg action training to patient's shank, avoids causing the damage to the knee, improves the ectoskeleton robot for the low limbs rehabilitation training of travelling comfort and security.

In order to solve the technical problem, the utility model provides a ectoskeleton robot for lower limbs rehabilitation training includes: mounting a column; the first connecting rod is fixedly arranged on one side of the mounting column; the first adjusting rod is sleeved on the first connecting rod in a sliding manner; the second connecting rod is arranged at one end of the first adjusting rod; the second adjusting rod is rotatably arranged at one end of the second connecting rod, which is far away from the first adjusting rod; the third connecting rod is slidably mounted on the second adjusting rod; the foot bottom plate is rotatably arranged at the bottom end of the third connecting rod; the mounting plate is fixedly mounted at the bottom of the second connecting rod; the electric telescopic rod is hinged to one side of the mounting plate, and an output rod of the electric telescopic rod is hinged to one side of the second adjusting rod; the shank fixing mechanism is arranged on one side of the second adjusting rod; the buffer mechanism is arranged on the first adjusting rod; strengthen supporting mechanism, strengthen supporting mechanism locates on the erection column.

Preferably, shank fixed establishment is including the arc, solid fixed ring and bandage, the arc fixed mounting be in one side of second regulation pole, be provided with the cushion on the arc, gu fixed ring fixed mounting be in on the arc, the one end fixed mounting of bandage is in on the arc, the two sides of bandage are provided with the magic subsides of looks adaptation respectively.

Preferably, the buffer mechanism comprises a sliding block and two springs, a cavity is formed in one end, close to the second connecting rod, of the first adjusting rod, the sliding block is slidably mounted in the cavity, a communicating hole is formed in the inner wall of one side of the cavity, the second adjusting rod penetrates through the communicating hole and is fixedly connected with one side of the sliding block, the two springs are respectively arranged on two sides of the sliding block, and the second adjusting rod penetrates through the corresponding springs.

Preferably, strengthen supporting mechanism including sleeve and bracing piece, the sleeve slip cap establish on the erection column, the bracing piece articulates telescopic one side, the bracing piece is kept away from telescopic one end with the bottom of first regulation pole is articulated.

Preferably, the first adjusting rod and the second adjusting rod are provided with sliding grooves respectively at one end close to the first connecting rod and one end close to the third connecting rod, the first connecting rod and the third connecting rod extend into the corresponding sliding grooves respectively, and the first connecting rod and the third connecting rod are connected with the two sliding grooves in a sliding manner respectively.

Preferably, threaded holes are formed in the first adjusting rod, the second adjusting rod and the sleeve, fixing screws are mounted in the threaded holes in a threaded mode, and a knob is fixedly mounted at one end of each screw.

Compared with the prior art, the utility model provides a ectoskeleton robot for lower limbs rehabilitation training has following beneficial effect:

the utility model provides an ectoskeleton robot is used in lower limbs rehabilitation training:

through the erection column, the head rod, the first regulation pole, the second connecting rod, the second is adjusted the pole, the third connecting rod, the foot bottom plate, the mounting panel, electric telescopic handle, the arc, gu fixed ring and bandage, can be when carrying out the anteextension kicking training to patient's low limbs on the wheelchair, can adjust according to different patient leg length, easy operation is convenient, can play the effect of auxiliary stay through sleeve and bracing piece, improve the device steadiness, adjust pole and second connecting rod through the second, slider and spring, can avoid making the fore-and-aft movement of knee when the action of anteextension kicking and withdrawal is made to the shank make knee and second adjust the pin joint between pole and the second connecting rod and take place the dislocation, thereby avoid making patient take place uncomfortable sense when carrying out the anteextension kicking action training to patient shank, avoid causing the damage to the knee, improve travelling comfort and security.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of an exoskeleton robot for lower limb rehabilitation training provided by the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of portion B of FIG. 1;

fig. 4 is a schematic top view of the middle leg fixing mechanism of the present invention.

