Rehabilitation robot leg binding mechanism for abnormal posture of human leg

Abstract

The application provides a rehabilitation robot leg binding mechanism for abnormal posture of human legs, which comprises a leg support and an angle adjusting assembly; the leg support comprises a rotating disc; the angle adjusting assembly is used for adjusting the rotating disc to rotate around a Y axis, and comprises an adjusting disc and a fixing disc which are sequentially sleeved on a rotating shaft along the Y direction; the rotating shaft is connected with the rotating disc, the adjusting disc and the fixing disc, and is connected with the fixing disc through a thread; a torsional spring is sleeved on the rotating shaft and connected with the adjusting disc and the rotating disc; a spring is sleeved on the rotating shaft and located between the adjusting disc and the fixing disc; and a bolt is located in a bolt limiting groove of the fixing disc, and an inner end of the bolt extends inward and is connected with the adjusting disc; in a locked state, the adjusting disc is embedded in the fixing disc, and the spring is in a compressed state. The rehabilitation robot binding mechanism can adapt to abnormal leg posture changes and is comfortable.

Description

Technical Field

[0001] This invention belongs to the field of physiotherapy device technology, and specifically relates to a leg binding mechanism for a rehabilitation robot for abnormal leg postures. Background Technology

[0002] With the increasing aging of society, the number of patients with motor dysfunction caused by cardiovascular diseases such as stroke and traffic accidents is increasing year by year. The use of rehabilitation exoskeleton robots has effectively alleviated the pressure on the rehabilitation industry and improved the efficiency of patient training. Most existing rehabilitation robots use flexible straps that come into direct contact with the human body, and most of them do not take into account the problem of abnormal lower limb postures, such as knee varus, knee valgus, and hip adduction. The unreasonable design of the strap mechanism will directly generate uncomfortable pressure on the contact surface of the human body, resulting in poor wearing comfort and affecting the use effect. Summary of the Invention

[0003] The purpose of this invention is to provide a leg restraint mechanism for rehabilitation robots designed for abnormal leg postures, thereby addressing the problem of insufficient comfort in such restraint mechanisms. The technical solution adopted is as follows:

[0004] A rehabilitation robot leg binding mechanism for abnormal human leg postures includes: a leg support 1 and an angle adjustment component 3;

[0005] The leg support 1 includes a rotating disk 11;

[0006] The angle adjustment component 3 is used to adjust the rotation angle of the rotating disk 11 around the Y-axis, and includes:

[0007] Adjustment disc 32 and fixed disc 31 are sequentially sleeved on rotating shaft 35 along the Y direction;

[0008] The rotating shaft 35 connects the rotating disk 11, the adjusting disk 32 and the fixed disk 31, and is threaded to the fixed disk 31.

[0009] Torsion spring 33 is sleeved on rotating shaft 35 and connected to adjusting disk 32 and rotating disk 11;

[0010] Spring 36 is sleeved on the rotating shaft 35 and located between the adjusting disk 32 and the fixed disk 31;

[0011] And the pre-tightening bolt 34, which is located in the bolt limiting groove 311 opened in the fixed plate 31, and its inner end extends inward and is connected to the adjusting plate 32;

[0012] In the locked state, with the pre-tightened bolt 34, the adjusting disc 32 and the fixed disc 31 have no relative movement and the spring 36 is in a compressed state.

[0013] Preferably, the rotating disk 11 includes:

[0014] Rotary disk body 111, limiting boss 112, disk positioning groove 113, torsion spring inner fixing groove 114;

[0015] The limiting boss 112 cooperates with the adjusting plate limiting groove 324 of the adjusting plate 32;

[0016] The disk positioning groove 113 is used to accommodate the adjustment disk 32 and fits against the arc-shaped edge of the adjustment disk 32;

[0017] The inner fixing groove 114 of the torsion spring is used to accommodate the inner section 331 of the torsion spring 33.

[0018] Preferably, the adjusting disc 32 includes:

[0019] The adjusting disc body 320 has bolt fixing holes 323 for fixing the pre-tightening bolt 34.

