CN219230587U - Hip joint exoskeleton rehabilitation device with adjustable flexibility - Google Patents
Hip joint exoskeleton rehabilitation device with adjustable flexibility Download PDFInfo
- Publication number
- CN219230587U CN219230587U CN202222943337.9U CN202222943337U CN219230587U CN 219230587 U CN219230587 U CN 219230587U CN 202222943337 U CN202222943337 U CN 202222943337U CN 219230587 U CN219230587 U CN 219230587U
- Authority
- CN
- China
- Prior art keywords
- module
- piece
- leg
- groove
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 21
- 210000002414 leg Anatomy 0.000 claims abstract description 42
- 210000001624 hip Anatomy 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 238000000034 method Methods 0.000 abstract description 5
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 238000012549 training Methods 0.000 description 13
- 206010060820 Joint injury Diseases 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000001012 protector Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 1
- 208000025978 Athletic injury Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 230000008275 binding mechanism Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The utility model discloses a hip joint exoskeleton rehabilitation device with adjustable flexibility, which comprises a waistband, a waist connecting module, a telescopic adjusting module, a driving module, a leg assembly and a leg binding module, wherein the waist connecting module is connected with the waist connecting module; the waist connecting module is fixedly connected with the waistband, one end of the telescopic adjusting module is connected to the waist connecting module in a sliding manner, and the other end of the telescopic adjusting module is fixedly connected with the driving module; one end of the leg component is rotationally connected with the driving module, and the other end of the leg component is provided with a leg binding module. The leg assembly with adjustable flexibility is used, the mechanism is more compact and closely attached to a human body by adjusting the flexibility of the flexible adjusting chain, the loss of driving force is reduced, the aim of reducing internal force obstruction between human and machine is fulfilled, in addition, the length of the leg assembly can be adjusted by increasing and decreasing the number of driving rod chain links, and the leg assembly is suitable for people with different heights; furthermore, the turnbuckle structure is used, so that the binding module can more conveniently and rapidly complete the binding and loosening process, and is convenient to put on and take off.
Description
Technical Field
The utility model relates to a hip joint exoskeleton rehabilitation device with adjustable flexibility, and belongs to the field of rehabilitation instrument equipment.
Background
In life, hip joints are damaged by standing for a long time, walking with heavy loads and sitting for a long time, but the hip joints are seriously damaged by violent injuries such as traffic accidents, sports injuries, heavy object smash injuries and the like, so that the movement dysfunction of a patient can be caused, and the life quality of the patient is seriously influenced. The rehabilitation training after treatment is a long process, and the current rehabilitation therapist is extremely deficient, so that the problems of long period, low frequency and the like exist when the patient performs the rehabilitation training, the rehabilitation time of the patient can be greatly prolonged, and even secondary injury can be caused more seriously. In order to assist medical staff in helping a patient with hip joint injury to better perform rehabilitation training, a hip joint exoskeleton rehabilitation device with adjustable flexibility is urgently needed.
The exoskeleton robot can quantify, prolong and normalize rehabilitation training when being applied to rehabilitation training as rehabilitation medical equipment, can provide effective exercise assistance, and helps patients to train damaged nerves and muscles. Compared with the traditional rehabilitation means, the exoskeleton robot is utilized for rehabilitation training, so that the time of medical staff is saved, a patient can perform effective rehabilitation training more timely, and a rehabilitation training mode is changed from a traditional therapist-patient unidirectional infusion mode into man-machine interaction mode.
The hip joint exoskeleton rehabilitation device with adjustable flexibility assists a patient to perform walking gait training in clinical medical treatment, maintains coordinated movement of the hip joint of the patient, and improves recovery degree and progress of the patient. In recent years, research and development of exoskeleton robots are increasingly paid attention to at home and abroad, and the hip joint exoskeleton robots existing in the market at present are mostly power-assisted, and have the defects of large volume and weight, inconvenient wearing, incapability of being suitable for crowds with different heights and the like. Therefore, the utility model can meet the real requirement of the hip joint injury patient on walking rehabilitation training, and is applicable to the hip joint rehabilitation training exoskeleton of a wide population, which is a problem to be solved urgently at present.
