Knee joint auxiliary rehabilitation training exoskeleton structure

Abstract

The invention discloses an exoskeleton structure for auxiliary rehabilitation training of knee joints, and relates to the technical field of exoskeletons.A footstand and a forearm support assembly are rotationally connected through a buffer seat assembly, the forearm support assembly and a big arm support assembly are rotationally connected through a buffer seat assembly, and a first spring connected with a center shaft is wound in a shaft sleeve of a center shaft; and a second spring connected with the second rotating seat is wound outside the shaft sleeve of the central sleeve. According to the design, the length of the forearm support assembly is telescopically adjusted based on locking opening and closing of the forearm support assembly, so that the bend of the buffer seat assembly is coaxially opposite to the bend of the knee joint and the bend of the ankle tube joint, and when a subsequent patient wears the forearm support assembly to walk, the bending of the buffer seat assembly is coaxially opposite to the bend of the knee joint and the bend of the ankle tube joint. The rigid opposite rotation characteristic can be kept, so that the buffer seat assembly keeps bending in the same direction along with the knee joint of the patient, double-form elastic supporting force is provided for the patient, and supporting protection of the knee joint of the patient is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of exoskeletons, and in particular to an exoskeleton structure for auxiliary rehabilitation training of knee joints. Background Art

[0002] An exoskeleton is a hard external structure that provides solid support and protection for organisms, protecting their fragile internal tissues from damage by the external environment and hostile organisms. Especially in the medical field, exoskeletons can be used as part of rehabilitation training to help patients with nerve damage or muscle atrophy conduct rehabilitation training and promote the recovery of nerves and muscles.

[0003] Most rehabilitation exoskeletons are manufactured based on the bionics of the patient's body parts to better fit and adapt to the patient. For example, the rehabilitation exoskeleton structure of the knee joint can effectively assist walking and reduce the stress and wear on the patient's knee joint by utilizing the knee exoskeleton structure. As shown in a passive knee exoskeleton disclosed on the China Patent Network (public announcement number CN111452026B), this type of knee exoskeleton suspends the entire knee exoskeleton on the human body's waist through a belt and suspenders on both sides, and uses a thigh strap to pass through the thigh rod and tie it to the outside of the human thigh, and a calf strap to pass through the calf rod and tie it to the outside of the human calf. The two straps transmit the torque of the exoskeleton to the human body. When worn and used later, the human knee joint is similar to a piecewise linear spring during walking and squatting, which plays a role in supporting the human body.

[0004] However, there are still some shortcomings in the above-mentioned patents and the knee exoskeletons adopted in the existing market: the existing method of using springs as elastic support components of the knee exoskeleton, when the exoskeleton moves with the human body, its elastic linear support often cannot be synchronously compressed and reset along the bending of the knee joint, resulting in uneven distribution of part of the force and reset transmission, and insufficient auxiliary effect on knee joint rehabilitation. To this end, those skilled in the art provide a knee joint auxiliary rehabilitation training exoskeleton structure to solve the problems raised in the above background technology. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a knee joint assisted rehabilitation training exoskeleton structure, which solves the problem of uneven force distribution when the knee joint is bent in the prior art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a knee joint auxiliary rehabilitation training exoskeleton structure, including a foot seat, a forearm support assembly, and a large arm support assembly;

[0007] The foot seat and the small arm support assembly, as well as the small arm support assembly and the large arm support assembly are all rotatably connected via a buffer seat assembly;

[0008] The buffer seat assembly includes a central shaft. A first rotating seat is rotatably connected to the lower end of the shaft rod of the central shaft, and a second rotating seat is rotatably connected to the upper end of the shaft rod of the central shaft. A central sleeve surrounding the central shaft is provided at the top of the support of the first rotating seat. A first spring connected to the central shaft is wound inside the sleeve of the central sleeve, and a second spring connected to the second rotating seat is wound outside the sleeve of the central sleeve.

[0009] As a further technical solution of the present invention: A first bearing sleeve rotatably connected to the central shaft is provided at the top of the support of the first rotating seat, and a second bearing sleeve rotatably connected to the central shaft is provided at the bottom of the support of the second rotating seat.

[0010] As a further technical solution of the present invention: The first spring and the second spring are arranged symmetrically in a positive and reverse direction.

