Rehabilitation device for exoskeleton shank

Abstract

The invention discloses a rehabilitation device for an exoskeleton shank, and relates to the technical field of ankle joint rehabilitation, according to the device, the fixed end of a telescopic assembly is connected with a shank connecting plate, the telescopic end of the telescopic assembly is connected with a locking assembly, and the locking assembly can lock the telescopic length of the telescopic assembly; the rotating assembly is arranged at the position of an ankle joint, one end of the rotating assembly is connected with the telescopic end of the telescopic assembly, the rotating assembly can rotate with the width direction of the bottom plate as the axis, the width direction of the bottom plate is consistent with the width direction of a foot, and an elastic rope is arranged at the end, close to the tiptoe, of the bottom plate. The end, away from the bottom plate, of the elastic rope can be connected with the binding assembly. The auxiliary force adjusting device has the advantages of being simple and rapid in auxiliary force adjusting, large in adjusting range, comfortable in body feeling and low in cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ankle rehabilitation, in particular to a rehabilitation device for an exoskeleton lower leg. BACKGROUND

[0002] For patients with stroke, nerve injury, etc., some patients have foot drop symptoms during the rehabilitation stage, and the rehabilitation equipment needs to provide partial assistive force to the ankle joint of the patient to assist the patient in recovering the foot shape and completing the normal gait. Different patients have individual differences, and the assistive force required by the ankle joint is different, that is, when rehabilitating the foot drop patient, the dorsiflexion force needs to be applied to the patient's foot to correct the foot posture. Due to individual differences and different rehabilitation stages, the assistive force required by the patient is different. At present, the ankle joint equipment for the rehabilitation stage is built-in spring, and the assistive force of the ankle joint equipment cannot be adjusted, or the ankle joint position is provided with an electric drive device to adjust the assistive force of the ankle joint in an electric drive manner. However, such equipment needs a complex and expensive driving and control design. Moreover, the existing equipment mostly uses an electric drive manner to provide assistive force for the patient, which has the disadvantages of high equipment cost, large size and weight, and the need for special training for operation. SUMMARY

[0003] The present application aims to provide a rehabilitation device for an exoskeleton lower leg, which can overcome the above-mentioned defects of the existing ankle rehabilitation equipment.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] On the one hand, the present specification provides a rehabilitation device for an exoskeleton lower leg, which is arranged at the position of the lower leg, the ankle joint and the foot, and includes a binding mechanism, a lower leg mechanism and a barefoot mechanism.

[0006] The binding mechanism includes a lower leg connecting plate and a binding assembly, the binding assembly is rotatably connected to one end of the connecting plate, and the binding assembly can be arranged at the position of the lower leg.

[0007] The lower leg mechanism includes an extension assembly and a locking assembly, the fixed end of the extension assembly is connected to the lower leg connecting plate, the extension end of the extension assembly is connected to the locking assembly, and the locking assembly can lock the extension length of the extension assembly.

[0008] The barefoot mechanism comprises a bottom plate and a rotating assembly connected to each other, the rotating assembly is arranged at the position of the ankle joint, one end of the rotating assembly is connected to the telescopic end of the telescopic assembly, the rotating assembly can rotate around the width direction of the bottom plate as the axis, the width direction of the bottom plate is consistent with the width direction of the foot, the bottom plate is used to place the foot, and one end of the bottom plate close to the toe is provided with an elastic rope, the end of the elastic rope away from the bottom plate can be connected to the binding assembly.

[0009] In some embodiments of the present specification, one end of the lower leg connecting plate close to the binding assembly is provided with a rotating groove, the relative direction of the groove side wall of the rotating groove is the direction of the binding assembly towards the telescopic assembly;

[0010] The binding assembly comprises a binding connecting plate, a binding rotating shaft and a binding spring pin, one end of the binding connecting plate is embedded in the rotating groove, one end of the binding rotating shaft passes through the one side groove side wall of the rotating groove, one end of the binding connecting plate close to the rotating groove and the other side groove side wall of the rotating groove in sequence, the binding connecting plate can rotate along the binding rotating shaft, the pin shaft end of the binding spring pin can pass through the one side groove side wall of the rotating groove, one end of the binding connecting plate close to the rotating groove and the other side groove side wall of the rotating groove in sequence, the binding spring pin controls the connection state of the pin shaft end and the binding connecting plate through the telescopic pin shaft end to lock the rotating state of the binding connecting plate.

