Elbow support assembly and armrest for lower limb exoskeleton hanging bracket

Abstract

The utility model provides an elbow support assembly and a handrail for a lower limb exoskeleton hanging bracket, the elbow support assembly comprises a supporting seat and an elbow support, the elbow support is rotatably installed on the supporting seat through a vertical rotating shaft, and the vertical rotating shaft can rotate relative to the supporting seat; a position locking mechanism is arranged on the supporting seat and is used for locking the rotating position of the vertical rotating shaft; the angle of the elbow support can be adjusted according to the elbow joint state of a user in the most comfortable state, muscle strain caused by long-time straightening of the elbow joint of the user is avoided, and the comfort of the user is improved.

Description

Technical Field

[0001] The utility model belongs to the field of exoskeleton hanging frames, and particularly relates to an elbow rest assembly and a handrail for a lower limb exoskeleton hanging frame. Background Art

[0002] An exoskeleton hanging frame is a device used to lift and reduce the weight of a lower limb exoskeleton and a user, which can effectively improve the burden of the user's exercise walking. In order to maintain the upper limb posture of the user, a handrail is usually equipped on the exoskeleton hanging frame for the user to grip. At present, the handrail mainly consists of a force arm, an armrest and a grip, and the vertical mid-plane of the force arm, the vertical mid-plane of the armrest and the vertical mid-plane of the grip are parallel to each other. When the user exercises and walks, the elbow joint of the arm is always in a straight state, which is extremely easy to cause local muscle strain problems and reduce the exercise comfort. Summary of the Utility Model

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide an elbow rest assembly and a handrail for a lower limb exoskeleton hanging frame, which can conveniently adjust the relative rotation angle between the elbow rest and the support seat, ensure that the elbow joint of the user can be in the most comfortable state during exercise, and improve the exercise comfort.

[0004] To achieve the above purpose and other related purposes, the present utility model provides an elbow rest assembly for a lower limb exoskeleton hanging frame, including a support seat and an elbow rest. The elbow rest is rotatably installed on the support seat through a vertical rotating shaft, and the vertical rotating shaft can rotate relative to the support seat; a position locking mechanism for locking the position of the vertical rotating shaft is provided on the support seat. This application can adjust the elbow rest angle according to the elbow joint angle in the most comfortable state of the user, and improve the comfort of the user during exercise walking.

[0005] Preferably, a rotating hole is provided on the support seat, and the vertical rotating shaft is rotatably installed in the rotating hole; the position locking mechanism includes a guide rod, a preload spring and a positioning ball; a guide hole is provided on the support seat, and the guide rod is slidably arranged in the guide hole along its axial direction; the preload spring is installed in the guide hole, and one end of the preload spring abuts against the bottom of the guide hole, and the other end of the preload spring abuts against the guide rod; a limiting groove and a giving groove are provided on the side of the guide rod facing the vertical rotating shaft; the giving groove is located on the side of the limiting groove away from the preload spring, and is connected to the limiting groove; the hole of the guide hole A through hole connected to the rotating hole is provided on the wall, and the positioning ball is located in the through hole; at least one group of positioning grooves is provided on the outer wall of the vertical rotating shaft from top to bottom; each group of positioning grooves includes a plurality of positioning grooves arranged circumferentially along the outer circumference of the vertical rotating shaft; when the guide rod moves in a direction close to the pre-stressed spring, the stop groove moves to the through hole position to accommodate the positioning ball detached from the positioning groove; when the guide rod moves in a direction away from the pre-stressed spring under the push of the pre-stressed spring, the limit groove moves to the through hole position to push the positioning ball into the positioning groove for clamping and fixing, which has the advantage of convenient adjustment.

[0006] Preferably, the position locking mechanism includes a notch opened on the side wall of the rotating hole and a plurality of elastic protrusions arranged circumferentially on the outer wall of the vertical rotating shaft; the elastic protrusions and the notch cooperate to limit the rotation of the vertical rotating shaft; when the angle of the vertical rotating shaft needs to be adjusted, it is only necessary to push the elastic protrusion inward to make it withdraw from the notch, and then rotate the vertical rotating shaft to align the next elastic protrusion and engage it in the notch.

