CN216855183U - Exoskeleton for limb rehabilitation wearing - Google Patents
Exoskeleton for limb rehabilitation wearing Download PDFInfo
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- CN216855183U CN216855183U CN202121278532.3U CN202121278532U CN216855183U CN 216855183 U CN216855183 U CN 216855183U CN 202121278532 U CN202121278532 U CN 202121278532U CN 216855183 U CN216855183 U CN 216855183U
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- arm
- limb rehabilitation
- supporting
- bridge arm
- bone plate
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 25
- 239000000463 material Substances 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229920006351 engineering plastic Polymers 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 230000001681 protective effect Effects 0.000 claims 1
- 230000033764 rhythmic process Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 3
- 239000012141 concentrate Substances 0.000 abstract description 3
- 230000000452 restraining effect Effects 0.000 description 4
- 101100343346 Drosophila melanogaster flz gene Proteins 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229940127554 medical product Drugs 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
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Abstract
The utility model relates to the field of exoskeletons, in particular to a limb rehabilitation wearing exoskeletons, which comprises a movable mechanical arm and a supporting bone plate, wherein the movable mechanical arm is fixed on a supporting bone plate shell by adopting a dismounting structure assembly, a binding belt and a waist ring are respectively arranged above and below the front side of the supporting bone plate, the movable mechanical arm comprises an upper bridge arm and a lower bridge arm, and the upper bridge arm and the lower bridge arm are connected through a motor module; under the action of the elastic memory ring and the supporting rod, the moment caused by the gravity of the movable arm can be counteracted, the supporting arm is drawn to return to the initial design position, the operation is simple and controllable, the physical strength of a therapist can be greatly reduced, the therapist can concentrate all efforts on guiding a patient to treat, and the utilization efficiency of medical resources is greatly improved; the structure is simple, the use is convenient, the space is saved, and the wearing is convenient; the heart rate monitor detects real-time heart rate indexes of the rehabilitation patients, feeds back real-time heart rate data to the user side, timely grasps physical conditions of the rehabilitation patients, and reduces accidents.
Description
Technical Field
The utility model relates to the field of exoskeletons, in particular to a limb rehabilitation wearing exoskeleton.
Background
The aging process of China is accelerated, and the proportion of the aged population is continuously improved. In the old people, a large number of patients with cerebrovascular diseases or nervous system diseases are accompanied by hemiplegia symptoms, the demand of hemiplegia rehabilitation medical products is continuously increased, but due to insufficient rehabilitation medical service capacity and relative lack of rehabilitation resources, the existing infrastructure and service are under great pressure, and the problems are needed to be considered and concerned.
The exoskeleton technology is applied to medical rehabilitation products and can be used for functional training of a plurality of rehabilitation stages of interventional patient rehabilitation. The patient can establish a correct motion mode as early as possible, an ideal rehabilitation training solution is provided, the disability rate is reduced, the maintenance and promotion of the whole body functions are realized, and the help is provided for the further rehabilitation treatment of the patient; the existing exoskeleton for limb rehabilitation wearing has the disadvantages of complex structure, large volume, inflexible adjustment and insufficient intelligence, and the therapeutic staff is often accompanied in the rehabilitation process, so that the utilization efficiency of medical resources is low; therefore, how to overcome the above technical problems and disadvantages is a problem to be solved.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects described in the background art, and therefore a limb rehabilitation wearing exoskeleton is realized.
In order to achieve the purpose, the technical scheme of the utility model is as follows: the exoskeleton comprises a movable mechanical arm and a supporting bone plate, wherein the movable mechanical arm is fixed on a shell of the supporting bone plate by adopting a dismounting structural component, a binding belt and a waist ring are respectively arranged above and below the front side of the supporting bone plate, the binding belt is connected with the waist ring, the movable mechanical arm comprises an upper bridge arm and a lower bridge arm, the upper bridge arm and the lower bridge arm are connected through a motor module, and a supporting arm is hinged above the upper bridge arm.
Furthermore, the disassembly structure assembly comprises a fixing module fixed on the shell of the supporting bone plate, an elastic memory ring is fixedly arranged outside the fixing module, the elastic memory ring is connected with a supporting rod, and the supporting rod is hinged with the supporting arm through a bearing.
Furthermore, the elastic memory ring comprises a free ring and a circular spring net, the circular spring net is arranged on the inner side of the free ring, two ends of the circular spring net are provided with fixing parts, and the fixing parts are fixedly connected with the supporting rod; if the user deflects the original angle after wearing, the round surface spring net in the memory free ring is extruded to generate moment, the moment brought by the gravity of the movable arm is offset, and the support arm is pulled to return to the initial design position.
