Multi-modal knee joint for lower limb exoskeleton rehabilitation robot
By designing a multimodal knee joint and utilizing components such as a femoral support rod, a calf support rod, and a converter, the lower limb exoskeleton rehabilitation robot was able to switch between rigidity and flexibility under different movement states. This solved the problem of balancing rigidity and flexibility in existing technologies and improved the effectiveness of rehabilitation training.
Patent Information
- Application Number
- CN202422223009.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-10
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-09-10
AI Technical Summary
Existing lower limb exoskeleton rehabilitation robots have difficulty providing rigid support while ensuring flexibility in the knee joint, affecting the effectiveness of patients' standing, sitting, and walking training.
A multimodal knee joint was designed, including a femoral support rod, a lower leg support rod, and a converter. By switching between different modes such as knee flexion, sitting, and walking, the rigidity and flexibility can be switched using components such as buffers, electric push rods, and locking shafts, providing stability and cushioning functions.
It enables switching between rigidity and flexibility under different movement states, improves the reliability and stability of the knee joint, reduces the impact force of foot landing, and assists patients in better rehabilitation training.
Smart Images
Figure CN223504497U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to medical technology field especially is related to a kind of multi-modal knee joint for lower limb exoskeleton rehabilitation robot. BACKGROUND
[0002] Lower limb exoskeleton rehabilitation robot as a kind of rehabilitation auxiliary equipment, can help the patient with lower limb walking disorder to restore walking ability.
[0003] Among them, knee joint can limit the transition displacement of joint and provide support and flexibility, to help patient to stand, sit and walk training etc..Therefore, knee joint needs to have rigidity to prevent "leg soft" while also guaranteeing the flexibility of knee joint to avoid intervention walking function. SUMMARY
[0004] The summary portion of the utility model is used to introduce the conception in brief, which will be described in detail in the following specific embodiment portion.The summary portion of the present disclosure is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.
[0005] The utility model provides a kind of multi-modal knee joint for lower limb exoskeleton rehabilitation robot, to solve the technical problem mentioned in above background technique portion.
[0006] The multi-modal knee joint for lower limb exoskeleton rehabilitation robot of the utility model, including the femur support rod, calf support rod and converter rotatably connected by being sleeved to pivot shaft;
[0007] The femur support rod is also rotatably connected with the upper end of buffer piece, the lower end of buffer piece is fixedly connected with adapter, and the adapter is rotatably connected with the converter;
[0008] Converter connecting rod is arranged on the calf support rod, the converter connecting rod is arranged to be separated from the converter when knee is bent, and is extended and engaged with the converter when sitting, to lock the converter and the calf support rod, so that the buffer piece is compressed;
[0009] Locking shaft is also rotatably arranged on the calf support rod, and the locking shaft is arranged to rotate to lock the calf support rod and the femur support rod when standing or walking.
[0010] Optionally, hinge seat is further provided between the femur support rod and the buffer piece, one end of the hinge seat is fixedly connected with the femur support rod, and the other end of the hinge seat is hinged with the upper end of the buffer piece.
[0011] Optionally, the converter connecting rod is further connected with an electric push rod, a fixed end of the electric push rod is fixed to the calf supporting rod, and a telescopic end of the electric push rod is connected with the converter connecting rod.
[0012] Optionally, two connecting rod sliding shafts are arranged at the upper end of the converter connecting rod, two sliding grooves are arranged on the calf supporting rod, and the two connecting rod sliding shafts are slidably connected with the two sliding grooves in one-to-one correspondence.
[0013] Optionally, an avoiding hole is arranged at the bottom of each sliding groove, and the avoiding hole is used for disassembling the connecting rod sliding shaft.
[0014] Optionally, the converter is provided with an arc-shaped hole and a feature hole connected to the upper side of the arc-shaped hole; in a walking state, the upper connecting rod sliding shaft rotates in the arc-shaped hole; and in a sitting state, the upper connecting rod sliding shaft enters the feature hole to limit the rotation of the converter.
[0015] Optionally, a pushing piece is arranged on the locking shaft, the pushing piece is connected with a transmission shaft of a motor, and the motor is fixed to the calf supporting rod.
[0016] Optionally, the motor is fixed to a base, and the base is fixedly connected with the calf supporting rod.