[0011] As a further technical solution of the present invention: The small arm support assembly includes a first telescopic frame and a second telescopic frame, and the first telescopic frame and the second telescopic frame are inserted into each other relatively. First locking racks are arranged oppositely inside the support of the first telescopic frame, and second locking racks are arranged oppositely inside the support of the second telescopic frame. The first locking rack and the second locking rack are horizontally opposite to each other. A locking mechanism that locks with the first locking rack and the second locking rack is provided at the mating end of the first telescopic frame and the second telescopic frame, and a first bandage is provided on one side of the locking mechanism.

[0012] As a further technical solution of the present invention: The locking mechanism includes a support sliding table slidably connected to the mating end of the first telescopic frame and the second telescopic frame. A locking shell is provided in the middle of the table frame of the support sliding table. A plurality of groups of guiding slide rails are arranged oppositely up and down inside the shell of the locking shell, and each group of guiding slide rails is slidably connected with a guiding slide table in an opposite direction. A compression spring is provided between the two opposite guiding slide tables, and locking tooth seats penetrating the support sliding table are provided on both sides of the table frames of the two opposite guiding slide tables. The locking tooth seats are respectively locked opposite to the first locking rack and the second locking rack.

[0013] As a further technical solution of the present invention: A knob shaft is rotatably connected to the middle of the shell of the locking shell, and drive gears corresponding to the locking tooth seats one by one are arranged along the shaft rod direction of the knob shaft. Transmission racks meshing with the drive gears are arranged in a vertically staggered manner on the locking tooth seats.

[0014] As a further technical solution of the present invention: The large arm support assembly includes an arm strength frame. A guiding chute is opened inside the support of the arm strength frame, and the arm strength frame is slidably connected with a lifting sliding table through the guiding chute. A second bandage is provided on one side of the table frame of the lifting sliding table.

[0015] As a further technical solution of the present invention: the arm strength rack and the lifting slide table are fixed by screwing a positioning knob.

[0016] The present invention provides an exoskeleton structure for knee joint assisted rehabilitation training, which has the following beneficial effects compared with the prior art:

[0017] 1. For the exoskeleton structure for knee joint assisted rehabilitation training of the present design, based on the locking and opening of the locking mechanism in the forearm support assembly, the length of the forearm support assembly is adjusted telescopically to adapt to patients of different heights. During the adjustment, the two buffer seat assemblies are successively opposed to the patient's knee joint and ankle joint, so that the bending of the buffer seat assembly is coaxially opposed to the bending of the knee joint and ankle joint, maintaining a more precise bionic linkage characteristic. Subsequently, the footrest, forearm support assembly, and upper arm support assembly are successively worn on the patient's foot, calf, and thigh parts to achieve fixation.

[0018] 2. For the exoskeleton structure for knee joint assisted rehabilitation training of the present design, when the patient walks subsequently, by using the elastic steering combination of the two rotating seats and the two clockwork springs in the buffer seat assembly, it can maintain a strict opposite rotation characteristic, enabling the buffer seat assembly to bend in the same direction as the patient's knee joint, providing a dual form of elastic support force for the patient, which is more beneficial to the support and protection of the patient's knee joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of an exoskeleton structure for knee joint assisted rehabilitation training;

[0020] Figure 2 is an exploded view of an exoskeleton structure for knee joint assisted rehabilitation training;

[0021] Figure 3 is a schematic structural diagram of the forearm support assembly in an exoskeleton structure for knee joint assisted rehabilitation training;

[0022] Figure 4 is an exploded view of the forearm support assembly in an exoskeleton structure for knee joint assisted rehabilitation training;

[0023] Figure 5 is a schematic structural diagram of the locking mechanism in an exoskeleton structure for knee joint assisted rehabilitation training;

[0024] Figure 6 is a first cross-sectional view of the locking mechanism in an exoskeleton structure for knee joint assisted rehabilitation training;

[0025] Figure 7 is a second cross-sectional view of the locking mechanism in an exoskeleton structure for knee joint assisted rehabilitation training;

[0026] Figure 8Schematic diagram of the structure of the upper arm bracket assembly in an exoskeleton structure for knee joint assisted rehabilitation training;

[0027] Figure 9 Schematic diagram of the structure of the buffer seat assembly in an exoskeleton structure for knee joint assisted rehabilitation training;

[0028] Figure 10 Partial cross-sectional view of the buffer seat assembly in an exoskeleton structure for knee joint assisted rehabilitation training;

[0029] Figure 11 Exploded view of the buffer seat assembly in an exoskeleton structure for knee joint assisted rehabilitation training.