[0007] The utility model also provides an armrest for a lower limb exoskeleton hanger, comprising a lever arm, an L-shaped handle and the above-mentioned elbow support assembly for the lower limb exoskeleton hanger; the support seat is installed on the lever arm, the L-shaped handle is installed on the elbow support,

[0008] Preferably, a horizontal sliding rod is fixed on the support seat; a fixing seat slidably matched with the horizontal sliding rod is fixed on the force arm; a first fixing hole is provided on the fixing seat, a latch is provided in the first fixing hole, and a plurality of second fixing holes matching with the first fixing hole are arranged at intervals from back to front on the horizontal sliding rod, and the latch passes through the second fixing hole and the first fixing hole in sequence to achieve relative fixation of the horizontal sliding rod and the fixing seat, thereby meeting the usage requirements of patients with different arm lengths.

[0009] As described above, the elbow support assembly and armrest for a lower limb exoskeleton hanger of the utility model have the following beneficial effects:

[0010] The elbow support assembly and handrail for the lower limb exoskeleton hanger of the present utility model have a simple structure and can conveniently adjust the relative rotation angle between the elbow support and the support base, so as to ensure that during the exercise walking of the user, the elbow joint can be in the most comfortable state, avoiding problems such as muscle soreness and injury caused by the elbow joint being in a straightened state for a long time, and improving the exercise comfort of the user. Brief Description of the Drawings

[0011] Figure 1 It is a perspective view of the elbow support assembly for the lower limb exoskeleton hanger in an embodiment of the present utility model.

[0012] Figure 2 It is a perspective view of the vertical rotating shaft in an embodiment of the present utility model.

[0013] Figure 3 It is a perspective view of the guide rod in an embodiment of the present utility model.

[0014] Figure 4 It is a vertical sectional view of the support base in an embodiment of the present utility model.

[0015] Figure 5 It is a schematic sectional view showing the positioning ball located in the positioning groove.

[0016] Figure 6 It is a schematic sectional view showing the positioning ball located in the relief groove.

[0017] Figure 7 It is a perspective view of the handrail for the lower limb exoskeleton hanger.

[0018] Description of the Reference Numerals

[0019] Support base 1, rotating hole 11, guiding hole 12, through hole 13, elbow support 2, vertical rotating shaft 3, positioning groove 31, guide rod 41, limiting groove 411, relief groove 412, preloading spring 42, positioning ball 43, L-shaped grip 5, force arm 6, fixed seat 7, first fixing hole 71, horizontal sliding rod 8, second fixing hole 81. Detailed Embodiment

[0020] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0021] Please refer to Figures 1 to 7It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so they have no substantial technical significance. Any modification of the structure, change in the proportion relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the utility model without affecting the effects and purposes that can be achieved by the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the utility model. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the utility model without substantially changing the technical content.

[0022] Example 1

[0023] like Figures 1 to 7 As shown, the present embodiment 1 provides an elbow support assembly for a lower limb exoskeleton hanger, comprising a support seat 1, an elbow support 2 and a vertical rotating shaft 3 fixed to the bottom of the elbow support 2; a rotating hole 11 is opened on the support seat 1, and the vertical rotating shaft 3 is rotatably installed in the rotating hole 11, so that the elbow support 2 can be rotatably installed on the support seat 1; a position locking mechanism is provided on the support seat 1, and the position locking mechanism is used to lock the vertical rotating shaft 3.

[0024] like Figures 3 to 6 As shown, the position locking mechanism includes a guide rod 41, a preload spring 42 and a positioning ball 43; a guide hole 12 is provided on the support seat 1, and the guide rod 41 is slidably arranged in the guide hole 12 along its axial direction; the preload spring 42 is installed in the guide hole 12, and the two ends of the preload spring 42 are respectively abutted against the bottom of the guide hole 12 and the guide rod 41, so that the guide rod 41 has a tendency to move away from the bottom of the guide hole 12; a limiting groove 411 and a giving groove 412 that are interconnected are provided on one side of the guide rod 41 toward the vertical rotating shaft 3, and the giving groove 412 is located on the side of the limiting groove 411 away from the preload spring 42; in this embodiment, the bottom of the limiting groove 411 and the bottom of the giving groove 412 are smoothly transitioned.

[0025] The guide rod 41 is a columnar body, and its cross section can be circular, square, irregular, etc., which is not limited. In this embodiment, the guide rod 41 is preferably configured as a columnar body with a circular cross section.