Disclosure of Invention
The utility model provides a hip joint exoskeleton rehabilitation device with adjustable flexibility, which is used for constructing an exoskeleton for assisting hip joint rehabilitation training through reasonable constitution and connection so as to assist a rehabilitation therapist in helping a hip joint injury patient to complete a walking rehabilitation treatment process.
The technical scheme of the utility model is as follows: the utility model provides a flexibility adjustable hip joint ectoskeleton rehabilitation device, includes waistband 1, waist connection module 2, flexible adjustment module, drive module, shank subassembly and shank binding module; the waist connecting module 2 is fixedly connected with the waistband 1, one end of the telescopic adjusting module is connected to the waist connecting module 2 in a sliding manner, and the other end of the telescopic adjusting module is fixedly connected with the driving module; one end of the leg component is rotationally connected with the driving module, and the other end of the leg component is provided with a leg binding module.
The waist connection module 2 comprises a rear cover 21 and a housing 22; wherein, back lid 21 and waistband 1 fixed connection, shell 22 and back lid 21 fixed connection.
The telescopic adjusting module comprises a telescopic adjusting piece 31, a fastening piece 32, a connecting rod 33, a quick-press bolt 34 and a connecting rod fixing piece 35; wherein, the telescopic adjusting piece 31 is fixedly connected in the waist connecting module 2, the near end of the connecting rod 33 is arranged in a guide groove formed by the fastening piece 32 and the telescopic adjusting piece 31, and the position of the connecting rod 33 in the guide groove is adjusted by adjusting the tightness of the quick-press bolt 34; the distal end of the connecting rod 33 is fixed with the driving module, and the distal end of the connecting rod 33 is fixedly connected to the waistband 1 through a connecting rod fixing piece 35.
The fastener 32 includes a first connecting member, a second connecting member; one end of the first connecting member is inserted into the telescopic adjusting piece 31 and fixedly connected with the waist connecting module 2, the other end of the first connecting member and one end of the second connecting member form a revolute pair, and the other end of the second connecting member is connected with the telescopic adjusting piece 31 and the waist connecting module 2 through a quick-press bolt 34.
The driving module comprises a motor 41 and a driving adapter piece 42, the stator end of the motor 41 is fixedly connected with the far end of the connecting rod 33 in the telescopic adjusting module, and the driving adapter piece 42 is fixedly connected with the rotor end of the motor 41 to transmit power.
The leg assembly comprises a proximal connecting piece 51, a distal connecting piece 52 and a middle flexible adjusting chain 53, one end of the flexible adjusting chain 53 is rotationally connected with the driving adapter 42 in the driving module through the proximal connecting piece 51, and the other end of the flexible adjusting chain 53 is fixedly connected with the leg binding module through the distal connecting piece 52.
The flexible adjusting chain 53 comprises a plurality of links 531 connected in sequence; the first end of the chain link 531 is provided with a convex part, the second end is provided with a through groove for embedding the convex part, the bottom of the through groove is provided with a limit groove 532 for sinking the convex part into locking, the convex part of the first chain link in the adjacent chain links 531 is connected with the through groove of the second chain link through a shaft 533, and two sides of the through groove are provided with groove rails 534 for sliding the shaft 533.
The slot rail 534 is provided with a locking protrusion 535 for dividing the slot rail 534 into a first slot rail section and a second slot rail section; a first grooved rail section near the limit groove 532 and a second grooved rail section far from the limit groove 532; the shaft 533 can be pushed into the first grooved rail section from the locking protrusion 535 after passing through the second grooved rail section, and the protrusion of the link 531 is caught in the stopper groove 532 to be locked.
The leg-tying module includes a thigh protector 61, a strap 62, and a turnbuckle mechanism 63, the thigh protector 61 being connected with the distal end connector 52 in the leg assembly, the thigh protector 61 and the strap 62 being fitted for tying the thigh, the turnbuckle mechanism 63 being fixed to the strap 62.
The turn-buckle mechanism 63 includes a ratchet inner gear member 631, a ratchet outer gear member 632, a gear locking member 633, a wire wheel 634, an inner stationary member 635, a snap fastener arrangement 636, and a connection housing 637; the gear locking member 633 is secured to the ratchet inner gear member 631, the ratchet outer gear member 632 is secured to the inner securing member 635, the wire wheel 634 is disposed within the cavity of the inner securing member 635, the snap means 636 is secured to the inner securing member 635 and compresses the wire wheel 634, one end of the inner securing member 635 is secured to the connecting housing 637, the other end of the inner securing member 635 is recessed within the cavity of the ratchet inner gear member 631, and the turn-around mechanism 63 is secured to the strap 62 by the connecting housing 637.