Furthermore, the motor module consists of a driving circuit, a control circuit, a feedback loop, a fault monitoring module and a gear motor; the power supply is connected, the driving circuit drives the gear motor to rotate, the control circuit controls the rotating speed and the direction of the gear motor, the feedback loop feeds back the operation result of the gear motor to the control circuit, and the operation condition of the whole circuit is monitored and detected in a fault manner; the gear motor is connected with the upper bridge arm and the lower bridge arm, and the speed, the direction and the opening and closing angle of the swing arms of the upper bridge arm and the lower bridge arm are controlled through the rotation of the internal gear.
Further, a heart rate monitor is arranged between the binding belt and the waist ring; the heart rate monitor detects real-time heart rate indexes of the rehabilitation patients, when the heart rate is too fast, the external light source turns to red from yellow, and real-time heart rate data are fed back to the user side.
Furthermore, the binding belt is made of thick-face flannelette and is made of materials, the upper end of the binding belt is connected with the shell of the supporting bone plate through a backpack buckle, and the lower end of the binding belt is connected with the heart rate monitor through a buckle; the thick-face flannelette has good overall elasticity and is more comfortable to use.
Furthermore, a fixing belt is arranged on the front side of the waist ring, the left side and the right side of the fixing belt are connected with the two ends of the waist ring through magic tapes, a restraining belt is connected above the fixing belt, and the upper end of the restraining belt is connected with a heart rate monitor through a buckle; through constraint area and waist ring cooperation use, accomplish whole position and fix, both fixed the patient upper part of the body of having a rehabilitated, also fixed heart rate appearance, avoid heart rate appearance to receive its accuracy of external force influence.
Furthermore, the movable mechanical arm and the supporting bone plate are made of an aluminum alloy shell, an engineering plastic framework and an elastic sponge filling material; the whole is beautiful, and the strength is higher.
Furthermore, the upper bridge arm and the lower bridge arm comprise fixed parts, a rotating part connected with the motor module is arranged on a shell of each fixed part, and a guard arm is arranged on the inner side of each fixed part.
Furthermore, the guard arm is of a concave structure, and the opening of the fixing piece is fixed through a magic tape; the magic tape is convenient for being attached to the big arm and the small arm of a rehabilitation patient, and is suitable for people with different shapes.
The exoskeleton has the beneficial effects that:
1. the exoskeleton for limb rehabilitation wearing can counteract the moment caused by the gravity of the movable arm under the action of the elastic memory ring and the supporting rod, and pulls the supporting arm to return to the initial design position, so that the exoskeleton is simple and controllable, the physical strength of a therapist can be greatly reduced, the therapist can concentrate all efforts on guiding patients to treat, and the utilization efficiency of medical resources is greatly improved.
2. The limb rehabilitation wearing exoskeleton is simple in structure, convenient to use, space-saving and convenient to wear.
3. According to the exoskeleton worn by limb rehabilitation, the heart rate monitor detects the real-time heart rate index of a rehabilitation patient, when the heart rate is too fast, the external light source is turned from yellow to red, the real-time heart rate data is fed back to the user side, the physical condition of the rehabilitation patient is mastered in time, and accidents are reduced.
Drawings
Fig. 1 is a front view structural schematic diagram of the exoskeleton for limb rehabilitation wearing of the utility model;
fig. 2 is a rear view structural diagram of the exoskeleton for limb rehabilitation wearing of the utility model.
In the figure: 11-upper bridge arm, 12-lower bridge arm, 121-fixing piece, 122-rotating piece, 123-magic tape, 124-protective arm, 13-motor module, 14-supporting arm, 15-bearing, 2-supporting bone plate, 21-elastic memory ring, 22-restraining belt, 23-heart rate monitor, 24-waist ring, 241-fixing belt, 242-buckle and 25-fixing module.
