Hip joint metamorphic assembly and rehabilitation exoskeleton metamorphic mechanism

Abstract

The invention discloses a hip joint metamorphic assembly and a rehabilitation exoskeleton metamorphic mechanism, the hip joint metamorphic assembly comprises a first binding module, the first binding module is bound on a thigh, the hip joint metamorphic assembly further comprises a fixing block, the fixing block is rotatably connected with a connecting rod structure, the connecting rod structure is connected with the first binding module, and the connecting rod structure is connected with the first binding module. The connecting rod assembly is connected with the driving piece, and the driving piece is used for driving the connecting rod structure to swing the thighs. The connecting rod assembly is driven by the driving part to move, so that the thighs are driven to move from the initial position of human leg movement, namely, the two legs are vertically folded and converted to other positions, rotation movement on the sagittal plane can be generated according to rehabilitation requirements, and finally the initial position is switched. The metamorphic motion of the hip joint metamorphic assembly fits the variable-axis motion of the hip joint of the human body, the motion trail of the hip joint is fitted to a greater extent, and secondary damage to the motion joint in the rehabilitation process is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of exoskeletons, and in particular relates to a hip joint metamorphosis component and a rehabilitation exoskeleton metamorphosis mechanism. Background Art

[0002] The hip joint is a complex joint system in the human body, mainly composed of the femoral head and acetabulum. It is an important joint connecting the upper body and lower limbs in the human body. When walking, the hip joint not only bears the impact force generated by the ground when the lower limbs touch the ground, but is also affected by the contraction of muscles near the hip joint. Muscle contraction causes relative movement between bones, thereby increasing the pressure on the hip joint. Whether it is a single large impact or multiple small impacts, it may cause hip joint injury.

[0003] The hip joint rehabilitation exoskeleton is a wearable mechanical structure that can provide assistance to the hip joint during the human body's rehabilitation process, thereby reducing hip joint injuries. Although the existing hip joint rehabilitation exoskeletons achieve multi-degree-of-freedom directional movement of the hip joint through a parallel mechanism, the human-machine fitting accuracy is poor, and it is easy to cause secondary damage to the patient's hip joint during the rehabilitation process. Although the remaining hip joint rehabilitation mechanisms can fit the axial movement of the hip joint more accurately, their simple structure can only perform unidirectional movement rehabilitation.

[0004] Therefore, it is urgent to design an exoskeleton metamorphosis mechanism for rehabilitation to solve the above-mentioned problem of poor fitting accuracy and easy secondary injury. Summary of the invention

[0005] In order to solve the technical problems mentioned in the background technology of poor fitting accuracy and easy to cause secondary injuries, a hip joint metamorphosis component and a rehabilitation exoskeleton metamorphosis mechanism are provided.

[0006] To achieve the above objectives, the specific technical solutions of a hip joint metamorphosis component and a rehabilitation exoskeleton metamorphosis mechanism of the present invention are as follows: A hip joint metamorphosis component includes a first binding module, which is bound to the thigh. The hip joint metamorphosis component also includes a fixed block, which is rotatably connected to a connecting rod structure, which is connected to the first binding module. The connecting rod assembly is connected to a driving member, which is used to drive the connecting rod structure to make the thigh swing.

[0007] Furthermore, the connecting rod structure includes a first connecting rod and a connecting rod portion which are connected to each other. The first connecting rod and the connecting rod portion are respectively rotatably connected to different positions of the first binding module. The driving member is connected to the connecting rod portion to drive the connecting rod portion to make the thigh swing.

[0008] Furthermore, the connecting rod portion includes a second connecting rod and a third connecting rod, and a driving member is arranged between the second connecting rod and the third connecting rod, and the driving member can make the second connecting rod and the third connecting rod approach each other or move away from each other.

[0009] Furthermore, the connecting rod structure also includes a fourth connecting rod, which is respectively connected to the first connecting rod and the connecting rod portion, and one end of the fourth connecting rod is configured as a fixed connection, and the other end is configured as a rotational connection.

[0010] Furthermore, the fourth connecting rod is arranged in an arc shape, and the fourth two rods can be sleeved on the circumference of the thigh.

[0011] Furthermore, the first binding module includes two leg bindings, and the two leg bindings can adjust the binding area and can slide relative to the connecting rod assembly.