[0030] In the figure: 1, footrest; 2, forearm bracket assembly; 21, first telescopic frame; 22, second telescopic frame; 23, locking mechanism; 231, support slide; 232, knob shaft; 233, locking tooth seat; 234, locking housing; 235, guiding slide rail; 236, guiding slide; 237, compression spring; 238, transmission gear; 239, transmission rack; 24, first bandage; 25, first locking rack; 26, second locking rack; 3, upper arm bracket assembly; 31, arm strength frame; 32, guiding chute; 33, lifting slide; 34, second bandage; 35, positioning knob; 4, buffer seat assembly; 41, central shaft; 42, first rotating seat; 43, second rotating seat; 44, second bearing sleeve; 45, first bearing sleeve; 46, central sleeve; 47, first hairspring; 48, second hairspring. Detailed implementation manner

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1-11, the present invention provides a technical solution for an exoskeleton structure for knee joint assisted rehabilitation training: An exoskeleton structure for knee joint assisted rehabilitation training includes a footrest 1, a forearm support assembly 2, and a large arm support assembly 3. The forearm support assembly 2 includes a first telescopic frame 21 and a second telescopic frame 22, and the first telescopic frame 21 and the second telescopic frame 22 are inserted and opposed to each other. Inside the bracket of the first telescopic frame 21, first locking racks 25 are arranged in an opposing form. Inside the bracket of the second telescopic frame 22, second locking racks 26 are arranged in an opposing form, and the first locking racks 25 and the second locking racks 26 are horizontally opposed to each other. At the mating end of the first telescopic frame 21 and the second telescopic frame 22, a locking mechanism 23 that is latched relative to the first locking racks 25 and the second locking racks 26 is provided, and on one side of the locking mechanism 23, a first bandage 24 is provided. By adjusting the telescopic mating length of the first telescopic frame 21 and the second telescopic frame 22, the forearm support assembly 2 is maintained at an appropriate length to match the patient's lower leg. The two sets of buffer seat assemblies 4 are sequentially opposed to the patient's knee joint and ankle joint to ensure the bionic transmission integrity of the patient's walking training. Then, by using the locking of the locking mechanism 23 with the first locking racks 25 and the second locking racks 26, the adjustment state of the first telescopic frame 21 and the second telescopic frame 22 is locked and fixed. Moreover, by adjusting the height and orientation of the locking mechanism 23 itself, the first bandage 24 is maintained at an appropriate orientation to be fastened to the patient's lower leg.

[0033] The locking mechanism 23 includes a supporting slide 231 slidably connected to the mating ends of the first telescopic frame 21 and the second telescopic frame 22, a locking shell 234 is arranged in the middle of the frame of the supporting slide 231, a plurality of groups of guide rails 235 are arranged in an upper and lower opposing manner inside the shell of the locking shell 234, and the guide rails of each group of guide rails 235 are slidably connected with a guide slide 236 in an opposing manner, a compression spring 237 is arranged between the two opposing guide slides 236, and locking tooth seats 233 that pass through the supporting slide 231 are arranged on both sides of the frame of the two opposing guide slides 236, the locking tooth seats 233 are respectively locked with the first locking rack 25 and the second locking rack 26, a knob shaft 232 is rotatably connected to the middle of the shell of the locking shell 234, and the knob shaft 232 is arranged along its shaft direction with locking tooth seats 233 are opposite to each other, and the locking tooth seat 233 is provided with a transmission rack 239 meshing with the transmission gear 238 in an up-and-down staggered form. When the locking mechanism 23 is unlocked, the transmission gear 238 is driven to rotate by rotating the knob shaft 232, and the meshing transmission of the transmission gear 238 and the up-and-down staggered transmission rack 239 is used to drive the relative locking tooth seat 233 to slide in the opposite direction, so as to move away from the first locking rack 25 and the second locking rack 26, and the locked state can be released. Then, when the locking mechanism 23 is locked, it is only necessary to loosen the knob shaft 232 and use the elastic force of the compression spring 237 to support the guide slide 236, so as to push the locking tooth seat 233 to slide horizontally symmetrically along the guide slide rail 235, mesh with the first locking rack 25 and the second locking rack 26, and form a locked state again.