[0020] The inner spring mounting groove 321 is used to accommodate the spring 36. It is formed on the outer end face of the adjusting plate body 320 and cooperates with the outer spring mounting groove 312 in the fixed plate 31.

[0021] The outer fixing groove 322 of the torsion spring is used to fix the outer section 332 of the torsion spring 33. It is formed in the inner mounting groove 321 of the spring and communicates with the inner mounting channel 326.

[0022] The adjusting plate limiting groove 324 is used to accommodate the limiting boss 112 in the rotating plate 11;

[0023] A pair of adjusting handles 325 are formed on the arcuate edge of the adjusting disc body 320;

[0024] The internal mounting channel 326 is used for the passage of the rotating shaft 35 and the torsion spring 33.

[0025] Preferably, the fixed disk 31 includes:

[0026] Fixed disk body 310;

[0027] The outer mounting groove 312 of the spring is formed on the inner end face of the fixed plate body 310. It is correspondingly provided with the inner mounting groove 321 of the spring. In the locked state, the outer mounting groove 312 of the spring and the inner mounting groove 321 of the spring are spliced ​​together to form a closed space.

[0028] And an external mounting channel 313 for the passage of the rotating shaft 35.

[0029] Preferably, it further includes a width adjustment component 2, which includes:

[0030] A first slider 21 is disposed on the outer end face of the fixed disk 31, and the rotating shaft 35 passes through the first slider 21 and extends to the outside of the first slider 21.

[0031] Slide rail 22 is slidably connected to slider 21.

[0032] Slider 23 is connected to slide rail 22 at a 90° angle;

[0033] And the second slide rail 24 is slidably connected to the second slider 23 and detachably connected to the rehabilitation robot 4.

[0034] Preferably, the leg support 1 further includes a strap 12, which is connected to the rotating disk 11 and forms a closed space.

[0035] Among them, abnormal leg postures include: X-shaped legs or O-shaped legs.

[0036] Compared with the prior art, the advantages of the present invention are:

[0037] As a rehabilitation training device, it can effectively simulate the movement characteristics of the human knee joint, reduce the relative sliding between the strap and the human body caused by joint misalignment, and reduce the shear force generated by the strap on the human body.

[0038] Traditional rehabilitation robot leg straps are mostly fixed straps, suitable for patients with normal or minor abnormal leg postures. However, for some patients with severe lower limb deformities, fixed straps have a greater impact on the body's posture and are prone to generating excessive shearing force, resulting in poor wearing comfort. The leg strap mechanism proposed in this design can adapt to different abnormal leg postures and has mechanical constraint and angle adjustment mechanisms. It can provide a suitable correction angle as the patient's abnormal posture improves, and gradually improve the abnormal posture. Attached Figure Description

[0039] Figure 1 This is a diagram showing the installation status of the leg restraint mechanism of a rehabilitation robot designed for abnormal leg postures in humans, and the rehabilitation robot itself.

[0040] Figure 2 A three-dimensional view of the leg restraint mechanism of a rehabilitation robot designed for abnormal leg postures in humans;

[0041] Figure 3 An exploded view of the leg restraint mechanism of a rehabilitation robot designed for abnormal leg postures in humans;

[0042] Figure 4 This is a structural diagram of the rotating disk;

[0043] Figure 5 A 3D view of the rotating disk;

[0044] Figure 6 For Figure 2 Partial sectional view;

[0045] Figures 7-8 This is a structural diagram of the regulating disc;

[0046] Figure 9 This is a structural diagram of the fixed disk;

[0047] Figure 10 This is a schematic diagram showing the position between the fixed plate and the adjusting plate in the locked state;

[0048] Figure 11 for Figure 10 A sectional view;

[0049] Figure 12 This is a structural diagram of the width adjustment component;

[0050] Figure 13 This is a structural diagram of a torsion spring.

