Shoulder rehabilitation assistive exoskeleton device

Abstract

The application relates to a shoulder rehabilitation auxiliary exoskeleton device which comprises a wearing assembly, an upper limb fixing assembly, an upper limb movement supporting assembly and a passive power output assembly; the upper limb fixing assembly comprises an upper arm fixing piece and a rocker arm; the upper limb movement supporting assembly comprises a connecting rod, a first mounting bracket and a first rotary disc; the passive power output assembly comprises a first shell, an elastic traction rope, a pull rope, a guide wheel and a second rotary disc; the connecting rod connects the wearing assembly and the first mounting bracket; the first rotary disc is rotationally connected to the first mounting bracket; the two ends of the rocker arm are respectively connected to the first rotary disc and the upper arm fixing piece; the guide wheel is arranged on the second rotary disc; the two ends of the elastic traction rope are fixedly connected, and the elastic traction rope passes through the guide wheel; one end of the pull rope is fixedly connected to the second rotary disc, and the other end of the pull rope is fixedly connected to the first rotary disc after passing out of the first shell. The elastic traction rope is adopted, metal parts are reduced, and adjustable auxiliary torque can be provided while reducing weight.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rehabilitation devices, in particular to a shoulder rehabilitation auxiliary exoskeleton device. BACKGROUND

[0002] At present, in order to improve the daily life of patients with different degrees of nerve injury and functional movement disorders, people have invented many devices or devices for rehabilitation training. Because the central nervous system has high plasticity, timely rehabilitation training for the above-mentioned patients helps to restore the control and control of the central nervous system to the movement of the limbs, enhance muscle strength, reshape the movement function of the affected limb, and effectively prevent complications such as muscle atrophy and osteoporosis.

[0003] Among the many rehabilitation training devices or devices, shoulder rehabilitation training devices are mainly used for shoulder joint rehabilitation and play a crucial role. The existing shoulder rehabilitation training devices mainly include active shoulder rehabilitation training devices and passive shoulder rehabilitation training.

[0004] The active shoulder rehabilitation training device generally adopts a three-axis vertical orthogonal layout mode driven by a motor and a speed reducer, which not only has a large volume but also has a large weight, which is easy to cause human-machine interference and seriously limit the movement range of shoulder abduction. At the same time, the large weight is easy to cause secondary injury.

[0005] The passive shoulder rehabilitation training generally adopts a pull rope and spring cooperation structure to realize. Although the overall volume is reduced, the problems of human-machine interference and limited movement range are avoided, but due to the existence of the spring, the following problems still exist:

[0006] (1) The spring is usually made of metal, and the weight and volume still need to be further improved. At the same time, it is not convenient to carry and use, especially in the home rehabilitation scene.

[0007] (2) Although the spring has elasticity, its load response characteristic (elasticity coefficient) is relatively fixed, and it is difficult to replace different specifications to flexibly adjust the resistance level.

[0008] (3) The spring has high hardness and rigidity, and is easy to cause accidental injury during use, especially for patients in rehabilitation, which may cause secondary injury.

[0009] (4) The spring may fatigue and break under high frequency and long time use, affecting the service life and safety of the device.

[0010] In summary, the passive shoulder rehabilitation training device is relatively in line with the requirements of daily rehabilitation training, but its structure still needs to be optimized and lightened.

[0011] Meanwhile, patients often need to keep their shoulders at an angle for a certain period of time in some daily activities (such as blowing hair, etc.), and patients in rehabilitation often cannot easily complete the task of keeping at an angle for a certain period of time. The existing shoulder rehabilitation training device cannot realize the support function of the shoulder at an angle. Therefore, considering the actual use requirements of patients, it is also urgent to design a shoulder rehabilitation training device with auxiliary support of the shoulder angle. SUMMARY

[0012] The purpose of the present application is to provide a shoulder rehabilitation auxiliary exoskeleton device which uses an elastic traction rope as the main elastic element, reduces metal parts, and at the same time, provides adjustable auxiliary torque to meet different rehabilitation needs and stages, thereby enhancing the overall rehabilitation process of patients.

