A quick-disassembly and locking mechanism and a lower limb rehabilitation robot

Abstract

The present application provides a quick disassembly and locking mechanism and a lower limb rehabilitation robot, which relates to the field of rehabilitation technologies, and includes a fixed locking seat and a movable joint; the fixed locking seat includes a connecting seat with an inner cavity and a key slider with a first clamping portion, the key slider is slidably arranged in the inner cavity, and a first opening communicating with the inner cavity is further arranged on the connecting seat; the movable joint has a second clamping portion, and the movable joint is used for passing through the inner cavity through the first opening and being locked in cooperation with the first clamping portion through the second clamping portion; the key slider is driven to slide so that the first clamping portion and the second clamping portion are unlocked. Through the quick disassembly and locking mechanism provided by the present application, the disassembly and installation of various components in the lower limb rehabilitation robot can be realized, and the efficiency of disassembly and installation is effectively improved. At the same time, the problem that the threaded structure is easily damaged due to frequent disassembly and installation is also avoided.

Description

Technical Field

[0001] The present application relates to the field of rehabilitation technology, and in particular to a quick disassembly and assembly locking mechanism and a lower limb rehabilitation robot. Background Art

[0002] A rehabilitation exoskeleton is a wearable mobility device that helps patients regain their mobility by supporting and activating body parts. The assembly, replacement, and donning of key joint modules often require rapid response.

[0003] The existing solution is to loosen or lock the joint modules of the exoskeleton by having the user remove and install screws. This is very time-consuming and labor-intensive, and has low assembly and disassembly efficiency. Repeated assembly and disassembly of screws can also easily cause destructive damage to the threaded structure. Summary of the Invention

[0004] The purpose of this application is to address the deficiencies in the above-mentioned prior art and provide a quick disassembly and assembly locking mechanism and a lower limb rehabilitation robot, so as to improve the existing problem of low disassembly and assembly efficiency and easy damage to the threaded structure caused by repeated disassembly and assembly when disassembling and assembling the joint modules of the exoskeleton by disassembling screws.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In one aspect of an embodiment of the present application, a quick disassembly and assembly locking mechanism is provided, including a fixed locking seat and a movable joint; the fixed locking seat includes a connecting seat having an inner cavity and a key slider having a first clamping portion, the key slider is slidably arranged in the inner cavity, and a first opening connected to the inner cavity is also provided on the connecting seat; the movable joint has a second clamping portion, the movable joint is used to pass through the inner cavity through the first opening and lock with the first clamping portion through the second clamping portion; the key slider is driven to slide so that the first clamping portion and the second clamping portion are unlocked.

[0007] Optionally, the first clamping portion is a clamping protrusion, the second clamping portion is a clamping groove, and a first elastic member connected to the key slider is also provided in the inner cavity, and the first elastic member is used to provide a reset force to the key slider; the movable joint is used to drive the key slider to slide via the clamping protrusion, so that when the clamping protrusion corresponds to the clamping groove, the reset force drives the clamping protrusion and the clamping groove to be plugged and locked; the key slider is driven to slide, so as to drive the clamping protrusion to separate from the clamping groove, so that the clamping protrusion and the clamping groove are unlocked.

[0008] Optionally, a first guiding surface for cooperating with the movable joint is further provided on the side of the clamping bump facing the first opening, and the first guiding surface is used to guide the movable joint to drive the button slider to slide; and / or, a second guiding surface for cooperating with the clamping bump is further provided on the movable joint, and the second guiding surface is used to guide the button slider to slide so that the clamping bump corresponds to the clamping groove.

[0009] Optionally, a second opening communicating with the inner cavity is further formed in the connecting seat along the sliding direction of the button slider, and the fixed locking seat further includes an unlocking button which penetrates through the second opening and is in driving cooperation with the button slider. The unlocking button is used to drive the button slider to slide relative to the connecting seat so that the first clamping portion and the second clamping portion are unlocked.

[0010] Optionally, an annular groove coaxial with the second opening is further provided on the inner peripheral wall of the second opening, an extension groove communicating with the annular groove and extending towards the inner cavity is further provided on the inner peripheral wall of the second opening, and a limiting block inserted into the annular groove and slidable along the annular groove is further provided on the unlocking button. The unlocking button is driven to first rotate relative to the connecting seat so that the limiting block rotates to a position corresponding to the extension groove, and then slides along the extension groove to drive the button slider to slide relative to the connecting seat.