[0011] In some embodiments of the present specification, the binding assembly further comprises a sliding plate, a binding plate, a first limiting shaft and a binding piece connected in sequence;

[0012] One side of the sliding plate away from the binding plate is provided with a connecting barrel, one end of the binding connecting plate away from the rotating groove can pass through the barrel channel of the connecting barrel, one end of the binding connecting plate away from the rotating groove is provided with a first waist hole with a specific length, the connecting barrel is provided with a first limiting hole with the through hole direction towards the binding plate direction, the setting position of the first limiting hole corresponds to the position of the first waist hole;

[0013] One end of the first limiting shaft can pass through the binding plate, the first limiting hole and the first waist hole, the sliding plate slides along the length direction of the binding connecting plate under the cooperation of the first waist hole, the first limiting hole and the first limiting shaft;

[0014] The binding piece is matched with the shape of the lower leg.

[0015] In some embodiments of the present specification, the binding piece is a soft filling fabric.

[0016] In some embodiments of the present specification, the binding assembly further comprises a handle, a pressing plate, a binding rotating pin; one side of the pressing plate is arranged on the side of the connecting cylinder away from the binding plate, the other side of the pressing plate is in abutment with one end of the handle, one end of the handle close to the pressing plate is provided with an eccentric circular hole, the eccentric circular hole is provided with the binding rotating pin, and one end of the first limiting shaft away from the binding plate can pass through the first waist hole and then pass through the pressing plate and the binding rotating pin in sequence;

[0017] One side of the pressing plate close to the connecting cylinder is provided with a binding groove, and the binding groove is embedded with the elastic rope.

[0018] In some embodiments of the present specification, the telescopic assembly comprises a telescopic cylinder and a telescopic column, one end of the telescopic cylinder has an opening, one end of the telescopic column is sleeved in the telescopic cylinder through the opening, and the telescopic column can slide in the telescopic cylinder in a telescopic manner;

[0019] The locking assembly comprises a locking ring, the locking ring is sleeved on one end of the telescopic cylinder having an opening, and the locking degree of the locking ring can be controlled to control the pressing degree of the telescopic cylinder to the telescopic column to lock the telescopic length of the telescopic column.

[0020] In some embodiments of the present specification, the locking assembly comprises a brake bushing, the brake bushing is arranged between the telescopic cylinder and the telescopic column, and the arrangement position of the brake bushing is matched with the position of the locking ring.

[0021] In some embodiments of the present specification, the locking assembly comprises an adjusting piece and a fixing piece, one end of the adjusting piece is provided with an eccentric cylindrical hole, and the eccentric cylindrical hole is provided with an adjusting rotating pin;

[0022] The locking ring has a notch, the first mounting block and the second mounting block are symmetrically arranged at the notch position of the locking ring, the first mounting block is connected with one end of the adjusting rotating pin of the adjusting piece through the wear-resistant plate;

[0023] One end of the fixing piece can pass through the second mounting block, the first mounting block, the wear-resistant plate and the adjusting rotating pin in sequence, and one end of the fixing piece close to the first mounting block is fixed through a nut;

[0024] The adjusting piece rotates along the circumference of the adjusting rotating pin under the action of the eccentric cylindrical hole, and the gap distance between the first mounting block and the second mounting block can be adjusted through the wear-resistant plate to control the locking degree of the locking ring.

[0025] In some embodiments of the present specification, the rotating assembly comprises a support plate and a rotating unit, and the arrangement position of the support plate is matched with the position of the ankle joint;

[0026] The support plate is provided with an adjusting pivot at one end close to the telescopic assembly, the length direction of the adjusting pivot is consistent with the width direction of the bottom plate, one end of the adjusting pivot can be moved along the width direction of the support plate from one side to the other side of the support plate, and the two ends of the adjusting pivot are provided with bearings respectively, and the bearings are rotationally connected with the rotating unit.

[0027] The end of the support plate away from the telescopic assembly is connected with the bottom plate.

