CN218943785U - Lower limb rehabilitation assistance exoskeleton - Google Patents

Abstract

The utility model discloses a lower limb rehabilitation assistance exoskeleton, which relates to the technical field of wearable exoskeleton, and comprises a hip joint assembly, a crotch assembly, a knee joint assembly and an ankle joint assembly, wherein hip bones Mo Ha fasteners are correspondingly arranged at two ends of a hip joint belt, cloth belts are arranged on the front and rear sides of the lower side of the hip joint belt, and cloth belts are arranged in the cloth belts. The lower limb rehabilitation assistance exoskeleton mechanism provided by the utility model comprises a crotch fixed supporting structure, a thigh supporting structure, a shank supporting device and a foot supporting structure, so that a patient can wear the lower limb rehabilitation assistance exoskeleton mechanism on the body by himself, and when standing up, assistance can be provided, so that the damage to the lower limb of the patient caused by sports injury, diseases and other reasons can be reduced.

Description

Lower limb rehabilitation assistance exoskeleton

Technical Field

The utility model relates to the technical field of coating machines, in particular to a lower limb rehabilitation assistance exoskeleton.

Background

Exoskeleton is a hard external structure capable of providing configuration, construction and protection to biological soft internal organs, and the most original research purpose of the human lower limb load-reducing device is to be applied to the military field, as combat equipment, an exoskeleton robot can improve combat maneuverability of soldiers, and along with development of society and progress of scientific technology, the application of the human lower limb load-reducing device in various industries becomes more and more hot. In the medical field, the lower limbs of the human body are damaged due to sports injury, diseases and the like, the lower limbs of the patient are required to lighten the load, and the current lower limb load-reducing method mainly depends on tools such as a crutch or a wheelchair and the like, but brings a lot of inconvenience to the daily activities of the patient. Therefore, the utility model provides a lower limb rehabilitation assistance exoskeleton to solve the problems mentioned in the background art.

Disclosure of Invention

The utility model provides a human lower limb load reducing mechanism, which replaces other traditional auxiliary load reducing tools such as a crutch and the like, achieves the aim of reducing the load of the human lower limb, accelerates the rehabilitation of the lower limb of a patient, is convenient to install or carry, and does not influence the daily life of the patient.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

a lower limb rehabilitation assistance exoskeleton comprising:

the hip joint assembly comprises a hip joint belt, hip bone Mo Ha buckles are correspondingly arranged at two ends of the hip joint belt, cloth belt rolls are arranged at the front and rear sides of the lower side of the hip joint belt, and cloth belts are arranged in the cloth belt rolls;

the crotch assembly comprises a crotch seat, the left side and the right side of the crotch seat are both rotationally connected with a roller frame, the lower part of the inner side of the roller frame is rotationally connected with thigh fixing sheets, the front side of the crotch seat is provided with left and right supporting rods, and the upper ends of the supporting rods are rotationally connected with armrests;

the knee joint assembly comprises a knee joint frame, wherein the upper end of the knee joint frame is rotationally connected with two sliding shafts, the two sliding shafts are respectively positioned at two sides of the inner side of a thigh fixing piece, a limiting block corresponding to the sliding shaft is fixed at the lower side of the thigh fixing piece, the lower end of the knee joint frame is rotationally connected with a knee joint supporting piece, and the lower end of the knee joint supporting piece is rotationally connected with a shank supporting piece;

the ankle joint assembly comprises an ankle joint frame, the ankle joint frame is rotationally connected with the lower end of the corresponding shank support piece above, a foot bracket is fixed on the inner side of the ankle joint frame, an ankle joint driving device is fixedly arranged on the outer side of the ankle joint frame, and the ankle joint driving device is in transmission connection with the lower end of the corresponding shank support piece;

the lower side of the crotch seat is provided with a screw sleeve, the lower end of the screw sleeve is connected with a stud in a threaded manner, and the lower end of the stud is fixedly provided with a supporting seat.

Preferably, the front cloth belt reel and the rear cloth belt reel are respectively arranged at the front side and the rear side of the crotch seat, the front end of the front cloth belt is connected with a magic tape, the front side of the hip bone Mo Ha is provided with a threading structure corresponding to the magic tape, and the outer end of the rear cloth belt is fixedly connected with the rear side of the hip joint belt.

Preferably, the ratchet wheels positioned outside the crotch seat are fixed at the lower ends of the supporting rods, buckles corresponding to the ratchet wheels are rotatably connected to the two ends of the front side of the crotch seat, and torsion springs are arranged at the buckle switching positions.