[0011] Optionally, a driving block is provided on the side of the unlocking button close to the button slider, and a driving hole for accommodating the driving block is further provided on the button slider.

[0012] Optionally, the fixed locking seat further includes a second elastic member, and the second elastic member is connected to the unlocking button to provide a restoring force for the unlocking button when the unlocking button rotates relative to the connecting seat.

[0013] Optionally, a guiding groove extending along the penetrating direction of the movable joint is further provided on the inner wall of the first opening, and a guiding protrusion cooperating with the guiding groove is further provided on the movable joint.

[0014] On the other hand, an embodiment of the present application provides a lower limb rehabilitation robot, including a host component, two leg components, and two of the above-mentioned quick-disassembly locking mechanisms. The fixed locking seats of the two quick-disassembly locking mechanisms are respectively arranged at opposite ends of the host component, and the movable joints of the two quick-disassembly locking mechanisms are respectively arranged corresponding to the two leg components. The two leg components include at least one affected side leg component.

[0015] Optionally, the affected side leg component includes a thigh component, a calf component, and a shoe component connected in sequence. The thigh component is connected to the movable joint; the thigh component includes a thigh fixing column and a thigh fixing component detachably connected to the thigh fixing column; the calf component includes a calf fixing column and a calf fixing component detachably connected to the calf fixing column; the shoe component includes a shoe fixing column and a shoe fixing component detachably connected to the shoe fixing column.

[0016] The beneficial effects of this application include:

[0017] This application provides a quick disassembly and locking mechanism and a lower limb rehabilitation robot, including a fixed locking seat and a movable joint; the fixed locking seat includes a connecting seat with an inner cavity and a key slider with a first clamping portion, the key slider is slidably arranged in the inner cavity, and a first opening communicating with the inner cavity is further arranged on the connecting seat; the movable joint has a second clamping portion, and the movable joint is used to pass through the inner cavity through the first opening and cooperate with the first clamping portion through the second clamping portion for locking; the key slider is driven to slide so that the first clamping portion and the second clamping portion are unlocked. Through the quick disassembly and locking mechanism provided by this application, the disassembly and installation of each component in the lower limb rehabilitation robot can be realized, and the efficiency of disassembly and installation is effectively improved. At the same time, the problem that the threaded structure is easily damaged due to frequent disassembly and assembly is also avoided. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of this application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 One of the structural schematic diagrams of a quick disassembly and locking mechanism provided by an embodiment of this application;

[0020] Figure 2 An exploded view of a quick disassembly and locking mechanism provided by an embodiment of this application;

[0021] Figure 3 A sectional view of a quick disassembly and locking mechanism provided by an embodiment of this application;

[0022] Figure 4 A structural schematic diagram of a movable joint provided by an embodiment of this application;

[0023] Figure 5 A structural schematic diagram of a key slider provided by an embodiment of this application;

[0024] Figure 6 A structural schematic diagram of an unlocking button provided by an embodiment of this application;

[0025] Figure 7 A structural schematic diagram of a housing provided by an embodiment of this application;

[0026] Figure 8 A structural schematic diagram of a fitting provided by an embodiment of this application;

[0027] Figure 9One of the structural schematic diagrams of a lower limb rehabilitation robot provided by an embodiment of the present application;

[0028] Figure 10 Another structural schematic diagram of a lower limb rehabilitation robot provided by an embodiment of the present application;

[0029] Figure 11 A partial schematic diagram of a lower limb rehabilitation robot provided by an embodiment of the present application;

[0030] Figure 12 A structural schematic diagram of a thigh component provided by an embodiment of the present application;

[0031] Figure 13 A structural schematic diagram of a calf component provided by an embodiment of the present application;

[0032] Figure 14 A structural schematic diagram of a shoe component provided by an embodiment of the present application;

[0033] Figure 15 A structural schematic diagram of a sound leg component provided by an embodiment of the present application.

