Transverse ankle joint rotating device of exoskeleton robot

Abstract

The utility model discloses an exoskeleton robot ankle joint transverse rotating device which comprises a foot sole supporting plate, a fixing belt is arranged at the top of the foot sole supporting plate, an arc support is arranged at the top of the foot sole supporting plate, a binding belt is connected to one side of the arc support, and a connecting assembly is arranged between the arc support and the foot sole supporting plate. A driving assembly is arranged between the back face of the arc support and the sole supporting plate, the connecting ball is rotationally connected to the top of the second fixing block, and the first fixing block is rotationally connected with the second fixing block through the connecting ball, so that the arc support moves in multiple directions relative to the sole supporting plate. The foot sole supporting plate, the fixing belt, the binding belt, the arc support, the connecting assembly and the driving assembly are used in a matched mode, under the action of the connecting assembly, the binding belt and the arc support move in the ankle twisting direction, and therefore when the driving assembly drives the binding belt and the arc support to move, the ankle twisting direction is changed. Therefore, the ankles of the patient can be driven to move and train in multiple directions.

Description

Technical Field

[0001] The utility model relates to the field of exoskeleton robots, in particular to an exoskeleton robot ankle lateral rotation device. Background Art

[0002] The exoskeleton robot is an instrument that uses an exoskeleton-type lower limb gait correction drive device to help patients with gait disorders to perform walking training. In traditional rehabilitation treatment, patients need to reach a certain level of lower limb muscle strength and balance function to reach the standing position before they can perform walking training. At the same time, because patients need to lose weight appropriately in the early stages of walking, the exoskeleton rehabilitation robot can provide weight loss and allow patients to feel the feeling of normal walking. It not only helps patients establish normal movement patterns, but also completes rehabilitation training by providing assistance to the patient's hip and knee joints. More importantly, the use of exoskeleton robots can start walking training at an early stage, thereby accelerating the rehabilitation process, better helping patients improve their physical functions and cardiopulmonary functions, preventing pressure sores and muscle atrophy, and effectively improving the walking ability of patients with nervous system injuries.

[0003] The ankle joint design of the exoskeleton robot should meet the needs of different patients. It should be able to move horizontally while moving vertically. However, the current ankle joint design of the exoskeleton robot limits the natural range of motion of the ankle joint. It only fixes support plates on the left and right sides of the ankle joint to achieve up and down rotation of the ankle joint. However, the actual human ankle joint is spherical and can achieve a small range of left and right movement. Such a design may affect the user's gait and balance, and lacks flexibility. It cannot meet the needs and physiological characteristics of different users and cannot meet the patient's full range of ankle training. At the same time, the ankle joint design of many exoskeleton robots is too complicated, which increases the manufacturing cost and maintenance difficulty. The design may not be comfortable enough, which may cause users to feel uncomfortable when worn for a long time. Utility Model Content

[0004] The utility model aims to provide an exoskeleton robot ankle joint lateral rotation device to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an exoskeleton robot ankle joint lateral rotation device, comprising a sole support plate, a fixing belt is arranged on the top of the sole support plate, a connecting block is arranged at the end of the fixing belt, and the fixing belt is connected to the sole support plate through the connecting block;

[0006] The top of the sole support plate is provided with an arc bracket, one side of the arc bracket is connected with a restraining belt, a connecting component is provided between one side of the arc bracket and the sole support plate, a driving component is provided between the back side of the arc bracket and the sole support plate, and the connecting component includes:

[0007] A first fixing block and a second fixing block, wherein the first fixing block and the second fixing block are respectively connected to one side of the arc bracket and one side of the sole support plate;

[0008] A connecting ball is rotatably connected to the top of the second fixed block, and the first fixed block is rotatably connected to the second fixed block via the connecting ball, so that the arc bracket can move in multiple directions relative to the sole support plate.

[0009] Preferably, a support shaft is connected to the bottom of the first fixing block, a docking ring is connected to the bottom of the support shaft, and the docking ring is connected to the outer wall of the connecting ball.