[0017] Optionally, one side of the bottom of the femur supporting rod is provided with a first limiting hole, and the same side of the top of the calf supporting rod is provided with a second limiting hole in correspondence; in a standing or walking state, the motor drives the locking shaft to be clamped into the first limiting hole and the second limiting hole.
[0018] Optionally, the buffer is a gas spring.
[0019] The above embodiments of the utility model have the following beneficial effects: the multi-modal knee joint of the lower limb exoskeleton rehabilitation robot in some embodiments of the utility model realizes the functions of multiple modes such as knee flexion, sitting and walking, and provides help for patient rehabilitation.
[0020] Firstly, when sitting, the femur supporting rod rotates relative to the calf supporting rod, the converter connecting rod is extended and locks the converter and the calf supporting rod, so that the femur supporting rod compresses the buffer, and meanwhile the adapter rotates relative to the converter. In this way, the femur supporting rod is provided with buffering, thereby providing auxiliary support when the patient sits.
[0021] When the knee flexion action as a buffering function is performed during walking, the converter connecting rod is retracted, so that the locking between the converter and the calf supporting rod is released, and the calf supporting rod rotates relative to the femur supporting rod around the pivot shaft. In this way, the knee joint can realize the knee flexion action, reduce the impact force when the soles of the feet fall to the ground, and improve the reliability of the knee joint.
[0022] Finally, when the patient is in the standing or walking phase, the above-mentioned locking shaft locks the shank support rod and the femur support rod, so that the shank support rod and the femur support rod are kept in the same straight line. In this way, the rigidity can be provided when the patient is in the standing and walking phase to ensure the stability of the knee joint. BRIEF DESCRIPTION OF DRAWINGS
[0023] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings described below are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0024] Figure 1 It is a front view of one embodiment of the multi-modal knee joint for the lower extremity exoskeleton rehabilitation robot of the present application;
[0025] Figure 2 It is a perspective view of one embodiment of the multi-modal knee joint for the lower extremity exoskeleton rehabilitation robot of the present application;
[0026] Figure 3 It is a perspective view of another embodiment of the multi-modal knee joint for the lower extremity exoskeleton rehabilitation robot of the present application;
[0027] Figure 4 It is a structural schematic view of one embodiment of the shank support rod of the present application;
[0028] Figure 5 It is a structural schematic view of one embodiment of the converter of the present application.
[0029] Explanation of reference signs:
[0030] 1: pivot shaft;
[0031] 2: femur support rod; 21: first limiting hole;
[0032] 3: buffer; 31: hinged seat; 32: adapter;
[0033] 4: shank support rod; 41: electric push rod; 42: converter connecting rod; 43: connecting rod sliding shaft; 44: sliding groove; 45: avoiding hole; 46: second limiting hole;
[0034] 5: converter; 51: arc-shaped hole; 52: feature hole;
[0035] 61: base; 62: motor; 63: push piece; 64: locking shaft. DETAILED DESCRIPTION
[0036] The technical solutions of the utility model will be described clearly and completely in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without making creative efforts belong to the protection scope of the utility model.
[0037] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.
[0038] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly and specifically limited. In addition, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For the ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.
[0039] The present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.
[0040] First, please refer to Figures 1 to 3 , Figure 1 It is a front view of one embodiment of the multi-modal knee joint of the lower extremity exoskeleton rehabilitation robot of the utility model; Figure 2 It is a perspective view of one embodiment of the multi-modal knee joint of the lower extremity exoskeleton rehabilitation robot of the utility model; Figure 3 It is a perspective view of another embodiment of the multi-modal knee joint of the lower extremity exoskeleton rehabilitation robot of the utility model. Next, in combination with Figures 1 to 3Taking the right knee joint as an example, this multimodal knee joint for lower limb exoskeleton rehabilitation robot includes a pivot axis 1, a femoral support rod 2, a lower leg support rod 4, and a converter 5. The lower end of the aforementioned femoral support rod 2 ( Figure 1 (in the direction of the middle), the upper end of the lower leg support rod 4 ( Figure 1 (in the direction) and the upper end of converter 5 ( Figure 1 The femoral support rod 2 (in the direction of the middle) is fitted onto the pivot shaft 1 and rotatably connected to the pivot shaft 1. The femoral support rod 2 can be connected to the thigh bone component of the lower limb exoskeleton rehabilitation robot, and the calf support rod 4 can be connected to the calf bone component of the lower limb exoskeleton rehabilitation robot.