The beneficial effects of the utility model are as follows: the leg assembly with adjustable flexibility is used, the mechanism is more compact and closely attached to a human body by adjusting the flexibility of the flexible adjusting chain, the loss of driving force is reduced, the aim of reducing internal force obstruction between human and machine is fulfilled, in addition, the length of the leg assembly can be adjusted by increasing and decreasing the number of driving rod chain links, and the leg assembly is suitable for people with different heights; furthermore, the turnbuckle structure is used, so that the binding module can more conveniently and rapidly complete the binding and loosening process, and is convenient to put on and take off; can assist rehabilitation therapists to help hip joint injury patients to complete walking rehabilitation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present utility model;
FIG. 2 is a schematic front view of the overall structure of the present utility model;
FIG. 3 is a rear isometric view of the overall structure of the present utility model;
FIG. 4 is an exploded view of the lumbar connection module of the present utility model;
FIG. 5 is a schematic view of the structure of the fastener of the present utility model;
FIG. 6 is a schematic diagram of a connection of a driving module according to the present utility model;
FIG. 7 is a schematic view of a flexible adjustment chain of the present utility model;
FIG. 8 is an exploded view of the two link connection of the flexible adjustment chain of the present utility model;
FIG. 9 is an exploded view of the turnbuckle mechanism of the present utility model;
FIG. 10 is a second schematic explosion view of the turnbuckle mechanism of the present utility model;
FIG. 11 is a schematic view of a portion of the turnbuckle mechanism of the present utility model;
FIG. 12 is a schematic illustration of a portion of a turnbuckle mechanism of the present utility model exploded second;
FIG. 13 is a schematic view of a partial assembly of the turnbuckle mechanism of the present utility model;
FIG. 14 is a schematic view of a partial assembly of a turnbuckle mechanism according to the present utility model;
the reference numerals in the figures are: 1-comprising a belt, a 2-lumbar connection module, 21-back cover, 22-housing, 23-battery, 24-battery compartment cover, 25-button, 26-switch, 31-telescoping adjustment, 32-fastener, 33-connecting rod, 34-quick-press bolt, 35-connecting rod fixture, 321-first connecting member, 322-second connecting member, 41-motor, 42-drive connector, 51-proximal connector, 52-distal connector, 53-flexible adjustment chain, 531-link, 532-limit groove, 533-shaft, 534-slotted rail, 535-locking protrusion, 61-thigh cage, 62-strap, 63-turnbuckle mechanism, 631-ratchet inner gear member, 632-ratchet outer gear member, 633-gear locking member, 634-wire wheel, 635-inner fixing member, 636-snap fastener device, 637-connection housing.
Detailed Description
The utility model will be further described with reference to the drawings and examples, but the utility model is not limited to the scope.
Example 1: as shown in fig. 1-3, a hip joint exoskeleton rehabilitation device with adjustable flexibility comprises a waistband 1, a waist connecting module 2, a telescopic adjusting module, a driving module, a leg assembly and a leg binding module; the waist connecting module 2 is fixedly connected with the waistband 1, one end of the telescopic adjusting module is connected to the waist connecting module 2 in a sliding manner, and the other end of the telescopic adjusting module is fixedly connected with the driving module; one end of the leg component is rotationally connected with the driving module, and the other end of the leg component is provided with a leg binding module.
Further, as shown in fig. 4, the lumbar connection module 2 includes a rear cover 21, a housing 22; wherein, the outside of the back cover 21 is fixedly connected with the waistband 1, and the shell 22 is fixedly connected with the back cover 21. The waist connecting module 2 can also be used for packaging a main control board and a power supply device, the plug-in type battery 23 is slidably connected in the cavity of the waist connecting module 2 through a chute, the battery is prevented from falling by using a plug-in type battery bin cover 24, and a button 25 and a switch 26 which are arranged on two sides of the shell 22 and connected with the main control board are arranged; a button 25 and a switch 26, the switch 26 is used for controlling the on-off of the equipment; the button is used for adjusting the power assisting mode and comprises an add-subtract key for increasing and decreasing the power assisting strength.
