WO2021057191A1

WO2021057191A1 - Limb rehabilitation exoskeleton and limb rehabilitation system

Info

Publication number: WO2021057191A1
Application number: PCT/CN2020/101285
Authority: WO
Inventors: 谭高辉; 马舜; 韩小刚; 徐博源
Original assignee: 深圳市丞辉威世智能科技有限公司
Priority date: 2019-09-25
Filing date: 2020-07-10
Publication date: 2021-04-01
Also published as: CN110575360A

Abstract

Disclosed is a limb rehabilitation exoskeleton (10) and a limb rehabilitation system (1) employing the limb rehabilitation exoskeleton (10). The limb rehabilitation exoskeleton (10) comprises a first support rod (110) and a second support rod (120), which are rotatably connected. A first guide wheel assembly (140) is arranged at the end portion of the first support rod (110) far from the second support rod (120), and a second guide wheel assembly (150) is arranged at the end portion of the second support rod (120) far from the first support rod (110). A transmission assembly (130) is connected to the first support rod (110) and the second support rod (120). A power unit (160) is arranged at the end portion of the first support rod (110) far from the second support rod (120), and is connected to the transmission assembly (130). The limb rehabilitation exoskeleton (10), when used to assist limb rehabilitation, can guide the direction of movement and match the movement path of the limb, thus enhancing the effect of rehabilitation. In use, the position of the power unit (160) does not change substantially, and thus the power unit (160) avoids having to perform work to overcome its own weight, thus reducing energy consumption, and avoiding the problems of leg rotation and joint misalignment due to uneven weight distribution, thus further improving the effect of rehabilitation.

Description

Physical rehabilitation exoskeleton and physical rehabilitation system

Technical field

The invention relates to the technical field of exoskeleton, in particular to a limb rehabilitation exoskeleton and a limb rehabilitation system.

Background technique

In rehabilitation clinics, in the early and acute phases of rehabilitation of patients with stroke and cerebral palsy, it is often necessary to wake up and reshape the cranial nervous system that has been interrupted and disordered by brain tissue damage through joint activities. At the same time, joint activities can also improve muscle strength and avoid Muscle atrophy, pressure sores in the limbs and other diseases.

In the existing clinical rehabilitation departments, most rehabilitation practitioners artificially help patients to perform corresponding rehabilitation actions. Because the patient cannot provide the main motivation for exercise during the period of paresis, it is totally necessary to rely on the rehabilitator to help the patient to train at this time, which greatly wastes manpower and time costs. Due to the limited daily rehabilitation capacity of each rehabilitation practitioner, it is unable to meet the rapidly increasing needs of patients with brain tissue injuries and orthopedic injuries. And through artificial rehabilitation training in the acute phase, the rehabilitation mode cannot be well controlled, such as the effective switching of passive, active, and impedance modes, or the existing rehabilitation training will also use some machinery to assist oriented rehabilitation, but now The motion trajectory of some auxiliary machinery is not smooth enough, and there is a large error with the motion trajectory of the limbs, resulting in unsatisfactory rehabilitation effects.

The above content is only used to assist the understanding of the technical solutions of this application, and does not mean that the above content is recognized as prior art.

Summary of the invention

The main purpose of the present invention is to provide a limb rehabilitation exoskeleton, which aims to assist patients in realizing the rehabilitation of lower limbs and improve the rehabilitation effect.

In order to achieve the above objective, the exoskeleton for limb rehabilitation provided by the present invention includes:

First support rod

A second support rod, the first support rod and the second support rod are rotatably connected;

A transmission assembly, the transmission assembly is arranged on the first support rod and is drivingly connected to the second support rod;

A first guide wheel assembly and a second guide wheel assembly, the first guide wheel assembly is arranged at the end of the first support rod away from the second support rod, and the second guide wheel assembly is arranged at the first support rod. The end of the two supporting rods facing away from the first supporting rod; and

A power device, the power device is arranged at the end of the first support rod away from the second support rod, and is connected to the transmission assembly, and the power device drives the second support rod through the transmission assembly Rotate relative to the first support rod.

Optionally, the power device and the transmission assembly are arranged on the same side of the first support rod.

Optionally, the power device is detachably installed on an end of the first support rod away from the second support rod through a mounting member.

Optionally, the transmission assembly includes two opposite ends, one end of the transmission assembly is in transmission connection with the power device, and the other end of the transmission assembly is rotatably connected with the second support rod.