[0028] In some embodiments of the present specification, the rotating unit comprises a rotating connecting part and a rotating part connected with each other, the rotating connecting part is connected with the telescopic assembly, the rotating part is provided in a circular ring structure, and the inner side wall of the rotating part is rotationally connected with the outer side wall of the outer ring of the bearing.

[0029] Based on the above technical solution, the present specification can obtain the following technical effects:

[0030] The rehabilitation device for the exoskeleton lower leg has the advantages of simple and quick adjustment of auxiliary force, large adjustment range, comfortable body feeling and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A structural schematic view of a rehabilitation device for an exoskeleton lower leg is provided for the present application;

[0032] Figure 2 A setting position schematic view of a rehabilitation device for an exoskeleton lower leg is provided for the present application;

[0033] Figure 3 A structural schematic view of a binding mechanism is provided for the present application;

[0034] Figure 4 A structural schematic view of a lower leg mechanism is provided for the present application;

[0035] Figure 5 A structural schematic view of a barefoot mechanism is provided for the present application;

[0036] Figure 6 A structural schematic view of a handle is provided for the present application;

[0037] Figure 7 A structural schematic view of a pressing plate is provided for the present application;

[0038] Figure 8 A structural schematic view of a sliding plate is provided for the present application;

[0039] Figure 9 Structure diagram of the binding plate according to the present application;

[0040] Figure 10 Structure diagram of the telescopic cylinder according to the present application.

[0041] Icon: 100, binding mechanism; 101, shank connecting plate; 1011, rotating groove; 102, binding connecting plate; 1021, first waist hole; 103, binding rotating shaft; 104, binding spring pin; 105, sliding plate; 106, binding plate; 107, first limiting shaft; 108, binding piece; 110, handle; 111, pressing plate; 1111, binding groove; 112, binding rotating pin; 200, shank mechanism; 201, telescopic cylinder; 202, telescopic column; 203, locking ring; 2031, first mounting block; 2032, second mounting block; 204, brake bushing; 205, adjusting piece; 206, adjusting rotating pin; 207, fixing piece; 208, anti-wear plate; 300, barefoot mechanism; 301, bottom plate; 302, supporting plate; 303, adjusting rotating shaft; 304, bearing; 305, rotating connecting part; 306, rotating part. DETAILED DESCRIPTION

[0042] The advantages and features of the present application will be more apparent from the following description and claims in conjunction with the accompanying drawings, in which specific embodiments of the present application are shown. It should be noted that the drawings are very simplified and are not drawn to scale, and are only used to facilitate and clarify the purpose of illustrating the embodiments of the present application.

[0043] It should be noted that, in order to clearly illustrate the content of the present application, the present application provides multiple embodiments to further illustrate different implementation manners of the present application, wherein the multiple embodiments are listed but not exhaustive. In addition, in order to facilitate the description, the content mentioned in the previous embodiments is often omitted in the following embodiments, therefore, the content not mentioned in the following embodiments can be correspondingly referred to the previous embodiments.

[0044] Please refer to Figures 1 to 10 An embodiment of the present application provides a rehabilitation device for an exoskeleton shank, which is arranged at the position of a shank, an ankle joint and a foot, and includes a binding mechanism 100, a shank mechanism 200 and a barefoot mechanism 300.

[0045] The binding mechanism 100 includes a shank connecting plate 101 and a binding assembly, the binding assembly is rotatably connected to one end of the connecting plate, and the binding assembly can be arranged at the position of a shank.

[0046] The calf mechanism 200 comprises a telescopic assembly and a locking assembly, a fixed end of the telescopic assembly is connected with the calf connecting plate 101, a telescopic end of the telescopic assembly is connected with the locking assembly, and the locking assembly can lock the telescopic length of the telescopic assembly.

[0047] The barefoot mechanism 300 comprises a bottom plate 301 and a rotating assembly connected with each other, the rotating assembly is arranged at the position of the ankle joint, one end of the rotating assembly is connected with the telescopic end of the telescopic assembly, the rotating assembly can rotate with the width direction of the bottom plate 301 as the axis, the width direction of the bottom plate 301 is consistent with the width direction of the foot, the bottom plate 301 is used for placing the foot, and one end of the bottom plate 301 close to the toe is provided with an elastic rope, one end of the elastic rope away from the bottom plate 301 can be connected with the binding assembly.