Reference numbers in the figures: 1. mounting a column; 2. a first connecting rod; 3. a first adjusting lever; 4. a second connecting rod; 5. a second adjusting lever; 6. a third connecting rod; 7. a foot plate; 8. mounting a plate; 9. an electric telescopic rod; 10. an arc-shaped plate; 11. a fixing ring; 12. a bandage; 13. a slider; 14. a spring; 15. a sleeve; 16. a support rod.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

Please refer to fig. 1-4, wherein fig. 1 is a schematic structural diagram of an exoskeleton robot for lower limb rehabilitation training according to a preferred embodiment of the present invention; FIG. 2 is an enlarged view of portion A of FIG. 1; FIG. 3 is an enlarged view of portion B of FIG. 1; fig. 4 is a schematic top view of the middle leg fixing mechanism of the present invention. The exoskeleton robot for lower limb rehabilitation training comprises: mounting the column 1; the first connecting rod 2 is fixedly arranged on one side of the mounting column 1; the first adjusting rod 3 is sleeved on the first connecting rod 2 in a sliding manner; the second connecting rod 4 is arranged at one end of the first adjusting rod 3; the second adjusting rod 5 is rotatably arranged at one end, far away from the first adjusting rod 3, of the second connecting rod 4; the third connecting rod 6 is mounted on the second adjusting rod 5 in a sliding mode; the foot bottom plate 7 is rotatably arranged at the bottom end of the third connecting rod 6; the mounting plate 8 is fixedly mounted at the bottom of the second connecting rod 4; the electric telescopic rod 9 is hinged to one side of the mounting plate 8, and an output rod of the electric telescopic rod 9 is hinged to one side of the second adjusting rod 5; the shank fixing mechanism is arranged on one side of the second adjusting rod 5; the buffer mechanism is arranged on the first adjusting rod 3; strengthen supporting mechanism, strengthen supporting mechanism locates on the erection column 1.

Shank fixed establishment is including arc 10, solid fixed ring 11 and bandage 12, arc 10 fixed mounting be in one side of second regulation pole 5, be provided with the cushion on the arc 10, gu fixed ring 11 fixed mounting be in on the arc 10, the one end fixed mounting of bandage 12 be in on the arc 10, the two sides of bandage 12 are provided with the magic subsides of looks adaptation respectively, and the convenience is to the quick fixation of shank.

The buffer mechanism comprises a sliding block 13 and two springs 14, a cavity is formed in one end, close to the second connecting rod 4, of the first adjusting rod 3, the sliding block 13 is slidably mounted in the cavity, a communicating hole is formed in the inner wall of one side of the cavity, the second connecting rod 4 penetrates through the communicating hole and is fixedly connected with one side of the sliding block 13, the two springs 14 are respectively arranged on two sides of the sliding block 13, the second connecting rod 4 penetrates through the corresponding springs 14, and when the knee moves forwards and backwards when the leg performs the forward-extending and leg-kicking action, the hinge joint between the knee and the second adjusting rod 5 and the second connecting rod 4 is prevented from being staggered, so that discomfort of a patient is prevented from occurring when the leg performs forward-extending and leg-kicking action training on the leg of the patient, and the knee is prevented from being damaged.

Strengthen supporting mechanism including sleeve 15 and bracing piece 16, sleeve 15 slip cover is established on the erection column 1, bracing piece 16 articulates one side of sleeve 15, bracing piece 16 keeps away from sleeve 15's one end with the bottom of first regulation pole 3 is articulated, can be right first regulation pole 3 plays the effect of auxiliary stay.

The first adjusting rod 3 is close to one end of the first connecting rod 2 and the second adjusting rod 5 is close to one end of the third connecting rod 6, sliding grooves are formed in the ends of the first connecting rod 2 and the third connecting rod 6, the first connecting rod 2 and the third connecting rod 6 respectively extend into the corresponding sliding grooves, the first connecting rod 2 and the third connecting rod 6 are respectively connected with the two sliding grooves in a sliding mode, and relative distances can be conveniently adjusted according to actual needs.