Preferably, the stay bar slides inside and outside the crotch seat, and the circumference side of the lower end of the stay bar is sleeved with a limiting block positioned on the spring, and the lower end of the stay bar is fixed with a corresponding spring.

Preferably, the roller frame is fixedly provided with a toothed roller positioned in the crotch seat, the upper end of the screw sleeve is fixedly provided with a toothed plate which slides up and down in the crotch seat, and two sides of the toothed plate are provided with corresponding teeth.

Preferably, the knee joint driving device is fixedly arranged on the outer side of the upper end of the shank support piece, and is in transmission connection with the lower end of the upper corresponding knee joint support piece.

Preferably, the knee bone strap I is arranged on the outer side of the knee joint frame, the knee bone strap II is arranged on the inner side of the upper end of the shank support piece, the ankle bone strap is arranged on the inner side of the ankle joint frame, the knee bone strap I, the knee bone strap II and the ankle bone strap are elastic straps, and corresponding Mo Ha proportion buckles are arranged at two ends of the elastic straps.

Compared with the prior art, the utility model has the beneficial effects that:

1. the lower limb rehabilitation assistance exoskeleton mechanism provided by the utility model comprises a crotch fixed supporting structure, a thigh supporting structure, a shank supporting device and a foot supporting structure, so that a patient can wear the lower limb rehabilitation assistance exoskeleton mechanism on the body by himself, and when standing up, assistance can be provided, the damage to the lower limb of the patient caused by sports injury, diseases and other reasons can be reduced, and the exoskeleton mechanism has a wide application prospect, can effectively relieve pain of the patient, and can effectively relieve the burden of the lower limb on the human body and accelerate the rehabilitation of the patient;

2. the key supporting part of the rehabilitation assistance exoskeleton structure provided by the utility model is made of high-strength light materials, the connecting part is made of flexible high-toughness materials, the efficiency of reducing load and assisting force is improved, the whole body is designed in a light-weight manner, the crotch supporting structure is arranged, so that a patient can sit and rest at any time in the rehabilitation process, the front supporting rod structure can support the hands of the patient when walking, and the front supporting rod structure is easy to adjust so as to adapt to patients with different heights and arm lengths.

Drawings

Fig. 1 is a schematic structural view of a lower limb rehabilitation assistance exoskeleton according to the present utility model;

fig. 2 is a schematic structural diagram II of a lower limb rehabilitation assistance exoskeleton according to the present utility model;

FIG. 3 is a schematic view of a partially enlarged structure of the inside of a crotch seat in a lower limb rehabilitation aid exoskeleton according to the present utility model;

FIG. 4 is a schematic view of the external connection structure of the crotch seat in the lower limb rehabilitation aid exoskeleton according to the present utility model;

fig. 5 is a schematic diagram of a connection structure between a knee joint assembly and an ankle joint assembly in a lower limb rehabilitation assistance exoskeleton according to the present utility model.

In the figure: 1. a hip joint assembly; 101. hip joint belt; 102. a magic tape; 103. a cloth strip coil; 104. a hip Mo Ha button; 2. a knee joint assembly; 201. a knee joint frame; 202. a slide shaft; 203. a knee bone strap I; 204. knee joint support piece; 205. a shank support sheet; 206. a knee joint driving device; 207. a knee bone strap II; 3. an ankle joint assembly; 301. an ankle joint frame; 302. a foot rest; 303. an ankle joint driving device; 304. ankle bone strap; 4. a screw sleeve; 5. a stud; 6. a support base; 7. a crotch assembly; 701. a crotch seat; 702. a toothed plate; 703. a spring; 704. a buckle; 705. a ratchet wheel; 706. thigh fixing pieces; 707. a roller frame; 8. a brace rod; 9. an armrest.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