Further, as shown in fig. 4, the telescopic adjustment module includes a telescopic adjustment member 31, a fastener 32, a connecting rod 33, a quick-press bolt 34, and a connecting rod fixing member 35; the telescopic adjusting piece 31 can be fixedly connected in the waist connecting module 2 through bolts, the proximal end of the connecting rod 33 is arranged in a guide groove formed by the fastening piece 32 and the telescopic adjusting piece 31, and the position of the connecting rod 33 in the guide groove is adjusted by adjusting the tightness of the quick-press bolt 34; the distal end of the connecting rod 33 may be fixed to the driving module by bolts, and the distal end of the connecting rod 33 is fixedly attached to the waistband 1 by a connecting rod fixing member 35.
Further, as shown in fig. 5, the fastener 32 includes a first connecting member, a second connecting member; one end of the first connecting member is inserted into the telescopic adjusting piece 31 and is fixedly connected with the rear cover of the waist connecting module 2 through bolts, the other end of the first connecting member and one end of the second connecting member form a revolute pair, and the other end of the second connecting member is connected with the telescopic adjusting piece 31 and the waist connecting module 2 through quick-press bolts 34. By adopting the technical scheme, the telescopic adjusting module is tightness-adjusted through the quick-press bolt 34, when the quick-press bolt is lifted, the position of the connecting rod 33 on the telescopic adjusting piece 31 is adjusted, after the position is determined, the quick-press bolt is pressed down, and locking is completed; one end of the rotary pair is connected with the other end of the rotary pair by a quick-press bolt, so that the space can be saved by the design of the rotary pair while the position of the connecting rod is not influenced, and the whole size is reduced. In addition, the connecting rod 33 is of a hollow structure, so that the layout of wires is facilitated; is prepared by PLA+ through 3D printing, and the wall thickness is 3mm.
Further, as shown in fig. 6, the driving module includes a motor 41 and a driving adaptor 42, the stator end of the motor 41 may be fixedly connected to the distal end of the connecting rod 33 in the telescopic adjustment module through a bolt, the motor power line and the signal transmission line are connected to the main control board in the cavity of the waist connection module 2 through the hollow structure of the connecting rod 33, and the driving adaptor 42 may be fixedly connected to the rotor end of the motor 41 through a bolt to transmit power.
Further, as shown in fig. 7, the leg assembly includes a proximal connector 51, a distal connector 52, and a flexible adjustment chain 53 therebetween, one end of the flexible adjustment chain 53 is rotatably connected to the driving adaptor 42 in the driving module by the proximal connector 51, the other end of the flexible adjustment chain 53 is fixedly connected to the leg binding module by the distal connector 52 through a bolt, and the flexible adjustment chain 53 is used for fitting the thigh of the human body.
Further, as shown in fig. 8, the flexible adjustment chain 53 includes a plurality of links 531 connected in sequence; the first end of the chain link 531 is provided with a convex part, the second end is provided with a through groove for embedding the convex part, the bottom of the through groove is provided with a limit groove 532 for the convex part to sink into to be locked, the convex part of the first chain link in the adjacent chain links 531 is connected with the through groove of the second chain link through a shaft 533, two ends of the shaft are provided with snap springs, and two sides of the through groove are provided with groove rails 534 for the shaft 533 to slide.
Further, as shown in fig. 8, the slot rail 534 is provided with a locking protrusion 535 to divide the slot rail 534 into a first slot rail section and a second slot rail section; the section close to the limit groove 532 serves as a first groove rail section, and the section far from the limit groove 532 serves as a second groove rail section; the shaft 533 can be pushed into the first grooved rail section from the locking protrusion 535 after passing through the second grooved rail section, and the protrusion of the link 531 is caught in the stopper groove 532 to be locked.
In an embodiment of the present utility model, the length of the second grooved rail section may be 3 shafts 533 in diameter, providing a space for movement of the chain links 531; the length of the flexible adjusting chain can be adjusted by adjusting the position of the first chain link on the two groove track sections; secondly, the adjustment of the length of the flexible adjusting chain can be realized by adjusting the number of the chain links. The length of the second grooved rail section can be adjusted according to the requirement. By applying the technical scheme, on one hand, the length of the leg assembly can be adjusted, and the flexible adjusting chain 53 can be driven to be attached to the leg by rotating the chain link 531 around the shaft 533; on the other hand, the flexible adjustment chain 53 is driven by the motor 41, and the flexible adjustment chain 53 is driven to rotate rigidly by rotation of the motor shaft.