[0034] Icon: 100 - host component; 110 - quick disassembly and locking mechanism; 111 - movable joint; 1111 - second guiding surface; 1112 - clamping groove; 1113 - guiding convex block; 112 - fixed locking seat; 113 - cover plate; 114 - first elastic member; 115 - adapter; 116 - button slider; 1161 - first guiding surface; 1162 - second slot; 1163 - driving hole; 117 - second elastic member; 118 - fitting; 1181 - semi-circular protrusion; 119 - unlocking button; 1191 - limiting block; 1192 - driving block; 1193 - first slot; 1194 - corrugated structure; 120 - housing; 1201 - semi-circular groove; 121 - decorative member; 200 - affected leg component; 210 - thigh component; 211 - thigh fixing column; 212 - thigh baffle fixing member; 213 - thigh soft package pressing plate; 214 - thigh soft package; 215 - thigh baffle assembly; 216 - thigh screw; 220 - calf component; 221 - calf fixing column; 222 - calf baffle fixing member; 223 - calf soft package pressing plate; 224 - calf soft package; 225 - calf baffle assembly; 226 - calf screw; 230 - shoe component; 231 - shoe fixing column; 232 - insert bar; 233 - ankle-foot component; 234 - slot; 235 - indexing pin; 300 - sound leg component; 310 - sound side fixing column; 320 - strap plate. Detailed implementation manners

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. It should be noted that, without conflict, the various features in the embodiments of this application can be combined with each other, and the combined embodiments are still within the protection scope of this application.

[0037] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0038] In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0039] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0040] In the description of this application, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] On one hand of the embodiments of the present application, a quick disassembly and locking mechanism is provided, which can be used in a lower limb rehabilitation robot. Through the quick disassembly and locking mechanism, the problems of low disassembly and assembly efficiency caused by using disassembly and assembly screws and easy damage to the thread structure can be avoided. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0042] Please refer to Figure 1 , the quick disassembly and locking mechanism 110 includes a fixed locking seat 112 and a movable joint 111, Figure 1 The state shown is that the movable joint 111 is inserted into the interior of the fixed locking seat 112.

[0043] Combined with Figures 2 to 3 shown, the fixed locking seat 112 includes a connecting seat and a button slider 116. Among them, the connecting seat has an inner cavity to facilitate accommodating the button slider 116, so that the button slider 116 can slide in the inner cavity. In order to facilitate disassembly and assembly with the movable joint 111, a first opening communicating with the inner cavity can also be provided on the connecting seat, and the button slider 116 has a first clamping portion.

[0044] As Figure 2 shown, the connecting seat can include a housing 120 with an inner cavity, a cover plate 113 and an adapter 115. The cover plate 113 and the adapter 115 can be spliced along the Figure 2 vertical direction in Figure 2 to form a chute for the button slider 116 to slide along the Figure 2 horizontal direction in Figure 2 shown. After the cover plate 113 and the adapter 115 are spliced, they can be fixed in the inner cavity of the housing 120. In this embodiment, in order to facilitate the insertion of the movable joint 111, through holes communicating with each other can be provided at the bottom of the housing 120 and the bottom of the cover plate 113 in

[0045] As Figure 2 shown, the movable joint 111 has a second clamping portion corresponding to and cooperating with the first clamping portion for clamping. Thus, when installation is required, the movable joint 111 can be passed through the first opening into the inner cavity of the connecting seat and locked by the cooperation of the second clamping portion and the first clamping portion, thereby completing the reliable connection between the movable joint 111 and the fixed locking seat 112. When disassembly is required, an external force can be applied to the button slider 116. Under the action of the external force, the button slider 116 slides relative to the connecting seat, so that the first clamping portion on the button slider 116 is separated from the second clamping portion, and further the unlocking of the first clamping portion and the second clamping portion is realized. At this time, the movable joint 111 can be pulled out from the fixed locking seat 112 in the reverse direction of the insertion.

[0046] Therefore, with the quick disassembly and locking mechanism 110 provided by the present application, the disassembly and installation of various components in the lower limb rehabilitation robot can be achieved, and the efficiency of disassembly and installation is effectively improved. At the same time, the problem that the threaded structure is easily damaged due to frequent disassembly and installation is also avoided.

[0047] Optionally, as shown in Figures 2 to 5 , the first clamping portion is the clamping protrusion on the button slider 116, and the second clamping portion is the clamping groove 1112 on the movable joint 111. In order to achieve self-resetting, a first elastic member 114 connected to the button slider 116 can also be provided in the inner cavity, and the first elastic member 114 provides a resetting force for the button slider 116.