A lower limb rehabilitation assistance exoskeleton comprising:

referring to fig. 1-4, the hip joint assembly 1 comprises a hip joint belt 101, wherein hip joint Mo Ha buckles 104 are correspondingly arranged at two ends of the hip joint belt 101, cloth tape rolls 103 are arranged at the front and rear sides of the lower side of the hip joint belt 101, and cloth tapes are arranged in the cloth tape rolls 103;

referring to fig. 3 to 4, a crotch assembly 7, the crotch assembly 7 comprises a crotch seat 701, a roll frame 707 is rotatably connected to both left and right sides of the crotch seat 701, a thigh fixing piece 706 is rotatably connected to the lower portion of the inner side of the roll frame 707, left and right stay bars 8 are provided on the front side of the crotch seat 701, and armrests 9 are rotatably connected to the upper ends of the stay bars 8;

referring to fig. 4-5, the knee joint assembly 2 comprises a knee joint frame 201, wherein two sliding shafts 202 are rotatably connected to the upper end of the knee joint frame 201, the two sliding shafts 202 are respectively positioned at two sides of the inner side of a thigh fixing piece 706, a limiting block corresponding to the sliding shaft 202 is fixed at the lower side of the thigh fixing piece 706, a knee joint supporting piece 204 is rotatably connected to the lower end of the knee joint frame 201, and a shank supporting piece 205 is rotatably connected to the lower end of the knee joint supporting piece 204;

referring to fig. 5, the ankle joint assembly 3 includes an ankle joint frame 301, the ankle joint frame 301 is rotatably connected with the lower end of the upper corresponding calf support piece 205, a foot bracket 302 is fixed to the inner side of the ankle joint frame 301, an ankle joint driving device 303 is fixedly installed to the outer side of the ankle joint frame 301, and the ankle joint driving device 303 is in transmission connection with the lower end of the corresponding calf support piece 205;

further, referring to fig. 3 to 5, a first knee strap 203 is installed on the outer side of the knee joint frame 201, a second knee strap 207 is installed on the inner side of the upper end of the shank support piece 205, an ankle strap 304 is installed on the inner side of the ankle joint frame 301, the first knee strap 203, the second knee strap 207 and the ankle strap 304 are elastic straps, corresponding Mo Ha fasteners are installed on the two ends of the elastic straps, a user sits on the middle crotch seat 701 first, two legs are placed inside the knee joint support piece 204 and the shank support piece 205 on the two sides, two feet penetrate into the corresponding side foot brackets 302, the hip strap 101 is tied below the waist through the hip Mo Ha fasteners 104, and the other first knee strap 203, the second knee strap 207 and the ankle strap 304 are tied at corresponding positions on the knee and the ankle respectively through the upper Mo Habi fasteners;

still further, referring to fig. 1, 2 and 4, the front and rear cloth rolls 103 are respectively mounted on the front and rear sides of the crotch seat 701, the front ends of the front cloth strips are connected with the velcro tapes 102, the front sides of the hip bones Mo Ha and the buckles 104 are provided with the threading structures corresponding to the velcro tapes 102, the outer ends of the rear cloth strips are fixedly connected with the rear sides of the hip joint belts 101, the cloth strips in the front cloth rolls 103 of the crotch seat 701 are drawn out and pass through the hip bones Mo Ha and the front sides of the buckles 104 to be threaded, the front cloth strips are tightened to enable the crotch to be close to the lower crotch seat 701, the front end velcro tapes 102 are folded in half to enable the velcro tapes 102 to be adhered, and the rehabilitation assistance exoskeleton structure is worn;

still further, referring to fig. 3, a ratchet 705 located outside the crotch seat 701 is fixed at the lower end of the stay bar 8, two ends of the front side of the crotch seat 701 are both rotationally connected with a buckle 704 corresponding to the ratchet 705, a torsion spring is arranged at the transition of the buckle 704, the stay bar 8 slides inside and outside the crotch seat 701, a spring 703 is sleeved at the peripheral side of the lower end of the stay bar 8, a limiting block corresponding to the spring 703 is fixed at the end position of the lower end of the stay bar 8, when the structure of the hand stay bar 8 needs to be adjusted to adapt to the length of the arm corresponding to the height, the ratchet 705 at the inner end of the stay bar 8 is matched with the buckle 704 structure at the front side of the crotch seat 701, the structures of the stay bar 8 at two sides can be directly rotated to adjust the angle, and are synchronously fixed, when the angle of the stay bar 8 needs to be adjusted outwards, the ratchet 705 at the inner end of the stay bar 8 is separated from the limit of the outer buckle 704, the inner end of the stay bar 8 can be rotated outwards to adjust the stay bar 8, after the adjustment angle is determined, the elasticity of the spring 703 at the inner end of the stay bar 8 is directly released, and the ratchet 705 is re-blocked with the buckle 704;