Optionally, the transmission assembly includes a first turntable, a second turntable, and a connecting rod. The first turntable includes a first disk body and a first connecting portion that are connected to each other. The first disk body and the power device Transmission connection, the first connecting portion is set offset from the rotation center of the first disc body;

The second turntable includes a connected second disk body and a second connecting portion, the second disk body is rotatably connected with the second support rod, and the second connecting portion deviates from the rotation of the second disk body Center setting

The connecting rod is rotatably connected to the first connecting portion and the second connecting portion.

Optionally, the transmission assembly further includes a reducer, which connects the power device and the first turntable.

Optionally, when the first support rod and/or the second support rod rotate to form an included angle, in the direction of rotation of the first support rod and/or the second support rod, the first support rod and/or the second support rod rotate The guide wheel assembly is arranged on one side of the first support rod, and the second guide wheel assembly is arranged on the side of the second support rod facing the first guide wheel assembly.

Optionally, the first guide wheel assembly includes at least one first guide wheel, the first support rod is provided with a first rotation shaft, and the first guide wheel is rotatably sleeved on the first rotation shaft;

The second guide wheel assembly includes a second guide wheel, the second support rod is provided with a second rotation shaft, and the second guide wheel is rotatably sleeved on the second rotation shaft.

Optionally, the first guide wheel assembly includes two first guide wheels, the two first guide wheels are arranged on opposite sides of the first support rod, and respectively rotate and sleeve the first rotation shaft Both ends.

The present invention also provides a limb rehabilitation system, including two oppositely arranged limb rehabilitation exoskeletons, the limb rehabilitation exoskeleton being the above-mentioned limb rehabilitation exoskeleton.

The technical solution of the present invention connects the first support rod and the second support rod in rotation. The first guide wheel assembly is arranged at the end of the first support rod away from the second support rod, and the second guide wheel assembly is arranged at the end of the second support rod away from the second support rod. At the end of the first support rod, the transmission assembly connects the first support rod and the second support rod. The power device is arranged at the end of the first support rod away from the second support rod and is connected with the transmission assembly. When the power device is driven by the transmission assembly When the second support rod rotates relative to the first support rod, the first guide wheel assembly can guide the movement of the first support rod away from the end of the second support rod, and the second guide wheel assembly will also support the second support rod. The movement of the end of the rod away from the first support rod serves as a guide.

Take the exoskeleton assisting the lower limb rehabilitation of the human body as an example. The second support rod is fixed to the lower leg of the human body. After the first support rod is fixed to the human thigh, the power device drives the second support rod to rotate relative to the first support rod through the transmission assembly to drive Do flexion and extension exercises for the lower limbs. When the human body is doing rehabilitation exercises, it is generally lying or sitting. Since the second support rod is provided with a second guide wheel assembly, when the second support rod is in motion, the second guide wheel assembly is in contact with the supporting surface , And rolls relative to the supporting surface, so the resistance during the movement of the second supporting rod can be reduced, so that the movement of the calf part is more in line with the normal movement trajectory of the limbs, and the human body is guaranteed to move in the set direction. When the first support rod moves, the first guide wheel assembly is in contact with the support surface, so the resistance during the movement of the first support rod can be reduced, so that the movement of the thigh part is more in line with the normal movement trajectory of the limb. In this way, the technical solution of the present invention can play a guiding role when the exoskeleton is used to assist the human body in rehabilitation, and fit the movement trajectory of the limbs to improve the rehabilitation effect.

In addition, the present invention also arranges the power device at the end of the first support rod away from the second support rod, thereby avoiding the power device from overcoming its own gravity to do work and reducing energy consumption. After the limb rehabilitation exoskeleton is fixed to the leg of the human body, since the power device is arranged at the end of the first support rod away from the second support rod, that is, the power device is adjacent to the hip joint of the human body. When the power device drives the second support rod to rotate through the transmission assembly, the second support rod drives the calf to move the human body to complete the kneeling, straightening and other actions. When these actions are completed, the position of the power device is almost unchanged, so it can Avoid the power plant to overcome its own gravity to do work. At the same time, the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint components are avoided, and the rehabilitation effect is further improved.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structure shown in these drawings.

Fig. 1 is a schematic structural diagram of an embodiment of the exoskeleton for limb rehabilitation according to the present invention;

Fig. 2 is a schematic structural diagram of the partial structure of the exoskeleton for limb rehabilitation shown in Fig. 1;

Figure 3 is a top view of the partial structure of the limb rehabilitation exoskeleton shown in Figure 2;

Fig. 4 is a structural exploded view of the partial structure of the exoskeleton for limb rehabilitation shown in Fig. 2;

Fig. 5 is a schematic structural diagram of an embodiment of the limb rehabilitation system of the present invention.

