Lower limb rehabilitation training exoskeleton

Abstract

The lower limb rehabilitation training exoskeleton comprises a thigh support, a shank support and a pedal which are sequentially connected, the lower portion of the thigh support is hinged to the upper portion of the shank support through a knee rotating shaft, and the side face of the upper portion of the shank support is connected with the lower portion of a second connecting piece. A crank rotating shaft is arranged on the rear side of the upper part of the second connecting piece; the middle lower part of the crank is connected with the second connecting piece through the crank rotating shaft or a fixed connecting point; the lower end of the shank support is hinged to the upper end of the pedal through an ankle rotating shaft. The exoskeleton for lower limb rehabilitation training can be used for assisting a user in lower limb rehabilitation training, and when the exoskeleton assists in leg lifting, the exoskeleton helps the legs of the user to bend, so that the hip joint, the knee joint and the ankle joint can move at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of lower limb rehabilitation equipment, in particular to an exoskeleton for lower limb rehabilitation training. Background Art

[0002] Patients with leg injuries usually need rehabilitation training after surgery to prevent atrophy of their leg muscles and ligaments and to enable them to adapt to walking coordination after recovery.

[0003] At present, most leg training equipment is used to perform leg rehabilitation training on patients when they are lying down or sitting. Since it is difficult for patients to stand upright, it is difficult to implement leg rehabilitation training in an upright simulated state, and thus it is difficult to train their body coordination in a walking state, and it is not possible to fully implement leg rehabilitation training for patients in an upright state. Some existing equipment for leg rehabilitation training in an upright state only uses a pull rope to pull the legs, but because the user's legs cannot exert force, they are prone to outward or inward inclination, and it is difficult for such equipment to make the ankle joint move.

[0004] Therefore, designing a rehabilitation device that can conform to the normal walking posture and allow the hip, knee and ankle joints to move simultaneously has become one of the important research directions in this field. Utility Model Content

[0005] The utility model aims to provide an exoskeleton for lower limb rehabilitation training.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A lower limb rehabilitation training exoskeleton comprises a thigh support, a calf support and a foot pedal connected in sequence, wherein the lower part of the thigh support is hinged to the upper part of the calf support via a knee pivot, the upper side surface of the calf support is connected to the lower part of a second connecting piece, a crank shaft is provided on the upper rear side of the second connecting piece, and the middle and lower parts of the crank are connected to the second connecting piece via the crank shaft or a fixed connection point; the lower end of the calf support is hinged to the upper end of the foot pedal via an ankle pivot.

[0008] Wherein, a sling connector is hinged at the upper end of the crank, and the sling connector is connected to the sling ring through a sling.

[0009] Furthermore, the center of the lifting ring is connected to a pull rope.

[0010] Among them, when the crank is connected to the second connecting plate through the crank shaft, a crank limiting groove is opened at the lower part of the crank, and the crank limiting groove is located below the crank shaft. A crank limiting rod is fixed to the upper part of the second connecting plate, and the crank limiting rod can slide relatively along the crank limiting groove.

[0011] Furthermore, the crank limiting groove is arc-shaped, with the crank shaft as the arc center.

[0012] Among them, a knee limit groove is provided on the upper front side of the second connecting piece, and the knee limit groove is located in the front and upper part of the knee shaft. The first connecting piece is installed on the side of the thigh support, and a knee limit rod is fixed to the middle and lower part of the first connecting piece, and the knee limit rod can slide relatively along the knee limit groove.

[0013] Furthermore, the knee limiting groove is arc-shaped, with the knee rotation axis as the arc center.

[0014] Among them, the lower middle part of the first connecting plate is hinged to the upper center of the second connecting plate through a knee pivot; a third connecting plate is installed on the lower side of the calf support, and the lower end of the third connecting plate is hinged to the upper end of the foot pedal through an ankle pivot.

[0015] Wherein, the lower front end of the first connecting plate and the side front end of the foot pedal are both hinged with a drawstring connecting piece, and a drawstring is installed between the two drawstring connecting pieces.

[0016] Among them, the upper part of the first connecting plate, the lower part of the second connecting plate and the upper part of the third connecting plate are each provided with a plurality of pin holes, and the sides of the thigh support and the calf support are each provided with a plurality of pin holes, the first connecting plate is pin-connected and fixed to the thigh support by a fixing pin passing through the pin hole; the second connecting plate and the third connecting plate are pin-connected and fixed to the calf support by a fixing pin passing through the pin hole.