[0051] Among them, 1-leg support,

[0052] 11-Rotating disk, 111-Rotating disk body, 112-Limiting boss, 113-Disk positioning groove, 114-Torsion spring inner fixing groove;

[0053] 12-Strap;

[0054] 2-Width adjustment component,

[0055] 21 - Slider No. 1, 22 - Rail No. 1, 23 - Slider No. 2, 24 - Rail No. 2;

[0056] 3-Angle adjustment component,

[0057] 31-Fixed plate, 310-Fixed plate body, 311-Bolt limiting groove, 312-Spring external mounting groove, 313-External mounting channel;

[0058] 32-Adjustment dial,

[0059] 320 - Adjustment disc body,

[0060] 321 - Spring inner mounting slot,

[0061] 322 - External fixing groove for torsion spring, 3220 - Groove No. 1, 3221 - Groove No. 2;

[0062] 323 - Bolt fixing hole,

[0063] 324 - Adjustment disc limit groove;

[0064] 325 - Adjusting lever;

[0065] 326 - Internal installation channel;

[0066] 33 - Torsion spring, 331 - Inner section, 332 - Outer section;

[0067] 34 - Preload bolt;

[0068] 35- Rotation axis,

[0069] 36-Spring;

[0070] 4. Rehabilitation robot. Detailed Implementation

[0071] The leg binding mechanism of the rehabilitation robot for abnormal leg postures of the present invention will be described in more detail below with reference to the schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0072] like Figures 1-13 A rehabilitation robot leg binding mechanism for abnormal human leg postures includes: a leg support 1, a width adjustment component 2, and an angle adjustment component 3.

[0073] In this embodiment, "outer" direction refers to the direction away from the legs.

[0074] like Figures 2-3 As shown, the leg support 1 includes a rotating disc 11 and straps 12.

[0075] Specifically, the strap 12 is connected to the rotating disk 11 and forms a closed space. Specifically, both ends of the strap 12 are fixed to the rotating disk 11 with Velcro.

[0076] Strap 12 is a flexible strap.

[0077] The rotating disk 11 is made of 8200Pro resin 3D printing, with a flexible pad placed on the side in contact with the skin to reduce abnormal stress.

[0078] Due to its high rigidity, the rotating disc 11 is usually placed on the front of the thigh and the back of the calf to apply auxiliary force to resist hip and knee joint flexion contractures.

[0079] Angle adjustment component 3, used to adjust the rotating disk 11 so that the rotating disk 11 rotates around the Y-axis, includes:

[0080] Adjustment disc 32 and fixed disc 31 are sequentially sleeved on rotating shaft 35 along the Y direction;

[0081] Torsion spring 33 is sleeved on rotating shaft 35 and connected to adjusting disk 32 and rotating disk 11;

[0082] Spring 36 is sleeved on rotating shaft 35 and located between adjusting disk 32 and fixed disk 31;

[0083] The pre-tightening bolt 34 is located in the bolt limiting groove 312 opened in the fixed plate 31, and its inner end extends inward and is connected to the adjusting plate 32; specifically, the pre-tightening bolt 34 is threadedly connected to the bolt fixing hole 323 of the adjusting plate 32.

[0084] In the locked state, the adjusting disc 32 is embedded in the fixed disc 31. The contact surfaces (planes) of the adjusting disc body 320 and the fixed disc body 310 are roughened. The two are connected by the pre-tightening bolt 34, with no relative rotation, and the spring is in a compressed state.

[0085] Regarding torsion spring 33:

[0086] In the locked state, the torsion spring 33 remains unchanged. Without adjusting the torsion spring, the torsion spring 33 only functions when the garment is worn and the wearer is walking.

[0087] Structurally, the torsion spring 33 connects the rotating disk 11 and the adjusting disk 32. The adjustment angle of the adjusting disk 32 is the target training angle. There is a limiting groove (the outer fixing groove 322 and the inner fixing groove 114 of the torsion spring) between the rotating disk and the adjusting disk. The limiting groove has a variable angle of +-20 degrees to prevent excessive resistance of the rigid structure after the spasm occurs.