Attached icon number description:

标号Label	名称 name	标号Label		名称name
11	肢体康复系统 Limb rehabilitation system	133133	连杆 link
1010	肢体康复外骨骼 Limb rehabilitation exoskeleton	134134	减速器 reducer
110110	第一支撑杆 First support rod	140140	第一导轮组件The first guide wheel assembly
111111	第一转动轴First axis of rotation	141141	第一导轮The first guide wheel
120120	第二支撑杆 Second support rod	150150	第二导轮组件Second guide wheel assembly
121121	第二转动轴Second axis of rotation	151151	第二导轮 Second guide wheel
130130	传动组件 Transmission components	160160	动力装置 powerplant
131131	第一转盘 First turntable	161161	安装件Mount
132132	第二转盘Second turntable	To	To

The realization of the objectives, functional characteristics and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between components in a specific posture (as shown in the accompanying drawings). If the relative position relationship, movement situation, etc. change, the directional indication will change accordingly.

In addition, descriptions related to "first", "second", etc. in the present invention are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and/or" in the full text means including three parallel schemes, taking "A and/or B as an example", including scheme A, scheme B, or schemes in which both A and B meet. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the protection scope of the present invention.

Referring to FIG. 1, the present invention proposes a limb rehabilitation exoskeleton 10.

In an embodiment of the present invention, the limb rehabilitation exoskeleton 10 includes:

The first support rod 110;

A second support rod 120, the first support rod 110 and the second support rod 120 are rotatably connected;

A transmission assembly 130, which connects the first support rod 110 and the second support rod 120;

A first guide wheel assembly 140 and a second guide wheel assembly 150. The first guide wheel assembly 140 is provided at the end of the first support rod 110 facing away from the second support rod 120. The second guide wheel assembly 150 is provided at the end of the second support rod 120 away from the first support rod 110; and

The power device 160 is arranged at the end of the first support rod 110 away from the second support rod 120, and is connected to the transmission assembly 130, and the power device 160 passes through the transmission assembly 130 The second support rod 120 is driven to rotate relative to the first support rod 110.

In the technical solution of the present invention, the first support rod 110 and the second support rod 120 are rotatably connected to form a joint assembly that fits the movement trajectory of the thigh and the lower leg. The first guide wheel assembly 140 is arranged on the first support rod 110 away from the second support rod 120, the second guide wheel assembly 150 is arranged at the end of the second support rod 120 away from the first support rod 110, and the transmission assembly 130 is arranged at the first support rod 110 and is connected to the second support rod 120 in a driving manner. The device 160 is arranged at the end of the first support rod 110 away from the second support rod 120 and is connected to the transmission assembly 130. In the present application, by arranging the transmission assembly 130 and the power device 160 on the first support rod 110, that is, the installation positions of the transmission assembly 130 and the power device 160 are both on the first support rod 110, so as to avoid occurrences during the assembly process. The position deviation can not only improve the transmission accuracy of the transmission assembly 130 and the power unit 160 after installation, but also the manufacture of the first support rod 110 and the assembly operation of the transmission assembly 130 and the power unit 160 are relatively simple, and the power unit 160 Driven, the transmission assembly 130 drives the second support rod 120 to rotate relative to the first support rod 110. The first guide wheel assembly 140 can guide the movement of the first support rod 110 away from the end of the second support rod 120. The second guide wheel assembly 150 also guides the movement of the end of the second support rod 120 away from the first support rod 110. At the same time, the present invention also arranges the power device 160 at the end of the first support rod 110 away from the second support rod 120, thereby avoiding the power device 160 from overcoming its own gravity to do work and reducing energy consumption. After the extremity rehabilitation exoskeleton 10 is fixed to the leg of the human body, the power device 160 is located at the end of the first support rod 110 away from the second support rod 120, that is, the power device 160 is adjacent to the hip joint of the human body. When the power unit 160 drives the second support rod 120 to rotate through the transmission assembly 130, the second support rod 120 drives the calf movement, so that the human body completes knee-bending, straightening and other actions. When these actions are completed, the position of the power unit 160 is almost different. Therefore, it is possible to prevent the power device 160 from doing work against its own gravity. At the same time, the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint components are avoided, and the rehabilitation effect is further improved.