[0017] Compared with the prior art, the outstanding effects of the utility model are:

[0018] The lower limb rehabilitation training exoskeleton of the utility model can be used to assist users in lower limb rehabilitation training. When assisting in leg lifting, the exoskeleton helps the user bend his legs, thereby achieving simultaneous movement of the hip joint, knee joint and ankle joint.

[0019] For patients with hemiplegia, their legs are stiff or tight due to symptoms such as muscle spasms, increased muscle tension, and joint contracture, and they cannot bend normally. After wearing this lower limb rehabilitation training exoskeleton, the linkage mechanism can be used to assist and correct the user to bend and raise their legs in a normal walking posture when assisting in leg lifting.

[0020] The lower limb rehabilitation training exoskeleton of the utility model is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the lower limb rehabilitation training exoskeleton of the utility model in the straightened state;

[0022] Figure 2 It is a schematic diagram of the structure of the lower limb rehabilitation training exoskeleton of the utility model in a bent state (the pull rope is not drawn);

[0023] Figure 3 It is a partial schematic diagram of the lower limb rehabilitation training exoskeleton of the utility model;

[0024] Figure 4 Another partial schematic diagram of the lower limb rehabilitation training exoskeleton of the present invention.

[0025] Among them, 1-thigh support, 2-calf support, 3-pedal, 4-crank, 5-sling, 6-ring, 7-knee pivot, 8-pull strap, 9-ankle pivot, 10-pull rope, 11-crank pivot, 12-crank limiting rod, 13-crank limiting slot, 14-first connecting plate, 15-second connecting plate, 16-third connecting plate, 17-sling connector, 18-pull strap connector, 19-knee limiting slot, 20-knee limiting rod. DETAILED DESCRIPTION

[0026] like Figure 1-4 As shown, a lower limb rehabilitation training exoskeleton comprises a thigh support 1, a calf support 2 and a foot pedal 3 connected in sequence, wherein a first connecting piece 14 is installed on each of the left and right sides of the thigh support 1, and the lower and middle parts of each first connecting piece 14 are hinged to the upper center of a second connecting piece 15 through a knee shaft 7, and a crank shaft 11 is provided on the upper rear side of each second connecting piece 15, and the lower and middle parts of the left and right cranks 4 are hinged to the second connecting piece 15 on the same side through the crank shaft 11; the lower parts of the two second connecting pieces 15 are respectively connected to the upper left and right sides of the calf support 2, and a third connecting piece 16 is installed on each of the lower left and right sides of the calf support 2, and the lower ends of each third connecting piece 16 are hinged to the two side surfaces of the upper end of the foot pedal 3 through an ankle shaft 9.

[0027] In other beneficial embodiments, the crank 4 may also be fixedly connected to the second connecting piece 15 via a fixed connection point.

[0028] The upper end of the crank 4 is hinged with a sling connector 17, and the sling connector 17 is connected to the lifting ring 6 through the sling 5. The center of the lifting ring 6 is connected to the pull rope 10.

[0029] A drawstring connecting piece 18 is hingedly connected to the lower front end of the first connecting piece 14 and the side front end of the footrest 3 , and a drawstring 8 is installed between the two drawstring connecting pieces 18 .

[0030] A crank limiting groove 13 is provided at the lower part of the crank 4, and the crank limiting groove 13 is located below the crank shaft 11. A crank limiting rod 12 is fixed to the upper part of the second connecting piece 15, and the crank limiting rod 12 can slide relatively along the crank limiting groove 13. The crank limiting groove 13 is arc-shaped, with the crank shaft 11 as the arc center.

[0031] A knee limiting groove 19 is provided on the upper front side of the second connecting piece 15, and the knee limiting groove 19 is located above and in front of the knee rotating shaft 7. A knee limiting rod 20 is fixed to the middle and lower part of the first connecting piece 14, and the knee limiting rod 20 can slide relatively along the knee limiting groove 19. The knee limiting groove 19 is arc-shaped, with the knee rotating shaft 7 as the arc center.

[0032] The upper part of the first connecting plate 14, the lower part of the second connecting plate 15 and the upper part of the third connecting plate 16 are each provided with a plurality of pin holes, and the sides of the thigh support 1 and the calf support 2 are each provided with a plurality of pin holes, the first connecting plate 14 is pin-connected and fixed to the thigh support 1 by a fixing pin passing through the pin hole; the second connecting plate 15 and the third connecting plate 16 are pin-connected and fixed to the calf support 2 by a fixing pin passing through the pin hole.

[0033] The cross sections of the thigh support 1 and the calf support 2 are both C-shaped, with their openings facing forward; the longitudinal section of the footrest 3 is U-shaped.

