Exoskeleton joint movement mechanism

By connecting the thigh and calf support bars through gear meshing and telescopic drive mechanism, the problem of inconsistency between the exoskeleton joint motion mechanism and human movement is solved, improving the comfort and portability of exercise and achieving human biomechanical conformity.

CN223555149UActive Publication Date: 2025-11-18JIANGSU DONGYUAN XINSHENG TECH CO LTD
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Patent Information

Application Number
CN202422535161.2
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-10-21
Publication Date
2025-11-18
Estimated Expiration
2034-10-21

AI Technical Summary

Technical Problem

Existing exoskeleton joint motion mechanisms cannot keep pace with human movement when performing actions, and they only exercise one joint, requiring users to use their thighs for auxiliary movements, resulting in a lack of biomechanical conformity and exercise comfort.

Method used

The thigh and calf support bars are connected by gear meshing, combined with a telescopic mechanism and a drive mechanism to achieve joint movement consistent with the human body's movement. The base plate has grooves for easy storage, and it is equipped with a rubber cushioning layer and a knitted breathable layer to improve comfort.

Benefits of technology

It conforms to the way the human body moves, reduces the user's exercise effort, improves the comfort and portability of exercise, and has good storage properties.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model relates to the technical field of rehabilitation instruments, in particular to an exoskeleton joint movement mechanism which is characterized in that a groove for containing a thigh supporting strip and a shank supporting strip is formed in the surface of a base plate, the thigh supporting strip and the shank supporting strip are rotationally connected through a gear, and the free end of the thigh supporting strip is rotationally connected with the interior of the groove; wherein the end, away from the thigh supporting strip, of the shank supporting strip is connected with a telescopic mechanism, and the thigh supporting strip and the shank supporting strip are both arranged on the rear side of the leg and are bound to the thigh and the shank through binding bands respectively; the thigh supporting strip and the shank supporting strip are plate bodies with adjustable lengths, gears are arranged at the ends of the connecting pieces, the distance between the gears on the same shaft body is larger than the width of the thigh and the width of the shank, the gear on the thigh supporting strip is meshed with the gear on the shank supporting strip, and fixing shaft bodies at the centers of the gears are connected through a limiting belt. Traditional bearing movement is replaced with gear meshing, the movement mode is kept consistent with the movement mode of the human body, manpower mechanics is met, the device is better attached to the human body, and the movement strength of people is relieved.
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Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation equipment, in particular to a kind of exoskeleton joint movement mechanism. BACKGROUND

[0002] The original joint is connected by bearing, a fixed pin is passed in the middle, and the thigh and calf are fixed and connected.This connection mode swings the calf with external assistance when performing action, and the thigh needs to be used by the user, which does not conform to the action of human movement, and the joint for exercise is single. CONTENT OF THE UTILITY MODEL

[0003] In order to overcome the technical problems existing in the prior art, the present application provides an exoskeleton joint movement mechanism.

[0004] The exoskeleton joint movement mechanism provided by the present application adopts the following technical scheme:

[0005] An exoskeleton joint movement mechanism includes a base plate, the base plate is provided with a recess for accommodating a thigh support and a calf support, wherein the thigh support and the calf support are rotatably connected by a gear, the free end of the thigh support is rotatably connected inside the recess, and the end of the calf support away from the thigh support is connected with an extension mechanism; the thigh support and the calf support are both length-adjustable plate bodies, including a main rod body and a connecting piece at the end of the main rod body, wherein the connecting piece is fixed with gears on both sides of the end of the shaft body, and the gear spacing on the same shaft body is greater than the width of the thigh and the calf; the gears on the thigh support and the gears on the calf support are engaged, and the fixed shaft bodies between the centers of the gears are connected by a limiting belt.

[0006] By adopting the above technical scheme, the recess provided on the base plate is used to accommodate the thigh support and the calf support, which can be stored in the recess when not in use, facilitating storage and avoiding dust on the surface. When in use, the length of the thigh support and the calf support is adjusted according to the leg length of the patient, then the patient's leg is placed on the base plate, and the thigh and the calf are corresponded with the thigh support and the calf support, and are bound together by the binding belt. The extension mechanism is started, the extension mechanism acts on the calf support, the gears at the connection of the calf support and the thigh support are driven, and the connection ends of the two carry the thigh and the calf of the patient upwards, and when the extension mechanism returns, the thigh and the calf stretch straight down. The connection between the calf support and the thigh support is replaced by the gear engagement on the connecting piece, instead of the traditional bearing movement, which can keep consistent with the movement mode of the human body, conform to human mechanics, and better fit the human body during rotation, reducing the movement force of the human body.

[0007] Preferably, the main rod body and the connecting piece are connected through an adjusting strip, wherein the adjusting strip is slidingly installed in an adjusting groove in the main rod body, both sides of the adjusting strip are provided with a rack, and the adjusting groove is provided with a driven gear engaged with the rack.