[0013] The technical solution to achieve the purpose of the present application is: the shoulder rehabilitation auxiliary exoskeleton device comprises a wearing assembly, an upper limb fixing assembly, an upper limb movement support assembly and a passive power output assembly; the upper limb fixing assembly comprises an upper arm fixing piece and a rocker arm; the upper limb movement support assembly comprises a connecting rod, a first mounting bracket and a first turntable; the passive power output assembly comprises a first housing, an elastic traction rope, a pull rope, a guide wheel and a second turntable; one end of the connecting rod is connected with the wearing assembly, and the other end of the connecting rod is connected with the first mounting bracket; the first turntable is rotationally connected to the first mounting bracket; one end of the rocker arm is fixedly connected with the first turntable, and the other end of the rocker arm is connected with the upper arm fixing piece; the first housing is fixedly connected to the wearing assembly; the second turntable is rotationally arranged in the first housing; the guide wheel is arranged on the second turntable and performs circular motion along the rotation axis of the second turntable with the rotation of the second turntable; both ends of the elastic traction rope are fixedly connected, and the elastic traction rope passes through the guide wheel; one end of the pull rope is fixedly connected with the second turntable, and the other end of the pull rope passes out of the first housing and is fixedly connected with the first turntable.

[0014] Further, the above-mentioned guide wheel is arranged on the second turntable through a second mounting bracket; the second mounting bracket is fixedly connected with the second turntable; a sliding block is slidingly arranged on the second mounting bracket; the guide wheel is rotationally arranged on the sliding block; the second mounting bracket is provided with an adjusting component for adjusting and locking the sliding position of the sliding block.

[0015] Further, the adjusting component comprises an adjusting screw, a guide rod, an adjusting part and a first locking bolt; one or more guide rods are fixedly arranged on the second mounting bracket in parallel; the adjusting screw is rotatably arranged on the second mounting bracket and arranged in parallel with the guide rod; the sliding block is provided with a through hole corresponding to the guide rod and allowing the guide rod to pass through; the sliding block is further provided with a threaded hole threadedly matched with the adjusting screw; an end of the adjusting screw away from the sliding block is provided with an adjusting part for rotating the adjusting screw; the second mounting bracket is provided with a locking threaded hole; the locking threaded hole is provided with a first locking bolt; the first locking bolt acts on the adjusting screw and rotates the adjusting screw after passing through the locking threaded hole.

[0016] Further, the first shell is provided with a pulley block; the elastic traction rope is wound on the pulley block.

[0017] Further, the upper limb movement support assembly further comprises a second shell, a support adjusting disc, a pull rod, a pin and a return spring; the first mounting bracket, the first rotating disc, the support adjusting disc, the pull rod, the pin and the return spring are arranged in the second shell; the first mounting bracket is fixedly connected with the second shell; the rotating center of the first rotating disc is fixedly provided with a rotating shaft; both ends of the rotating shaft are rotatably connected to the first mounting bracket through bearings; the support adjusting disc is fixedly arranged on the first mounting bracket; a plurality of support adjusting grooves are circumferentially distributed on the edge of the support adjusting disc along the axis of the rotating shaft; the support adjusting grooves are located outside the edge of the first rotating disc; one end of the pull rod is provided with a long hole, and the other end is provided with an operating handle; the operating handle is fixedly provided with a pin; the rotating shaft passes through the long hole of the pull rod, and the pull rod can rotate around the rotating shaft; the inner wall of one end of the long hole or the part of the rotating shaft located in the long hole is provided with an elastic component for allowing the inner wall of the other end of the long hole to always adhere to the rotating shaft in the force-free state of the pull rod; the pin is arranged in parallel with the axis of the rotating shaft and is clamped in the corresponding support adjusting groove in the force-free state of the pull rod; the pin is separated from the support adjusting groove when the pull rod overcomes the elastic force of the elastic component;

[0018] One end of the rocker arm extends into the second shell and is fixedly connected to one side of the first rotating disc, and the pull rod is located on the other side of the first rotating disc; when the pull rod moves in the radial direction of the axis of the rotating shaft, the pin is always located outside the edge of the first rotating disc; the pin is clamped in the corresponding support adjusting groove after crossing the edge of the first rotating disc; when the pin is clamped in the support adjusting groove, the pin is used to limit the downward rotation of the rocker arm;

[0019] The second shell is provided with an avoiding groove for allowing the operating handle of the pull rod to extend out and providing a movement space for the operating handle when the pull rod rotates.