[0034] The foot seat 1 and the forearm support assembly 2, as well as the forearm support assembly 2 and the upper arm support assembly 3 are rotatably connected via a buffer seat assembly 4, which includes a central axis 41, a first rotating seat 42 being rotatably connected to the lower end of the shaft of the central axis 41, and a second rotating seat 43 being rotatably connected to the upper end of the shaft of the central axis 41, a first bearing sleeve 45 rotatably connected to the central axis 41 being provided at the top end of the support of the first rotating seat 42, and a second bearing sleeve 44 rotatably connected to the central axis 41 being provided at the bottom end of the support of the second rotating seat 43, by utilizing the rotation of the first rotating seat 42 and the second rotating seat 43 along the central axis 41, the foot seat 1 and the forearm support assembly 2, as well as the forearm support assembly 2 and the upper arm support assembly 3 can bend synchronously with the bending of the patient's knee joint and ankle tube segment, so as to improve the integrity of the exoskeleton bionic linkage.

[0035] A center sleeve 46 of the annular center axis 41 is provided at the top of the support of the first rotating seat 42, a first spring 47 connected to the center axis 41 is wound inside the shaft sleeve of the center sleeve 46, and a second spring 48 connected to the second rotating seat 43 is wound outside the shaft sleeve of the center sleeve 46, the first spring 47 and the second spring 48 are arranged symmetrically in forward and reverse directions, when the first rotating seat 42 and the second rotating seat 43 of the buffer seat assembly 4 are bent along with the patient's tube segment, the first spring 47 and the second spring 48 are driven to be tightened synchronously, providing precise elastic linear support for the reduction of the patient's tube segment, and maintaining consistent bending force and reduction with the patient's tube segment.

[0036] The upper arm support assembly 3 includes an arm frame 31, a guide slot 32 is provided inside the support of the arm frame 31, and the arm frame 31 is slidably connected to the lifting slide 33 through the guide slot 32, and a second bandage 34 is provided on one side of the frame of the lifting slide 33. The arm frame 31 and the lifting slide 33 are screwed and fixed by a positioning knob 35. By utilizing the lifting and sliding of the lifting slide 33 and the arm frame 31 and screwing and fixing with the positioning knob 35, the height and direction of the second bandage 34 are adjusted so as to be tied to a suitable part of the patient's thigh.

[0037] The working principle of the present invention is as follows: when using the exoskeleton structure as a bionic component for the patient's knee joint rehabilitation training, firstly, the length of the forearm support assembly 2 is adjusted according to the patient's height, so that the forearm support assembly 2 maintains a suitable length and matches the patient's calf, and the two groups of buffer seat assemblies 4 are accurately aligned with the patient's knee joint and ankle tube joint in turn to ensure the bionic transmission integrity of the patient's walking training, and at the same time, the height and position of the locking mechanism 23 itself can be adjusted to keep the first bandage 24 in a suitable position and fasten it to the patient's calf;

[0038] Then, during the adjustment process, the staff only needs to rotate the knob shaft 232 to drive the combined transmission of the transmission gear 238 and the upper and lower staggered transmission racks 239 to generate a counter-driving force, drive the relative locking gear seat 233 to slide in the opposite direction, and move out of the first locking rack 25 and the second locking rack 26 synchronously to release the locking state, so that the telescopic length of the first telescopic frame 21 and the second telescopic frame 22 in the small arm support assembly 2 can be adjusted. After the adjustment is completed, it is only necessary to loosen the knob shaft 232 and use the elastic force of the compression spring 237 to support the guide slide 236, so as to push the locking gear seat 233 to slide horizontally and symmetrically along the guide slide rail 235, mesh with the first locking rack 25 and the second locking rack 26, and form a locking state again, so as to complete the self-adjustment adaptation work of the small arm support assembly 2;

[0039] Then, according to the patient's height again, use the lifting and sliding of the lifting slide 33 and the arm strength frame 31 in the large arm support assembly 3, and under the screwing and fixing of the positioning knob 35, adjust the height and orientation of the second bandage 34 to be fixed at a suitable position on the patient's thigh.

[0040] After the adjustment, sequentially wear and fix the footrest 1, the small arm support assembly 2, and the large arm support assembly 3 on the patient's foot, calf, and thigh parts, and make the buffer seat assembly 4 maintain precise bionic relativity with the patient's knee joint and ankle joint parts. Then, during the subsequent walking training of the patient, when the first rotating seat 42 and the second rotating seat 43 of the buffer seat assembly 4 bend along with the patient's joint parts, while the two rotating seats rotate, they can drive the first spring 47 and the second spring 48 to tighten synchronously, providing double elastic reset support for the walking reset of the patient's joint parts. Moreover, the buffer seat assembly 4 bends and resets, and the bionic linkage with the patient's knee joint part is more precise. Its elastic linear support is consistent with the bending force and reset of the patient's joint part, and the rehabilitation training effect is better.

