Rapid locking assembly for lower limb rehabilitation exoskeleton

Abstract

The utility model provides a rapid locking assembly for a lower limb rehabilitation exoskeleton, and belongs to the field of exoskeletons. The problems that a traditional bandage is prone to loosening, tedious to disassemble and insufficient in reliability are solved. The end surface of one side of the first locking part is used for clamping a second locking part; the rotating part is rotationally connected to the end face of the side, away from the first locking part, of the second locking part, and at least one supporting part is rotationally arranged on the end face of the side, away from the first locking part, of the second locking part. The clamping part is arranged in the second locking part in a sliding manner; the adsorption part is arranged on the end face of the side, close to the first locking part, of the supporting part and used for being adsorbed to the first locking part when the first locking part and the second locking part are relatively locked, and when the adsorption part is separated from the first locking part, the supporting part serves as a handle to drive the rotating part to rotate to drive the clamping part to be inserted into or separated from the first locking part. The locking device is mainly used for locking the bandage when the exoskeleton is connected with a human body.

Description

TECHNICAL FIELD

[0001] The utility model belongs to exoskeleton field, especially, relate to a lower limbs rehabilitation exoskeleton quick locking assembly. BACKGROUND

[0002] In the rehabilitation treatment scene, the patient wears the exoskeleton and carries out long-time, repetitive rehabilitation training action, and the exoskeleton needs to closely fit the human body limb to accurately transmit the power and real-time monitor the limb movement state. However, the traditional connection mode for the exoskeleton bandage, like the common magic tape, simple plastic buckle and the like, has obvious short board when facing the complex stress condition in the rehabilitation training. Taking a stroke patient who is undergoing upper limb rehabilitation training as an example, the exoskeleton worn by the patient is in the process of assisting the arm flexion, and due to the magic tape bandage connection only relying on the surface friction, with the frequent training action, the continuous pulling force and torsional force generated by the arm swing, the magic tape is gradually loosened, and the bandage is loose, which not only cannot stably fix the exoskeleton, makes the power transmission greatly discounted, affects the rehabilitation training effect, but also can cause additional friction discomfort to the patient's limb due to the exoskeleton displacement, and even hinders the rehabilitation process.

[0003] On the other hand, with the expanding application of exoskeleton technology in more extensive scenes such as industrial auxiliary labor, outdoor sports assistance and the like, the user needs to frequently wear and remove the exoskeleton equipment by himself. At this time, the operation convenience and accurate control requirement of the bandage connection are highlighted. However, some existing connection technologies are difficult to meet the demand, and the operation process is either too cumbersome, like the multi-group bolt and nut adjustment of the bandage tightness used by some high-end medical exoskeletons, the user needs to carefully use the tool to tighten or loosen the nut one by one every time he wears it, which consumes a lot of time and is extremely inconvenient, greatly reducing the use efficiency; or there are defects in the accurate control, for example, the elastic buckle bandage of some simple exoskeletons, the user is difficult to accurately control the clamping degree of the buckle, and the bandage is loosened, which can cause the exoskeleton to shake, affect the power effect, and the bandage is too tight, which can cause the blood circulation of the user's limb to be not smooth, and bring discomfort and even safety hazards. SUMMARY

[0004] Therefore, the utility model aims at providing a lower limbs rehabilitation exoskeleton quick locking assembly to solve the problems of traditional bandage easy to loosen and complicated and unreliable disassembly.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a lower limbs rehabilitation exoskeleton quick locking assembly, comprising:

[0006] The first locking part is used for clamping the second locking part on one side end face;

[0007] The rotating part is rotatably connected to the second locking part away from the first locking part on one side end face, and at least one supporting part is rotatably arranged on the first locking part away from the first locking part on one side end face.

[0008] The engaging part is slidably arranged in the second locking part;

[0009] The adsorbing part is arranged on the supporting part close to the side end face of the first locking part and is adsorbed on the first locking part when the first locking part and the second locking part are locked, wherein when the adsorbing part is separated from the first locking part, the supporting part drives the rotating part to rotate, drives the engaging part to be inserted into or separated from the first locking part.

[0010] Further, the supporting part is provided with two and is arranged in a circumferential symmetry relative to the rotating part.

[0011] Further, when the end face of the supporting part is parallel to the end face of the second locking part, the adsorbing part is adsorbed with the first locking part.

[0012] Further, the opposite sides of the first locking part and the adsorbing part are both magnetic materials.

[0013] Further, the number of the engaging parts is two and is arranged in a circumferential symmetry relative to the rotating part.

[0014] Further, the rotating part is connected with the corresponding engaging part through the connecting part.