[0010] Preferably, a groove matching the connecting ball is formed on the top of the second fixing block, and a limiting collar is connected to the top of the second fixing block, wherein the limiting collar is sleeved on the top of the outer wall of the connecting ball.

[0011] Preferably, the driving assembly comprises:

[0012] A third fixing block, the third fixing block being connected to the back side of the arc bracket;

[0013] A driving motor and a driving shaft, wherein the driving motor is connected to the top of the third fixed block, and the output end of the driving motor is transmission-connected to the driving shaft. The driving motor drives the driving shaft to rotate, so that the bottom of the outer wall of the driving shaft rubs against the sole support plate to drive the arc bracket to move.

[0014] Preferably, a cutting surface is provided on the back side of the sole support plate, and a friction block is connected to the cutting surface of the sole support plate, and the friction block is used to increase the friction force between the sole support plate and the driving shaft.

[0015] Preferably, a fixing sleeve is fixedly sleeved on the bottom of the outer wall of the driving shaft, a fixing ring corresponding to the friction block is fixedly sleeved on the outer wall of the fixing sleeve, and a mounting groove is provided on the back side of the friction block.

[0016] Preferably, one side of the outer wall of the fixing collar is located inside the mounting groove, the inner wall of the mounting groove is connected with a limiting latch tooth, the outer wall of the fixing collar is connected with a connecting latch tooth, and the connecting latch tooth is meshingly connected with the limiting latch tooth.

[0017] Technical effects and advantages of the utility model:

[0018] The utility model utilizes the coordinated use of a foot support plate, a fixing belt, a restraint belt, an arc bracket, a connecting assembly and a driving assembly. Under the action of the connecting assembly, the restraint belt and the arc bracket can restrain the patient's ankle, and the restraint belt and the arc bracket can move in the direction of ankle twisting, so that when the driving assembly drives the restraint belt and the arc bracket to move, it can drive the patient's ankle to undergo multi-directional activity training. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0020] Figure 2 It is a schematic diagram of the overall structure of the back side of the utility model.

[0021] Figure 3 It is a schematic diagram of the overall structure of the butt collar and the connecting ball being separated in the utility model.

[0022] Figure 4 It is a schematic diagram of the overall structure of the foot support plate part and the fixing ring being separated in the utility model.

[0023] Figure 5 It is a schematic diagram of the overall structure of the friction block of the utility model.

[0024] In the figure: 1. foot support plate; 2. fixing belt; 3. first fixing block; 4. supporting shaft; 5. docking ring; 6. limiting ring; 7. second fixing block; 8. connecting block; 9. restraining belt; 10. arc bracket; 11. driving motor; 12. third fixing block; 13. driving shaft; 14. fixing sleeve; 15. fixing ring; 16. friction block; 17. connecting ball; 18. limiting tooth; 19. connecting tooth; 20. cutting surface. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] The utility model provides Figure 1-5The exoskeleton robot ankle joint lateral rotation device shown includes a sole support plate 1, a fixing belt 2 is arranged on the top of the sole support plate 1, a connecting block 8 is arranged on the end of the fixing belt 2, the fixing belt 2 is connected to the sole support plate 1 through the connecting block 8, and an arc bracket 10 is arranged on the top of the sole support plate 1. The sole support plate 1 and the arc bracket 10 are made of hard materials to provide support and stability for the structural work of the exoskeleton robot. A restraint belt 9 is connected to one side of the arc bracket 10. Under the action of the restraint belt 9 and the fixing belt 2, the sole support plate 1 can be restrained to the sole of the user's foot. The fixing belt 2 and the restraint belt 9 are both made of flexible materials, and soft, comfortable and breathable materials are selected. The restraint belt 9 and the arc bracket 10 can be connected in a buckled manner. Or snap-on, so as to facilitate the user's ankle to be located between the restraint belt 9 and the arc bracket 10, a connecting component is arranged between one side of the arc bracket 10 and the sole support plate 1, a driving component is arranged between the back side of the arc bracket 10 and the sole support plate 1, the connecting component comprises a first fixed block 3, a second fixed block 7 and a connecting ball 17, the first fixed block 3 and the second fixed block 7 are respectively connected to one side of the arc bracket 10 and one side of the sole support plate 1, the connecting ball 17 is rotatably connected to the top of the second fixed block 7, the first fixed block 3 is rotatably connected to the second fixed block 7 through the connecting ball 17, so that under the action of the connecting ball 17, the arc bracket 10 can move in multiple directions with the sole support plate 1 following the patient's ankle, and the arc bracket 10 can move in multiple directions relative to the sole support plate 1.