[0012] Furthermore, a slider is provided on the leg binding, and the connecting rod assembly includes a slide rail. The slider can slide relative to the slide rail to adjust the position of the leg binding.

[0013] Furthermore, the slide rail is arranged inside the connecting rod assembly, and the sliding block can extend into the connecting rod assembly and be connected to the slide rail.

[0014] A rehabilitation exoskeleton metamorphosis mechanism comprises the above-mentioned hip joint metamorphosis component.

[0015] Furthermore, the rehabilitation exoskeleton metamorphosis mechanism also includes a second binding module, which is used to bind the waist. The second binding module includes two waist binding parts, and the two waist binding parts can adjust the binding area. The second binding module also includes an extension part, which is connected to the waist binding part and is used to be connected to the fixing block.

[0016] The hip joint metamorphosis component of the present invention has the following advantages: the driving member drives the connecting rod component to move, thereby driving the thigh from the initial position of the human leg movement, that is, the legs are upright and close together, to other positions, thereby realizing the switching of different states of the human leg, such as side leg lifting, etc., and then according to the user's rehabilitation needs, rotational movement on the sagittal plane can occur, and finally switch back to the initial position. The metamorphosis movement of the hip joint metamorphosis component fits the variable axis movement of the human hip joint, and fits the movement trajectory of the hip joint to a greater extent. In the case of severe hip joint damage, the accuracy of human hip exoskeleton rehabilitation is improved, and the movement of the exoskeleton is more in line with the movement of the human hip joint, avoiding secondary damage to the moving joint during the rehabilitation process.

[0017] The rehabilitation exoskeleton metamorphosis mechanism of the present invention has the following advantages: by arranging the waist binding and the leg binding, the structure as a whole fits the waist and legs of the user; in addition, the waist binding and the leg binding can adjust the size of the binding space, so that the user can adjust the restriction of the waist binding and the leg binding on the binding space according to his or her own fatness; in addition, the waist binding can slide relative to the connecting rod assembly, further increasing the buffer space for the user's activities during rehabilitation, that is, when the user lifts his or her legs to a large extent, the waist binding can slide relative to the connecting rod assembly to a certain extent, fitting the human thigh movement to a certain extent, making the movement trajectory of the exoskeleton more closely fit the movement trajectory of the human knee joint, better realizing rehabilitation, and overcoming the relatively rigid design of the existing fixed structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the rehabilitation exoskeleton metamorphosis mechanism of the present invention; Figure 2 It is a schematic structural diagram of the first state of the rehabilitation exoskeleton metamorphosis mechanism of the present invention; Figure 3 The structural diagram of the second state of the rehabilitation exoskeleton metamorphosis mechanism of the present invention is Figure 4 is a schematic structural diagram of a first binding module of the present invention; Figure 5 It is a structural schematic diagram of the second binding module of the present invention.

[0019] Description of the markings in the figure: 1. First binding module; 11. Leg binding piece; 12. Slider follower; 13. Slider; 14. Slide rail; 2. Hip joint metamorphosis assembly; 21. First connecting rod; 22. Second connecting rod; 23. Third connecting rod; 24. Fourth connecting rod; 25. Fixed block; 26. Driving member; 3. Second binding module; 31. Waist binding piece; 32. Connecting piece; 33. Extension part. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0022] Please refer to the attached Figure 1 To Attachment Figure 5 A hip joint metamorphosis component 2 and a rehabilitation exoskeleton metamorphosis mechanism of the present invention are described.

[0023] This embodiment provides a hip joint metamorphosis component 2, such as Figure 1 As shown, it includes a first binding module 1, which is bound to the thigh. The hip joint metamorphosis component 2 also includes a fixed block 25, and a connecting rod structure is rotatably connected to the fixed block 25. The connecting rod structure is connected to the first binding module 1, and the connecting rod assembly is connected to the driving member 26. The driving member 26 is used to drive the connecting rod structure to make the thigh swing.