[0015] Further, one end of the connecting part is pivotally connected with the rotating part, and the other end is pivotally connected with the corresponding engaging part.

[0016] Further, a plurality of first matching parts are arranged through the side wall of the second locking part, and each engaging part is slidably connected in the corresponding first matching part.

[0017] Further, a second matching part corresponding to the position of each first matching part is arranged on the first locking part, and when the engaging part is inserted into the second matching part from the corresponding first matching part, the relative positions of the first locking part and the second locking part are locked.

[0018] Further, a strap connecting part is arranged on the first locking part and the second locking part, and is used for connecting a strap.

[0019] Compared with the prior art, the utility model has the advantages that:

[0020] 1、 the locking assembly can preliminarily connect two components together through the engagement of the first locking part and the second locking part, forms a relatively stable structure, meets the basic demand of component connection fixation in some application scenarios, ensures that the positions of the two are relatively fixed, prevents random separation or misplacement, thereby improving the accuracy of alignment and operation efficiency;

[0021] 2. This locking assembly is rotatably connected to the second locking part via a rotating part, and a rotatable support part is provided on the end face away from the first locking part. This structural design allows the entire device to be operated by using the support part as a handle to drive the rotating part to rotate, providing a relatively convenient and labor-saving operation method for the subsequent operation of the locking part. The operator can easily control the state changes of the relevant components by rotating the part. After locking, the support part rotates so that the adsorption part can be adsorbed onto the first locking part to complete the locking and fixation. The support part can be used as a handle and can also cooperate with the adsorption part to lock the rotating part, so that the locking part can lock the relative position of the first locking part and the second locking part, thereby completing the locking. The whole process is easy to adjust and has good stability. Attached Figure Description

[0022] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0023] Figure 1 This is a first-view three-dimensional structural diagram of a rapid locking component for lower limb rehabilitation exoskeleton according to the present invention;

[0024] Figure 2 This is a second-view three-dimensional structural diagram of a rapid locking component for lower limb rehabilitation exoskeleton according to the present invention;

[0025] Figure 3 This is a top view of a quick-locking component for a lower limb rehabilitation exoskeleton according to the present invention;

[0026] Figure 4 The present utility model Figure 3 Sectional view along axis AA;

[0027] Figure 5 The present utility model Figure 3 BB-direction sectional view;

[0028] Figure 6 This is a schematic diagram of the structure of the quick-locking component of the lower limb rehabilitation exoskeleton described in this utility model, with the second locking part removed;

[0029] Figure 7 This is a schematic diagram of the first view of the quick-locking component of the lower limb rehabilitation exoskeleton of the present invention after removing the first locking part and the second locking part;

[0030] Figure 8 This is a second-view structural diagram of the rapid locking assembly for lower limb rehabilitation exoskeleton described in this utility model, after removing the first locking part and the second locking part.

[0031] First locking part 1; Second locking part 2; Rotating part 3; Support part 4; Connecting part 5; Clamping part 6; Suction part 7; First matching part 8; Second matching part 9; Belt connecting part 10. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0033] It should be noted that the description of the present application about "left", "right", "left side", "right side", "upper part", "lower part", "top", "bottom" and the like are defined based on the position or relationship of the drawings shown, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the described structure must be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation of the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined and limited.

[0034] In the description of the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting" and "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication between the two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] Referring to the accompanying drawings, a lower limb rehabilitation exoskeleton quick locking assembly comprises:

[0036] The first locking part 1 is used for clamping the second locking part 2 on one side end face; the first locking part 1 is provided with a clamping groove on the end face, which is matched with the shape of the corresponding side end face of the second locking part 2; in order to improve the alignment efficiency of the first matching part 8 and the second matching part 9, the shape of the clamping groove can be set to a specific shape; in order to increase the success rate of one-time alignment and ensure that the two can be smoothly clamped, and in order to reduce the discomfort when it is in contact with the human body, the first locking part 1 and the second locking part 2 can be set to a circular shape, and the thickness is reasonably set according to the actual situation; at the same time, a protrusion can be provided on the second locking part 2 for positioning; accordingly, a groove matched with the protrusion is provided on the first locking part 1 for positioning; in this way, quick positioning and easy installation can be achieved. The groove on the end face of the first locking part 1 should have a certain depth to facilitate the opening of the first matching part 8 and the second matching part 9. The first matching part 8 and the second matching part 9 are specifically set as circular holes; in order to improve stability, the first matching part 8 and the second matching part 9 can be set as multiple circular holes arranged at intervals, and each hole position in the first matching part 8 and the second matching part 9 corresponds to each other, which is convenient for the clamping part 6 to be inserted and locked.