[0020] Further, the pulley block comprises a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, a first guide wheel, a second guide wheel and a fixed wheel.

[0021] One end of the elastic traction rope is fixedly connected to the first pulley, and the other end of the elastic traction rope is sequentially wound from the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the first guide wheel, the guide wheel, the second guide wheel and is fixedly connected to the fixed wheel.

[0022] Further, the first shell is provided with a sliding rail; the mounting block is slidably arranged on the sliding rail; the fixed wheel is fixedly arranged on the mounting block; the second locking bolt for locking the sliding position of the mounting block is arranged on the mounting block; and the sliding position of the fixed wheel relative to the mounting block is adjusted to adjust the tension of the elastic traction rope.

[0023] Further, the first shell is provided with an adjusting window; the door plate for opening or closing the adjusting window is arranged on the adjusting window; the adjusting component is arranged at the adjusting window, or the guide wheel, the second mounting bracket, the second rotating disc, the sliding block and the adjusting component are all arranged at the adjusting window.

[0024] Further, the second locking bolt and the mounting block are arranged at the adjusting window.

[0025] Further, the connecting rod is a telescopic rod.

[0026] Further, the wearing assembly comprises a fixed waistband and / or a wearing vest.

[0027] Further, the two ends of the connecting rod are rotatably connected to the wearing assembly and the first mounting bracket through the ball joint bearing.

[0028] Further, the elastic traction rope comprises an elastic rope and a traction rope without elasticity; the traction rope is sequentially connected to the elastic rope; one end of the elastic rope is fixedly connected to the first pulley and is wound on the first pulley, the second pulley, the third pulley and the fourth pulley; the traction rope is wound on the fifth pulley, the sixth pulley, the first guide wheel, the guide wheel, the second guide wheel, and the free end of the traction rope is fixedly connected to the fixed wheel.

[0029] Further, the traction rope is a fishing line or a steel wire.

[0030] The present application has the following positive effects: (1) the present application uses an elastic traction rope as a main elastic element, reduces metal components, reduces weight, and at the same time, can provide an adjustable auxiliary torque to meet different rehabilitation needs and stages, thereby enhancing the overall rehabilitation process of the patient.

[0031] (2) in the present application, the elastic traction rope is completely used as a passive component, the use of springs is avoided, and the overall weight and volume are greatly reduced.

[0032] (3) The present application realizes the limit position of the downward movement of the upper arm through the limiting cooperation of the pin, the supporting adjusting groove and the rocker arm, thereby limiting the position of the shoulder downward rotation, so as to play a supporting role of the shoulder at a certain angle, and when it is necessary to maintain a certain angle of the shoulder in daily life, the patient can be provided with certain supporting force, and the use feeling is improved.

[0033] (4) The present application realizes the function of torque size adjustment through the rotation radius of the guide wheel realized by the adjusting screw, and is at the adjusting window, so the adjustment is convenient.

[0034] (5) The connecting rod with the telescopic function can adapt to patients with different body shapes, and the two ends of the connecting rod are connected through the ball joint bearing, so that patients with different body shapes can be further adapted. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to make the content of the present application more easily understood, the present application will be further described in detail below according to specific embodiments and in combination with the drawings, in which

[0036] Figure 1 is a structural schematic view of the present application;

[0037] Figure 2 is a structural schematic view of the passive power output assembly in the present application;

[0038] Figure 3 is a cooperation schematic view of the passive power output assembly and the upper limb movement support assembly in the present application;

[0039] Figure 4 is an enlarged view of A in the present application; Figure 2

[0040] Figure 5 is an assembly schematic view of the connecting rod in the present application;

[0041] Figure 6 is an enlarged view of B in the present application; Figure 5

[0042] Figure 7 is an exploded schematic view of the upper limb movement support assembly in the present application;

[0043] Figure 8 is an installation structure schematic view of the reset spring in the present application;

[0044] Figure 9 is a structural schematic view of the pull rod in the present application;

[0045] Figure 10 is an elastic traction rope output force curve diagram in the present application. DETAILED DESCRIPTION

