Exoskeleton lower limb structure

Abstract

The utility model relates to the field of medical instruments, in particular to an exoskeleton lower limb structure which comprises a knee joint connecting piece, a shank skeleton installed below the knee joint connecting piece, a pedal installed at the bottom of the shank skeleton, third connecting pieces hinged to the left side and the right side of the upper portion of the knee joint connecting piece respectively, and a first connecting rod and a second connecting rod connected to the third connecting pieces respectively. The upper end of the first connecting rod and the upper end of the second connecting rod are connected with a first connecting piece and a second connecting piece respectively, a third connecting rod is hinged between the first connecting piece and the second connecting piece, and the other end of the first connecting piece and the other end of the second connecting piece are hinged to a first fixing piece and a rotating block respectively. The first fixing piece and the second fixing piece are both fixedly installed on the exoskeleton and are connected through the connecting rod, so that the lower limb structure is simpler and low in cost, meanwhile, the length of the lower limb structure can be changed by changing the installation position of the connecting piece, the training stride can be changed, the lower limb structure fits a patient better during training, and the training effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly relates to an exoskeleton lower limb structure. Background Art

[0002] At present, patients with limb movement disorders caused by accidents, hemiplegia, disabilities, etc. have difficulty standing independently and moving freely in life, and must rely on the help of others or auxiliary devices such as crutches to walk; therefore, many rehabilitation exoskeleton training devices for patients with limb movement disorders have emerged on the market. Among them, the lower limb structure is an important part of the rehabilitation exoskeleton. However, some lower limb structures are provided with driving parts at the legs and various joints, resulting in a complex structure of the lower limb exoskeleton, high cost, and difficulty in fitting the human body, which is not conducive to the rehabilitation training of patients. Summary of the Utility Model

[0003] The utility model provides an exoskeleton lower limb structure to solve the technical problems that in the existing rehabilitation exoskeleton, the lower limb structure is provided with driving parts at the legs and various joints, resulting in a complex structure of the lower limb exoskeleton, high cost, difficulty in fitting the human body, and being not conducive to the rehabilitation training of patients.

[0004] To achieve the above object, the technical solution of the utility model is realized as follows:

[0005] The utility model provides an exoskeleton lower limb structure, which includes a knee joint connecting piece. A lower leg bone is installed below the knee joint connecting piece, and a pedal is installed at the bottom of the lower leg bone. The upper part of the knee joint connecting piece is respectively hinged with third connecting pieces on the left and right. The first connecting rod and the second connecting rod are respectively connected to the third connecting pieces. The upper ends of the first connecting rod and the second connecting rod are respectively connected to the first connecting piece and the second connecting piece. A third connecting rod is hinged between the first connecting piece and the second connecting piece. The other ends of the first connecting piece and the second connecting piece are respectively hinged with the first fixing piece and the rotating block. The rotating block is also hinged with the second fixing piece. The first fixing piece and the second fixing piece are both fixedly installed on the exoskeleton.

[0006] Further, a plurality of mounting holes are provided on the first connecting piece, the second connecting piece, and the third connecting piece.

[0007] Further, the pedal is detachably installed with a foot pad. The foot pad is provided with a foot fastener. An installation rod is also provided on one side of the pedal. A plurality of mounting holes are provided on the installation rod.

[0008] Further, the lower leg bone has multiple specifications.

[0009] Further, mounting grooves are symmetrically provided on both sides of the second fixing piece. A bearing is fixedly installed in the mounting groove. A rotating shaft is fixedly installed in the bearing. A driven wheel is also installed on the outer side of the rotating shaft. The driven wheel is in transmission connection with the exoskeleton driving device.

[0010] Furthermore, a knee guard plate is detachably installed on the side of the knee joint connector, and the knee guard plate is equipped with a strap.

[0011] Advantages of the present utility model:

[0012] 1. The present utility model adopts a connecting rod design, eliminating the need to set driving parts at each joint, making the lower limb structure simpler. At the same time, driving the connecting rod through the exoskeleton can realize the simulation of human gait training, effectively reducing the overall cost of the machine.

[0013] 2. Different specifications of calf bones are equipped in the present utility model. Patients can select appropriate specifications for replacement according to their own needs, making the structure more suitable for the leg length of the patients and effectively improving the exercise effect.