[0026] A through hole 13 connected to the rotating hole 11 is provided on the hole wall of the guide hole 12, and the positioning ball 43 is located in the through hole 13; at least one group of positioning grooves is provided on the outer wall of the vertical rotating shaft 3 from top to bottom; each group of positioning grooves includes a plurality of positioning grooves 31 arranged circumferentially along the outer periphery of the vertical rotating shaft 3, and the depth of the positioning groove 21 is smaller than the radius of the positioning ball 43; the guide rod 41 slides axially on the support seat 1 to press the positioning ball 43 into the positioning groove 21 through the limiting groove 411 or to accommodate the positioning ball 43 completely withdrawn from the positioning groove 21 through the giving way groove 412, so as to realize the relative locking or unlocking of the support seat 1 and the vertical rotating shaft 3.

[0027] When the positioning ball 43 is engaged in the positioning groove 21 (i.e., the limiting groove 411 is aligned with the positioning groove 21), the distance between the bottom of the limiting groove 411 and the bottom of the positioning groove 21 is equal to the diameter of the positioning ball 43; when the giving way groove 412 completely withdraws from the positioning groove 21 and enters the giving way groove 412, the distance between the bottom of the giving way groove 412 and the bottom of the positioning groove 21 is not less than the sum of the diameter of the positioning ball 43 and the depth of the positioning groove 21.

[0028] like Figure 5 and 6 As shown, when the angle of the elbow support 2 needs to be adjusted, it is only necessary to press the guide rod 41 to compress the pre-stressed spring 42, so that the clearance groove 412 moves to the position of the through hole 11, which is used to accommodate the positioning ball 43 that is disengaged from the positioning groove 21 (that is, the positioning ball 43 is located in the through hole 11 and the clearance groove 412 at the same time), thereby releasing the clamping state of the positioning ball 43 on the vertical shaft 3, so that the vertical shaft 3 can rotate in the support seat 1; according to the user's needs, the elbow support 2 is rotated to align the other positioning groove 31 on the vertical shaft 3 with the through hole 13, and then the guide rod 41 is released. The guide rod 41 will move in a direction away from the bottom of the guide hole 12 under the action of the pre-stressed spring 42. When the limiting groove 411 on the guide rod 41 moves to the position of the through hole 11 under the action of the pre-stressed spring 42, the positioning ball 43 is disengaged from the clearance groove 412, and the positioning ball 43 is pressed into the positioning groove 21 by the limiting groove 411, so as to achieve relative locking of the support seat 1 and the vertical shaft 3. In this way, the angle adjustment of the elbow support 2 can be completed conveniently.

[0029] It can be understood that when multiple groups of positioning grooves are provided on the outer wall of the vertical rotating shaft 3 from top to bottom, it is only necessary to clamp the positioning ball 43 into the positioning groove 31 at different heights and / or different angles to complete the angle adjustment and height adjustment of the elbow rest 2 at one time, further improving the adjustment convenience.

[0030] Example 2

[0031] The difference between this embodiment and embodiment 1 is only the specific structure of the position locking mechanism.

[0032] The position locking mechanism of this embodiment includes a notch formed on the side wall of the rotating hole 11 and a plurality of elastic protrusions circumferentially arranged on the outer wall of the vertical rotating shaft 3. The elastic protrusions cooperate with the notch to limit the rotation of the vertical rotating shaft 3. During installation, the vertical rotating shaft 3 needs to be inserted into the rotating hole 11 from top to bottom. During this process, the elastic protrusions are deformed under the extrusion of the inner wall of the rotating hole 11. When the elastic protrusions move down to the position of the notch, the elastic protrusions recover and are embedded in the notch, so that the vertical rotating shaft 3 is limited and fixed in the rotating hole 11. When it is necessary to rotate the elbow rest 2, only need to push the elastic protrusion inward to make it withdraw from the notch, and rotate the vertical rotating shaft 3 to make the next elastic protrusion snap into the notch.

[0033] Of course, the position locking mechanism can also adopt other structural forms, such as directly using a bolt to lock the rotation position, etc. There is no limitation on this, as long as the rotation position of the vertical rotating shaft 3 can be locked.

[0034] Embodiment 3

[0035] As Figure 7 shown, this embodiment provides an armrest for a lower limb exoskeleton hanger, which includes a force arm 6, an L-shaped grip 5 and the elbow rest assembly for the lower limb exoskeleton hanger in the above embodiment; the support base 1 is installed on the force arm 6, and the L-shaped grip 5 is installed on the elbow rest 2.