[0048] Specifically, the above-mentioned rehabilitation device for the exoskeleton calf adjusts the relative position of the calf and the above-mentioned device in a mechanical fine-tuning manner, has the advantages of simple and rapid adjustment of auxiliary force, large adjustment range, comfortable body sensation and low cost.

[0049] In the embodiment, one end of the calf connecting plate 101 close to the binding assembly is provided with a rotating groove 1011, and the relative direction of the groove side wall of the rotating groove 1011 is the direction of the binding assembly towards the telescopic assembly.

[0050] The binding assembly comprises a binding connecting plate 102, a binding rotating shaft 103 and a binding spring pin 104, one end of the binding connecting plate 102 is embedded in the rotating groove 1011, one end of the binding rotating shaft 103 passes through the one side groove side wall of the rotating groove 1011, one end of the binding connecting plate 102 close to the rotating groove 1011 and the other side groove side wall of the rotating groove 1011 in sequence, the binding connecting plate 102 can rotate along the binding rotating shaft 103, and the pin shaft end of the binding spring pin 104 can pass through the one side groove side wall of the rotating groove 1011, one end of the binding connecting plate 102 close to the rotating groove 1011 and the other side groove side wall of the rotating groove 1011 in sequence, the binding spring pin 104 controls the connection state of the pin shaft end and the binding connecting plate 102 through the telescopic pin shaft end to lock the rotating state of the binding connecting plate 102.

[0051] In the embodiment, the shape of the rotating groove 1011 is U-shaped, and the calf connecting plate 101 is provided with double-row mounting holes away from the rotating groove 1011, the setting direction of the double-row mounting holes is the length direction of the calf, the telescopic cylinder 201 of the telescopic assembly can be connected with the calf connecting plate 101 through the double-row mounting holes, and the mounting height of the calf connecting plate 101 on the telescopic cylinder 201 can be determined according to the length of the calf or the telescopic length of the telescopic assembly.

[0052] In the embodiment, the binding connecting plate 102 is L-shaped, has a short side part and a long side part, the short side part is embedded in the rotating groove 1011, the binding connecting plate 102 can rotate along the circumference of the binding rotating shaft 103, and the binding connecting plate 102 can drive other parts of the binding assembly to rotate, so as to achieve the effect of facilitating the patient to wear by turning over the binding connecting plate 102.

[0053] In the embodiment, the binding spring pin 104 is provided with a control end away from the binding connecting plate 102, the connection state of the pin shaft end and the short side part can be controlled through the control end, when the pin shaft end is retracted, the binding connecting plate 102 can rotate along the circumference of the binding rotating shaft 103, and when the pin shaft end is elongated, it can pass through the binding connecting plate 102 and be arranged in the groove side wall close to the telescopic assembly in the rotating groove 1011, so as to limit the rotation of the binding connecting plate 102 and achieve the limiting effect.

[0054] In the embodiment, the double-row mounting holes of the calf connecting plate 101 are provided with weight-reducing holes.

[0055] In the embodiment, the binding assembly further comprises a sliding plate 105, a binding plate 106, a first limiting shaft 107 and a binding piece 108 connected in sequence.

[0056] One side of the sliding plate 105 away from the binding plate 106 is provided with a connecting cylinder, one end of the binding connecting plate 102 away from the rotating groove 1011 can pass through the cylinder passage of the connecting cylinder, the binding connecting plate 102 is provided with a first waist hole 1021 with a specific length away from the rotating groove 1011, the connecting cylinder is provided with a first limiting hole with a through hole direction facing the direction of the binding plate 106, and the setting position of the first limiting hole corresponds to the position of the first waist hole 1021.

[0057] One end of the first limiting shaft 107 can pass through the binding plate 106, the first limiting hole and the first waist hole 1021, and the sliding plate 105 slides along the length direction of the binding connecting plate 102 under the cooperation of the first waist hole 1021, the first limiting hole and the first limiting shaft 107.

[0058] The binding member 108 is adapted to the shape of the lower leg.

[0059] In this embodiment, the sliding plate 105 has a plate and a connecting cylinder, one side of the plate abuts against the binding plate 106, and the other side of the plate is connected to the outer side wall of the connecting cylinder. Of course, the side wall of the plate away from the binding plate 106 can be the same side wall as one side of the connecting cylinder.