[0041] The upper end of the aforementioned femoral support rod 2 ( Figure 1 A hinge seat 31 is provided in the direction of the center, and the right end of the hinge seat 31 ( Figure 1 The left end of the hinge seat 31 (in the direction of the middle) is fixedly connected to the femoral support rod 2 by screws. Figure 1 A buffer element 3 is rotatably connected to the buffer element 3 (in the direction of the middle). At the lower end of the buffer element 3 ( Figure 1 The adapter 32 is fixedly connected to the middle direction, and the right end of the adapter 32 (in the middle direction) Figure 1 (in the direction) and the lower end of the aforementioned converter 5 ( Figure 1 The connection is rotatable (in the direction of the middle). The aforementioned buffer 3 can be a gas spring, etc. It should be noted that, although Figure 1 The example shown is based on the fixed end of the buffer 3 being rotatably connected to the hinge seat 31 and the telescopic end of the buffer 3 being fixedly connected to the adapter 32. However, the telescopic end of the buffer 3 being rotatably connected to the hinge seat 31 and the fixed end of the buffer 3 being fixedly connected to the adapter 32 can also be used. Those skilled in the art can make adjustments according to the actual situation.
[0042] At the lower end of the aforementioned lower leg support rod 4 ( Figure 1 An electric push rod 41 is also fixedly installed in the center (direction). The fixed end of the electric push rod 41 can be fixedly connected to the calf support rod 4 by bolts or the like. The telescopic end of the electric push rod 41 is connected to a converter connecting rod 42, and two connecting rod sliding shafts 43 are inserted into the converter connecting rod 42. The electric push rod 41 can drive the converter connecting rod 42 and the two connecting rod sliding shafts 43 to slide up and down relative to the calf support rod 4.
[0043] Please refer to the following. Figure 4 , Figure 4 This is a structural schematic diagram of one embodiment of the lower leg support rod 4 of this utility model, as shown below. Figure 4As shown, two corresponding sliding grooves 44 can be provided on the lower leg support rod 4. In the assembled state, the two connecting rod shafts 43, with one end facing away from the converter 5, are inserted into the two sliding grooves 44 one-to-one, allowing each connecting rod shaft 43 to slide up and down along its corresponding groove 44. In this way, the two sliding grooves 44 can restrict the sliding direction of the connecting rod shafts 43. Furthermore, each sliding groove 44 can have a clearance hole 45 at its bottom, the diameter of which is larger than the width of the sliding groove 44, facilitating the disassembly of the connecting rod shaft 43 and improving the efficiency of replacement and maintenance.
[0044] Please refer to the following. Figure 5 And continue to refer to Figures 1 to 3 , Figure 5 This is a schematic diagram of the structure of one embodiment of the converter 5 of this utility model. The converter 5 has an arc-shaped groove and a feature hole 52 in its middle portion, and the feature hole 52 connects to the right side of the arc-shaped hole 51. Figure 5 (Direction in the middle). Upper connecting rod slide shaft 43 ( Figure 2 Insert the middle direction) into the arc-shaped hole 51, and the lower end of the connecting rod slide shaft 43 ( Figure 2 The direction of the knee joint (in the middle) is below the converter 5. As the patient moves forward, the knee joint needs to flex to reduce the impact force. The lower leg support rod 4 rotates relative to the femoral support rod 2 around the pivot axis 1. Due to the damping provided by the buffer 3, the adapter 32 remains fixed to the converter 5, allowing the upper connecting rod slide 43 to rotate within the arc-shaped hole 51. In this way, the knee joint can achieve relative rotation between the femoral bone component and the lower leg bone component during movement without hindering the patient's movement, thus improving the reliability of the knee joint. Furthermore, to avoid the connecting rod slide 43 colliding with the adapter 32 during rotation, the adapter 32 can be configured to be arc-shaped.