[0034] When in use, the pin positions between the first connecting piece and the thigh support, between the second connecting piece and the calf support, and between the calf support and the third connecting piece can be adjusted according to the patient's leg length. Figure 1 As shown, it is in a straight state. When assisting in leg lifting, the lifting ring is pulled upward or diagonally forward, and the lifting ring pulls the crank, which is stressed and drives the calf support to rotate and lift, thereby driving the thigh support to lift forward; at the same time, due to the restraint of the pull belt, the foot pedal rotates forward, driving the ankle joint to bend. During the exercise, due to the limiting effect of the crank limit slot and the knee limit slot, the rotation range between the crank and the calf support, and between the calf support and the thigh support is guaranteed to meet the activity state of the hip joint and knee joint during walking.

[0035] The lower limb rehabilitation training exoskeleton can be used in conjunction with a lower limb rehabilitation training system (such as the lower limb rehabilitation training system of CN202210608400.5) or a lower limb rehabilitation training walker. When in use, the pull rope is connected to the traction rope or strap of the lower limb rehabilitation training system or the lower limb rehabilitation training walker, and the pull rope is tightened or released regularly by the system, thereby driving the lower limb rehabilitation training exoskeleton to lead the patient's leg training.

[0036] The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. They should not be construed as limitations on the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A lower limb rehabilitation training exoskeleton, characterized in that: The invention comprises a thigh support (1), a calf support (2) and a foot pedal (3) which are connected in sequence. The lower part of the thigh support (1) is hinged to the upper part of the calf support (2) through a knee shaft (7). The upper side surface of the calf support (2) is connected to the lower part of a second connecting plate (15). A crank shaft (11) is provided on the upper rear side of the second connecting plate (15). The middle and lower part of the crank (4) is connected to the second connecting plate (15) through the crank shaft (11) or a fixed connection point. The lower end of the calf support (2) is hinged to the upper end of the foot pedal (3) through an ankle shaft (9).

2. The lower limb rehabilitation training exoskeleton according to claim 1, characterized in that: The upper end of the crank (4) is connected to a lifting ring (6) via a lifting strap (5).

3. The lower limb rehabilitation training exoskeleton according to claim 2, characterized in that: The center of the lifting ring (6) is connected to a pull rope (10).

4. The lower limb rehabilitation training exoskeleton according to claim 1, characterized in that: When the crank (4) is connected to the second connecting piece (15) via the crank shaft (11), a crank limiting groove (13) is provided at the lower part of the crank (4), the crank limiting groove (13) is located below the crank shaft (11), and a crank limiting rod (12) is fixed at the upper part of the second connecting piece (15), and the crank limiting rod (12) can slide relatively along the crank limiting groove (13).

5. The lower limb rehabilitation training exoskeleton according to claim 4, characterized in that: The crank limiting groove (13) is arc-shaped, with the crank shaft (11) as the arc center.

6. The lower limb rehabilitation training exoskeleton according to claim 1, characterized in that: A knee limiting groove (19) is provided on the upper front side of the second connecting piece (15), and the knee limiting groove (19) is located in the front and upper part of the knee rotating shaft (7). A first connecting piece (14) is installed on the side of the thigh support (1), and a knee limiting rod (20) is fixed to the middle and lower part of the first connecting piece (14), and the knee limiting rod (20) can slide relatively along the knee limiting groove (19).

7. The lower limb rehabilitation training exoskeleton according to claim 6, characterized in that: The knee limiting groove (19) is arc-shaped, with the knee rotating shaft (7) as the arc center.

8. The lower limb rehabilitation training exoskeleton according to claim 6, characterized in that: The lower middle part of the first connecting piece (14) is hinged to the upper center of the second connecting piece (15) through a knee pivot (7); a third connecting piece (16) is installed on the lower side of the calf support (2), and the lower end of the third connecting piece (16) is hinged to the upper end of the foot pedal (3) through an ankle pivot (9).

9. The lower limb rehabilitation training exoskeleton according to claim 8, characterized in that: A drawstring (8) is installed at the lower front end of the first connecting piece (14) and the side front end of the footrest (3).

10. The lower limb rehabilitation training exoskeleton according to claim 9, characterized in that: The upper part of the first connecting piece (14), the lower part of the second connecting piece (15) and the upper part of the third connecting piece (16) are all provided with a plurality of pin holes, and the sides of the thigh support (1) and the calf support (2) are all provided with a plurality of pin holes. The first connecting piece (14) is fixed to the thigh support (1) by means of a fixing pin passing through the pin hole; the second connecting piece (15) and the third connecting piece (16) are fixed to the calf support (2) by means of a fixing pin passing through the pin hole.

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