[0060] In this embodiment, one end of the long edge of the binding connecting plate 102 can pass through the cylinder passage of the connecting cylinder, and a limiting pin is arranged at the end of the long edge away from the short edge, which can prevent the long edge from falling out of the connecting cylinder.

[0061] In this embodiment, the setting direction of the first waist hole 1021 is consistent with the length direction of the long edge, and the sliding plate 105 can drive the binding plate 106 and the binding member 108 to slide along the length direction of the long edge, so that the binding assembly can slide on the binding connecting plate 102 along with the movement of the patient, increasing flexibility and the adaptability between the binding assembly and the patient.

[0062] In this embodiment, by arranging the first limiting shaft 107, the handle 110, the pressing plate 111, the sliding plate 105, the binding plate 106, and the binding member 108 can be fixed in a stacked state, and the sliding direction of the sliding plate 105 can be limited to avoid deviation during sliding.

[0063] In this embodiment, the binding member 108 is a soft filling fabric.

[0064] In this embodiment, the binding plate 106 has a V-shaped structure, and the V-shaped opening position is adapted to the shape of the lower leg. The binding member 108 is a thick soft internal filler surface covered with fabric, which is adapted to the shape of the binding plate 106. Two sides of the binding member 108 along the width direction are respectively provided with a binding belt, and the two binding belts are connected by the magic tape arranged at the end, so as to fix the entire binding assembly on the lower leg.

[0065] In this embodiment, the binding assembly further comprises a handle 110, a pressing plate 111, and a binding rotating pin 112. One side of the pressing plate 111 is arranged on the side of the connecting cylinder away from the binding plate 106, and the other side of the pressing plate 111 abuts against one end of the handle 110. One end of the handle 110 close to the pressing plate 111 is provided with an eccentric circular hole, and the binding rotating pin 112 is arranged in the eccentric circular hole. One end of the first limiting shaft 107 away from the binding plate 106 can pass through the first waist hole 1021, and then pass through the pressing plate 111 and the binding rotating pin 112 in sequence.

[0066] The clamping plate 111 is provided with a binding groove 1111 on the side near the connecting cylinder, and the elastic rope is embedded in the binding groove 1111.

[0067] In this embodiment, one end of the handle 110 is a free end, and the other end of the handle 110 is cylindrical and connected to the pressure plate 111. The side of the pressure plate 111 near the handle 110 is an arc-shaped sidewall, and the side of the pressure plate 111 away from the handle 110 is a flat sidewall. A binding groove 1111 is provided on the flat sidewall. The direction of the binding groove 1111 is consistent with the extension and retraction direction of the rope assembly. The number of binding grooves 1111 can preferably be set to two, so that the elastic rope can be wound in the two binding grooves 1111, thereby increasing the stability of the elastic rope.

[0068] In this embodiment, the binding groove 1111 is preferably a semi-cylindrical groove.

[0069] In this embodiment, the elastic rope can also be connected to the binding groove 1111 by setting a strap.

[0070] In this embodiment, the center of the eccentric circular hole is located on the side of the handle 110 away from the pressure plate 111.

[0071] In this embodiment, the telescopic component includes a telescopic cylinder 201 and a telescopic column 202. One end of the telescopic cylinder 201 has an opening, and one end of the telescopic column 202 is sleeved inside the telescopic cylinder 201 through the opening. The telescopic column 202 can slide telescopically within the telescopic cylinder 201.

[0072] The locking assembly includes a locking ring 203, which is sleeved on the open end of the telescopic cylinder 201. By controlling the locking degree of the locking ring 203, the pressure of the telescopic cylinder 201 on the telescopic column 202 can be controlled to lock the telescopic length of the telescopic column 202.

[0073] In this embodiment, the inner ring wall of the locking ring 203 abuts against the side of the telescopic cylinder 201 away from the lower leg connecting plate 101, and the locking ring 203 is sleeved on the outside of the telescopic cylinder 201. The locking ring 203 can change its inner ring space so that the inner wall of the telescopic cylinder 201 abuts tightly against the outer wall of the telescopic column 202, thereby achieving the function of locking the telescopic column 202's telescopic length.

