CN222899624U - An exoskeleton lower limb structure - Google Patents

Abstract

The utility model relates to the field of medical equipment, in particular to an exoskeleton lower limb structure, which comprises a knee joint connecting piece, wherein a lower leg skeleton is arranged below the knee joint connecting piece, a pedal is arranged at the bottom of the lower leg skeleton, the left and right parts of the upper part of the knee joint connecting piece are respectively hinged with a third connecting piece, the third connecting piece is respectively connected with a first connecting rod and a second connecting rod, the upper ends of the first connecting rod and the second connecting rod are respectively connected with the first connecting piece and the second connecting piece, a third connecting rod is hinged between the first connecting piece and the second connecting piece, the other ends of the first connecting piece and the second connecting piece are respectively hinged with a first fixing piece and a rotating block, the rotating block is also hinged with the second fixing piece, the first fixing piece and the second fixing piece are fixedly arranged on the exoskeleton, and are connected through the connecting rods, so that the lower limb structure is simpler, the cost is low, the length of the lower limb structure can be changed by changing the installation position of the connecting pieces, the training stride can be further changed, the training effect can be more attached to a patient during training, and the training effect is improved.

Description

Exoskeleton lower limb structure

Technical Field

The utility model relates to the technical field of medical equipment, in particular to an exoskeleton lower limb structure.

Background

At present, patients suffering from limb movement disorder, such as accidents, hemiplegia, disability and the like, are difficult to stand independently and move freely in life, and can walk only by the help of other people or by aid of auxiliary instruments such as a crutch, so that a plurality of rehabilitation exoskeleton training devices for patients suffering from limb movement disorder appear on the market, wherein lower limb structures are important components of the rehabilitation exoskeleton, but some lower limb structures are provided with driving parts at the positions of legs and joints, so that the lower limb exoskeleton structure is complex, has high cost, is difficult to fit with a human body and is unfavorable for rehabilitation training of the patients.

Disclosure of utility model

The utility model provides an exoskeleton lower limb structure, which aims to solve the technical problems that the lower limb structure in the existing rehabilitation exoskeleton is complex in structure, high in cost and difficult to fit a human body, and is unfavorable for rehabilitation training of a patient due to the fact that driving parts are arranged at the legs and joints.

In order to achieve the above purpose, the technical scheme of the utility model is realized as follows:

The utility model provides an exoskeleton lower limb structure, which comprises a knee joint connecting piece, wherein a lower leg skeleton is arranged below the knee joint connecting piece, a pedal is arranged at the bottom of the lower leg skeleton, the left and right parts of the upper part of the knee joint connecting piece are respectively hinged with a third connecting piece, a first connecting rod and a second connecting rod are respectively connected to the third connecting piece, the upper ends of the first connecting rod and the second connecting rod are respectively connected with the first connecting piece and the second connecting piece, a third connecting rod is hinged between the first connecting piece and the second connecting piece, the other ends of the first connecting piece and the second connecting piece are respectively hinged with a first fixing piece and a rotating block, the rotating block is also hinged with a second fixing piece, and the first fixing piece and the second fixing piece are fixedly arranged on the exoskeleton.

Further, a plurality of mounting holes are formed in the first connecting piece, the second connecting piece and the third connecting piece.

Further, the pedal is detachably provided with a foot pad, the foot pad is provided with foot fasteners, one side of the pedal is also provided with a mounting rod, and the mounting rod is provided with a plurality of mounting holes.

Further, the lower leg bone is provided with a plurality of gauges.

Further, the second mounting bilateral symmetry is equipped with the mounting groove, and bearing fixed mounting is in the mounting groove, and pivot fixed mounting is in the bearing, and the pivot outside still installs from the driving wheel, from driving wheel and ectoskeleton drive arrangement transmission connection.

Further, knee pads are detachably arranged on the side faces of the knee joint connecting pieces, and the knee pads are matched with binding bands.

The utility model has the beneficial effects that:

1. The utility model adopts the connecting rod design, avoids arranging driving parts at all joints, has simpler lower limb structure, and simultaneously can simulate human gait training by driving the connecting rods through the exoskeleton to drive, thereby effectively reducing the cost of the whole machine.