Taking the extremity rehabilitation exoskeleton 10 assisting the human body’s lower limb rehabilitation as an example, the second support rod 120 is fixed to the lower leg of the human body, and the first support rod 110 is fixed to the human body’s thigh. At this time, the power unit 160 is exactly at the hip joint of the human body. Driven by the power device 160, the transmission assembly 130 drives the second support rod 120 to rotate relative to the first support rod 110 to drive the lower limbs to perform flexion and extension exercises. In this way, driven by the power device 160, the lower limbs of the human body can be assisted and guided to complete the flexion and extension exercises. And then assist the user to recover. And when the human body is doing rehabilitation exercises, it is generally in a lying or sitting state. Since the second supporting rod 120 is provided with the second guide wheel assembly 150, when the second supporting rod 120 is in motion, the second guide wheel assembly 150 is in contact with the support surface and rolls relative to the support surface, so the resistance during the movement of the second support rod 120 can be reduced, so that the movement of the calf part is more in line with the normal movement trajectory of the limbs, and the human body can move in the set direction. . When the first support rod 110 moves, the first guide wheel assembly 140 contacts the support surface, so that the resistance during the movement of the first support rod 110 can be reduced, and the movement of the thigh part can be more closely matched with the normal movement trajectory of the limb. In this way, by providing the driving function of the power device 160 and the guiding function of the first guide wheel assembly 140 and the second in the present invention, the limb rehabilitation exoskeleton 10 is more closely fitted to the movement trajectory of the human limb, thereby improving the rehabilitation effect.

It is understandable that in a state of use, the user can place the lower limbs on the exoskeleton 10 for limb rehabilitation, so that the second support rod 120 supports the lower leg, the first support rod 110 supports the thigh, and the power device 160 drives the transmission assembly 130 When the transmission assembly 130 drives the first support rod 110 and the second support rod 120 to rotate relative to each other, rehabilitation training is performed on the calf and the thigh. And, in order to facilitate fixing the position of the patient’s limbs relative to the first support rod 110 and the second support rod 120, in the present technical solution, a fixing member is provided on the first support rod 110 and/or the second support rod 120. In the embodiment, the fixing member is provided on the upper side of the first support rod 110 and the second support rod 120, or the fixing member is correspondingly provided on a plane parallel to the rotation direction of the first support rod 110 and the second support rod 120, so as to be on the side To fix the legs, when the exoskeleton 10 is connected to the human body, the patient can be in a lying position or a sitting position. Wherein, the material of the fixing member can be elastic materials such as rubber, latex, etc., and can also be made of multiple layers of cloth and/or cotton yarn to increase its air permeability and make it convenient for patients to use.

It should be noted that the “end” in “the power device 160 is provided at the end of the first support rod 110 away from the second support rod 120" in the present application is not limited to the first support rod 110 The end surface in the length direction can be understood as the free end of the first support rod 110, that is, the installation of the power device 160 can be located at the free end of the first support rod 110, and its specific position can be a length away from the first support rod 110. The end surface of the direction is a certain distance or fixed on the end surface, the same "first guide wheel assembly 140 and second guide wheel assembly 150, the first guide wheel assembly 140 is arranged on the first support rod 110 away from the first Two ends of the support rod 120, the second guide wheel assembly 150 is provided at the end of the second support rod 120 away from the first support rod 110. Do not repeat it.

Please refer to FIGS. 2 to 4 in combination. The power device 160 and the transmission assembly 130 are arranged on the same side of the first support rod 110.

The power device 160 is detachably installed on an end of the first support rod 110 away from the second support rod 120 through a mounting member 161.

In an embodiment of the present invention, the first support rod 110 and the second support rod 120 have a plate-shaped structure, of course, they can also be a rod-shaped structure. The size of the first support rod 110 is larger than the size of the second support rod 120 because The size of the thigh of the human body is larger than that of the calf, so setting the size of the second support rod 120 for supporting the thigh to be larger than the size of the first support rod 110 for supporting the calf can make the structure of the limb rehabilitation exoskeleton 10 more stable . In order to reduce the weight of the first support rod 110 and the second support rod 120, the first support rod 110 and the second support rod 120 are provided with hollow structures. The material of the first support rod 110 and the second support rod 120 can be metal, plastic, or other alloy materials. Or a mixture of metal materials and plastics is used, as long as the stability of the first support rod 110 and the second support rod 120 can be improved. In this way, it is more beneficial to improve the installation stability of the first support rod 110 and the second support rod 120, thereby effectively improving the practicability, reliability, and durability of the first support rod 110 and the second support rod 120.