[0014] 3. Multiple mounting holes are provided on the connecting parts of the present utility model. By adjusting the positions of the mounting holes, the length of the lower limb structure can be changed. At the same time, through the connecting rod transmission, the purpose of adjusting the training stride can be achieved. During training, patients can adjust the most suitable training posture according to their own needs, further improving the rehabilitation training effect. Description of the Drawings

[0015] Figure 1 is the assembly schematic diagram of the present utility model;

[0016] Figure 2 is the three-dimensional structure schematic diagram of the present utility model;

[0017] Figure 3 is the three-dimensional explosion schematic diagram of the utility model;

[0018] Figure 4 is Figure 3 the enlarged schematic diagram at A in;

[0019] Figure 5 is Figure 3 the enlarged schematic diagram at B in.

[0020] Description of the Reference Numerals in the Drawings:

[0021] 1. Pedal; 101. Mounting rod; 102. Foot pad; 2. Calf bone; 3. Knee joint connector; 301. Knee guard plate; 4. First connecting rod; 5. Second connecting rod; 6. Driven wheel; 7. First connecting part; 8. Third connecting rod; 9. Second connecting part; 10. Rotating block; 11. First fixing part; 12. Second fixing part; 1201. Mounting groove; 13. Third connecting part; 14. Bearing; 15. Rotating shaft. Detailed Embodiment

[0022] For ease of understanding the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present utility model are shown in the drawings. However, the present utility model can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the understanding of the disclosure of the present utility model is more thorough and comprehensive.

[0023] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0024] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0025] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the description of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0027] It should also be noted that in the embodiments of the present application, the same reference numerals are used to represent the same component or the same part. For the same parts in the embodiments of the present application, only one of the parts or components may be marked with a reference numeral in the drawings. It should be understood that the reference numerals are equally applicable to other identical parts or components.

[0028] As described in the background art, the lower limb structure of the rehabilitation exoskeleton is provided with driving parts at the legs and various joints, which results in a complex structure of the lower limb exoskeleton, high cost, and difficulty in fitting the human body, which is not conducive to the patient's rehabilitation training;

[0029] To solve the above problems, refer to Figures 1 to 5 The present application provides an exoskeleton lower limb structure, including a knee joint connector 3, a calf bone 2 is installed below the knee joint connector 3, a pedal 1 is installed at the bottom of the calf bone 2, and a third connector 13 is hinged on the left and right of the upper part of the knee joint connector 3, and a first connecting rod 4 and a second connecting rod 5 are respectively connected to the third connecting rod 13. The upper ends of the first connecting rod 4 and the second connecting rod 5 are respectively connected to the first connecting rod 7 and the second connecting rod 9, and a third connecting rod 8 is hinged between the first connecting rod 7 and the second connecting rod 9. The other ends of the first connecting rod 7 and the second connecting rod 9 are respectively hinged to the first fixing member 11 and the rotating block 10, and the rotating block 10 is also hinged to the second fixing member 12. The first fixing member 11 and the second fixing member 12 are both fixedly installed on the exoskeleton, and the connecting rod movement is driven by the driving member on the exoskeleton to realize the gait movement of the lower limb structure, eliminating the need to set a driving member at the joint, and the structure is simple while effectively reducing the structural cost.

[0030] like Figure 3 , Figure 5 As shown, a plurality of mounting holes are provided on the first connecting member 7, the second connecting member 9 and the third connecting member 13. During debugging, the mounting positions of the first connecting rod 4, the second connecting rod 5 and the knee joint connecting member 3 can be adjusted up and down by changing the fixed mounting holes, thereby changing the length of the lower limb structure at the patient's thigh.

[0031] In this embodiment, the pedal 1 is detachably mounted with a foot pad 102, on which a foot fastener is provided for fixing the patient's foot to prevent slipping during training. In addition, a mounting rod 101 is provided on one side of the pedal 1, on which a plurality of mounting holes are provided. By changing the mounting holes fixed on the mounting rod 101, the length of the patient's lower limb structure at the calf position can be changed, so that the lower limb structure can better fit the patient's body shape.