2. The utility model is provided with the shank bones with different specifications, and a patient can select proper specifications for replacement according to own needs, so that the structure can be more attached to the leg length of the patient, and the exercise effect is effectively improved.

3. The connecting piece is provided with the plurality of mounting holes, the structural length of the lower limb can be changed by adjusting the mounting holes, meanwhile, the purpose of adjusting the training stride is achieved by connecting rod transmission, and during training, a patient can adjust the most suitable training posture according to the self requirement, so that the rehabilitation training effect is further improved.

Drawings

FIG. 1 is a schematic view of an assembly of the present utility model;

FIG. 2 is a schematic view of a three-dimensional structure of the present utility model;

FIG. 3 is a schematic representation of an inventive three-dimensional explosion;

FIG. 4 is an enlarged schematic view of FIG. 3 at A;

Fig. 5 is an enlarged schematic view at B in fig. 3.

Reference numerals illustrate:

1. Pedal, 101, mounting rod, 102 foot pad, 2, shank bone, 3, knee joint connector, 301, knee pad, 4, first connecting rod, 5, second connecting rod, 6, driven wheel, 7, first connector, 8, third connecting rod, 9, second connector, 10, rotating block, 11, first fixing piece, 12, second fixing piece, 1201, mounting groove, 13, third connecting piece, 14, bearing, 15, rotating shaft.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many other different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

It should be further noted that, in the embodiments of the present application, the same reference numerals denote the same components or the same parts, and for the same parts in the embodiments of the present application, reference numerals may be given to only one of the parts or the parts in the drawings, and it should be understood that, for other same parts or parts, the reference numerals are equally applicable.

As the lower limb structure in the rehabilitation exoskeleton described in the background art is provided with the driving parts at the leg parts and the joints, the lower limb exoskeleton has complex structure, high cost and difficult fitting with the human body, and is not beneficial to rehabilitation training of patients;

In order to solve the above problems, referring to fig. 1 to 5, the application provides an exoskeleton lower limb structure, which comprises a knee joint connector 3, a lower leg bone 2 is installed below the knee joint connector 3, a pedal 1 is installed at the bottom of the lower leg bone 2, a third connector 13 is respectively hinged at the left and right of the upper part of the knee joint connector 3, a first connecting rod 4 and a second connecting rod 5 are respectively connected to the third connector 13, the upper ends of the first connecting rod 4 and the second connecting rod 5 are respectively connected with a first connecting rod 7 and a second connecting rod 9, a third connecting rod 8 is hinged between the first connecting rod 7 and the second connecting rod 9, the other ends of the first connecting rod 7 and the second connecting rod 9 are respectively hinged with a first fixing piece 11 and a rotating block 10, the rotating block 10 is also hinged with a second fixing piece 12, the first fixing piece 11 and the second fixing piece 12 are fixedly installed on the exoskeleton, and the driving piece on the exoskeleton drives the connecting rod to move, so that gait movement of the lower limb structure is realized, the driving piece is omitted at the joint position, and meanwhile, the cost is effectively reduced.

As shown in fig. 3 and 5, the first connecting piece 7, the second connecting piece 9 and the third connecting piece 13 are provided with a plurality of mounting holes, and during debugging, the mounting positions of the first connecting rod 4, the second connecting rod 5 and the knee joint connecting piece 3 can be adjusted up and down by changing the fixed mounting holes, so that the length of the lower limb structure at the thigh of a patient is changed.

In this embodiment, footboard 1 demountable installation has callus on the sole 102, is equipped with the foot fastener on callus on the sole 102 for fixed patient's foot prevents the training process landing, in addition, footboard 1 one side still is equipped with installation pole 101, is equipped with a plurality of mounting holes on the installation pole 101, through the fixed mounting hole on the change installation pole 101 to change the length of patient's shank position low limbs structure, make low limbs structure more laminate patient's size.

In this embodiment, the lower leg frame 2 is provided with a plurality of specifications, and the lower leg frame 2 can be directly replaced according to the length of the patient's lower leg, so that the lower limb structure can be more fitted to the body shape of the patient.