still further, referring to fig. 5, a knee joint driving device 206 is fixedly installed at the outer side of the upper end of the shank support piece 205, the knee joint driving device 206 is in transmission connection with the lower end of the corresponding upper knee joint support piece 204, and the armrest 9 on the front side support rod 8 supports the hands of a user, so that hand support force points can be provided when a patient travels, the patient can conveniently travel, and the knee joint driving device 206 arranged on the knee joint frame 201 and the ankle joint driving device 303 arranged on the ankle joint frame 301 can assist when the thighs and the shanks of the patient bend and straighten, and the patient can conveniently walk;

still further, referring to fig. 1 and 4, a screw sleeve 4 is disposed at the lower side of the crotch seat 701, a stud 5 is screwed at the lower end of the screw sleeve 4, a supporting seat 6 is fixedly mounted at the lower end of the stud 5, a toothed roller located in the crotch seat 701 is fixed on a roller frame 707, toothed plates 702 sliding up and down in the crotch seat 701 are fixed at the upper end of the screw sleeve 4, two sides of the toothed plate 702 are provided with corresponding teeth, when a patient walks for a period of time, the two sides of thighs are slightly opened to enlarge the lower crotch angle, the roller frame 707 and the lower thigh fixing sheet 706 structure on the thigh inner crotch seat 701 are rotated outwards together, the roller in the crotch seat 701 and the toothed plate 702 are engaged and driven at the upper part of the roller frame 707, so that the two side toothed plate 702 moves downwards, the two side leg structures are bent, and the lower end of the supporting seat 6 is released, thereby providing a sitting and standing condition for the patient.

The specific working principle of the utility model is as follows:

when the lower limb rehabilitation assistance exoskeleton is used, the exoskeleton is firstly worn;

the user sits on the middle crotch seat 701, places two legs inside the knee joint supporting sheets 204 and the lower leg supporting sheets 205 at two sides, penetrates into the corresponding side foot brackets 302, the hip joint belt 101 is tied below the waist through the hip bone Mo Ha ratio buckle 104, and the rest of the knee bone belt one 203, the knee bone belt two 207 and the ankle bone belt 304 are respectively tied at corresponding positions on the knee bone and the ankle bone through the Mo Habi buckle;

the inner cloth belt of the cloth belt reel 103 at the front side of the crotch seat 701 is pulled out and passes through the hip bone Mo Ha to pass through the front side of the buckle 104, the front cloth belt is tightened to enable the crotch to be close to the crotch seat 701 at the lower side, the magic tape 102 at the front end of the cloth belt is folded in half to enable the magic tape 102 to be adhered, and at the moment, the rehabilitation assisting exoskeleton structure is worn;

the handrails 9 on the front side supporting rods 8 support the hands of a user, can provide hand supporting force points when the patient walks, and are convenient for the patient to walk, and the knee joint driving device 206 arranged on the knee joint frame 201 and the ankle joint driving device 303 arranged on the ankle joint frame 301 can assist the patient when the thighs and the calves of the patient are bent and straightened, so that the patient can walk conveniently;

when a patient walks for a period of time and needs to rest, the thighs on the two sides are slightly opened, the angle of the lower crotch is increased, the structure of the rotary roller frame 707 and the lower thigh fixing sheet 706 on the crotch seat 701 on the inner side of the thighs are rotated outwards together, the rotary toothed roller on the upper part of the rotary roller frame 707 in the crotch seat 701 is meshed with the toothed plate 702 for transmission, so that the middle toothed plate 702 moves downwards, the structures of the two sides are bent, the structure of the support seat 6 on the middle lower end is lowered, the legs of the patient are released, and the sitting and standing rest conditions are provided for the patient;

when the structure of the hand stay bar 8 needs to be adjusted to adapt to the arm length of the corresponding height, the ratchet wheels 705 at the inner ends of the stay bars 8 are matched with the structure of the buckle 704 at the front side of the crotch seat 701, the structures of the stay bars 8 at the two sides can be directly rotated to adjust the angle and are synchronously fixed, when the angle of the stay bar 8 needs to be adjusted outwards, the structure of the stay bar 8 needs to be drawn towards the front side, the ratchet wheels 705 at the inner ends of the stay bars 8 are separated from the limit of the buckle 704 at the outer side, the stay bar 8 can be adjusted outwards in a rotating mode, after the adjusting angle is determined, the stay bar 8 is directly released under the elastic action of the springs 703 at the inner ends of the stay bar 8, the ratchet wheels 705 are clamped with the buckle 704 again, and the angle of the stay bar 8 is fixed again.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims (7)