Further, as shown in fig. 1, the leg binding module includes a thigh support 61, a binding band 62, and a turnbuckle mechanism 63, the thigh support 61 is connected with the distal end connector 52 in the leg assembly, the thigh support 61 and the binding band 62 cooperate to bind the thigh (the square buckle at one end of the binding band 62 is fixed with one end of the thigh support 61 in a limited manner, the other end of the binding band 62 is connected with the other end of the thigh support 61 through a velcro), and the turnbuckle mechanism 63 is fixed on the binding band 62, so that the binding is more tight.
9-14, the turn-buckle mechanism 63 includes an inner ratchet gear member 631, an outer ratchet gear member 632, a gear locking member 633, a wire wheel 634, an inner stationary member 635, a snap fastener arrangement 636, and a connection housing 637; the gear locking member 633 is secured to the ratchet inner gear member 631 by a snap fit, the ratchet outer gear member 632 is secured to the inner securing member 635 by a snap fit, the wire wheel 634 is disposed within the cavity of the inner securing member 635, the snap fit arrangement 636 is secured to the inner securing member 635 by a snap fit and compresses the wire wheel 634, one end of the inner securing member 635 is secured to the connection housing 637 by a snap fit, the other end of the inner securing member 635 is trapped within the cavity of the ratchet inner gear member 631 by a snap fit, and the turnbuckle mechanism 63 is secured to the strap 62 by the connection housing 637. The turnbuckle mechanism 63 comprises two flexible steel wires, one ends of the two steel wires respectively pass through the hollow groove of the inner fixing member 635 and are fixed on the wire wheel 634, and the other ends of the two steel wires are respectively fixed on the binding belt 62. With the above described solution, when the snap fastener device 636 is tightened, the ratchet inner gear member 631 and the ratchet outer gear member 632 mesh, the gear locking member 633 and the wire wheel 634 mesh, the ratchet inner gear member 631 rotates, the wire wheel 634 winds in the rotation direction, and the two wire ropes are pulled to complete the locking of the binder 62 (locking is performed according to the direction in which the ratchet is limited, either clockwise or counterclockwise, or one direction is selected); when the snap fastener arrangement 636 is released, the ratchet inner gear member 631 and ratchet outer gear member 632 are disengaged, the gear lock member 633 and wire wheel 634 are disengaged, the wire wheel 634 is released, and the strap 62 is completed.
The application process of the utility model is as follows: the rehabilitation engineer assists a user to wear the hip joint exoskeleton rehabilitation device with adjustable flexibility on a human body, the length and the angle of the leg assembly are adjusted, the optimal fitting degree between equipment and thighs of the wearer is found, the binding mechanism is used for binding, when the encoder identifies that the wearer lifts legs, the motor drives the leg assembly to transmit force to the thigh binding position, assistance is given, and leg lifting actions are completed. Through the device, can replace the rehabilitation therapist to accomplish the work of assisting patient to lift the leg, use manpower resources sparingly, liberate rehabilitation therapist from heavy, repeated training work, compensate huge rehabilitation therapist breach to a certain extent, also provide probably for remote rehabilitation and centralized rehabilitation simultaneously.
While the present utility model has been described in detail with reference to the drawings, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present utility model within the knowledge of those skilled in the art.
Claims (10)
1. The utility model provides a compliance adjustable hip joint ectoskeleton rehabilitation device which characterized in that: comprises a waistband (1), a waist connecting module (2), a telescopic adjusting module, a driving module, a leg component and a leg binding module; the waist connecting module (2) is fixedly connected with the waistband (1), one end of the telescopic adjusting module is connected to the waist connecting module (2) in a sliding manner, and the other end of the telescopic adjusting module is fixedly connected with the driving module; one end of the leg component is rotationally connected with the driving module, and the other end of the leg component is provided with a leg binding module.
2. The adjustable compliance hip exoskeleton rehabilitation device of claim 1, wherein: the waist connecting module (2) comprises a rear cover (21) and a shell (22); wherein, back lid (21) and waistband (1) fixed connection, shell (22) and back lid (21) fixed connection.