In an embodiment of the present invention, the power unit 160 is a motor, and preferably a servo motor. The speed control and position accuracy of the servo motor are relatively high, so it is easier to control the second support rod 120 and the first support rod 110 in different clamps. The relative rotation speed at the angle makes it more in line with the physiological characteristics of human movement, and thus better assists the user in rehabilitation. Of course, the power unit 160 can also be a stepping motor, a hydraulic motor, a brushless motor, or a brush motor. In an embodiment of the present invention, a solution in which the power device 160 is detachably connected to the second support rod 120 is adopted. Specifically, the limb rehabilitation exoskeleton 10 further includes a mounting member 161, which is a flange structure, and the power The device 160 is fixed to the mounting part 161 by connecting parts such as screws and pins. The first support rod 110 is provided with a number of screw holes. The mounting part 161 is fixed to one side of the first support rod 110 by screws; the power unit 160 is realized by the mounting part 161 The detachable connection of the power unit 160 can not only facilitate the maintenance of the power unit 160, but also in specific use, when the patient wears the exoskeleton, the power unit 160 can be removed first to reduce the weight of the exoskeleton during wear. After the support rod 110 and the second support rod 120 are worn, the power device 160 is installed on the first support rod 110, so that the exoskeleton 10 for limb rehabilitation is easier to wear. In other embodiments of the present invention, a solution in which the power device 160 is fixedly connected to the second support rod 120 may also be used to reduce the process of wearing the exoskeleton.

It is understandable that in an embodiment of the present invention, the power device 160 is detachably installed on one side of the first support rod 110 through the mounting member 161, that is, after the first support rod 110 is fixed to the leg, the power device 160 is located on the first support. The rod 110 is away from the side of the thigh, so that the user's thigh can be close to the surface of the first support rod 110, which improves the stability of the limb rehabilitation exoskeleton 10 fixed on the thigh. Not only that, in an embodiment of the present invention, the transmission assembly 130 is also located on the same side of the power unit 160, that is, the first support rod 110 separates the thigh from the power unit 160 and the transmission assembly 130, so that during use, It is possible to prevent the transmission assembly 130 and the power device 160 from contacting the human body, and improve the safety performance. Moreover, the transmission assembly 130 and the power unit 160 are both located on the outer side of the thigh, which is also convenient for the user to maintain.

Optionally, the transmission assembly 130 includes two opposite ends, one end of the transmission assembly 130 is drivingly connected with the power device 160, and the other end of the transmission assembly 130 is rotatably connected with the second support rod 120. Both ends of the transmission assembly 130 are respectively connected to the second support rod 120 and the first support rod 110 to simplify the arrangement structure of the transmission assembly 130 on the first support rod 110 and the second support rod 120, thereby facilitating limb rehabilitation. Production and processing.

4 again, the transmission assembly 130 includes a first turntable 131, a second turntable 132, and a connecting rod 133. The first turntable 131 includes a first disk body and a first connecting portion that are connected to each other. The disc body is in transmission connection with the power unit, and the first connecting portion is set offset from the rotation center of the first disc body; the second turntable 132 includes a second disc body and a second connecting portion that are connected to each other. The second disk body is rotatably connected with the second support rod 120, and the second connecting portion is set offset from the rotation center of the second disk body; the connecting rod 133 is rotatably connected to the first connecting portion and the The second connection part.

Specifically, in an embodiment of the present invention, the transmission assembly 130 includes a first turntable 131, a second turntable 132, and a connecting rod 133. The first turntable 131 includes a first disk body and a first connecting portion. It is in the shape of a disc, and a shaft hole is opened at the center of the circle. The first disc body rotates relative to the first support rod 110 with the center of the circle as the center of rotation; it should be noted that the first disc body rotates relative to the first support rod 110 It may be that the first support rod 110 is provided with a rotating shaft that matches the shaft hole, and the first plate body is rotatably sleeved on the rotating shaft through the shaft hole; or in the present application, the power unit 160 is installed on the first support rod through a mounting member 161 110. The shaft hole of the first disc body is sleeved on the output end of the power device 160 to realize the rotation of the first disc body relative to the first support rod 110. The first connecting portion may be fixedly connected to the first disk body, or may be connected to the first disk body in a detachable connection manner. The first connecting portion is provided on the surface of the first disk body and deviates from the center of the first disk. This makes the first turntable 131 an eccentric wheel structure. For the structure of the second turntable 132, refer to the first turntable 131, which will not be described in detail here. In the present application, the connecting rod 133 is connected to the first connecting portion and the second connecting portion, so that the first turntable 131, the second turntable 132, and the connecting rod 133 form a four-bar linkage mechanism in the plane. The second support rod 120 swings relative to the first support rod 110, and the movement trajectories of the first support rod 110 and the second support rod 120 are more closely aligned with the flexion and extension movements of the limbs, thereby further improving the rehabilitation effect. At the same time, the first turntable 131 and the second turntable 132 are in an eccentric wheel structure. Compared with the planar four-bar linkage formed by all the connecting rods 133, the overall structure is more compact, which can reduce the exoskeleton for limb rehabilitation. 10 volume. And after the connecting rod 133 is connected to the first turntable 131 and the second turntable 132, the first disk body and the second disk body can be attached to the side of the connecting rod 133 to support it. Therefore, the transmission assembly 130 is in use. Dislocation and swing are less likely to occur, and the transmission performance of the transmission assembly 130 is more stable.