[0074] In this embodiment, the locking assembly includes a brake bushing 204, which is disposed between the telescopic cylinder 201 and the telescopic column 202, and the position of the brake bushing 204 is adapted to the position of the locking ring 203.

[0075] In this embodiment, the brake bushing 204 has a protruding portion, the diameter of which is larger than the outer diameter of the locking ring 203. The brake bushing 204 is fixed to the end face of the telescopic cylinder 201 away from the lower leg connecting plate 101 by screws at the protruding portion, thereby preventing the locking ring 203 from falling off the telescopic cylinder 201. At the same time, the brake bushing 204 is disposed between the telescopic cylinder 201 and the telescopic column 202, which can prevent excessive wear between the outer wall of the telescopic column 202 and the inner wall of the telescopic cylinder 201.

[0076] In this embodiment, the outer wall of the telescopic column 202 is provided with scale lines to display the current length of the lower leg.

[0077] In this embodiment, the locking assembly includes an adjusting member 205 and a fixing member 207. One end of the adjusting member 205 is provided with an eccentric cylindrical hole, and an adjusting pin 206 is provided in the eccentric cylindrical hole.

[0078] The locking ring 203 has a notch, and a first mounting block 2031 and a second mounting block 2032 are symmetrically arranged at the notch position of the locking ring 203. The first mounting block 2031 is connected to one end of the adjusting member 205 with the adjusting pin 206 through the anti-wear plate 208.

[0079] One end of the fixing member 207 can pass through the second mounting block 2032, the first mounting block 2031, the anti-wear plate 208 and the adjusting pin 206 in sequence, and the end of the fixing member 207 near the first mounting block 2031 is fixed by a nut;

[0080] The adjusting member 205 rotates circumferentially along the adjusting pin 206 under the action of the eccentric cylindrical hole, and can adjust the gap between the first mounting block 2031 and the second mounting block 2032 through the anti-wear plate 208 to control the locking degree of the locking ring 203.

[0081] In this embodiment, the adjusting member 205 and the handle 110 are configured in the same way. One end of the adjusting member 205 is cylindrical, and an eccentric cylindrical hole is provided at the cylindrical end. The center of the eccentric cylindrical hole is located on the side of the cylindrical end away from the wear-resistant plate 208. The adjusting member 205 can rotate circumferentially along the adjusting pin 206. When the adjusting member 205 and the fixing member 207 have an angle, the larger the angle, the higher the locking degree of the locking ring 203. The length direction of the adjusting member 205 is the same as the length direction of the fixing member 207. When the locking ring 203 is in a relaxed state, the telescopic length of the telescopic cylinder 201 and the telescopic column 202 can be adjusted. When the length direction of the adjusting member 205 and the fixing member 207 is 90° (or preferably another angle), the cylindrical end of the adjusting member 205 can press the first mounting block 2031 through the anti-wear plate 208, so that the gap between the first mounting block 2031 and the second mounting block 2032 achieves the function of locking the telescopic cylinder 201 and the telescopic column 202, that is, locking the telescopic length of the telescopic column 202.

[0082] In this embodiment, a fixing nut is provided at the end of the fixing member 207 away from the wear-resistant plate 208, and the fixing nut is located on the side of the second mounting block 2032 away from the first mounting block 2031.

[0083] In this embodiment, the end of the telescopic column 202 away from the telescopic cylinder 201 is fixedly connected to the rotating connection part 305 of the rotating unit by screws.

[0084] In this embodiment, the rotating assembly includes a support plate 302 and a rotating unit, and the position of the support plate 302 is adapted to the position of the ankle joint.

[0085] An adjusting shaft 303 is provided at one end of the support plate 302 near the telescopic component. The length direction of the adjusting shaft 303 is consistent with the width direction of the base plate 301. One end of the adjusting shaft 303 can move from one side of the support plate 302 to the other side along the width direction of the support plate 302. Bearings 304 are respectively provided at both ends of the adjusting shaft 303, and the bearings 304 are rotatably connected to the rotating unit.

[0086] The end of the support plate 302 away from the telescopic component is connected to the base plate 301.

[0087] In this embodiment, there are two rotating units, which are symmetrically arranged on both sides of the support plate 302 with the length direction of the base plate 301 as the axis.