[0032] In this embodiment, the calf bones 2 are provided with a variety of specifications, and the length of the calf bones 2 can also be directly replaced according to the length of the patient's calf, so that the lower limb structure can better fit the patient's body shape.

[0033] like Figures 3 to 4 As shown, mounting grooves 1201 are symmetrically provided on both sides of the second fixing member 12, bearings 14 are fixedly installed in the mounting grooves 1201 on both sides, the rotating shaft 15 is fixedly installed in the bearings 14, and the driven wheel 6 is fixedly installed on the outside of the rotating shaft 15 through a key connection. The driven wheel 6 is connected to the exoskeleton driving device through transmission, and the exoskeleton driving device drives the driven wheel to rotate, thereby driving the lower limb structure to move.

[0034] In this embodiment, a knee guard plate 301 is detachably installed on the side of the knee joint connector 3. The knee guard plate 301 is equipped with a strap to provide better fixation measures for the patient.

[0035] The working principle of the present utility model is as follows:

[0036] During training, the exoskeleton drive device drives the driven wheel 6 to rotate. The rotating block 10 rotates and drives the second connector 9 and the second connecting rod 5 to move up and down through the eccentric principle. At the same time, the third connecting rod 8 pulls the first connector 7 and the first connecting rod 4 to move up and down. Since the lengths of the second connector 9 and the first connector 7 are different, left and right swings are formed, thereby driving the knee joint connector 3 to swing, driving the lower leg exoskeleton 2 and the pedal 1 to move, forming a bionic gait movement. By using connecting rods at the joints to achieve gait movement, compared with similar products, the use of harmonic reduction motors is reduced, the structure is simpler, and the cost is effectively saved. By changing the installation position of the installation holes, the length of the lower limb structure is effectively changed. Due to the connecting rod drive, the stride is also changed at the same time, enabling the lower limb structure to provide the optimal training posture for the patient and improving the rehabilitation training effect.

[0037] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Moreover, the technical solutions between the various embodiments of the present utility model can be combined with each other, but it must be based on the premise that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. An exoskeleton lower limb structure, characterized in that: The exoskeleton comprises a knee joint connecting member (3), a calf bone (2) is mounted below the knee joint connecting member (3), a pedal (1) is mounted at the bottom of the calf bone (2), third connecting members (13) are hingedly connected to the left and right sides of the upper part of the knee joint connecting member (3), a first connecting rod (4) and a second connecting rod (5) are respectively connected to the third connecting member (13), the upper ends of the first connecting rod (4) and the second connecting rod (5) are respectively connected to the first connecting member (7) and the second connecting member (9), a third connecting rod (8) is hingedly connected between the first connecting member (7) and the second connecting member (9), the other ends of the first connecting member (7) and the second connecting member (9) are respectively hingedly connected to the first fixing member (11) and the rotating block (10), the rotating block (10) is also hingedly connected to the second fixing member (12), and the first fixing member (11) and the second fixing member (12) are both fixedly mounted on the exoskeleton.

2. The exoskeleton lower limb structure according to claim 1, characterized in that: The first connecting member (7), the second connecting member (9) and the third connecting member (13) are each provided with a plurality of mounting holes.

3. The exoskeleton lower limb structure according to claim 1, characterized in that: The pedal (1) is detachably mounted with a foot pad (102), on which a foot fastener is provided. A mounting rod (101) is also provided on one side of the pedal (1), and a plurality of mounting holes are provided on the mounting rod (101).

4. The exoskeleton lower limb structure according to claim 2, characterized in that: The calf bones (2) are provided with various specifications.

5. The exoskeleton lower limb structure according to claim 1, characterized in that: The second fixing member (12) is symmetrically provided with mounting grooves (1201), the bearing (14) is fixedly mounted in the mounting groove (1201), the rotating shaft (15) is fixedly mounted in the bearing (14), and a driven wheel (6) is also mounted on the outside of the rotating shaft (15), and the driven wheel (6) is drivingly connected to the exoskeleton driving device.

6. The exoskeleton lower limb structure according to claim 5, characterized in that: A knee pad (301) is detachably mounted on the side of the knee joint connecting piece (3), and the knee pad (301) is also equipped with a binding strap.

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