[0048] Specifically: When installing the fixed locking seat 112 and the movable joint 111, as shown in Figure 2 and Figure 3 , the movable joint 111 can be passed through the outer shell 120 and the cover plate 113 upward along the first opening as shown in Figure 3 . Combining Figure 4 and Figure 5 , after the movable joint 111 contacts the clamping protrusion on the button slider 116, as the movable joint 111 continues to extend, the movable joint 111 will drive the button slider 116 to slide leftward relative to the connecting seat along Figure 3 to avoid the movable joint 111, facilitating the continuous extension of the movable joint 111, and the first elastic member 114 stores energy during the process of the button slider 116 sliding leftward along Figure 3 . As the movable joint 111 continues to extend, the clamping protrusion will correspond to the clamping groove 1112 on the movable joint 111. At this time, the first elastic member 114 starts to release energy, that is, under the action of the resetting force provided by the first elastic member 114, the button slider 116 starts to slide and reset in the opposite direction (rightward along Figure 3 ). During the resetting process of the button slider 116, it will drive the clamping protrusion to be inserted into the clamping groove 1112, so that the movable joint 111 is locked with the fixed locking seat 112.

[0049] When disassembling the fixed locking seat 112 and the movable joint 111, as shown in Figure 2 and Figure 3 , it can be driven by an external force (in the embodiments shown in Figure 2 and Figure 3 , it can be driven by the unlocking button 119) to make the button slider 116 slide leftward again along Figure 3 . As the button slider 116 continues to slide, the clamping protrusion gradually separates from the clamping groove 1112. When the clamping protrusion completely separates from the clamping groove 1112, the clamping protrusion and the clamping groove 1112 are unlocked. At this time, the movable joint 111 can be removed along Figure 3Pull it out downward to complete the disassembly of the fixed locking seat 112 and the movable joint 111.

[0050] Optionally, as Figure 4 shown, a second guiding surface 1111 that cooperates with the clamping projection is further provided on the end of the movable joint 111. The second guiding surface 1111 can be an inclined surface or an arc surface, so that during the process of inserting the movable joint 111 into the connecting seat through the end, a component force along the sliding direction of the key slider 116 can be generated on the key slider 116 by using the second guiding surface 1111, so that the movable joint 111 can smoothly push the key slider 116 to slide and avoid, so as to facilitate the alignment of the clamping projection and the clamping groove 1112 during the continuous insertion of the movable joint 111.

[0051] Optionally, as Figure 5 shown, of course, a first guiding surface 1161 that cooperates with the end of the movable joint 111 can also be provided on the side of the clamping projection facing the first opening. The first guiding surface 1161 can also be an inclined surface or an arc surface, so that during the process of inserting the movable joint 111 into the connecting seat through the end, a component force along the sliding direction of the key slider 116 can be generated on the key slider 116 by using the first guiding surface 1161, so that the movable joint 111 can smoothly push the key slider 116 to slide and avoid, so as to facilitate the alignment of the clamping projection and the clamping groove 1112 during the continuous insertion of the movable joint 111.

[0052] Optionally, as Figure 4 shown, the clamping groove 1112 can be an inclined groove, so that it can be more smoothly inserted and locked with the clamping projection having the first guiding surface 116..

[0053] Optionally, as Figure 4 and Figure 5 shown, the clamping grooves 1112 can be multiple arranged side by side, and the clamping projections can be multiple, so that multiple clamping positions can be formed to ensure the stability of the clamping lock.

[0054] Optionally, as Figure 1 、 Figure 2 、 Figure 3 and Figure 6 shown, a second opening communicating with the inner cavity can also be provided on the connecting seat in the sliding direction of the key slider 116. For example Figure 2As shown, a through hole can be formed on a side wall of the outer shell 120, and the through hole is communicated with the chute formed by the cover plate 113 and the adapter 115, thereby forming a second opening. Thus, when the fixed locking seat 112 further includes an unlocking button 119, the unlocking button 119 can be movably installed in the second opening, that is, the unlocking button 119 passes through the second opening and is in driving cooperation with the key slider 116 in the inner cavity. Therefore, when it is necessary to disassemble the fixed locking seat 112 and the movable joint 111, an external force can directly act on the unlocking button 119, and then the unlocking button 119 is used to drive the key slider 116 in the inner cavity to slide relative to the connecting seat, so that the first engaging portion and the second engaging portion are unlocked, realizing the disassembly of the fixed locking seat 112 and the movable joint 111. Through the unlocking button 119, it is more convenient for the user to perform the unlocking operation outside the housing.