[0046] See​​Figures 1 to 9 The shoulder rehabilitation auxiliary exoskeleton device in the application comprises a wearing assembly 1, an upper limb fixing assembly 2, an upper limb movement support assembly 3 and a passive power output assembly 4. The upper limb fixing assembly 2 comprises an upper arm fixing piece 21 and a rocker arm 22. The upper limb movement support assembly 3 comprises a connecting rod 31, a first mounting bracket 32 and a first rotating disc 33. The passive power output assembly 4 comprises a first shell 41, an elastic traction rope 42, a pulling rope 43, a guide wheel 44, a second rotating disc 45 and a pulley block 46. The connecting rod 31 is a telescopic rod. One end of the connecting rod 31 is connected with the wearing assembly 1, and the other end of the connecting rod 31 is connected with the first mounting bracket 32. The first rotating disc 33 is rotationally connected on the first mounting bracket 32. One end of the rocker arm 22 is fixedly connected with the first rotating disc 33, and the other end of the rocker arm 22 is connected with the upper arm fixing piece 21. The first shell 41 is fixedly connected on the wearing assembly 1. The second rotating disc 45 is rotationally arranged in the first shell 41. The guide wheel 44 is arranged on the second rotating disc 45 and performs circular motion along the rotation axis of the second rotating disc 45 with the rotation of the second rotating disc 45. The elastic traction rope 42 is wound on the pulley block 46, and both ends of the elastic traction rope 42 are fixedly connected. The elastic traction rope 42 is wound on the pulley block 46 and also passes through the guide wheel 44. One end of the pulling rope 43 is fixedly connected with the second rotating disc 45, and the other end of the pulling rope 43 is fixedly connected with the first rotating disc 33 after passing out of the first shell 41.

[0047] In order to prevent the pulling rope 43 from being wound with the elastic traction rope 42 in the first shell 41, a guide wire fixing block 47 with a first guide wire through hole is further fixedly arranged in the first shell 41. A second guide wire through hole is arranged on the first mounting bracket 32. A wire tube is fixedly connected between the first guide wire through hole and the second guide wire through hole, and the first guide wire through hole and the second guide wire through hole are communicated through the wire tube. The other end of the pulling rope 43 is fixedly connected with the first rotating disc 33 after sequentially passing through the first guide wire through hole, the wire tube and the second guide wire through hole. The pulling rope 43 plays a role of wire arrangement under the guidance of the first guide wire through hole, effectively avoiding the winding problem of the elastic traction rope 42 and the pulling rope 43. At the same time, the pulling rope 43 is protected by the wire tube when passing out of the first shell 41. The pulling rope 43 will not be exposed when being pulled, which is not only beautiful but also will not cause unnecessary safety problems due to the pulling of the pulling rope 43.

[0048] The guide wheel 44 is arranged on the second rotating disc 45 through a second mounting bracket 48. The second mounting bracket 48 is fixedly connected with the second rotating disc 45. A sliding block 481 is slidingly arranged on the second mounting bracket 48. The guide wheel 44 is rotationally arranged on the sliding block 481. An adjusting component for adjusting and locking the sliding position of the sliding block 481 is arranged on the second mounting bracket 48.

[0049] The adjusting component comprises an adjusting screw 482, a guide rod 483, an adjusting part 484 and a first locking bolt; two parallel guide rods 483 are fixedly arranged on the second mounting bracket 48; the adjusting screw 482 is rotationally arranged on the second mounting bracket 48 and is parallel to the guide rod 483; the sliding block 481 is provided with a through hole corresponding to the guide rod 483 and through which the guide rod 483 passes; the sliding block 481 is further provided with a threaded hole threadedly matched with the adjusting screw 482; the end of the adjusting screw 482 away from the sliding block 481 is provided with the adjusting part 484 for rotating the adjusting screw 482; the second mounting bracket 48 is provided with a locking threaded hole; the first locking bolt is arranged in the locking threaded hole; the first locking bolt acts on the adjusting screw 482 and rotationally locks the adjusting screw 482 after passing through the locking threaded hole.

[0050] The pulley block 46 comprises a first pulley 461, a second pulley 462, a third pulley 463, a fourth pulley 464, a fifth pulley 465, a sixth pulley 466, a first guide wheel 467, a second guide wheel 468 and a fixed wheel 469.