Detailed Description
The exoskeleton wearing the limb rehabilitation of the utility model is described in more detail by the specific embodiment in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-2, the exoskeleton for limb rehabilitation wearing of the embodiment has the advantages that the moment caused by the gravity of the movable arm is counteracted, the support arm is pulled to return to the initial design position, the physical strength of a therapist is simply and controllably reduced greatly, the therapist can concentrate all efforts on guiding a patient to treat, and the utilization efficiency of medical resources is greatly improved; the structure is simple, the use is convenient, the space is saved, and the wearing is convenient; the real-time heart rate index can timely master the physical condition of the rehabilitation patient, and reduce the occurrence of accidents. The movable mechanical arm and the supporting bone plate 2 are made of an aluminum alloy shell, an engineering plastic framework and an elastic sponge filling material; the whole is beautiful, and the strength is higher. The movable mechanical arm comprises an upper bridge arm 11 and a lower bridge arm 12, wherein the upper bridge arm 11 and the lower bridge arm 12 are connected through a motor module 13. The upper arm 11 and the lower arm 12 include a fixing member 121, a rotating member 122 connected to the motor module 13 is disposed on a housing of the fixing member 121, and the rotating member 122 drives the fixing member 121 to swing under the driving of the motor module 13. The inner side of the fixing member 121 is provided with a guard arm 124. The arm guard 124 is a concave structure, a thick-faced lint binding belt 22 is arranged at an opening of the arm guard 124, one end of the thick-faced lint binding belt 22 is fixedly connected with one side of the arm guard 124, and the other end of the thick-faced lint binding belt 22 is fixedly connected with the other side of the arm guard 124 through a magic tape 123. The magic tape 123 is convenient for attaching the big arm and the small arm of the rehabilitation patient, and is suitable for people with different shapes.
Referring to fig. 1-2, the motor module 13 is composed of a driving circuit, a control circuit, a feedback loop, a fault monitoring and gear motor; the power supply is connected, the driving circuit drives the gear motor to rotate, the control circuit controls the rotating speed and the direction of the gear motor, the feedback loop feeds back the running result of the gear motor to the control circuit, and the fault monitoring detects the running condition of the whole circuit; the gear motor is connected with the upper bridge arm 11 and the lower bridge arm 12, and the speed, the direction and the opening and closing angle of the swing arm motion of the upper bridge arm 11 and the lower bridge arm 12 are controlled through the internal gear wheel.
Referring to fig. 1-2, a supporting arm 14 is hinged above the upper bridge arm 11, a round cover is arranged at the upper end of the supporting arm 14, and a bearing 15 is hinged to the round cover. The movable mechanical arm is fixed on the shell of the supporting bone plate 2 by adopting a disassembly structure component. The dismounting assembly comprises a fixing module 25 fixed on the shell of the supporting bone plate 2, the fixing module 25 is composed of a fixing base fixed on the shell of the supporting bone plate 2, a fixing shaft arranged on the fixing base and connected with the elastic memory ring 21, and an encapsulation block arranged outside the fixing base. An elastic memory ring 21 is connected to one end of the support rod. The elastic memory ring 21 comprises a free ring and a round spring net, the round spring net is arranged on the inner side of the free ring, two ends of the round spring net are provided with cylindrical fixing parts, the outer side of each fixing part is provided with a thread, the outer surface of the supporting rod is provided with a threaded hole matched with the fixing parts for use, and the fixing parts are connected with the supporting rod in a threaded manner. The other end of the supporting rod is provided with a round cover which is hinged with a bearing 15. If the movable mechanical arm deviates from the original angle after being worn by a user, the circular surface spring net in the memory free ring is extruded to generate moment, the moment brought by the gravity of the movable arm is offset, and the supporting arm 14 is pulled to return to the original design position.
Referring to fig. 1-2, a binding belt 22 and a waist ring 24 are respectively arranged above and below the front side of the bone supporting plate 2, and a heart rate monitor 23 is arranged between the binding belt 22 and the waist ring 24; the heart rate monitor 23 detects real-time heart rate indexes of the rehabilitation patients, when the heart rate is too fast, the external light source turns to red from yellow, and real-time heart rate data are fed back to the user side. The binding belt 22 is made of thick-face flannelette and a material, so that the thick-face flannelette is good in overall elasticity and more comfortable to use. The upper end of the restraining belt 22 is connected with the shell of the supporting bone plate 2 through a backpack buckle, and the lower end of the restraining belt 22 is connected with the heart rate monitor 23 through a buckle 242. The front side of the waist ring 24 is provided with a fixing band 241, and the left and right sides of the fixing band 241 are connected with the two ends of the waist ring 24 through the magic tapes 123, so that the waist ring is convenient to wear. A binding belt 22 is connected above the fixing belt 241, and the upper end of the binding belt 22 is connected with a heart rate monitor 23 through a buckle 242; through the cooperation of constraint area 22 and waist ring 24, accomplish whole position and fix, both fix the patient upper part of the body of having a rehabilitative, also fix heart rate appearance, avoid heart rate appearance to receive its accuracy of external force influence.