[0027] Specifically, the bottom of the first fixed block 3 is connected to a support shaft 4, the bottom of the support shaft 4 is connected to a docking ring 5, the docking ring 5 is connected to the outer wall of the connecting ball 17, and the top of the second fixed block 7 is provided with a groove matching the connecting ball 17. The connecting ball 17 rotates in the groove at the top of the second fixed block 7, so that the arc bracket 10 can simulate the movement trajectory of the patient's ankle, so that it can move in multiple directions following the patient's ankle. The top of the second fixed block 7 is connected to a limiting ring 6, and the limiting ring 6 is sleeved on the top of the outer wall of the connecting ball 17. The limiting ring 6 can clamp and limit the connecting ball 17 to prevent the connecting ball 17 from separating from the second fixed block 7.

[0028] In particular, the driving assembly includes a third fixed block 12, a driving motor 11 and a driving shaft 13. The third fixed block 12 is connected to the back of the arc bracket 10, the driving motor 11 is connected to the top of the third fixed block 12, and the output end of the driving motor 11 is transmission-connected to the driving shaft 13. The driving motor 11 drives the driving shaft 13 to rotate, so that the bottom of the outer wall of the driving shaft 13 rubs against the sole support plate 1 to drive the arc bracket 10 to move. After the driving motor 11 is started, the driving shaft 13 can rub against the sole support plate 1 to drive the arc bracket 10 to move.

[0029] Furthermore, a cutting surface 20 is provided on the back of the sole support plate 1, and a friction block 16 is connected to the cutting surface 20 of the sole support plate 1. The friction block 16 is used to increase the friction between the sole support plate 1 and the drive shaft 13. The bottom of the outer wall of the drive shaft 13 is fixedly sleeved with a fixed sleeve 14, and the outer wall of the fixed sleeve 14 is fixedly sleeved with a fixed collar 15 corresponding to the friction block 16. The connecting teeth 19 on the outer wall of the fixed collar 15 will contact with the limiting teeth 18, and the torque applied to the drive shaft 13 by the drive motor 11 will be realized. The connection teeth 19 on the outer wall of the fixing collar 15 and the limit teeth 18 rotate, but the rotation will only continue within a certain range. After the connection teeth 19 are out of contact with the limit teeth 18, the sole support plate 1 connected to the fixing collar 15 will no longer rotate in the horizontal direction, realizing the maximum rotation range in one direction. Secondly, high-frequency alternating current can be installed inside the drive motor 11, which will not cause the connection teeth 19 to be out of contact with the limit teeth 18, realizing a smaller horizontal rotation range. The two modes The patient can choose the mode by himself, improve the training efficiency of the patient, and carry out special recovery according to the different conditions of the patient in a more targeted manner. A mounting groove is provided on the back of the friction block 16, and one side of the outer wall of the fixing collar 15 is located inside the mounting groove. The inner wall of the mounting groove is connected with the limiting clamping tooth 18, and the outer wall of the fixing collar 15 is connected with the connecting clamping tooth 19, and the connecting clamping tooth 19 is meshed and connected with the limiting clamping tooth 18. When the fixing collar 15 is installed, the fixing collar 15 is clamped inside the friction block 16, and the connecting clamping tooth 19 and the limiting clamping tooth 18 will not be connected. In the case of deviation of the latching teeth 18, the purpose is to allow the sole structure to reciprocate only in the horizontal direction, thereby specifically restoring the patient's ankle joint's ability to rotate horizontally, and the fixing collar 15 is connected to the friction block 16 by a slider, the slider is horizontally slidably connected to the inside of the friction block 16, and the outer wall of the slider can slide in a circle relative to the fixing collar 15, so that when the fixing collar 15 rotates, the slider will not affect the meshing movement of the connecting latching teeth 19 on the outer wall of the fixing collar 15 and the internal limiting latching teeth 18 of the friction block 16.