First regulation pole 3 the second is adjusted pole 5 with all set up threaded hole on the sleeve 15, three equal threaded mounting has a set screw on the screw hole, the equal fixed mounting of one end of screw has the knob, conveniently locks the relative distance between first regulation pole 3 and the head rod 2 and the relative distance between second regulation pole 5 and the third connecting rod 6.

The utility model provides a low limbs are ectoskeleton robot for rehabilitation training's theory of operation as follows: when the device is used, the mounting column 1 of the device is fixed on one side of a wheelchair, the relative distance between the first adjusting rod 3 and the first connecting rod 2 is adjusted according to the leg length of a patient, the relative distance between the second adjusting rod 5 and the third connecting rod 6 is adjusted, the hinge point between the second connecting rod 4 and the second adjusting rod 5 is just positioned on one side opposite to the knee of the patient, the sole of the patient is just placed on the sole plate 7, the shank of the patient is placed on the arc-shaped plate 10, the knobs on the first adjusting rod 3 and the second adjusting rod 5 are screwed, the screws are tightly abutted against the first connecting rod 2 and the second adjusting rod 5, the relative distance between the first adjusting rod 3 and the first connecting rod 2 and the relative distance between the second adjusting rod 5 and the third connecting rod 6 are locked, and the adjusting operation is simple and convenient;

then, the position of the sleeve 15 is locked by screwing a knob on the sleeve 15 to enable a screw to tightly abut against the mounting column 1, and the sleeve 15 and the support rod 16 can play a role of auxiliary support for the first adjusting rod 3, so that the stability is improved;

then, the bandage 12 is penetrated through the fixing ring 11 and tightened, and the magic tapes matched with the bandage 12 are stuck and fixed, namely the lower leg of the patient is fixed on the arc-shaped plate 10;

then, the electric telescopic rod 9 is started to extend the output rod of the electric telescopic rod 9, the second adjusting rod 5 is pushed, the second adjusting rod 5 drives the arc-shaped plate 10 and the lower leg of the patient to make a forward-extending kicking motion, the output rod is shortened through the electric telescopic rod 9, the second adjusting rod 5 is reset, the lower leg on the arc-shaped plate 10 retracts, when the lower leg of the patient makes the forward-extending kicking motion and retracts, the knee of the patient may move forwards and backwards, when the knee moves forwards and backwards, the second connecting rod 4 drives the sliding block 13 to slide in the cavity on the first adjusting rod 3 and extrude the corresponding spring 14, then after the lower leg retracts, the sliding block 13 is also reset, the situation that when the lower leg makes the forward-extending kicking motion and retracts, the knee moves forwards and backwards to cause the dislocation of the hinge point between the knee and the second adjusting rod 5 and the second connecting rod 4 is avoided, thereby the discomfort of the patient caused by the forward-extending kicking motion training of the lower leg of the patient is avoided, the damage to the knee is avoided, and the comfort and the safety are improved.

the utility model provides an exoskeleton robot for lower limb rehabilitation training, through a mounting column 1, a first connecting rod 2, a first adjusting rod 3, a second connecting rod 4, a second adjusting rod 5, a third connecting rod 6, a foot bottom plate 7, a mounting plate 8, an electric telescopic rod 9, an arc plate 10, a fixing ring 11 and a bandage 12, when the lower limb of a patient on a wheelchair is subjected to forward-extending kicking training, the exoskeleton robot can be adjusted according to the leg length of different patients, the operation is simple and convenient, the exoskeleton robot can play the role of auxiliary support through a sleeve 15 and a supporting rod 16, the stability of the exoskeleton robot is improved, through the first adjusting rod 3, the second connecting rod 4, a sliding block 13 and a spring 14, the phenomenon that the front-extending kicking and retracting actions of the knee are caused by the back-and forth movement of the knee and the hinge point between the second adjusting rod 5 and the second connecting rod 4 to be staggered is avoided, so that the patient is not suitable for forward-extending kicking action training when the lower leg is carried out on the patient, the damage to the knee is avoided, and the comfort and the safety are improved.