[0036] Furthermore, a horizontal sliding rod 8 is fixed on the support base 1; a fixed seat 7 slidably matched with the horizontal sliding rod 8 is fixed on the force arm 6; a first fixing hole 71 is provided on the fixed seat 7, a bolt is provided in the first fixing hole 71, and a plurality of second fixing holes 81 matched with the first fixing hole 71 are arranged at intervals from back to front on the horizontal sliding rod 8. The bolt passes through the second fixing hole 81 and cooperates with the first fixing hole 81 at different positions, so as to realize the relative fixation of the horizontal sliding rod 8 and the fixed seat 7 at different positions, thus meeting the use requirements of users with different arm lengths.

[0037] In summary, the elbow rest assembly and the armrest for the lower limb exoskeleton hanger of the present utility model have a simple structure, can conveniently adjust the elbow rest angle to ensure that the user's elbow joint can be in the most comfortable state, avoid problems such as muscle soreness and injury caused by the long-term straightening of the elbow joint during the exercise of the user, and improve the exercise comfort of the user.

[0038] The above embodiments only illustrate the principles and effects of the present utility model by way of example, and are not used to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. An elbow support assembly for a lower limb exoskeleton hanger, characterized in that, It includes a support base (1) and an elbow rest (2). The elbow rest (2) is rotatably mounted on the support base (1) through a vertical rotating shaft (3), and the vertical rotating shaft (3) can rotate relative to the support base (1) itself; a position locking mechanism for locking the position of the vertical rotating shaft (3) is provided on the support base (1).

2. The elbow support assembly for a lower limb exoskeleton hanger according to claim 1, characterized in that A rotating hole (11) is provided on the support base (1), and the vertical rotating shaft (3) is rotatably mounted in the rotating hole (11); the position locking mechanism includes a guide rod (41), a preloading spring (42) and a positioning ball (43); a guide hole (12) is provided on the support base (1), and the guide rod (41) is slidably arranged in the guide hole (12) along its axial direction; the preloading spring (42) is installed in the guide hole (12), and one end of the preloading spring (42) abuts against the bottom of the guide hole (12), and the other end of the preloading spring (42) abuts against the guide rod (41); a limiting groove (411) and a relief groove (412) are provided on one side of the guide rod (41) facing the vertical rotating shaft (3); the relief groove (412) is located on the side of the limiting groove (411) away from the preloading spring (42) and communicates with the limiting groove (411); a through hole (13) communicating with the rotating hole (11) is provided on the hole wall of the guide hole (12), and the positioning ball (43) is located in the through hole (13); at least one group of positioning grooves are arranged at intervals from top to bottom on the outer wall of the vertical rotating shaft (3); each group of positioning grooves includes several positioning grooves (31) arranged circumferentially along the outer circumference of the vertical rotating shaft (3); when the guide rod (41) moves in the direction close to the preloading spring (42), the relief groove (412) moves to the position of the through hole (13) to accommodate the positioning ball (43) disengaged from the positioning groove (31); when the guide rod (41) moves in the direction away from the preloading spring (42) under the push of the preloading spring (42), the limiting groove (411) moves to the position of the through hole (13) to push the positioning ball (43) into the positioning groove (31) for clamping and fixing.

3. The elbow support assembly for the lower limb exoskeleton hanger according to claim 1, characterized in that, The position locking mechanism includes a notch opened on the side wall of the rotating hole (11) and a plurality of elastic protrusions circumferentially arranged on the outer wall of the vertical rotating shaft (3). The cooperation of the elastic protrusions and the notch restricts the rotation of the vertical rotating shaft (3).

4. An armrest for a lower limb exoskeleton hanger, characterized in that, It includes a force arm (6), an L-shaped grip (5) and an elbow rest assembly for a lower limb exoskeleton hanger as described in any one of claims 1 to 3; the support base (1) is installed on the force arm (6), and the L-shaped grip (5) is installed on the elbow rest (2).

5. The handrail for a lower limb exoskeleton hanger according to claim 4, characterized in that, A horizontal sliding rod (8) is fixed on the support base (1); a fixed seat (7) that is slidably matched with the horizontal sliding rod (8) is fixed on the force arm (6); a first fixing hole (71) is provided on the fixed seat (7), a plug pin is arranged in the first fixing hole (71), a plurality of second fixing holes (81) that are matched with the first fixing hole (71) are arranged on the horizontal sliding rod (8) at intervals from back to front, and the plug pin sequentially passes through the second fixing holes (81) and the first fixing hole (71) to realize the relative fixation between the horizontal sliding rod (8) and the fixed seat (7).

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