[0088] In addition, when the patient is not in the prescribed corrective position, the torsion spring 36 will be compressed, and the torsion spring will generate a torsional force that acts on the rotating disc. The human body will feel the abnormal external force, thus providing feedback on the incorrect posture.

[0089] like Figures 4-6 The rotating disk 11 includes:

[0090] It consists of a rotating disk body 111, a limiting boss 112, a disk positioning groove 113, and a torsion spring inner fixing groove 114.

[0091] The limiting boss 112 cooperates with the adjusting plate limiting groove 324 of the adjusting plate 32. After the adjusting plate 32 is fixed, the rotating plate 11 can have a certain relative rotation angle relative to the adjusting plate.

[0092] The positioning groove 113 is used to accommodate the adjusting disc 32, and it fits against the arc-shaped edge of the adjusting disc 32, such as... Figure 6 As shown; Figure 6 It is an asymmetrical sectional view, that is, there is no section along the center of the adjustment disc 32, so only one of the adjustment handles 325 is shown.

[0093] The inner fixing groove 114 of the torsion spring is used to accommodate the inner section 331 of the torsion spring 33;

[0094] like Figures 7-8 The adjustment dial 32 includes:

[0095] The adjusting disc body 320 has bolt fixing holes 323 for fixing the pre-tightening bolt 34; specifically, the pre-tightening bolt 34 is threadedly connected to the bolt fixing holes 323 of the adjusting disc 32.

[0096] The inner spring mounting groove 321 is used to accommodate the spring. It is formed on the outer end face of the adjusting disc body 320 and is used in pairs with the outer spring mounting groove 312 of the fixed disc 31.

[0097] The outer fixing groove 322 of the torsion spring is used to fix the outer section 332 of the torsion spring 33. It is formed in the inner mounting groove 321 of the spring and connects to the inner mounting channel 326.

[0098] The depth of the inner mounting groove 321 extending to the inner mounting channel 326 is equal to the diameter of the torsion spring 33, which can be embedded.

[0099] Specifically, the outer fixing groove 322 of the torsion spring includes a first groove 3220 and a second groove 3221 that is connected to the first groove 3220.

[0100] The first slot 3220 is formed in the inner mounting slot 321 of the spring and is connected to the inner mounting channel 326;

[0101] The second slot 3221 extends to the regulating disc body 320;

[0102] The outer section 332 of the torsion spring 33 is placed in the first slot 3220, and the end of the outer section 332 abuts against the second slot 3221 in the radial direction.

[0103] The adjusting plate limiting groove 324 is used to accommodate the limiting boss 112 in the rotating plate 11;

[0104] A pair of adjusting handles 325 are formed on the arc-shaped edge of the disc body;

[0105] The internal mounting channel 326 is used for the passage of the rotating shaft 35 and the torsion spring 33.

[0106] Depend on Figures 7-8 Since the outer section 332 of the torsion spring 33 is laid flat in the first groove 3220, the outer section 332 of the torsion spring 33 will not extend outward into the first groove 3220, and the first groove 3220 is flush with the inner mounting groove 321 of the spring, the torsion spring 33 will not interfere with the spring 36 in the inner mounting groove 321 of the spring.

[0107] Regarding preload bolt 34:

[0108] In the locked state, the inner end face of the cap of the preload bolt 34 and the fixing plate 31 do not contact each other, such as Figure 10 As shown.

[0109] The pre-tightening bolt 34 connects the fixed plate 31 and the adjusting plate 32 via a thread. When the pre-tightening bolt 34 is loosened, the fixed plate and the adjusting plate separate under the action of the spring 36. At this time, the adjusting plate 32 is rotated, thereby adjusting the rotatable angle of the rotating plate 11. During the separation of the adjusting plate 32 and the fixed plate 31, the pre-tightening bolt 34 can move inward with the adjusting plate 32.

[0110] "Loosening" means that the spring 36 can spring open the adjusting plate 32 and the fixed plate 31.