[0051] One end of the elastic traction rope 42 is fixedly connected to the first pulley 461, and the other end of the elastic traction rope 42 is sequentially wound around the first pulley 461, the second pulley 462, the third pulley 463, the fourth pulley 464, the fifth pulley 465, the sixth pulley 466, the first guide wheel 467, the guide wheel 44, the second guide wheel 468 and is fixedly connected to the fixed wheel 469.

[0052] The first housing 41 is provided with a sliding rail 411; the sliding rail 411 is provided with a mounting block 412 which is slidably arranged on the sliding rail 411; the fixed wheel 469 is fixedly arranged on the mounting block 412; the mounting block 412 is provided with a second locking bolt 413 for locking the sliding position of the mounting block 412; the fixed wheel 469 is adjusted in the sliding position of the mounting block 412 for adjusting the tension of the elastic traction rope 42.

[0053] The elastic traction rope 42 comprises an elastic rope 421 and a traction rope 422 without elasticity; the traction rope 422 is sequentially connected to the elastic rope 421; one end of the elastic rope 421 is fixedly connected to the first pulley 461 and is wound around the first pulley 461, the second pulley 462, the third pulley 463 and the fourth pulley 464; the traction rope 422 is wound around the fifth pulley 465, the sixth pulley 466, the first guide wheel 467, the guide wheel 44 and the second guide wheel 468, and the free end thereof is fixedly connected to the fixed wheel 469.

[0054] The traction rope 422 can be a fishing line or a steel wire. The elastic rope 421 can be a rope with elasticity or a plurality of ropes with elasticity combined into one rope according to the need.

[0055] The first shell 41 is provided with an adjusting window; the adjusting window is provided with a door plate 414 which can open or close the adjusting window; the adjusting component is located at the adjusting window; the second locking bolt 413 and the mounting block 412 are also located at the adjusting window.

[0056] The upper limb movement support assembly 3 further comprises a second shell 34, a support adjusting disc 35, a pull rod 36, a pin 37 and a reset spring 38; the first mounting bracket 32, the first rotating disc 33, the support adjusting disc 35, the pull rod 36, the pin 37 and the reset spring 38 are all arranged in the second shell 34; the first mounting bracket 32 is fixedly connected with the second shell 34; the rotating center of the first rotating disc 33 is fixedly provided with a rotating shaft 39; the two ends of the rotating shaft 39 are rotatably connected to the first mounting bracket 32 through bearings; the support adjusting disc 35 is fixedly mounted on the first mounting bracket 32; the edge of the support adjusting disc 35 is circumferentially provided with a plurality of support adjusting grooves 351 along the axis of the rotating shaft; the support adjusting grooves 351 are located outside the edge of the first rotating disc 33; one end of the pull rod 36 is provided with a long hole 361, and the other end is provided with an operating handle 362; the operating handle 362 is fixedly provided with the pin 37; the rotating shaft 39 penetrates through the long hole 361 of the pull rod 36, and the pull rod 36 can rotate around the rotating shaft 39; the inner wall of one end of the long hole 361 is provided with the elastic component 38 for allowing the inner wall of the other end of the long hole 361 to always adhere to the rotating shaft 39 in the state that the pull rod 36 is not stressed; the pin 37 is arranged in parallel with the axis of the rotating shaft 39, and is clamped in the corresponding support adjusting groove 351 in the state that the pull rod 36 is not stressed; the pin 37 is separated from the support adjusting groove 351 when the pull rod 36 is stressed to overcome the elastic force of the elastic component 38.