The working principle of the utility model is as follows: in the actual use process, a rehabilitation patient wears the limb rehabilitation exoskeleton, and when rehabilitation exercise is performed, the gear motor provides auxiliary force, and the upper bridge arm and the lower bridge arm drive the arms to complete corresponding rehabilitation actions. The heart rate monitoring module detects real-time heart rate indexes of the rehabilitation patients, when the heart rate is too fast, the external light source is changed from yellow to red, and real-time heart rate data are fed back to the user side; the angle between the back supporting bone plate and the elastic memory ring and the angle between the back supporting bone plate and the supporting arm are 90 degrees, and if the user deviates from the original angle after wearing the back supporting bone plate, the elastic memory ring generates moment to pull the supporting arm to return to the 90-degree designed position, so that the affected side is corrected.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the terms "a" or "an" and the like in the description and in the claims of this application do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Exemplary embodiments of the present invention have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications may be made to the specific embodiments described above, and various combinations of the technical features and structures proposed by the present invention may be made without departing from the concept of the present invention.
Claims (10)
1. A limb rehabilitation wearing exoskeleton comprises a movable mechanical arm and a supporting bone plate, and is characterized in that: the movable mechanical arm is fixed on a supporting bone plate shell by adopting a dismounting structure assembly, a binding belt and a waist ring are respectively arranged above and below the front side of the supporting bone plate and connected with each other, the movable mechanical arm comprises an upper bridge arm and a lower bridge arm, the upper bridge arm and the lower bridge arm are connected through a motor module, and a supporting arm is hinged above the upper bridge arm.
2. The limb rehabilitation wearing exoskeleton of claim 1, wherein: the disassembly structure assembly comprises a fixing module fixed on the shell of the supporting bone plate, an elastic memory ring is fixedly arranged outside the fixing module, the elastic memory ring is connected with a supporting rod, and the supporting rod is hinged with the supporting arm through a bearing.
3. The limb rehabilitation wearing exoskeleton of claim 2, wherein: the elastic memory ring comprises a free ring and a round spring net, the round spring net is arranged on the inner side of the free ring, and fixing parts are arranged at two ends of the round spring net and fixedly connected with the supporting rod.
4. The limb rehabilitation wearing exoskeleton of claim 1, wherein: the motor module consists of a driving circuit, a control circuit, a feedback loop, a fault monitoring circuit and a gear motor; the power supply is connected, the driving circuit drives the gear motor to rotate, the control circuit controls the rotating speed and the direction of the gear motor, the feedback loop feeds the running result of the gear motor back to the control circuit, and the fault monitoring and detection are carried out on the running condition of the whole circuit.
5. The limb rehabilitation wearing exoskeleton of claim 1, wherein: a heart rate monitor is arranged between the binding belt and the waist ring.
6. The limb rehabilitation wearing exoskeleton of claim 5, wherein: the binding belt is made of thick-face lint and is made of materials, the upper end of the binding belt is connected with the supporting bone plate shell through a backpack buckle, and the lower end of the binding belt is connected with the heart rate monitor through a buckle.
7. The limb rehabilitation wearing exoskeleton of claim 5, wherein: the front side of waist ring is provided with the fixed band, the left and right sides of fixed band is connected with the both ends of waist ring through the magic subsides, the fixed band top is connected with the constraint area, the upper end in constraint area is connected with the rhythm of the heart monitor through the buckle.
8. The limb rehabilitation wearing exoskeleton of claim 1, wherein: the movable mechanical arm and the supporting bone plate are made of an aluminum alloy shell, an engineering plastic framework and an elastic sponge filling material.
9. The limb rehabilitation wearing exoskeleton of claim 1, wherein: the upper bridge arm and the lower bridge arm comprise fixing pieces, rotating pieces connected with the motor module are arranged on shells of the fixing pieces, and the inner sides of the fixing pieces are provided with guard arms.
10. The limb rehabilitation wearing exoskeleton of claim 9, wherein: the protective arm is of a concave structure, and the opening of the fixing piece is fixed through a magic tape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121278532.3U CN216855183U (en) | 2021-06-09 | 2021-06-09 | Exoskeleton for limb rehabilitation wearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121278532.3U CN216855183U (en) | 2021-06-09 | 2021-06-09 | Exoskeleton for limb rehabilitation wearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216855183U true CN216855183U (en) | 2022-07-01 |
Family
ID=82120773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121278532.3U Expired - Fee Related CN216855183U (en) | 2021-06-09 | 2021-06-09 | Exoskeleton for limb rehabilitation wearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216855183U (en) |
-
2021
- 2021-06-09 CN CN202121278532.3U patent/CN216855183U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220701 |