[0088] In this embodiment, the support plate 302 is a triangular plate structure, that is, the cross-sectional shape of the support plate 302 in the direction of the telescopic cylinder 201 toward the telescopic column 202 is triangular, and the bottom edge is connected to the base plate 301. A second waist hole is provided on the side of the support plate 302 away from the telescopic component. The second waist hole is adapted to the connecting part provided on the side of the base plate 301 near the support plate 302. That is, the connecting part abuts against the side wall of the second waist hole away from the telescopic component and is fixed with screws.

[0089] In this embodiment, the aforementioned adjusting shaft 303 can be constructed by two coaxially arranged cylinders. The aforementioned rotating unit rotates flexibly under the action of the aforementioned bearing 304, with the rotation direction being the circumferential direction of the adjusting shaft 303, effectively increasing flexibility and adapting to the patient's ankle joint movements.

[0090] In this embodiment, the base plate 301 is a rectangular thin plate structure, and an anti-slip pad can be provided on the side near the telescopic component to achieve the anti-slip effect. Specifically, a plastic pad is preferred.

[0091] In this embodiment, the rotating unit includes a rotating connecting part 305 and a rotating part 306 connected to each other. The rotating connecting part 305 is connected to the telescopic component. The rotating part 306 is configured as a ring structure. The inner sidewall of the rotating part 306 is rotatably connected to the outer sidewall of the outer ring of the bearing 304.

[0092] In this embodiment, the rotating connection part 305 can be set as a rectangle and connected to the outer wall of the telescopic column 202 by screws. It can be fixedly connected by three screws arranged in a triangle. The rotating part 306 can be set as a ring, and its inner ring wall is connected to the outer wall of the outer ring of the bearing 304 to achieve the rotation function.

[0093] In this embodiment, the right-angle positions of all the above components are set as rounded corners to avoid causing damage to the patient during the wearing process.

[0094] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A rehabilitation device for an exoskeleton lower leg, provided at a position of the lower leg, the ankle joint site, and the foot, characterized by, The binding mechanism, the lower leg mechanism and the barefoot mechanism are included; The binding mechanism includes a lower leg connecting plate and a binding assembly, the binding assembly is rotatably connected with one end of the connecting plate, and the binding assembly can be arranged at a lower leg position; The lower leg mechanism includes an extension assembly and a locking assembly, a fixed end of the extension assembly is connected with the lower leg connecting plate, a telescopic end of the extension assembly is connected with the locking assembly, and the locking assembly can lock the telescopic length of the extension assembly; The barefoot mechanism includes a bottom plate and a rotating assembly which are connected with each other, the rotating assembly is arranged at an ankle joint position, one end of the rotating assembly is connected with the telescopic end of the extension assembly, the rotating assembly can rotate around the width direction of the bottom plate as an axis, the width direction of the bottom plate is consistent with the width direction of a foot, the bottom plate is used for placing the foot, and one end of the bottom plate close to a toe is provided with an elastic rope, and one end of the elastic rope away from the bottom plate can be connected with the binding assembly.

2. The rehabilitation device for an exoskeleton lower leg according to claim 1, characterized in that, One end of the lower leg connecting plate close to the binding assembly is provided with a rotating groove, and the relative direction of the groove side wall of the rotating groove is the direction of the binding assembly towards the extension assembly; The binding assembly includes a binding connecting plate, a binding rotating shaft and a binding spring pin, one end of the binding connecting plate is embedded in the rotating groove, one end of the binding rotating shaft passes through the one side groove side wall of the rotating groove, one end of the binding connecting plate close to the rotating groove and the other side groove side wall of the rotating groove in sequence, the binding connecting plate can rotate along the binding rotating shaft, and the pin shaft end of the binding spring pin can pass through the one side groove side wall of the rotating groove, one end of the binding connecting plate close to the rotating groove and the other side groove side wall of the rotating groove in sequence, and the binding spring pin controls the connection state of the pin shaft end and the binding connecting plate through the telescopic pin shaft end to lock the rotating state of the binding connecting plate.