1. The utility model provides a recovered helping hand ectoskeleton of low limbs, its characterized in that, recovered helping hand ectoskeleton of low limbs includes:

the hip joint assembly (1), the hip joint assembly (1) comprises a hip joint belt (101), hip bones Mo Ha comparison buckles (104) are correspondingly arranged at two ends of the hip joint belt (101), cloth tape rolls (103) are arranged at the front and rear sides of the lower side of the hip joint belt (101), and cloth tapes are arranged in the cloth tape rolls (103);

the crotch assembly (7), the assembly the crotch assembly (7) includes crotch seat (701), the both sides of crotch seat (701) all rotate and connect with the roller frame (707), the inboard lower part of roller frame (707) rotates and connects with thigh stationary blade (706), the front side of crotch seat (701) is provided with left and right two vaulting poles (8), the upper end of vaulting pole (8) rotates and connects with handrail (9);

the knee joint assembly (2), the knee joint assembly (2) comprises a knee joint frame (201), two sliding shafts (202) are rotatably connected to the upper end of the knee joint frame (201), the two sliding shafts (202) are respectively positioned on two sides of the inner side of a thigh fixing piece (706), a limiting block corresponding to the sliding shaft (202) is fixed on the lower side of the thigh fixing piece (706), a knee joint supporting piece (204) is rotatably connected to the lower end of the knee joint frame (201), and a lower leg supporting piece (205) is rotatably connected to the lower end of the knee joint supporting piece (204);

the ankle joint assembly (3), the ankle joint assembly (3) comprises an ankle joint frame (301), the ankle joint frame (301) is rotatably connected with the lower end of the corresponding shank support piece (205) above, a foot bracket (302) is fixed on the inner side of the ankle joint frame (301), an ankle joint driving device (303) is fixedly installed on the outer side of the ankle joint frame (301), and the ankle joint driving device (303) is in transmission connection with the lower end of the corresponding shank support piece (205);

the lower side of the crotch seat (701) is provided with a screw sleeve (4), the lower end of the screw sleeve (4) is connected with a stud (5) in a threaded manner, and the lower end of the stud (5) is fixedly provided with a supporting seat (6).

2. The lower limb rehabilitation assistance exoskeleton of claim 1, wherein the front cloth belt reel (103) and the rear cloth belt reel (103) are respectively installed on the front side and the rear side of the crotch seat (701), the front end of the front cloth belt is connected with a magic tape (102), the front side of the hip bone Mo Ha is provided with a wearing structure corresponding to the magic tape (102) compared with the front side of the buckle (104), and the outer end of the rear cloth belt is fixedly connected with the rear side of the hip joint belt (101).

3. The lower limb rehabilitation assistance exoskeleton of claim 1, wherein a ratchet wheel (705) located outside the crotch seat (701) is fixed at the lower end of the supporting rod (8), buckles (704) corresponding to the ratchet wheel (705) are rotatably connected to two ends of the front side of the crotch seat (701), and torsion springs are arranged at the joints of the buckles (704).

4. The lower limb rehabilitation assistance exoskeleton of claim 1, wherein the stay bar (8) slides inside and outside the crotch seat (701), a limit block corresponding to the spring (703) is fixed at the lower end of the stay bar (8) and is sleeved on the circumference of the lower end of the stay bar (8).

5. The lower limb rehabilitation assistance exoskeleton of claim 1, wherein the roller frame (707) is fixed with a toothed roller positioned in the crotch seat (701), the upper end of the screw sleeve (4) is fixed with a toothed plate (702) sliding up and down in the crotch seat (701), and two sides of the toothed plate (702) are provided with corresponding teeth.

6. The lower limb rehabilitation assistance exoskeleton of claim 1, wherein a knee joint driving device (206) is fixedly installed on the outer side of the upper end of the lower leg supporting piece (205), and the knee joint driving device (206) is in transmission connection with the lower end of the upper corresponding knee joint supporting piece (204).

7. The lower limb rehabilitation assistance exoskeleton of claim 1, wherein the knee joint frame (201) is provided with a first knee bone strap (203) on the outer side, the upper end inner side of the lower leg supporting piece (205) is provided with a second knee bone strap (207), the ankle joint frame (301) is provided with an ankle bone strap (304) on the inner side, the first knee bone strap (203), the second knee bone strap (207) and the ankle bone strap (304) are elastic straps, and both ends of the elastic straps are provided with corresponding Mo Ha buckles.

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