[0055] Optionally, as Figure 6 shown, in order to facilitate the user's operation, the outer periphery of the end of the unlocking button 119 exposed outside the fixed locking seat 112 can have a corrugated structure 1194.

[0056] Optionally, in order to further improve the safety and prevent accidental touch, as Figures 6 to 8 shown, an annular groove coaxial with the second opening can be further provided on the inner peripheral wall of the second opening, and at the same time, an extension groove communicating with the annular groove and extending toward the inner cavity is also provided on the inner peripheral wall of the second opening. As Figure 6 shown, a limiting block 1191 is further provided on the unlocking button 119. The limiting block 1191 can be inserted into the annular groove and slide along the annular groove as the unlocking button 119 rotates. When the limiting block 1191 rotates to a position corresponding to the extension groove, by pressing the unlocking button 119, the unlocking button 119 can slide along the sliding direction of the key slider 116, thereby driving the key slider to slide. Thus, through the connected annular groove and extension groove, the movement mode of the unlocking button 119 can be limited, so that the unlocking button 119 can rotate and slide relative to the connecting seat.

[0057] Therefore, when unlocking the movable joint 111 and the fixed locking seat 112, an external force can first drive the unlocking button 119 to rotate relative to the connecting seat, so that the limiting block 1191 can slide along the annular groove to a position corresponding to the extension groove. At this time, the external force presses the unlocking button 119, so that the unlocking button 119 slides along the extension groove again, thereby driving the key slider 116 to also slide relative to the connecting seat, separating the engaging convex block from the engaging groove 1112, thus realizing the unlocking of the movable joint 111 and the fixed locking seat 112.

[0058] It should be understood that the annular grooves in this application include full annular and semi-annular. A full annular means the annular groove is set in a full circle, and a semi-annular means the annular groove is set in a half circle, where the half circle can be more than half a circle or less than half a circle.

[0059] The annular groove can be formed directly in an inwardly concave form on the inner peripheral wall of the second opening, or can be formed by splicing two components. For example, Figure 7 and Figure 8 As shown, on the inner wall of the through-hole on one side wall of the housing 120, a semi-annular groove 1201 that forms a step with the inner wall of the through-hole is recessed axially along the through-hole. In addition, a mating part 118 is also provided. The mating part 118 has a through-hole communicating with the through-hole on the side wall of the housing 120. A semi-circular protrusion 1181 is provided on the periphery of the through-hole. The mating part 118 is fixed to the inner wall of the housing 120, and the through-hole and the through-hole are matched. At this time, the semi-circular protrusion 1181 just extends along the semi-annular groove 1201. In this way, the side wall of the semi-annular groove 1201 and the semi-circular protrusion 1181 together form the annular groove on the inner periphery of the second opening wall. The part of the periphery of the through-hole without the semi-circular protrusion 1181 is used as an extension groove. That is, when the limiting block 1191 of the unlocking button 119 rotates to the position without the semi-circular protrusion 1181, it can slide axially along the second opening at this position, thereby driving the button slider 116 in the inner cavity to slide, and then realizing unlocking.

[0060] Optionally, as Figure 5 and Figure 6 shown, a driving block 1192 is provided on the side of the unlocking button 119 close to the button slider 116, and a driving hole 1163 for accommodating the driving block 1192 is also provided on the button slider 116. Thus, the driving block 1192 can be limited in the driving hole 1163 to ensure the reliability of the driving cooperation between the unlocking button 119 and the button slider 116.