[0008] Preferably, a locking block for locking the adjusting strip is installed on the side of the adjusting groove, the locking block comprises a threaded rod and a locking rack rotatably installed at the end of the threaded rod, the threaded rod is matched with a threaded hole in the side of the adjusting groove, and the locking rack is engaged with the rack in the side of the adjusting strip.

[0009] By adopting the above technical scheme, the main rod body is connected with the connecting piece through the adjusting strip, the rack on both sides of the adjusting strip is matched with the driven gear in the adjusting groove to facilitate the movement of the adjusting strip in the adjusting groove, thereby facilitating the adjustment of the length of the whole main rod body. After the adjustment is completed, the position of the adjusting strip is locked by the locking block, and the locking block is rotated through the threaded rod to realize the locking of the locking rack and the rack in the side of the adjusting strip.

[0010] Preferably, the thigh support and the calf support are provided with a rubber buffer layer on the side close to the thigh and the calf, and the surface of the buffer layer is provided with a knitted breathable layer.

[0011] By adopting the above technical scheme, the rubber buffer layer can reduce the impact on the patient's legs during exercise, and the knitted breathable layer is arranged at the contact position with the patient's legs to better dissipate heat from the skin surface during exercise, thereby improving the comfort of exercise.

[0012] Preferably, a pedal is installed on the side of the calf support away from the thigh support, wherein the pedal is slidingly installed outside the calf pedal and perpendicular to the calf pedal.

[0013] Preferably, the pedal is provided with a sliding block on the side close to the calf support, wherein the sliding block moves along a sliding groove in the length direction of the calf support, and the side of the pedal away from the sliding block is connected with the end of the sliding groove through an elastic element.

[0014] By adopting the above technical scheme, the pedal slidingly installed on the calf support can be used for the patient to step on, thereby improving the adhesion of the patient to the whole mechanism, and the elastic element is arranged on the side of the pedal away from the patient, so that the patient can give the foot a certain cushioning during exercise, thereby further improving the comfort of exercise.

[0015] Preferably, the bottom of the thigh support is further connected with a driving mechanism, wherein both ends of the driving mechanism are connected with the center of the thigh support and the bottom of the groove, respectively.

[0016] Preferably, the driving mechanism is located at the bottom of the groove and comprises a gas cylinder and a driving rod, wherein the gas cylinder is fixedly arranged along the length direction of the groove, and both ends of the driving rod are rotatably connected with the thigh support and the output end of the gas cylinder, respectively.

[0017] By adopting the technical scheme, the driving mechanism can be driven by the cylinder to drive the driving rod to lift the thigh support, and the thigh support and the calf support can assist in lifting the patient's leg, thereby improving the overall working fluency of the mechanism.

[0018] To sum up, the present application has at least one of the following beneficial technical effects:

[0019] 1. The present application replaces the traditional bearing movement by the gear meshing at the connecting piece between the calf support and the thigh support, which can keep consistent with the movement mode of the human body, meet the human mechanics, and better fit the human body during the rotation of the two, thereby reducing the human movement force;

[0020] 2. The recess provided on the base plate is used for accommodating the thigh support and the calf support, and the two can be stored in the recess when not in use, thereby facilitating storage and storage. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic view of the overall structure of an exoskeleton joint movement mechanism.

[0022] Figure 2 It is a schematic view of the structure of an exoskeleton joint movement mechanism without a base plate.

[0023] Figure 3 It is a schematic view of the structure inside the calf support of an exoskeleton joint movement mechanism.

[0024] BRIEF DESCRIPTION OF DRAWINGS: 1, base plate; 11, recess; 2, thigh support; 21, driving mechanism; 211, cylinder; 212, driving rod; 3, calf support; 31, pedal; 311, sliding block; 32, sliding groove; 321, elastic element; 4, gear; 41, fixed shaft body; 42, limiting belt; 5, telescopic mechanism; 6, binding belt; 7, main rod body; 71, adjusting strip; 711, rack; 72, adjusting groove; 721, driven gear; 73, locking block; 731, threaded rod; 732, locking rack; 8, connecting piece; 9, rubber buffer layer; 10, knitted breathable layer. DETAILED DESCRIPTION

[0025] The following will be described in detail in combination with the accompanying Figures 1-3 The present application will be further described in detail.

[0026] The present application discloses an exoskeleton joint movement mechanism.