[0111] Even after loosening, the pre-tightening bolt 34 and the adjusting plate 32 are still threaded connections.

[0112] Tighten the pre-tightening bolt 34 to press the fixed plate 31 and the adjusting plate 32 together; loosen the pre-tightening bolt 34 to separate the fixed plate 31 and the adjusting plate 32.

[0113] The rotation angle range of the preload bolt 34 is -30 to +20 degrees. The angle adjustment formed by the preload bolt 34 is coarse and is used to constrain the maximum adduction / abduction angle of the legs.

[0114] like Figure 8 , Figure 10 The adjustment disc body 320 includes:

[0115] The disk body is set at the same center as the fixed disk 31 and has the same radius;

[0116] A pair of adjusting handles 325 are formed on the arcuate edge of the adjusting disc body 320;

[0117] like Figure 9 As shown, the fixed disk 31 includes:

[0118] Fixed disk body 310;

[0119] The outer spring mounting groove 312 is formed on the inner end face of the fixed plate body 310, and it is correspondingly provided with the inner spring mounting groove 321. In the locked state, the outer spring mounting groove 312 and the inner spring mounting groove 321 are joined together to form a closed space, such as... Figure 11 As shown, the enclosed space is used to press the spring 36 (wave spring) in the compressed state between the fixed plate 31 and the adjusting plate 32 to form a locked state.

[0120] like Figure 12 Width adjustment component 2, which includes:

[0121] The first slider 21 is located on the outer end face of the fixed plate 31, and the rotating shaft 35 passes through the first slider 21 and extends to the outside of the first slider 21; specifically, the first slider 21 is integrally formed with the fixed plate 31.

[0122] Slide rail 22 is slidably connected to slider 21.

[0123] The second slider 23 is connected to the first slide rail 22 at a 90° angle; specifically, the second slider 23 and the first slide rail 22 are coaxially fixedly connected by a pivot pin.

[0124] And the second slide rail 24 is slidably connected to the second slider 23 and detachably connected to the rehabilitation robot 4.

[0125] In response to the common genu valgum or genu varum in some patients, a movable pair formed by the width adjustment component 2 is added to adjust the horizontal distance between the leg support and the exoskeleton to adapt to changes in leg shape.

[0126] How to use the leg restraint mechanism of this rehabilitation robot for abnormal leg postures:

[0127] Step 1: Put the leg strap 1 on your legs and put the foot into the rehabilitation robot 4.

[0128] Step 2: Adjust the width to accommodate changes in leg shape, to create a shape like... Figure 1 The state shown.

[0129] Adjust slider 22 along the X direction and slider 23 along the Y direction.

[0130] Step 3: Adjust the angle to accommodate abnormal postures during training.

[0131] Step 3A: Rotate to loosen the preload bolt 34 and separate the fixed plate 31 and the adjusting plate 32.

[0132] Then rotate the adjusting disc 32 so that the spring 36 in the compressed state continues to be compressed. Then release the adjusting disc 32, and under the elastic force of the spring 36, the adjusting disc 32 and the fixed disc 31 separate.

[0133] Since the inner section 331 and the outer section 332 of the torsion spring 33 are respectively connected to the inner fixing groove 114 of the torsion spring of the leg support 1 and the outer fixing groove 322 of the torsion spring of the adjusting plate 32, they are integrated as a whole to prevent 11 from separating from the fixing plate 31.

[0134] At this time, the inner end face of the cap of the pre-tightening bolt 34 is in contact with the bolt limiting groove 311.

[0135] Step 3C: Coarse angle adjustment.

[0136] Rotate the adjustment disc 32, and the pre-tightening bolt 34 moves along the bolt limiting groove 312 on the fixed disc 31 until the concave surface of the rotating disc 11 fits the leg in an abnormal posture, thus achieving coarse angle adjustment.

[0137] Step 3D, Lock.

[0138] Tighten the preload bolt 34 to reconnect the fixed plate body 310 and the adjusting plate body 320 into a whole by using the friction between the two planes.

[0139] Step 3E: Fine-tuning the angle.