[0024] The driving member 26 drives the connecting rod assembly to move so that the thigh is driven to change from the initial position of the human leg movement, that is, the legs are upright and close together, to other positions, thereby realizing the switching of different states of the human leg, such as side leg lifting, etc., and then rotation movement on the sagittal plane can occur according to the user's rehabilitation needs, and finally switch back to the initial position, and fit the variable axis movement of the human hip joint through the metamorphic movement of the hip joint metamorphic assembly 2, which fits the movement trajectory of the hip joint to a greater extent. In the case of severe hip joint damage, the accuracy of human hip exoskeleton rehabilitation can be improved, and the movement of the exoskeleton can be more in line with the movement of the human hip joint, avoiding secondary damage to the moving joint during the rehabilitation process.

[0025] Optionally, the fixing block 25 abuts against the back of the human thigh to provide certain protection and support for the back of the thigh, and can be designed as a plate-like structure.

[0026] Furthermore, if Figure 2 and Figure 3 As shown, the connecting rod structure includes a first connecting rod 21 and a connecting rod portion which are connected to each other. The first connecting rod 21 and the connecting rod portion are respectively rotatably connected to different positions of the first binding module 1. The driving member 26 is connected to the connecting rod portion to drive the connecting rod portion to make the thigh swing.

[0027] Specifically, the connecting rod portion includes a second connecting rod and a third connecting rod 23 , and a driving member 26 is disposed between the second connecting rod 22 and the third connecting rod 23 . The driving member 26 can make the second connecting rod 22 and the third connecting rod 23 approach each other or move away from each other.

[0028] As a preferred embodiment, the connecting rod portion may be designed as a telescopic structure, that is, the second connecting rod 22 and the third connecting rod 23 are in a telescopic relationship with each other, thereby further saving space.

[0029] Furthermore, the connecting rod structure further includes a fourth connecting rod 24, which is respectively connected to the first connecting rod 21 and the connecting rod portion, and one end of the fourth connecting rod 24 is configured to be fixedly connected, and the other end is configured to be rotatably connected.

[0030] In some embodiments, the fourth link 24 is configured to be rotatably connected to the first link 21 and is designed to be fixedly connected to the link portion. The purpose is that the link portion is composed of the second link 22 and the third link 23, and the two have certain degrees of freedom. Therefore, in order to avoid the problem of the link portion itself being too flexible due to too much freedom, which may cause over-fitting of the dynamic changes of the legs, for example, the user simply lifts his legs, and the link portion has more bends due to the excessive freedom, which reduces the generalization ability of the link portion to a certain extent. Therefore, the link portion and the fourth link 24 are designed to be fixedly connected to ensure that the degrees of freedom of the link portion itself are within a certain reasonable range.

[0031] Furthermore, the fourth connecting rod 24 is configured to be arc-shaped, and the fourth two rods can be sleeved on the circumference of the thigh to play an auxiliary fixing role.

[0032] Furthermore, if Figure 4 As shown, the first binding module 1 includes two leg bindings 11, which can adjust the binding area and can slide relative to the connecting rod assembly; a slider is provided on the leg binding 11, and the connecting rod assembly includes a slide rail 14, and the slider can slide relative to the slide rail 14 to adjust the position of the leg binding 11; the slide rail 14 is provided inside the connecting rod assembly, and the slider can extend into the connecting rod assembly and be connected to the slide rail 14; a slider follower 12 is also provided on the slider, and the other end of the slider follower 12 is fixedly connected to the first binding module 1.

[0033] The waist binding 31 can slide relative to the connecting rod assembly, thereby further increasing the buffer space for the user's activities during rehabilitation. That is, when the user lifts his legs to a large extent, the waist binding 31 can slide relative to the connecting rod assembly to a certain extent, fitting the human thigh movement to a certain extent, making the movement trajectory of the exoskeleton more closely fit the movement trajectory of the human knee joint, thereby better achieving rehabilitation and overcoming the relatively rigid design of the existing fixed structure.

[0034] This embodiment also provides a rehabilitation exoskeleton metamorphosis mechanism, including the above-mentioned hip joint metamorphosis component 2.

[0035] Furthermore, if Figure 5As shown, the rehabilitation exoskeleton metamorphosis mechanism also includes a second binding module 3, which is used to bind the waist. The second binding module 3 includes two waist binding parts 31, and the two waist binding parts 31 can adjust the binding area. The second binding module 3 also includes an extension part 33, which is connected to the waist binding part 31 and is used to be connected to the fixing block 25.