[0027] Reference will be made to Figure 1 , Figure 2 and Figure 3The utility model provides an exoskeleton joint movement mechanism, including base plate 1, the surface of base plate 1 is provided with the recess 11 of accommodating thigh branch 2 and shank branch 3, wherein thigh branch 2 and shank branch 3 are connected through gear 4 rotation, and the free end of thigh branch 2 is rotationally connected with the inside of recess 11, wherein the end of shank branch 3 away from thigh branch 2 is connected with telescopic mechanism 5, and thigh branch 2 and shank branch 3 are arranged on the rear side of leg and are bound on the thigh and shank respectively through binding belt 6, wherein thigh branch 2 and shank branch 3 are length-adjustable plate bodies, including main rod body 7 and the connecting piece 8 of main rod body 7 end, wherein the both sides of the end fixed shaft body 41 of connecting piece 8 are fixed with gear 4, and the gear 4 on the same shaft body is spaced apart more than the width of thigh and shank, and the gear 4 on thigh branch 2 is engaged with the gear 4 on shank branch 3, and the fixed shaft body 41 between the center of gear 4 is connected through limiting band 42. The recess 11 provided on the base plate 1 is used to accommodate the thigh branch 2 and the shank branch 3, which can be stored in the recess 11 when not in use, facilitating storage and avoiding dust accumulation on the surface. When in use, the length of the thigh branch 2 and the shank branch 3 is adjusted according to the leg length of the patient, then the patient's leg is placed on the base plate 1, and the thigh and the shank are placed in correspondence with the thigh branch 2 and the shank branch 3, and are bound together through the binding belt 6. The telescopic mechanism 5 is started, which acts on the shank branch 3, and the gear 4 at the connection between the shank branch 3 and the thigh branch 2 is driven, and the connection end of the two lifts the patient's thigh and shank upward, and when the telescopic mechanism 5 returns, the thigh and shank stretch straight downward. The connection between the shank branch 3 and the thigh branch 2 is engaged through the gear 4 on the connecting piece 8, replacing the traditional bearing movement, which can keep consistent with the movement mode of the human body, conform to human mechanics, and better fit the human body during rotation, reducing the movement force of the human body.

[0028] Reference Figure 1 , Figure 2 and Figure 3The main rod body 7 is connected with the connecting piece 8 through the adjusting strip 71, wherein the adjusting strip 71 is slidingly installed in the adjusting groove 72 in the main rod body 7, both sides of the adjusting strip 71 are provided with the gear rack 711, and the adjusting groove 72 is provided with the driven gear 721 which is in meshing transmission with the gear rack 711. The locking block 73 for locking the adjusting strip 71 is installed on the side surface of the adjusting groove 72, the locking block 73 comprises the threaded rod 731 and the locking gear rack 732 which is rotatably installed at the end of the threaded rod 731, wherein the threaded rod 731 is matched with the threaded hole on the side surface of the adjusting groove 72, and the locking gear rack 732 is in meshing transmission with the gear rack 711 on the side surface of the adjusting strip 71. The main rod body 7 is connected with the connecting piece 8 through the adjusting strip 71, wherein the gear rack 711 on both sides of the adjusting strip 71 is in meshing transmission with the driven gear 721 in the adjusting groove 72, so that the movement of the adjusting strip 71 in the adjusting groove 72 is facilitated, and thus the length of the main rod body 7 is conveniently adjusted. After the adjustment is completed, the position of the adjusting strip 71 is locked through the locking block 73, and the locking of the locking gear rack 732 with the gear rack 711 on the side surface of the adjusting strip 71 is realized through the rotation of the threaded rod 731.

[0029] With reference to Figure 1 The rubber buffer layer 9 is arranged on the side of the thigh support 2 and the calf support 3 close to the thigh and the calf, and the surface of the buffer layer is provided with the knitted breathable layer 10. The rubber buffer layer 9 can reduce the impact on the leg of the patient during exercise, and the knitted breathable layer 10 arranged at the contact position with the leg of the patient can make the skin surface of the patient better dissipate heat during exercise, thereby improving the comfort of exercise.

[0030] With reference to Figure 1 The pedal 31 is slidingly installed on the outside of the calf pedal 31 and is perpendicular to the calf pedal 31. The pedal 31 is provided with the sliding block 311 on the side close to the calf support 3, wherein the sliding block 311 moves along the sliding groove 32 in the length direction of the calf support 3, and the pedal 31 is connected with the end of the sliding groove 32 through the elastic element 321 on the side away from the sliding block 311. The pedal 31 slidingly installed on the calf support 3 can be used for the patient to step on, thereby improving the adhesion of the patient to the whole mechanism, and the elastic element 321 arranged on the side of the pedal 31 away from the patient can give the foot of the patient a certain cushioning during exercise, thereby further improving the comfort of exercise.