[0061] Optionally, as Figure 2 shown, the fixed locking seat 112 further includes a second elastic member 117. The second elastic member 117 is connected to the unlocking button 119 to provide a reset force to the unlocking button 119 when the unlocking button 119 rotates relative to the connecting seat. As Figure 2As shown, one free end of the second elastic member 117 is placed at the first notch 1193 of the unlocking button 119, and the other free end is placed at the second notch 1162 of the button slider 116. In this way, when the unlocking button 119 is driven to rotate by an external force, the unlocking button 119 will drive the second elastic member 117 to store energy; when the movable joint 111 is unlocked and the external force is removed, the first elastic member 114 releases energy, first pushing the unlocking button 119 to slide outward of the housing through the button slider 116. When the limiting block 1191 slides into the annular groove, the second elastic member 117 releases energy, driving the unlocking button 119 to rotate and reset relative to the connecting seat, returning to the position before the initial external force is applied, that is, at this time, the unlocking button 119 can only be rotated again and cannot be directly pressed and slid along the axial direction of the second opening.

[0062] Optionally, as Figure 3 and Figure 5 shown, a guiding groove extending along the penetrating direction of the movable joint 111 is further provided on the inner wall of the first opening, and a guiding convex block 1113 cooperating with the guiding groove is further provided on the movable joint 111. For example, a guiding groove is provided on the inner wall of the through hole of the cover plate 113, so as to guide the movable joint 111 to smoothly penetrate into the inner cavity. When the quick disassembly and locking mechanism 110 of the present application is applied to a lower limb rehabilitation robot, the quick disassembly and locking mechanism 110 can be used to realize the quick interchange of the left and right leg assemblies, that is, according to the patient's condition, the affected leg assembly 200 can be installed on the left side or the right side of the host assembly 100. In order to prevent the leg assembly from being installed in the wrong direction, the adapter 115 can be provided with a guiding groove corresponding to the guiding convex block 1113 only in one direction, so that it can not only play a guiding role but also play a foolproof role, so that the left and right leg assemblies can only be interchanged by translation and cannot be interchanged by rotation when interchanging.

[0063] Optionally, as Figure 2 shown, a third opening can also be opened on the other side wall of the connecting seat, and the third opening is opposite and consistent with the second opening. Thus, the quick disassembly and locking mechanism 110 can be made universal at the left and right ends of the host assembly 100 of the lower limb rehabilitation robot, without the need to additionally manufacture mirror images of each component, and only the cover plate 113, the first elastic member 114, the button slider 116, the second elastic member 117, the fitting 118, and the unlocking button 119 need to be installed in the reverse direction. In order to improve the integrity of the device, a decorative member 121 can be installed in the second opening or the third opening where the unlocking button 119 is not provided.

[0064] On the other hand of the embodiment of the present application, as Figure 9 or Figure 10As shown in the figure, a lower limb rehabilitation robot is provided, which includes a host component 100, two leg components, and two of the above-mentioned quick-disassembly and locking mechanisms 110. The fixed locking seats 112 of the two quick-disassembly and locking mechanisms 110 are respectively arranged at the opposite ends of the host component 100, that is, the left and right ends. The movable joints 111 of the two quick-disassembly and locking mechanisms 110 are respectively arranged corresponding to the two leg components. Thus, the two leg components can be respectively inserted into the fixed locking seats 112 at the left and right ends of the host component 100 through the movable joints 111, one on the left and one on the right. In this way, the quick disassembly and assembly of the two leg components can be realized through the quick-disassembly and locking mechanism 110. At the same time, the positions of the two leg components can be flexibly interchanged according to requirements.

[0065] The two leg components include at least one affected side leg component 200. Thus, it can help the patient to carry out rehabilitation training. As Figure 9 shown in the figure, the two leg components are respectively an affected side leg component 200 and a healthy side leg component. As Figure 10 shown in the figure, both of the two leg components are affected side leg components 200.

[0066] Optionally, as Figures 9 to 11 shown in the figure, the affected side leg component 200 includes a thigh component 210, a calf component 220, and a shoe component 230 that are connected in sequence. The thigh component 210 is connected to the movable joint 111. The thigh component 210 can be used to fix to the thigh of the patient's affected side. The calf component 220 can be used to fix to the calf of the patient's affected side. The shoe component 230 is used to fix to the foot of the patient's affected side.