[0057] The elastic component 38 comprises a pin shaft 381 and a reset spring 382; the inner wall of one end of the long hole 361 is provided with a sliding hole; the inner wall of one end of the long hole 361 is opposite to the rotating shaft 39; one end of the pin shaft 381 is inserted into the sliding hole, and the other end of the pin shaft 381 is provided with a limiting table; the pin shaft 381 is slidably matched with the sliding hole, and the limiting table of the pin shaft 381 is larger than the sliding hole to prevent the pin shaft 381 from being completely slid into the sliding hole; the reset spring 382 is sleeved on the pin shaft, and the two ends of the reset spring 382 act on the inner wall of one end of the long hole 361 and the limiting table respectively; the limiting table of the pin shaft 381 always acts on the rotating shaft 39 under the action of the reset spring 382, thereby promoting the inner wall of the other end of the long hole 361 of the pull rod 36 to adhere to the rotating shaft 39. In this embodiment, the inner wall of one end of the long hole 361 is close to the operating handle 362, so that when the operating handle 362 is pressed downward, the pin 37 can be separated from the support adjusting groove 351, and when no pressure is applied to the operating handle 362, the pin 37 can be clamped into the support adjusting groove 351.

[0058] Of course, if the inner wall of one end of the long hole 361 is away from the operating handle 362, the pin 37 can be separated from the support adjusting groove 351 when the operating handle 362 is pulled upward, and the pin 37 can be clamped into the support adjusting groove 351 when no pulling force is applied to the operating handle 362.

[0059] Of course, as an equivalent design, the elastic component 38 can also be only one spring, such as a long hole 361 of the pull rod 36 is provided with a mounting groove on the inner wall close to the operating handle 362; the spring is arranged in the mounting groove, and two ends of the spring act on the bottom of the mounting groove and the rotating shaft respectively, and the above-mentioned elastic component 38 can also achieve the above-mentioned effect.

[0060] Another equivalent design is that the above-mentioned three kinds of elastic components 38 are arranged on the part of the rotating shaft 39 located in the long hole 361 respectively. The equivalent design is only the mounting position conversion of the above-mentioned three kinds of elastic components 38, and the technical means, technical effects and technical problems to be solved are equivalent.

[0061] One end of the rocker arm 22 extends into the second housing 34 and is fixedly connected to one side of the first rotating disc 33, and the pull rod 36 is located on the other side of the first rotating disc 33; when the pull rod 36 moves along the radial direction of the rotating shaft axis, the pin 37 is always located outside the edge of the first rotating disc 33; the pin 37 is clamped in the corresponding support adjusting groove 351 after crossing the edge of the first rotating disc 33; when the pin 37 is clamped in the support adjusting groove 351, the rocker arm 22 is limited to rotate downward; as shown in the figure, if the rocker arm 22 continues to rotate downward, it can be blocked by the pin 37. Figure 8

[0062] The second housing 34 is provided with an avoiding groove for the operating handle 362 of the pull rod 36 to extend out and provide a movement space for the operating handle 362 when the pull rod 36 rotates.

[0063] The wearable assembly 1 comprises a fixed waistband 11 and a wearable vest 12.

[0064] The two ends of the connecting rod 31 are respectively rotatably connected with the wearable assembly 1 and the first mounting bracket 32 through a ball joint bearing. Through the ball joint bearing, universal adjustment can be achieved, so as to further improve the fitting degree.

[0065] The working principle of the present application is as follows:

[0066] ​First, according to the patient's condition, the adjustment of the passive power output assembly 4 is carried out, which mainly includes but is not limited to selecting the specification of the elastic traction rope 42 (i.e. the specification and / or number of its elastic rope 421), and the rotating radius of the guide wheel 44 (the rotating radius is different, and the torque is different). The position of the guide wheel 44 is adjusted by rotating the adjusting screw 482, then driving the sliding block 481 to slide on the guide rod 483, and then locking the adjusting screw 482 by the first locking bolt after adjustment, so as to realize the position locking of the sliding block 481, and then realize the rotating radius adjustment and locking of the guide wheel 44; after adjusting the guide wheel 44, the tension of the elastic traction rope 42 is realized by adjusting the position of the mounting block 412. The adjustment can also be adjusted during actual use after wearing. When adjusting, the door plate 414 can be opened.

[0067] Then the patient wears the wearing assembly 1, and adjusts the extension length of the connecting rod 31 to make the upper limb movement support assembly 3 reach the corresponding position; then the upper arm fixing piece 21 is worn on the upper arm of the patient.