3. The rehabilitation device for an exoskeleton lower leg according to claim 2, characterized in that, The binding assembly further includes a sliding plate, a binding plate, a first limiting shaft and a binding piece which are connected in sequence; One side of the sliding plate away from the binding plate is provided with a connecting barrel, one end of the binding connecting plate away from the rotating groove can pass through the barrel channel of the connecting barrel, one end of the binding connecting plate away from the rotating groove is provided with a first waist hole with a specific length, the connecting barrel is provided with a first limiting hole with a through hole direction towards the binding plate direction, and the setting position of the first limiting hole corresponds to the position of the first waist hole; One end of the first limiting shaft can pass through the binding plate, the first limiting hole and the first waist hole, and the sliding plate slides along the length direction of the binding connecting plate under the cooperation of the first waist hole, the first limiting hole and the first limiting shaft; The binding piece is matched with the shape of the lower leg.

4. The rehabilitation device for an exoskeleton lower leg according to claim 3, characterized in that The binding piece is a soft filling fabric.

5. The rehabilitation device for an exoskeleton lower leg according to claim 3, characterized in that, The binding assembly further comprises a handle, a pressing plate, a binding rotating pin; one side of the pressing plate is arranged on the side of the connecting cylinder away from the binding plate, the other side of the pressing plate is in abutment with one end of the handle, one end of the handle close to the pressing plate is provided with an eccentric circular hole, the eccentric circular hole is provided with the binding rotating pin, and one end of the first limiting shaft away from the binding plate can pass through the first waist hole and then pass through the pressing plate and the binding rotating pin in sequence; One side of the pressing plate close to the connecting cylinder is provided with a binding groove, and the binding groove is embedded with the elastic rope.

6. The rehabilitation device for an exoskeleton lower leg according to claim 1, characterized in that, The telescopic assembly comprises a telescopic cylinder and a telescopic column, one end of the telescopic cylinder is provided with an opening, one end of the telescopic column is sleeved in the telescopic cylinder through the opening, and the telescopic column can slide in the telescopic cylinder in a telescopic manner; The locking assembly comprises a locking ring, the locking ring is sleeved on one end of the telescopic cylinder with the opening, and the locking degree of the locking ring can be controlled to control the pressing degree of the telescopic cylinder to the telescopic column to lock the telescopic length of the telescopic column.

7. The rehabilitation device for an exoskeleton lower leg according to claim 6, characterized in that The locking assembly comprises a brake bushing, the brake bushing is arranged between the telescopic cylinder and the telescopic column, and the arrangement position of the brake bushing is matched with the position of the locking ring.

8. The rehabilitation device for an exoskeleton lower leg according to claim 6, characterized in that The locking assembly comprises an adjusting piece and a fixing piece, one end of the adjusting piece is provided with an eccentric cylindrical hole, and the eccentric cylindrical hole is provided with an adjusting rotating pin; The locking ring has a notch, the notch position of the locking ring is symmetrically provided with a first mounting block and a second mounting block, the first mounting block is connected with one end of the adjusting piece provided with the adjusting rotating pin through an anti-wear plate; One end of the fixing piece can pass through the second mounting block, the first mounting block, the anti-wear plate and the adjusting rotating pin in sequence, and one end of the fixing piece close to the first mounting block is fixed through a nut; The adjusting piece rotates along the circumference of the adjusting rotating pin under the action of the eccentric cylindrical hole, and the gap distance between the first mounting block and the second mounting block can be adjusted through the anti-wear plate to control the locking degree of the locking ring.

9. The rehabilitation device for an exoskeleton lower leg according to claim 1, characterized in that, The rotating assembly comprises a support plate and a rotating unit, and the arrangement position of the support plate is matched with the position of the ankle joint; One end of the support plate close to the telescopic assembly is provided with an adjusting rotating shaft, the length direction of the adjusting rotating shaft is consistent with the width direction of the bottom plate, one end of the adjusting rotating shaft can be from one side to the other side of the support plate along the width direction of the support plate, and both ends of the adjusting rotating shaft are respectively provided with bearings, and the bearings are rotationally connected with the rotating unit; One end of the support plate away from the telescopic assembly is connected with the bottom plate.

10. The rehabilitation device for an exoskeleton lower leg according to claim 9, characterized in that The rotating unit comprises a rotating connecting part and a rotating part connected with each other, the rotating connecting part is connected with the telescopic assembly, the rotating part is arranged in a circular ring structure, and the inner side wall of the rotating part is rotationally connected with the outer side wall of the outer ring of the bearing.

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