[0067] To facilitate the interchange of the two leg components, as Figure 12 shown in the figure, the thigh component 210 includes a thigh fixing column 211 and a thigh fixing component detachably connected to the thigh fixing column 211. One end of the thigh fixing column 211 can be connected to the movable joint 111. The thigh fixing component can be used to fix to the thigh of the patient's affected side. Specifically: as Figure 12 shown in the figure, a thigh baffle fixing part 212 and a thigh soft bag pressing plate 213 are fixedly arranged on the thigh fixing column 211. The thigh fixing component includes a thigh screw 216, a thigh baffle component 215, and a thigh soft bag 214. Among them, the thigh baffle component 215 is fixed to the thigh baffle fixing part 212 through the thigh screw 216. The thigh soft bag 214 is fixed to the thigh soft bag pressing plate 213. Therefore, when it is necessary to interchange the left and right sides of the affected side, the thigh screw 216 can be screwed out, the thigh baffle component 215 can be removed from the thigh baffle fixing part 212, the thigh baffle component 215 can be rotated 180 degrees and then moved into the thigh baffle fixing part 212 again, and then the screws can be respectively screwed into the corresponding threaded holes. The thigh soft bag is removed from the thigh soft bag pressing plate 213, and then the thigh soft bag is rotated 180 degrees and then reinstalled into the thigh soft bag pressing plate 213.

[0068] As shown Figure 13 As shown, the calf assembly 220 includes a calf fixing post 221 and a calf fixing component detachably connected to the calf fixing post 221. One end of the calf fixing post 221 can be connected to the thigh fixing post 211, and the calf fixing component can be used to fix to the calf of the affected side of the patient. Specifically: As shown Figure 13 As shown, a calf baffle fixing member 222 and a calf soft bag pressing plate 223 are fixedly arranged on the calf fixing post 221. The calf fixing component includes a calf screw 226, a calf baffle assembly 225, and a calf soft bag 224. Among them, the calf baffle assembly 225 is fixed to the calf baffle fixing member 222 through the calf screw 226, and the calf soft bag 224 is fixed to the calf soft bag pressing plate 223. Therefore, when it is necessary to swap the left and right sides of the affected side, the calf screw 226 can be unscrewed, the calf baffle assembly 225 can be removed from the calf baffle fixing member 222, the calf baffle assembly 225 can be flipped 180 degrees and then reinserted into the calf baffle fixing member 222, and then the screws can be respectively screwed into the corresponding threaded holes. The calf soft bag is removed from the calf soft bag pressing plate 223, and then the calf soft bag is flipped 180 degrees and reinstalled on the calf soft bag pressing plate 223.

[0069] As shown Figure 14 As shown, the shoe assembly 230 includes a shoe fixing post 231 and a shoe fixing component detachably connected to the shoe fixing post 231. The shoe fixing post 231 is connected to the calf fixing post 221, and the shoe fixing component can be used to fix the foot of the affected side of the patient. Specifically: As shown Figure 14 As shown, insertion strips 232 are respectively arranged on the left and right sides of the shoe fixing post 231. The shoe fixing component includes an ankle-foot assembly 233 for fixing and carrying the patient's foot. Slots 234 and indexing pins 235 matching the slots 234 are respectively arranged on the left and right sides of the ankle-foot assembly 233. The ankle-foot assembly 233 can be connected to the shoe fixing post 231 through the insertion of the slots 234 and the insertion strips 232, and the stable insertion of the slots 234 and the insertion strips 232 can be achieved in cooperation with the indexing pins 235. When it is necessary to swap the left and right sides of the affected side, the knob rod in the indexing pin 235 is lifted to the fixed position, so that the slot 234 of the ankle-foot assembly 233 can be removed from the insertion strip 232 on one side of the shoe fixing post 231. The knob rod in the indexing pin 235 is lowered to the original position, and then the ankle-foot assembly 233 is translated to the other side of the shoe fixing post 231. The knob rod in the indexing pin 235 is lifted to the fixed position, and then the slot 234 of the ankle-foot assembly 233 is inserted into the insertion strip 232 on the other side of the shoe fixing post 231. Finally, the knob rod in the indexing pin 235 is lowered to the original position, so as to achieve the effect of swapping left and right.