[0045] When the patient sits down, the aforementioned electric push rod 41 drives the connecting rod slide 43 to move upward, causing the upper connecting rod slide 43 to engage in the feature hole 52. As the femoral support rod 2 rotates relative to the lower leg support rod 4, the upper connecting rod slide 43 engages in the feature hole 52, locking the converter 5 and the lower leg support rod 4. The femoral support rod 2 compresses the buffer 3, while the adapter 32 rotates relative to the converter 5. In this way, cushioning is provided for the femoral support rod 2, thus providing auxiliary support when the patient sits down.
[0046] It should be noted that the distance between the lower connecting rod slide 43 and the converter 5 can be matched with the distance between the upper connecting rod slide 43 and the top of the feature hole 52. In this way, the lower connecting rod slide 43 can limit the movement distance of the upper connecting rod slide 43.
[0047] like Figure 3As shown in the drawings, a first limiting hole 21 is arranged on the right side of the lower end of the femoral support rod 2. Figure 3 and Figure 4 As shown in the drawings, a second limiting hole 46 is arranged on the right side of the upper end of the lower leg support rod 4. When the patient is in the standing or walking phase, the first limiting hole 21 and the second limiting hole 46 coincide. The walking phase represents the state that the thigh and the lower leg are at an angle of 180° during walking.
[0048] A base 61 is fixedly arranged below the second limiting hole 46, and a motor 62 is fixedly connected to the base 61. A driving shaft of the motor 62 is connected with a shifting piece 63, and a locking shaft 64 is inserted into the shifting piece 63. When the patient is in the standing or walking phase, the motor 62 drives the locking shaft 64 to rotate into the first limiting hole 21 and the second limiting hole 46, thereby locking the lower leg support rod 4 and the femoral support rod 2, limiting the relative rotation, and making the lower leg support rod 4 and the femoral support rod 2 keep in the same straight line. In this way, the rigidity can be provided when the patient is in the standing and walking phase to ensure the stability of the knee joint.
[0049] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A multimodal knee joint for use in a lower limb exoskeleton rehabilitation robot, characterized in that, Includes a femoral support rod, a calf support rod, and a converter that are rotatably connected to a pivot axis; The femoral support rod is also rotatably connected to the upper end of the buffer, and the lower end of the buffer is fixedly connected to an adapter, which is rotatably connected to the converter. The calf support rod is provided with a retractable converter link, which is configured to disengage from the converter when the knee is bent and extend to engage with the converter when sitting down, so as to lock the converter and the calf support rod, thereby compressing the buffer. The lower leg support rod is also rotatably provided with a locking shaft, which is configured to rotate during standing or walking phases to lock the lower leg support rod and the femoral support rod.
2. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that, A hinge seat is also provided between the femoral support rod and the buffer member. One end of the hinge seat is fixedly connected to the femoral support rod, and the other end of the hinge seat is hinged to the upper end of the buffer member.
3. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that, The converter linkage is also connected to an electric push rod. The fixed end of the electric push rod is fixed to the lower leg support rod, and the telescopic end of the electric push rod is connected to the converter linkage.
4. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 3, characterized in that, The converter connecting rod has two connecting rod sliding shafts at its upper end, and the lower leg support rod has two sliding grooves. The two connecting rod sliding shafts and the two sliding grooves are slidably connected in a one-to-one correspondence.
5. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that, Each slide has a clearance hole at the bottom for disassembling the connecting rod shaft.
6. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that, The converter is provided with an arc-shaped hole communicating with a feature hole above the arc-shaped hole; in the walking state, the upper connecting rod slide shaft rotates in the arc-shaped hole; when sitting down, the upper connecting rod slide shaft enters the feature hole to restrict the rotation of the converter.
7. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that, A lever is fitted onto the locking shaft, and the lever is connected to the drive shaft of the motor. The motor is fixed to the lower leg support rod.
8. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 7, characterized in that, The motor is fixed to the base, and the base is fixedly connected to the lower leg support rod.
9. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to claim 7, characterized in that, A first limiting hole is provided on one side of the bottom of the femoral support rod, and a second limiting hole is provided on the same side of the top of the calf support rod. When standing or walking, the motor drives the locking shaft to engage with the first limiting hole and the second limiting hole.
10. The multimodal knee joint for a lower limb exoskeleton rehabilitation robot according to any one of claims 1-9, characterized in that, The buffer is a gas spring.