[0140] During a spasm, the rotating disc 11 rotates with the leg to prevent muscle spasms from causing injury to the body during training.

[0141] Fine-tuning is used to prevent muscle spasms that could cause injury to the body during training.

[0142] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A leg restraint mechanism for a rehabilitation robot accommodating abnormal leg postures, characterized in that, include: Leg rest (1) and angle adjustment assembly (3); The leg support (1) includes a rotating disk (11). The angle adjustment component (3) is used to adjust the rotating disk (11) so that the rotating disk (11) rotates around the Y-axis by an angle, and includes: Adjustment disc (32) and fixed disc (31) are sequentially sleeved on the rotating shaft (35) along the Y direction; The rotating shaft (35) connects the rotating disk (11), the adjusting disk (32) and the fixed disk (31), and is threaded to the fixed disk (31). Torsion spring (33), which is sleeved on the rotating shaft (35) and connected to the adjusting plate (32) and the rotating plate (11); A spring (36) is sleeved on the rotating shaft (35) and located between the adjusting plate (32) and the fixed plate (31); and pre-tightening bolts (34), which are located in the bolt limiting groove (311) opened in the fixed plate (31), and their inner ends extend inward and are connected to the adjusting plate (32); In the locked state, with the pre-tightened bolt (34), the adjusting disc (32) and the fixed disc (31) have no relative movement and the spring (36) is in a compressed state; The rotating disk (11) includes: Rotary disk body (111), limiting boss (112), disk positioning groove (113), torsion spring inner fixing groove (114). The limiting boss (112) cooperates with the adjusting plate limiting groove (324) of the adjusting plate (32); The disc positioning groove (113) is used to accommodate the adjustment disc (32), which fits against the arc-shaped edge of the adjustment disc (32); The inner fixing groove (114) of the torsion spring is used to accommodate the inner section (331) of the torsion spring (33). The regulating disc (32) includes: The adjusting disc body (320) has bolt fixing holes (323) for fixing the preload bolts (34). The inner spring mounting groove (321) is used to accommodate the spring (36), which is formed on the outer end face of the adjusting plate body (320) and cooperates with the outer spring mounting groove (312) in the fixed plate (31); The outer fixing groove (322) of the torsion spring is used to fix the outer section (332) of the torsion spring (33), which is formed in the inner mounting groove (321) of the spring and communicates with the inner mounting channel (326). Adjustment plate limiting groove (324) is used to accommodate the limiting boss (112) in the rotating plate (11). A pair of adjusting handles (325) are formed on the arcuate edge of the adjusting disc body (320); An internal mounting channel (326) is provided for the passage of the rotating shaft (35) and the torsion spring (33).

2. The leg binding mechanism for a rehabilitation robot oriented towards abnormal leg postures as described in claim 1, characterized in that, The fixed disk (31) includes: Fixed disk body (310); The outer mounting groove (312) of the spring is formed on the inner end face of the fixed plate body (310), and it is correspondingly provided with the inner mounting groove (321) of the spring. When locked, the outer mounting groove (312) of the spring and the inner mounting groove (321) of the spring are joined together to form a closed space. An external mounting channel (313) is provided for the passage of the rotating shaft (35).

3. The leg binding mechanism for a rehabilitation robot oriented towards abnormal leg postures as described in claim 1, characterized in that, It further includes a width adjustment component (2), which includes: A first slider (21) is disposed on the outer end face of a fixed disk (31), and the rotating shaft (35) passes through the first slider (21) and extends to the outside of the first slider (21); The first slide rail (22) is slidably connected to the first slider (21); The second slider (23) is connected to the first slide rail (22) at a 90° angle; And the second slide rail (24) is slidably connected to the second slider (23) and detachably connected to the rehabilitation robot (4).

4. The leg binding mechanism for a rehabilitation robot oriented towards abnormal leg postures as described in claim 1, characterized in that, The leg support (1) further includes a strap (12) which is connected to the rotating disk (11) and forms a closed space.

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