As shown in fig. 3-4, mounting grooves 1201 are symmetrically formed on two sides of the second fixing member 12, a bearing 14 is fixedly mounted in the mounting grooves 1201 on two sides, a rotating shaft 15 is fixedly mounted in the bearing 14, a driven wheel 6 is fixedly mounted on the outer side of the rotating shaft 15 through key connection, the driven wheel 6 is in transmission connection with an exoskeleton driving device, and the exoskeleton driving device drives the driven wheel to rotate so as to drive a lower limb structure to move.

In this embodiment, the knee pad 301 is detachably mounted on the side of the knee joint connector 3, and the knee pad 301 is matched with a binding band, so that better fixing measures are provided for patients.

The practical principle of the utility model is as follows:

During training, the exoskeleton driving device drives the driven wheel 6 to rotate, the rotating block 10 rotates to drive the second connecting piece 9 and the second connecting rod 5 to move up and down through the eccentric principle, meanwhile, the third connecting rod 8 pulls the first connecting piece 7 and the first connecting rod 4 to move up and down, the knee joint connecting piece 3 is pulled to swing due to the fact that the lengths of the second connecting piece 9 and the first connecting piece 7 are different, the shank exoskeleton 2 and the pedal 1 are pulled to move to form bionic gait movement, connecting rods are used at joints to connect, gait movement is achieved, compared with products of the same type, the use of a harmonic speed reducing motor is reduced, cost is effectively saved while the structure is simpler, the length of a lower limb structure is effectively changed by changing the installation position of the installation hole, because the connecting rods are driven, the effect of changing the stride is achieved, the lower limb structure can provide the optimal training posture for a patient, and the rehabilitation training effect is improved.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Moreover, the technical solutions of the embodiments of the present utility model may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the embodiments, and when the technical solutions are contradictory or cannot be implemented, it should be considered that the combination of the technical solutions does not exist, and is not within the scope of protection claimed by the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims (6)

1. The exoskeleton lower limb structure is characterized by comprising a knee joint connecting piece (3), a lower leg bone (2) is arranged below the knee joint connecting piece (3), a pedal (1) is arranged at the bottom of the lower leg bone (2), third connecting pieces (13) are hinged to the left and right parts of the upper part of the knee joint connecting piece (3), a first connecting rod (4) and a second connecting rod (5) are connected to the third connecting pieces (13), the upper ends of the first connecting rod (4) and the second connecting rod (5) are connected with a first connecting piece (7) and a second connecting piece (9) respectively, a third connecting rod (8) is hinged between the first connecting piece (7) and the second connecting piece (9), the other ends of the first connecting piece (7) and the second connecting piece (9) are hinged to a first fixing piece (11) and a rotating block (10) respectively, the rotating block (10) is also hinged to a second fixing piece (12), and the first fixing piece (11) and the second fixing piece (12) are fixedly arranged on an exoskeleton.

2. Exoskeleton lower limb structure according to claim 1, wherein the first (7), second (9) and third (13) connectors are each provided with a plurality of mounting holes.

3. The exoskeleton lower limb structure of claim 1, wherein the foot pad (102) is detachably mounted on the pedal (1), foot fasteners are arranged on the foot pad (102), a mounting rod (101) is further arranged on one side of the pedal (1), and a plurality of mounting holes are formed in the mounting rod (101).

4. Exoskeleton lower limb structure according to claim 2, wherein the lower leg bones (2) are provided with a plurality of gauges.

5. The exoskeleton lower limb structure of claim 1, wherein the second fixing member (12) is symmetrically provided with mounting grooves (1201) on two sides, the bearing (14) is fixedly installed in the mounting grooves (1201), the rotating shaft (15) is fixedly installed in the bearing (14), the driven wheel (6) is further installed on the outer side of the rotating shaft (15), and the driven wheel (6) is in transmission connection with the exoskeleton driving device.

6. The exoskeleton lower limb structure of claim 5, wherein the knee pad (301) is detachably mounted on the side surface of the knee joint connector (3), and the knee pad (301) is further matched with a binding band.