It can be understood that the purpose of providing the first turntable 131, the second turntable 132, and the connecting rod 133 is to form a four-bar linkage mechanism in a plane. Therefore, the transmission assembly 130 may also be in other forms, as long as a four-bar linkage mechanism can be realized. Yes, all the above-mentioned planar four-bar linkages formed by connecting rods 133, or the first turntable 131 and the second turntable 132 are cam structures, or the rotation centers of the first turntable 131 and the second turntable 132 deviate The position of the center of the circle and the above structures are all within the protection scope of this application.

In an embodiment of the present invention, the first connecting portion is specifically a first protrusion formed on the first disc body. The first protrusion is cylindrical and can be integrally formed with the first disc body, or it can be formed by screws or It is fixedly connected to the first plate body by means of pins. Both ends of the connecting rod 133 are provided with a first mounting hole and a second mounting hole. The first mounting hole and the second mounting hole are respectively sleeved on the first protrusion and the second protrusion, so that the first plate body rotates, driving the connection The rod 133 moves, and the connecting rod 133 drives the second disc body to rotate, so that the second support connected with the second disc body swings.

In order to improve the transmission performance of the transmission assembly 130, in an embodiment of the present invention, the first mounting hole and the second mounting hole are respectively sleeved with bearings, and the diameter of the first protrusion and the second protrusion is slightly larger than the bearing of the bearing Hole, so that the first protrusion and the second protrusion form a tight fit after being sleeved in the bearing hole, so that both ends of the connecting rod 133 can be fixed to the first protrusion and the second protrusion respectively, avoiding the use of The connecting rod 133 falls off, and the bearing makes the connecting rod 133 easier to rotate relative to the first disc body and the second disc body, and the transmission efficiency of the transmission assembly 130 is improved. Of course, the bearing can also be sleeved on the first protrusion and the second protrusion, and the effect achieved by the above-mentioned embodiment can also be achieved, which will not be described in detail here.

It is understandable that the function of the transmission assembly 130 is to transmit the kinetic energy of the power device 160 to the second support rod 120 to drive the second support rod 120 to rotate relative to the first support rod 110. Therefore, the transmission assembly 130 may also be in other forms. For example, the transmission assembly 130 can be a plurality of gears meshed, or through a pulley, or through a worm drive, etc., as long as the second support rod 120 can be driven by the power device 160 to rotate relative to the first support rod 110 That's it, I won't go into details here.

Optionally, the transmission assembly 130 further includes a speed reducer 134 connected to the power device 160 and the first turntable 131.

In order to make the movement trajectory of the exoskeleton 10 for limb rehabilitation more suitable for the movement trajectory of the limbs, in an embodiment of the present invention, the transmission assembly 130 is further provided with a reducer 134. The reducer 134 is preferably a harmonic reducer. The motor is fixed to the mounting member 161, the output end of the power unit 160 is connected to the wave generator of the harmonic reducer, and the flexible wheel is connected to the transmission assembly 130. By setting the harmonic reducer, the power unit 160 drives the harmonic reducer, and the harmonic reducer drives the transmission assembly 130 to move. Because the harmonic reducer has the characteristics of large transmission speed ratio, high load capacity, high transmission accuracy, high transmission efficiency, smooth movement, small size, and light weight, it makes the movement trajectory of the rehabilitation exoskeleton and the movement trajectory of the human body more In agreement, the power unit 160 outputs a larger torque through the harmonic reducer, thereby reducing the overall size of the exoskeleton 10 for limb rehabilitation. In this way, the overall weight of the exoskeleton 10 for limb rehabilitation of the present invention is lighter, the installation space is compact, and a reasonable transmission ratio configuration is realized, which meets the output requirements of high rotation speed and large torque, and is convenient to use.