[0068] Then, according to the patient's condition, the pull rod 36 is pressed towards the rotating shaft 39, and the operating handle 362 is pulled to drive the pull rod 36 to rotate around the rotating shaft 39, and then the reset spring 38 is released after rotating to the corresponding position, that is, the pull rod 36 returns to the direction away from the rotating shaft 39, at this time the pin 37 is clamped into the corresponding support adjusting groove 351, at this time the lower rotating position of the rocker arm 22 is adjusted to the position, that is, the position of the pin 37 is the lower rotating position limit of the rocker arm 22.

[0069] At this time, the patient has worn the shoulder rehabilitation auxiliary exoskeleton device of the present application, and during the process of lifting the arm, the elastic traction rope 42 can provide lifting assistance due to energy storage; when the arm is lowered, a certain buffer force can also be provided. At the same time, when the arm is lowered to the position where the rocker arm 22 is blocked by the pin 37, the arm can be supported, which is beneficial to the relaxation of the patient's arm and shoulder joint, and is not easy to cause secondary injury. At the same time, through the different rotating angles of the second rotating disc 45, the output force of the elastic traction rope 42 is sinusoidal distribution, as shown in Figure 10 From Figure 10 It can be seen that when the arm is raised by 90 degrees and lowered by 90 degrees, the output torque is the largest, and the output torque of other angles is smoothly decreased. When the arm is naturally lowered or lifted to the top of the head (180 degrees), the output torque is 0 NM.

[0070] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application, and it should be understood that the above-described specific embodiments are only specific embodiments of the present application and are not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A shoulder rehabilitation assistive exoskeleton device, characterized in that: The device includes a wearable component, an upper limb fixation component, an upper limb movement support component, and a passive power output component. The upper limb fixation component includes an upper arm fixation member and a rocker arm. The upper limb movement support component includes a connecting rod, a first mounting bracket, and a first turntable. The passive power output component includes a first housing, an elastic traction rope, a pull rope, a guide wheel, and a second turntable. One end of the connecting rod is connected to the wearable component, and the other end is connected to the first mounting bracket. The first turntable is rotatably connected to the first mounting bracket. One end of the rocker arm is fixedly connected to the first turntable, and the other end is connected to the upper arm fixation member. The first housing is fixedly connected to the wearable component. The second turntable is rotatably disposed within the first housing. The guide wheel is disposed on the second turntable and rotates in a circular motion along the rotation axis of the second turntable as it rotates. The two ends of the elastic traction rope are fixedly connected, and the elastic traction rope passes through the guide wheel. One end of the pull rope is fixedly connected to the second turntable, and the other end of the pull rope passes through the first housing and is fixedly connected to the first turntable. The upper limb movement support assembly further includes a second housing, a support adjustment disc, a pull rod, a pin, and a return spring; the first mounting bracket, the first turntable, the support adjustment disc, the pull rod, the pin, and the return spring are all disposed within the second housing; the first mounting bracket is fixedly connected to the second housing and is located within the second housing; a rotating shaft is fixedly provided at the rotation center of the first turntable; both ends of the rotating shaft are rotatably connected to the first mounting bracket via bearings; the support adjustment disc is fixedly mounted on the first mounting bracket; multiple support adjustment grooves are distributed circumferentially along the axis of the rotating shaft on the edge of the support adjustment disc; the support... The adjustment groove is located on the outer edge of the first turntable; one end of the pull rod has an elongated hole, and the other end has an operating handle; a pin is fixed on the operating handle; the rotating shaft passes through the elongated hole of the pull rod, and the pull rod can rotate around the rotating shaft; the inner wall of one end of the elongated hole or the part of the rotating shaft inside the elongated hole is provided with an elastic component to keep the inner wall of the other end of the elongated hole in contact with the rotating shaft when the pull rod is not under force; the pin is arranged parallel to the axis of the rotating shaft and is locked in the corresponding support adjustment groove when the pull rod is not under force; the pin disengages from the support adjustment groove when the pull rod is under force and overcomes the elastic force of the elastic component. One end of the rocker arm extends into the second housing and is fixedly connected to one side of the first turntable, while the pull rod is located on the other side of the first turntable. When the pull rod moves radially along the axis of rotation, the pin is always located on the outer edge of the first turntable. After the pin crosses the edge of the first turntable, it is engaged in the corresponding support adjustment groove. When the pin is engaged in the support adjustment groove, it is used to restrict and support the downward rotation of the rocker arm. The second housing is provided with a clearance groove that allows the operating handle of the pull rod to extend and provides space for the operating handle to move when the pull rod rotates.