[0070] As shown Figure 15Shown is the healthy - side leg assembly 300. The healthy - side leg assembly includes a healthy - side fixing column 310 and a strap plate 320. The strap plate 320 is designed to be left - right symmetric. One strap plate 320 is provided at each of the thigh part and the calf part of the healthy - side fixing column 310. And the healthy - side fixing column is located in the middle of the strap plate 320. When the left and right sides of the healthy - side leg assembly 300 are interchanged, it does not affect the use. Openings are provided at the front and back of the strap plate 320 for installing the leg straps.

[0071] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A lower limb rehabilitation robot, characterized in that, It includes a host component, two leg components, and two quick-disassembly locking mechanisms. The fixed locking seats of the two quick-disassembly locking mechanisms are respectively arranged at opposite ends of the host component, and the movable joints of the two quick-disassembly locking mechanisms are respectively arranged corresponding to the two leg components. The two leg components include at least one affected-side leg component; The quick-disassembly locking mechanism includes a fixed locking seat and a movable joint; The fixed locking seat includes a connecting seat with an inner cavity and a key slider with a first clamping portion. The key slider is slidably arranged in the inner cavity, and a first opening communicating with the inner cavity is further arranged on the connecting seat; The movable joint has a second clamping portion. The movable joint is used to pass through the inner cavity through the first opening and cooperate with the first clamping portion through the second clamping portion for locking; The key slider is driven to slide so that the first clamping portion and the second clamping portion are unlocked; The first clamping portion is a clamping convex block, and the second clamping portion is a clamping groove. A first elastic member connected to the key slider is further arranged in the inner cavity. The first elastic member is used to provide a restoring force to the key slider; The movable joint is used to drive the key slider to slide through the clamping convex block, so that when the clamping convex block corresponds to the clamping groove, the clamping convex block is driven by the restoring force to be inserted and locked with the clamping groove; The key slider is driven to slide to drive the clamping convex block to separate from the clamping groove, so that the clamping convex block and the clamping groove are unlocked; A second opening communicating with the inner cavity is further opened on the connecting seat along the sliding direction of the key slider. The fixed locking seat further includes an unlocking button. The unlocking button passes through the second opening and is in driving cooperation with the key slider. The unlocking button is used to be driven to drive the key slider to slide relative to the connecting seat, so that the first clamping portion and the second clamping portion are unlocked; The fixed locking seat further includes a second elastic member. The second elastic member is connected to the unlocking button to provide a restoring force to the unlocking button when the unlocking button rotates relative to the connecting seat.

2. The lower limb rehabilitation robot according to claim 1, characterized in that, A first guiding surface cooperating with the movable joint is further arranged on one side of the clamping convex block facing the first opening. The first guiding surface is used to guide the movable joint to drive the key slider to slide; and / or, a second guiding surface cooperating with the clamping convex block is further arranged on the movable joint. The second guiding surface is used to guide the key slider to slide so that the clamping convex block corresponds to the clamping groove.

3. The lower limb rehabilitation robot according to claim 1, wherein An annular groove coaxial with the second opening is further arranged on the inner peripheral wall of the second opening. An extension groove communicating with the annular groove and extending towards the inner cavity is further arranged on the inner peripheral wall of the second opening. A limiting block inserted into the annular groove and slidable along the annular groove is further arranged on the unlocking button. The unlocking button is driven to first rotate relative to the connecting seat so that the limiting block rotates to a position corresponding to the extension groove, and then slides along the extension groove to drive the key slider to slide relative to the connecting seat.

4. The lower limb rehabilitation robot according to claim 3, characterized in that, A driving block is arranged on one side of the unlocking button close to the key slider, and a driving hole for accommodating the driving block is further arranged on the key slider.

5. The lower limb rehabilitation robot according to claim 1, characterized in that, A guiding groove extending along the penetrating direction of the movable joint is further arranged on the inner wall of the first opening, and a guiding convex block cooperating with the guiding groove is further arranged on the movable joint.

6. The lower limb rehabilitation robot according to claim 1, wherein, The affected leg assembly includes a thigh assembly, a calf assembly and a shoe assembly which are sequentially connected, and the thigh assembly is connected with the movable joint; The thigh assembly includes a thigh fixing column and a thigh fixing assembly detachably connected to the thigh fixing column; The calf assembly includes a calf fixing column and a calf fixing assembly detachably connected to the calf fixing column; The shoe assembly includes a shoe fixing column and a shoe fixing assembly detachably connected to the shoe fixing column.

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