It should be noted that the main function of the reducer 134 is to decelerate the high-speed power unit 160 to output a speed suitable for flexion and extension of the limbs and a greater torque. Therefore, the reducer 134 can also be in the form of multiple gears meshing. , By setting a reasonable transmission ratio, a smaller output speed and a larger torque can be obtained.

1 again, in an embodiment of the present application, in the rotation direction of the first support rod 110 and/or the second support rod 120, the first support rod 110 and/or the second support rod 110 The two support rods 120 rotate to form an included angle. The first guide wheel assembly 140 is arranged on one side of the first support rod 110, and the second guide wheel assembly 150 is arranged on the second support rod 120 facing the One side of the first guide wheel assembly 140. When the first support rod 110 and the second support rod 120 form an angle, that is, the user is in a state of retracting his legs during use, the first guide wheel assembly 140 is provided on one side of the first support rod 110, The second guide wheel assembly 150 is arranged on the side of the second support rod 120 facing the first guide wheel assembly 140, and may be the opposite inner surface of the first support rod 110 and the second support rod 120, that is, similar The back side of the calf and the back side of the thigh, due to the human body's muscle tissue and the wrap around the thigh and the calf, the first guide wheel assembly 140 and the second guide wheel assembly 150 are respectively arranged on the back side of the calf and the back side of the thigh, which can pass through The first guide wheel assembly 140 and the second guide wheel assembly 150 elevate the limb rehabilitation exoskeleton 10, thereby giving way to the thigh and calf, avoiding the need for the user's muscles to contact the supporting surface, and preventing excessive muscle output from affecting the rehabilitation effect , And can also facilitate the support of the exoskeleton 10 for physical rehabilitation. It can be understood that when the first support rod 110 and the second support rod 120 are parallel, the supporting part of the first guide wheel assembly 140 and the supporting part of the second guide wheel assembly 150 are arranged on the exoskeleton 10 for limb rehabilitation. In this way, the extremity rehabilitation exoskeleton 10 can support the user on the same side and improve the support stability.

Optionally, the first guide wheel assembly 140 includes at least one first guide wheel 141, the first support rod 110 is provided with a first rotation shaft 111, and the first guide wheel 141 is rotatably sleeved on the first guide wheel 141. A rotating shaft 111;

The second guide wheel assembly 150 includes a second guide wheel 151, the second support rod 120 is provided with a second rotation shaft 121, and the second guide wheel 151 is rotatably sleeved on the second rotation shaft 121.

The first guide wheel assembly 140 includes two first guide wheels 141. The two first guide wheels 141 are arranged on opposite sides of the first support rod 110 and respectively rotate and sleeve the first rotation shaft 111 The ends.

In an embodiment of the present invention, the first rotation shaft 111 is formed to extend along the radial direction of the first support rod 110, so as to facilitate the sleeve connection of the first guide wheel 141. The end of the first rotating shaft 111 away from the first support rod 110 may include a limiting portion, so that when the first guide wheel 141 is rotatably sleeved on the first rotating shaft 111, the first guide wheel 141 can be prevented from being used The process flew out. And, the first rotating shaft 111 may also include a slit penetrating the limiting part, so that when the first guide wheel 141 is installed, the limiting part can be combined, and then passing through the first guide wheel 141, the first rotating shaft After passing through the first guide wheel 141, the limiting portion opens to limit the first guide wheel 141 to the first rotating shaft 111. Similarly, the second rotating shaft 121 is formed to extend along the radial direction of the second support rod 120, so as to facilitate the sleeve connection of the second guide wheel 151. The end of the second rotation shaft 121 away from the second support rod 120 may include a stopper, so that when the second guide wheel 151 is rotatably sleeved on the second rotation shaft 121, the second guide wheel 151 can be prevented from being used The process flew out. And, the second rotating shaft 121 may also include a slit penetrating the limiting part, so that when the second guide wheel 151 is installed, the limiting part can be combined and then pass through the second guide wheel 151, and the second rotating shaft After passing through the second guide wheel 151, the limiting portion opens to limit the second guide wheel 151 to the second rotating shaft 121.