2. The shoulder rehabilitation assistive exoskeleton device according to claim 1, characterized in that: The guide wheel is mounted on the second turntable via a second mounting bracket; the second mounting bracket is fixedly connected to the second turntable; a slider is slidably mounted on the second mounting bracket; the guide wheel is rotatably mounted on the slider; the second mounting bracket is provided with an adjustment component for adjusting and locking the sliding position of the slider.

3. The shoulder rehabilitation assistive exoskeleton device according to claim 2, characterized in that: The adjusting component includes an adjusting screw, a guide rod, an adjusting part, and a first locking bolt; one or more parallel guide rods are fixedly mounted on the second mounting bracket; the adjusting screw is rotatably mounted on the second mounting bracket and is parallel to the guide rod; the slider has through holes corresponding to the guide rods and allowing the guide rods to pass through; the slider also has threaded holes that thread-fit the adjusting screw; the end of the adjusting screw away from the slider has an adjusting part for rotating the adjusting screw; the second mounting bracket has a locking threaded through hole; the locking threaded through hole contains a first locking bolt; the first locking bolt passes through the locking threaded through hole and acts on the adjusting screw, rotating and locking it.

4. A shoulder rehabilitation assistive exoskeleton device according to claim 1, 2, or 3, characterized in that: The first housing is equipped with a pulley system; the elastic traction rope is wound around the pulley system.

5. The shoulder rehabilitation assistive exoskeleton device according to claim 4, characterized in that: The pulley block includes a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, a first guide wheel, a second guide wheel, and a fixed wheel; One end of the elastic traction rope is fixedly connected to the first pulley, and the other end of the elastic traction rope is sequentially wound around the first pulley, second pulley, third pulley, fourth pulley, fifth pulley, sixth pulley, first guide wheel, guide wheel, and second guide wheel before being fixedly connected to the fixed wheel.

6. The shoulder rehabilitation assistive exoskeleton device according to claim 5, characterized in that: The first housing is provided with a slide rail; a mounting block is slidably mounted on the slide rail; a fixed wheel is fixedly mounted on the mounting block; a second locking bolt is provided on the mounting block for locking the sliding position of the mounting block; the fixed wheel adjusts the tension of the elastic traction rope based on the sliding position of the mounting block.

7. The shoulder rehabilitation assistive exoskeleton device according to claim 3, characterized in that: The first housing is provided with an adjustment window; the adjustment window is equipped with a door panel that can open or close the adjustment window; the adjustment component is located at the adjustment window, or the guide wheel, the second mounting bracket, the second turntable, the slider and the adjustment component are all located at the adjustment window.

8. The shoulder rehabilitation assistive exoskeleton device according to claim 6, characterized in that: The first housing is provided with an adjustment window; the adjustment window is equipped with a door panel that can open or close the adjustment window; the second locking bolt and mounting block are located at the adjustment window.

9. The shoulder rehabilitation assistive exoskeleton device according to claim 1, characterized in that: The connecting rod is a telescopic rod.

10. A shoulder rehabilitation assistive exoskeleton device according to claim 1, characterized in that: The wearable components include a securing belt and / or a wearable vest.

11. The shoulder rehabilitation assistive exoskeleton device according to claim 1, characterized in that: The two ends of the connecting rod are rotatably connected to the wearable component and the first mounting bracket respectively via ball joint bearings.

12. The shoulder rehabilitation assistive exoskeleton device according to claim 1, characterized in that: The elastic traction rope includes an elastic rope and a non-elastic traction rope; the traction rope is attached to the elastic rope.

13. The shoulder rehabilitation assistive exoskeleton device according to claim 5, characterized in that: The elastic traction rope includes an elastic rope and a non-elastic traction rope; the traction rope is continued on the elastic rope; one end of the elastic rope is fixedly connected to the first pulley and is wound around the first pulley, the second pulley, the third pulley and the fourth pulley; the traction rope is wound around the fifth pulley, the sixth pulley, the first guide wheel, the guide wheel and the second guide wheel, and its free end is fixedly connected to the fixed wheel.

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