[0036] By setting the waist binding 31 and the leg binding 11, the overall structure fits the user's waist and legs. In addition, the waist binding 31 and the leg binding 11 can adjust the size of the binding space, so that the user can adjust the waist binding 31 and the leg binding 11 to limit the binding space according to his or her own weight, which is convenient for patients to adjust from multiple angles and adapt to lower limb rehabilitation training for people of different heights and weights.

[0037] Specifically, the second binding module 3 also includes a waist binding connector 32. A plurality of adjustment holes are provided on the waist binding connector 31. The user can connect the connector 32 to a suitable adjustment hole according to his / her needs.

[0038] The working principle and workflow of the above rehabilitation exoskeleton metamorphosis mechanism are: First, the waist binding member 31 and the waist binding connector 32 are adjusted according to the user's weight to be bound and connected to the user's waist, and the connection position of the leg binding member 11 is adjusted according to the user's height to be bound and connected to the human thigh.

[0039] Secondly, at the initial stage of the swing phase of human leg movement (legs upright and close together), the hip joint metamorphosis assembly 2 is in the initial position, at which time the connecting rod portion is parallel to the first connecting rod 21; when the thigh needs to move, the driving member 26 on the second connecting rod 22 and the third connecting rod 23 is started, causing the first connecting rod 21 and the connecting rod portion to swing, so that the user can perform rotational movement on the sagittal plane according to rehabilitation needs, or switch back to the initial position.

[0040] Finally, as the human leg enters the swing phase, the human leg swing phase undergoes a topological change from the first sagittal plane swing phase configuration to the initial position to the second swing phase configuration. The first binding module 1 fits the human thigh movement through the slider in the slide rail 14 along with the slider follower 12, so that the overall motion trajectory is more in line with the motion trajectory of the human body, thereby better achieving rehabilitation.

[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A hip joint metamorphosis component, characterized in that: It includes a first binding module, which is bound to the thigh. The hip joint metamorphosis component also includes a fixed block, which is rotatably connected to a connecting rod structure, which is connected to the first binding module. The connecting rod assembly is connected to a driving member, and the driving member is used to drive the connecting rod structure to make the thigh swing.

2. The hip joint metamorphosis component according to claim 1, characterized in that: The connecting rod structure includes a first connecting rod and a connecting rod part which are connected to each other. The first connecting rod and the connecting rod part are respectively rotatably connected to different positions of the first binding module. The driving member is connected to the connecting rod part to drive the connecting rod part to make the thigh swing.

3. The hip joint metamorphosis component according to claim 2, characterized in that: The connecting rod part comprises a second connecting rod and a third connecting rod, and a driving member is arranged between the second connecting rod and the third connecting rod, and the driving member can make the second connecting rod and the third connecting rod approach each other or move away from each other.

4. The hip joint metamorphosis component according to claim 2, characterized in that: The connecting rod structure also includes a fourth connecting rod, which is respectively connected to the first connecting rod and the connecting rod portion, and one end of the fourth connecting rod is configured as a fixed connection, and the other end is configured as a rotational connection.

5. The hip joint metamorphosis component according to claim 4, characterized in that: The fourth connecting rod is arranged in an arc shape, and the fourth connecting rod can be sleeved on the peripheral side of the thigh.

6. The hip joint metamorphosis component according to any one of claims 1 to 5, characterized in that: The first binding module includes two leg binding parts, which can adjust the binding area and can slide relative to the connecting rod assembly.

7. The hip joint metamorphosis component according to claim 6, characterized in that: The leg binding piece is provided with a slider, the connecting rod assembly comprises a slide rail, and the slider can slide relative to the slide rail to adjust the position of the leg binding piece.

8. The hip joint metamorphosis component according to claim 7, characterized in that: The slide rail is arranged inside the connecting rod assembly, and the sliding block can extend into the connecting rod assembly and be connected with the slide rail.

9. A rehabilitation exoskeleton metamorphosis mechanism, characterized in that: Comprising a hip joint metamorphosis component as described in any one of claims 1-8.

10. The rehabilitation exoskeleton metamorphosis mechanism according to claim 9, characterized in that: The rehabilitation exoskeleton metamorphosis mechanism also includes a second binding module, which is used to bind the waist. The second binding module includes two waist binding parts, and the two waist binding parts can adjust the binding area. The second binding module also includes an extension part, which is connected to the waist binding part and is used to be connected to the fixing block.

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