In an embodiment of the present invention, the first guide wheel assembly 140 includes two first guide wheels 141, and the two first guide wheels 141 are arranged coaxially, thereby further improving the structural stability of the exoskeleton 10 for limb rehabilitation. Of course, the number of first guide wheels 141 can also be provided in multiple, which is not specifically limited here. Similarly, the second guide wheel assembly 150 may also include a plurality of second guide wheels 151, and the plurality of second guide wheels 151 are arranged coaxially, so as to further improve the structural stability of the exoskeleton 10 for limb rehabilitation.

5, the present invention also proposes a limb rehabilitation system 1, the limb rehabilitation system 1 includes two oppositely arranged limb rehabilitation exoskeleton 10, specific embodiments of the limb rehabilitation exoskeleton 10 refer to the above-mentioned embodiment, because the limb The rehabilitation system 1 adopts all the technical solutions of all the above-mentioned embodiments, and therefore at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

In application, the limb rehabilitation system 1 may include a two-limb rehabilitation exoskeleton 10 and other mechanisms connected with the limb rehabilitation exoskeleton 10 to facilitate simultaneous rehabilitation of the two lower limbs of the patient.

The above descriptions are only the preferred embodiments of the present invention, and do not limit the scope of the present invention. Under the inventive concept of the present invention, equivalent structural transformations made by using the contents of the description and drawings of the present invention, or direct/indirect use All other related technical fields are included in the scope of patent protection of the present invention.

Claims

A physical rehabilitation exoskeleton is characterized in that it comprises:

First support rod

A second support rod, the first support rod and the second support rod are rotatably connected;

A transmission assembly, the transmission assembly is arranged on the first support rod and is drivingly connected to the second support rod;

A first guide wheel assembly and a second guide wheel assembly, the first guide wheel assembly is arranged at the end of the first support rod away from the second support rod, and the second guide wheel assembly is arranged at the first support rod. The end of the two supporting rods facing away from the first supporting rod; and

A power device, the power device is arranged at the end of the first support rod away from the second support rod, and is connected to the transmission assembly, and the power device drives the second support rod through the transmission assembly Rotate relative to the first support rod.
The extremity rehabilitation exoskeleton according to claim 1, wherein the power device and the transmission assembly are arranged on the same side of the first support rod.
The exoskeleton for limb rehabilitation according to claim 1, wherein the power device is detachably mounted on an end of the first support rod away from the second support rod through a mounting member.
The extremity rehabilitation exoskeleton according to claim 1, wherein the transmission assembly includes two oppositely arranged two ends, one end of the transmission assembly is connected to the power device in transmission, and the other end of the transmission assembly is The second support rod is rotatably connected.
The extremity rehabilitation exoskeleton according to claim 4, wherein the transmission assembly includes a first turntable, a second turntable, and a connecting rod, and the first turntable includes a first disk body and a first connecting part connected to each other. , The first disc body is in transmission connection with the power unit, and the first connecting portion is arranged offset from the rotation center of the first disc body;

The second turntable includes a connected second disk body and a second connecting portion, the second disk body is rotatably connected with the second support rod, and the second connecting portion deviates from the rotation of the second disk body Center setting

The connecting rod is rotatably connected to the first connecting portion and the second connecting portion.
The exoskeleton for limb rehabilitation according to claim 5, wherein the transmission assembly further comprises a speed reducer, and the speed reducer is connected to the power device and the first turntable.
The limb rehabilitation exoskeleton according to any one of claims 1 to 6, wherein when the first support rod and/or the second support rod rotate to form an angle, the first support Rod and/or the rotation direction of the second support rod, the first guide wheel assembly is arranged on one side of the first support rod, and the second guide wheel assembly is arranged on the second support rod facing the direction Said one side of the first guide wheel assembly.
The limb rehabilitation exoskeleton according to claim 7, wherein the first guide wheel assembly includes at least one first guide wheel, the first support rod is provided with a first rotation axis, and the first guide wheel The rotating sleeve is connected to the first rotating shaft;

The second guide wheel assembly includes a second guide wheel, the second support rod is provided with a second rotation shaft, and the second guide wheel is rotatably sleeved on the second rotation shaft.
8. The limb rehabilitation exoskeleton according to claim 8, wherein the first guide wheel assembly comprises two first guide wheels, the two first guide wheels are arranged on opposite sides of the first support rod, The two ends of the first rotating shaft are respectively rotated and sleeved.
A limb rehabilitation system, comprising two oppositely arranged limb rehabilitation exoskeletons, the limb rehabilitation exoskeleton being the limb rehabilitation exoskeleton according to any one of claims 1 to 9.