It should be noted that the device structure and the accompanying drawings of the present invention mainly describe the principle of the present invention, and in the design principle, the settings of the power mechanism, the power supply system, the control system, and the like of the device are not completely described, and on the premise that the skilled person understands the principle of the present invention, the details of the power mechanism, the power supply system, and the control system can be clearly known;

furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise;

in addition, in the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or integral parts; may be mechanically coupled, may be electrically coupled or may be in communication with each other; 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.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. An exoskeleton robot for lower limb rehabilitation training, comprising:

mounting a column;

the first connecting rod is fixedly arranged on one side of the mounting column;

the first adjusting rod is sleeved on the first connecting rod in a sliding manner;

the second connecting rod is arranged at one end of the first adjusting rod;

the second adjusting rod is rotatably arranged at one end of the second connecting rod, which is far away from the first adjusting rod;

the third connecting rod is slidably mounted on the second adjusting rod;

the foot bottom plate is rotatably arranged at the bottom end of the third connecting rod;

the mounting plate is fixedly mounted at the bottom of the second connecting rod;

the electric telescopic rod is hinged to one side of the mounting plate, and an output rod of the electric telescopic rod is hinged to one side of the second adjusting rod;

the shank fixing mechanism is arranged on one side of the second adjusting rod;

the buffer mechanism is arranged on the first adjusting rod;

strengthen supporting mechanism, strengthen supporting mechanism locates on the erection column.

2. The exoskeleton robot for lower limb rehabilitation training as claimed in claim 1, wherein the lower leg fixing mechanism comprises an arc-shaped plate, a fixing ring and a bandage, the arc-shaped plate is fixedly installed on one side of the second adjusting rod, a soft pad is arranged on the arc-shaped plate, the fixing ring is fixedly installed on the arc-shaped plate, one end of the bandage is fixedly installed on the arc-shaped plate, and magic tapes matched with the two surfaces of the bandage are respectively arranged on the two surfaces of the bandage.

3. The exoskeleton robot for lower limb rehabilitation training as claimed in claim 1, wherein the damping mechanism comprises a slider and two springs, a cavity is formed at one end of the first adjusting rod close to the second connecting rod, the slider is slidably mounted in the cavity, a communication hole is formed in an inner wall of one side of the cavity, the second adjusting rod penetrates through the communication hole and is fixedly connected with one side of the slider, the two springs are respectively arranged at two sides of the slider, and the second adjusting rod penetrates through the corresponding springs.

4. The exoskeleton robot as claimed in claim 1, wherein the reinforcing support mechanism comprises a sleeve and a support rod, the sleeve is slidably sleeved on the mounting post, the support rod is hinged to one side of the sleeve, and one end of the support rod, which is far away from the sleeve, is hinged to the bottom of the first adjusting rod.

5. The exoskeleton robot for lower limb rehabilitation training as claimed in claim 1, wherein the first adjusting rod and the second adjusting rod are provided with sliding grooves at ends thereof close to the first connecting rod and the third connecting rod respectively, the first connecting rod and the third connecting rod extend into the corresponding sliding grooves respectively, and the first connecting rod and the third connecting rod are slidably connected with the two sliding grooves respectively.

6. The exoskeleton robot for lower limb rehabilitation training as claimed in claim 1, wherein the first adjusting rod, the second adjusting rod and the sleeve are all provided with threaded holes, all three threaded holes are provided with fixing screws in a threaded manner, and one ends of the screws are all fixedly provided with knobs.