[0030] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An exoskeleton robot ankle joint lateral rotation device, comprising a sole support plate (1), a fixing belt (2) is arranged on the top of the sole support plate (1), a connecting block (8) is arranged at the end of the fixing belt (2), and the fixing belt (2) is connected to the sole support plate (1) through the connecting block (8); It is characterized in that The top of the sole support plate (1) is provided with an arc bracket (10), one side of the arc bracket (10) is connected with a restraining belt (9), a connecting component is provided between one side of the arc bracket (10) and the sole support plate (1), a driving component is provided between the back side of the arc bracket (10) and the sole support plate (1), and the connecting component comprises: A first fixing block (3) and a second fixing block (7), wherein the first fixing block (3) and the second fixing block (7) are respectively connected to one side of the circular arc bracket (10) and one side of the sole support plate (1); A connecting ball (17) is rotatably connected to the top of the second fixed block (7); the first fixed block (3) is rotatably connected to the second fixed block (7) via the connecting ball (17), so that the arc bracket (10) can move in multiple directions relative to the sole support plate (1).

2. The exoskeleton robot ankle joint lateral rotation device according to claim 1, characterized in that: The bottom of the first fixing block (3) is connected to a support shaft (4), the bottom of the support shaft (4) is connected to a docking ring (5), and the docking ring (5) is connected to the outer wall of the connecting ball (17).

3. The exoskeleton robot ankle joint lateral rotation device according to claim 1, characterized in that: The top of the second fixing block (7) is provided with a groove matching the connecting ball (17), and the top of the second fixing block (7) is connected to a limiting collar (6), and the limiting collar (6) is sleeved on the top of the outer wall of the connecting ball (17).

4. The exoskeleton robot ankle joint lateral rotation device according to claim 1, characterized in that: The drive assembly comprises: A third fixing block (12), the third fixing block (12) being connected to the back side of the circular arc bracket (10); A drive motor (11) and a drive shaft (13), wherein the drive motor (11) is connected to the top of the third fixed block (12), and the output end of the drive motor (11) is transmission-connected to the drive shaft (13); the drive motor (11) drives the drive shaft (13) to rotate, so that the bottom of the outer wall of the drive shaft (13) and the sole support plate (1) rub against each other to drive the arc bracket (10) to move.

5. The exoskeleton robot ankle joint lateral rotation device according to claim 4, characterized in that: The back of the sole support plate (1) is provided with a cut surface (20), and the cut surface (20) of the sole support plate (1) is connected to a friction block (16), and the friction block (16) is used to increase the friction force between the sole support plate (1) and the drive shaft (13).

6. The exoskeleton robot ankle joint lateral rotation device according to claim 5, characterized in that: A fixing sleeve (14) is fixedly sleeved on the bottom of the outer wall of the driving shaft (13), a fixing ring (15) corresponding to the friction block (16) is fixedly sleeved on the outer wall of the fixing sleeve (14), and a mounting groove is provided on the back of the friction block (16).

7. The exoskeleton robot ankle joint lateral rotation device according to claim 6, characterized in that: One side of the outer wall of the fixing collar (15) is located inside the installation groove, the inner wall of the installation groove is connected to a limiting latch tooth (18), the outer wall of the fixing collar (15) is connected to a connecting latch tooth (19), and the connecting latch tooth (19) is meshingly connected with the limiting latch tooth (18).

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