3. The adjustable compliance hip exoskeleton rehabilitation device of claim 1, wherein: the telescopic adjusting module comprises a telescopic adjusting piece (31), a fastening piece (32), a connecting rod (33), a quick-press bolt (34) and a connecting rod fixing piece (35); the telescopic adjusting piece (31) is fixedly connected in the waist connecting module (2), the proximal end of the connecting rod (33) is arranged in a guide groove formed by the fastening piece (32) and the telescopic adjusting piece (31), and the position of the connecting rod (33) in the guide groove is adjusted by adjusting the tightness of the quick-press bolt (34); the far end of the connecting rod (33) is fixed with the driving module, and the far end of the connecting rod (33) is fixedly connected to the waistband (1) through a connecting rod fixing piece (35).
4. The adjustable compliance hip exoskeleton rehabilitation device of claim 3, wherein: the fastener (32) includes a first connecting member, a second connecting member; one end of the first connecting component is inserted into the telescopic adjusting piece (31) and fixedly connected with the waist connecting module (2), the other end of the first connecting component and one end of the second connecting component form a revolute pair, and the other end of the second connecting component is connected with the telescopic adjusting piece (31) and the waist connecting module (2) through quick-press bolts (34).
5. The adjustable compliance hip exoskeleton rehabilitation device of claim 1, wherein: the driving module comprises a motor (41) and a driving adapter piece (42), wherein the stator end of the motor (41) is fixedly connected with the far end of a connecting rod (33) in the telescopic adjusting module, and the driving adapter piece (42) is fixedly connected with the rotor end of the motor (41) to transmit power.
6. The adjustable compliance hip exoskeleton rehabilitation device of claim 1, wherein: the leg assembly comprises a proximal connecting piece (51), a distal connecting piece (52) and a middle flexible adjusting chain (53), one end of the flexible adjusting chain (53) is rotationally connected with a driving adapter (42) in the driving module through the proximal connecting piece (51), and the other end of the flexible adjusting chain (53) is fixedly connected with the leg binding module through the distal connecting piece (52).
7. The adjustable compliance hip exoskeleton rehabilitation device of claim 6, wherein: the flexible adjusting chain (53) comprises a plurality of links (531) connected in sequence; the first end of the chain link (531) is provided with a convex part, the second end of the chain link is provided with a through groove for embedding the convex part, the bottom of the through groove is provided with a limit groove (532) for sinking the convex part into locking, the convex part of the first chain link in the adjacent chain links (531) is connected with the through groove of the second chain link through a shaft (533), and two sides of the through groove are provided with groove rails (534) for sliding the shaft (533).
8. The adjustable compliance hip exoskeleton rehabilitation device of claim 7, wherein: the groove rail (534) is provided with a locking protrusion (535) which divides the groove rail (534) into a first groove rail section and a second groove rail section; a first grooved rail section close to the limit groove (532) and a second grooved rail section far from the limit groove (532); the shaft 533 can be pushed into the first grooved rail section from the locking protrusion 535 after passing through the second grooved rail section, and the convex part of the chain link 531 is locked in the limit groove 532.
9. The adjustable compliance hip exoskeleton rehabilitation device of claim 1, wherein: the leg binding module comprises a thigh support (61), a binding belt (62) and a turnbuckle mechanism (63), wherein the thigh support (61) is connected with a far-end connecting piece (52) in a leg assembly, the thigh support (61) and the binding belt (62) are matched to bind thighs, and the turnbuckle mechanism (63) is fixed on the binding belt (62).