[0031] With reference to Figure 1 Figure 1The bottom of the thigh support 2 is also connected with a driving mechanism 21, two ends of the driving mechanism 21 are connected with the center of the thigh support 2 and the bottom of the groove 11 respectively. The driving mechanism 21 is located at the bottom of the groove 11 and includes a cylinder 211 and a driving rod 212, the cylinder 211 is fixed along the length direction of the groove 11, and two ends of the driving rod 212 are rotatably connected with the thigh support 2 and the output end of the cylinder 211 respectively. The driving mechanism 21 can drive the driving rod 212 to lift the thigh support 2 under the action of the cylinder 211, which can assist the thigh support and the calf support to lift the patient's leg and improve the smoothness of the whole mechanism.

[0032] Working principle: when in use, the length of the thigh support 2 and the calf support 3 is adjusted according to the leg length of the patient, the length is locked by adjusting the position of the adjusting strip 71 in the adjusting groove 72 and locking it by the locking block 73, then the patient's leg is placed on the base plate 1, the thigh and the calf are corresponding to the thigh support 2 and the calf support 3, and are bound together by the binding belt 6. The telescopic mechanism 5 and the driving mechanism 21 are started, the telescopic mechanism 5 acts on the calf support 3, the driving mechanism 21 acts on the thigh support 2, the gear 4 at the connection of the calf support 3 and the thigh support 2 is driven, the connection end of the two lifts the thigh and the calf of the patient, and when the telescopic mechanism 5 returns, the thigh and the calf stretch straight down, the above operation is repeated to exercise the patient's leg.

[0033] The above are the preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An exoskeleton articulation mechanism characterized by: The utility model relates to a kind of leg supporting device, including Substrate (1), the substrate (1) surface is provided with recess (11) containing thigh branch (2) and shank branch (3), wherein thigh branch (2) and shank branch (3) are rotatably connected by gear (4), the free end of thigh branch (2) is rotatably connected with recess (11) inside, wherein the end of shank branch (3) away from thigh branch (2) is connected with telescopic mechanism (5), and the thigh branch (2) and shank branch (3) are arranged in the rear side of leg and are respectively bound on thigh and shank by binding belt (6); Thigh branch (2) and shank branch (3), the thigh branch (2) and shank branch (3) are length-adjustable plate body, including main rod body (7) and the connecting piece (8) of main rod body (7) end, wherein the end of connecting piece (8) fixed shaft body (41) is fixed with gear (4) on both sides, and the gear (4) on the same shaft body is spaced apart more than the width of thigh and shank, and the gear (4) on the thigh branch (2) is engaged with the gear (4) on the shank branch (3), and the fixed shaft body (41) between the center of gear (4) is connected by limiting band (42).

2. An exoskeleton articulation mechanism according to claim 1, characterized in that: The main rod body (7) and connecting piece (8) are connected by adjusting strip (71), wherein the adjusting strip (71) is slidably installed in the adjusting groove (72) in the main rod body (7), and the both sides of the adjusting strip (71) are provided with rack (711), and the adjusting groove (72) is provided with driven gear (721) engaged with the rack (711) for transmission.

3. An exoskeleton articulation mechanism according to claim 2, wherein: The side of the adjusting groove (72) is provided with locking block (73) for locking the adjusting strip (71), and the locking block (73) comprises threaded rod (731) and locking rack (732) rotatably installed at the end of the threaded rod (731), wherein the threaded rod (731) is matched with the threaded perforation on the side of the adjusting groove (72), and the locking rack (732) is engaged with the rack (711) on the side of the adjusting strip (71).

4. An exoskeleton articulation mechanism according to claim 1, characterized in that: The side of the thigh branch (2) and shank branch (3) close to thigh and shank is provided with rubber buffer layer (9), wherein the surface of the buffer layer is provided with knitted breathable layer (10).

5. An exoskeleton articulation mechanism according to claim 1, characterized in that: The side of the shank branch (3) away from the thigh branch (2) is provided with pedal (31), wherein the pedal (31) is slidably installed outside the shank pedal (31) and is perpendicular to the shank pedal (31).

6. An exoskeleton articulation mechanism according to claim 5, wherein: The side of the pedal (31) close to the shank branch (3) is provided with sliding block (311), wherein the sliding block (311) moves along the sliding groove (32) in the length direction of the shank branch (3), and the side of the pedal (31) away from the sliding block (311) is connected with the end of the sliding groove (32) through elastic element (321).

7. An exoskeleton articulation mechanism according to claim 1, wherein: The bottom of the thigh branch (2) is further connected with driving mechanism (21), wherein the both ends of the driving mechanism (21) are connected with the center of the thigh branch (2) and the bottom of the recess (11) respectively.

8. An exoskeleton articulation mechanism according to claim 7, characterized in that: The driving mechanism (21) is located at the bottom of the groove (11) and comprises a cylinder (211) and a driving rod (212), wherein the cylinder (211) is fixedly arranged along the length direction of the groove (11), and the two ends of the driving rod (212) are respectively rotationally connected to the thigh branch (2) and the output end of the cylinder (211).