[0041] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model. The structures, devices, and operation methods not specifically described and explained in the present utility model, unless otherwise specifically stated and limited, are implemented according to the conventional means in this field.

Claims

1. A knee joint assisted rehabilitation training exoskeleton structure, characterized in that: It comprises a footrest (1), a small arm support assembly (2), and a large arm support assembly (3); The footrest (1) and the small arm support assembly (2), as well as the small arm support assembly (2) and the large arm support assembly (3) are all rotatably connected via a buffer seat assembly (4); The buffer seat assembly (4) comprises a central shaft (41), the lower end of the shaft of the central shaft (41) is rotatably connected to a first rotating seat (42), and the upper end of the shaft of the central shaft (41) is rotatably connected to a second rotating seat (43), a central sleeve (46) of the annular central shaft (41) is arranged at the top of the support of the first rotating seat (42), a first mainspring (47) connected to the central shaft (41) is wound inside the shaft sleeve of the central sleeve (46), and a second mainspring (48) connected to the second rotating seat (43) is wound outside the shaft sleeve of the central sleeve (46).

2. A knee joint assisted rehabilitation training exoskeleton structure according to claim 1, characterized in that: A first bearing sleeve (45) rotatably connected to the central axis (41) is disposed at the top end of the support of the first rotating seat (42), and a second bearing sleeve (44) rotatably connected to the central axis (41) is disposed at the bottom end of the support of the second rotating seat (43).

3. The knee joint assisted rehabilitation training exoskeleton structure according to claim 1, characterized in that: The first spring (47) and the second spring (48) are arranged symmetrically in forward and reverse directions.

4. The knee joint assisted rehabilitation training exoskeleton structure according to claim 1, characterized in that: The forearm support assembly (2) comprises a first telescopic frame (21) and a second telescopic frame (22), and the first telescopic frame (21) and the second telescopic frame (22) are plugged into each other and face each other, a first locking rack (25) is arranged inside the support of the first telescopic frame (21) in a facing manner, and a second locking rack (26) is arranged inside the support of the second telescopic frame (22) in a facing manner, and the first locking rack (25) and the second locking rack (26) are horizontally opposite to each other, and a locking mechanism (23) is arranged at the mating ends of the first telescopic frame (21) and the second telescopic frame (22) and is locked with the first locking rack (25) and the second locking rack (26), and a first bandage (24) is arranged on one side of the locking mechanism (23).

5. The knee joint assisted rehabilitation training exoskeleton structure according to claim 4, characterized in that: The locking mechanism (23) comprises a supporting slide (231) slidably connected to the mating ends of the first telescopic frame (21) and the second telescopic frame (22); a locking shell (234) is arranged in the middle of the frame of the supporting slide (231); a plurality of groups of guide rails (235) are arranged in an upper and lower opposing manner inside the shell of the locking shell (234); and the guide rails of each group of guide rails (235) are slidably connected to a guiding slide (236) in an opposing manner; a compression spring (237) is arranged between two opposing guiding slides (236); and locking tooth seats (233) penetrating the supporting slide (231) are arranged on both sides of the frame of the two opposing guiding slides (236); and the locking tooth seats (233) are respectively locked with the first locking rack (25) and the second locking rack (26).

6. The knee joint assisted rehabilitation training exoskeleton structure according to claim 5, characterized in that: The middle part of the housing of the locking shell (234) is rotatably connected to a knob shaft (232), and the knob shaft (232) is provided with transmission gears (238) arranged along the shaft direction thereof and corresponding to the locking tooth seats (233) one by one, and the locking tooth seats (233) are provided with transmission racks (239) meshing with the transmission gears (238) in an up-and-down staggered manner.

7. The knee joint assisted rehabilitation training exoskeleton structure according to claim 1, characterized in that: The upper arm support assembly (3) comprises an arm support (31), a guide slot (32) is provided inside the support of the arm support (31), and the arm support (31) is slidably connected to a lifting slide (33) through the guide slot (32), and a second bandage (34) is provided on one side of the frame of the lifting slide (33).

8. The knee joint assisted rehabilitation training exoskeleton structure according to claim 7, characterized in that: The arm support (31) and the lifting slide (33) are screwed and fixed via a positioning knob (35).

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