10. The adjustable compliance hip exoskeleton rehabilitation device of claim 9, wherein: the turn-buckle mechanism (63) includes a ratchet inner gear member (631), a ratchet outer gear member (632), a gear locking member (633), a wire wheel (634), an inner fixing member (635), a snap fastener arrangement (636), and a connection housing (637); the gear locking member (633) is fixed on the ratchet inner gear member (631), the ratchet outer gear member (632) is fixed on the inner fixing member (635), the wire wheel (634) is placed in the cavity of the inner fixing member (635), the snap fastener device (636) is fixed on the inner fixing member (635) and presses the wire wheel (634), one end of the inner fixing member (635) is fixedly connected with the connecting housing (637), the other end of the inner fixing member (635) is sunk into the cavity of the ratchet inner gear member (631), and the screwing mechanism (63) is fixed on the binding band (62) through the connecting housing (637).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222943337.9U CN219230587U (en) | 2022-11-06 | 2022-11-06 | Hip joint exoskeleton rehabilitation device with adjustable flexibility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222943337.9U CN219230587U (en) | 2022-11-06 | 2022-11-06 | Hip joint exoskeleton rehabilitation device with adjustable flexibility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219230587U true CN219230587U (en) | 2023-06-23 |
Family
ID=86808365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222943337.9U Active CN219230587U (en) | 2022-11-06 | 2022-11-06 | Hip joint exoskeleton rehabilitation device with adjustable flexibility |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219230587U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116583066A (en) * | 2023-07-11 | 2023-08-11 | 惠科股份有限公司 | Connection mechanism and display device |
| CN116600524A (en) * | 2023-07-11 | 2023-08-15 | 惠科股份有限公司 | Connection mechanism and display device |
-
2022
- 2022-11-06 CN CN202222943337.9U patent/CN219230587U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116583066A (en) * | 2023-07-11 | 2023-08-11 | 惠科股份有限公司 | Connection mechanism and display device |
| CN116600524A (en) * | 2023-07-11 | 2023-08-15 | 惠科股份有限公司 | Connection mechanism and display device |
| CN116600524B (en) * | 2023-07-11 | 2023-11-21 | 惠科股份有限公司 | Connection mechanism and display device |
| CN116583066B (en) * | 2023-07-11 | 2023-11-21 | 惠科股份有限公司 | Connection mechanism and display device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN219230587U (en) | Hip joint exoskeleton rehabilitation device with adjustable flexibility | |
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| EP1983960B1 (en) | Orthopaedic apparatus for walking and rehabilitating motion-injured persons | |
| CN106038175B (en) | A kind of joint compound motion mechanical arm for rehabilitation training of upper limbs | |
| CN108095976B (en) | Bionic knee joint rehabilitation training device with passive rebound function | |
| US9421143B2 (en) | Strap assembly for use in an exoskeleton apparatus | |
| US9855181B2 (en) | Transmission assembly for use in an exoskeleton apparatus | |
| US9808390B2 (en) | Foot plate assembly for use in an exoskeleton apparatus | |
| US9675514B2 (en) | Transmission assembly for use in an exoskeleton apparatus | |
| CN111070187B (en) | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method | |
| KR101146112B1 (en) | Power-driven walking supporting device | |
| WO2014138871A1 (en) | Transmission assembly for use in an exoskeleton apparatus | |
| CN211193877U (en) | Wearable lower limb rehabilitation exoskeleton robot | |
| CN112870022A (en) | Lower limb in-situ rehabilitation training equipment based on lasso exoskeleton | |
| CN107361999B (en) | A kind of walking healing and training shoulder joint mechanism | |
| CN207575413U (en) | Wearable lower limb rehabilitation walk help mechanical device | |
| CN115137618A (en) | Wearable lower limb exoskeleton rehabilitation and power-assisted robot | |
| CN207941022U (en) | A kind of walk-aiding exoskeleton robot that dynamical system is longitudinal | |
| CN209734461U (en) | Exoskeleton robot for leg rehabilitation training and body building | |
| CN115645232A (en) | Flexibility-adjustable hip joint exoskeleton rehabilitation device | |
| CN113520786B (en) | Wearable lower limb exoskeleton auxiliary walking robot | |
| CN210114637U (en) | Finger movement rehabilitation training robot based on lasso drive and myoelectricity control | |
| CN113499214A (en) | Device is tempered with supplementary limbs to severe nursing | |
| CN112220649A (en) | Fitness type movable lower limb exoskeleton rehabilitation system | |
| CN209899987U (en) | Exoskeleton type bionic power knee joint rehabilitation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240307 Address after: Room 1509, 15th Floor, Building A, Kunming University of Technology National University Science and Technology Park, Kunbaida International School, Intersection of Haiyuan North Road and Shangyuan Road, High tech Zone, Kunming City, Yunnan Province, 650101 Patentee after: Yunnan Dingxuan Medical Technology Co.,Ltd. Country or region after: China Address before: 650093 No. 253, Xuefu Road, Wuhua District, Yunnan, Kunming Patentee before: Kunming University of Science and Technology Country or region before: China |
|
| TR01 | Transfer of patent right |