[0037] The rotating part 3 is rotatably connected to the second locking part 2 away from the first locking part 1 on one side end face; at least one supporting part 4 is rotatably arranged on the side end face away from the first locking part 1; the rotating part 3 is specifically set as a disc with a certain thickness, which is rotatably connected to the second locking part 2 through a bearing seat type connecting assembly. The supporting part 4 is provided with two and is arranged in a circumferential symmetry with respect to the rotating part 3. This arrangement is to drive the two supporting parts 4 to approach when the two supporting parts 4 drive the adsorption part 7 to separate from the first locking part 1, specifically through the way of engaging the two fingers in the middle, so that the two supporting parts 4 are pinched in a state of being approximately perpendicular to the rotating part 3, at this time, the rotating of the pinched hand can directly form a handle to drive the rotating part 3 to rotate, so that the rotating part 3 can drive the clamping part 6 to move through the connecting part 5 when the rotating part 3 rotates, thereby adjusting the relative locking state of the first matching part 8 and the second matching part 9. The purpose of flexible adjustment can be achieved, one pinch and rotation can make the adsorption part 7 separate from the first locking part 1 and release the relative locking state of the first matching part 8 and the second matching part 9 by the clamping part 6. The efficiency is high and the operation is convenient; when there is no pinching action, the adsorption between the adsorption part 7 and the first locking part 1 can ensure that the locking state does not change, improve the stability, avoid the defect that the buckle is easy to loosen, and the convenience is high enough.

[0038] The engaging part 6 is slidingly arranged in the second locking part 2; the engaging part 6 is two in number and is arranged in circumferential symmetry relative to the rotating part 3. The two is a more optimal mode, so that the relative position of the first locking part 1 and the second locking part 2 can be locked in two directions by the engaging part 6, while avoiding excessive number of failure rate, and balancing the stability. For the sliding arrangement, a slot can be arranged on the bottom wall of the second locking part 2, and a slider adapted to the shape of the slot is arranged on the engaging part 6, and the slider is slidingly connected in the slot. At the same time, each engaging part 6 is provided with a locking rod on the end face near the corresponding position of the first cooperating part 8 and the second cooperating part 9, which is consistent with the shape of the opening of the first cooperating part 8 and the second cooperating part 9, the number is consistent, and the length is sufficient to be inserted into the first cooperating part 8 and the second cooperating part 9 at the same time. When the locking rod is inserted into the first cooperating part 8 and the second cooperating part 9 at the same time, the relative locking of the first locking part 1 and the second locking part 2 is completed. When the locking rod is pulled out of the second cooperating part 9, the first locking part 1 and the second locking part 2 can be separated by pulling the supporting part 4. The supporting part 4 plays the role of cooperating with the adsorption part 7 to lock, serving as a handle to unlock, and serving as a pulling handle to separate the first locking part 1 and the second locking part 2 during the entire operation process, achieving multi-purpose of one component. At the same time, in the operation logic, the operation convenience and unlocking continuity are reasonably improved, and the operation efficiency is improved.

[0039] The adsorption part 7 is arranged on the end face of the supporting part 4 near the first locking part 1, and is used for adsorbing on the first locking part 1 when the first locking part 1 and the second locking part 2 are relatively locked. When the adsorption part 7 is separated from the first locking part 1, the supporting part 4 serves as a handle to drive the rotating part 3 to rotate to drive the engaging part 6 to insert or separate from the first locking part 1. The opposite side of the first locking part 1 and the adsorption part 7 is a magnetic material. Specifically, the adsorption part 7 can be set as a magnet, and the corresponding end face of the first locking part 1 is set as iron or other material conducive to adsorption.

[0040] In the embodiment, when the end face of the supporting part 4 is parallel to the end face of the second locking part 2, the adsorption part 7 is adsorbed with the first locking part 1. In specific operation, since the adsorption part 7 protrudes from the end face of the supporting part 4 to connect the first locking part 1, the first locking part 1 and the second locking part 2 form a certain height difference at the edge, so that the supporting part 4 can be smoothly lifted up and then pinched together when pinching, which is beneficial to operation.

[0041] In the embodiment, the rotating part 3 is connected with the corresponding engaging part 6 through the connecting part 5. The connecting part 5 is specifically arranged as a connecting arm, one end of the connecting part 5 is pivotally connected with the rotating part 3, and the other end is pivotally connected with the corresponding engaging part 6. The pivotally connected mode is specifically a pivotally connected relationship formed by a pin shaft, so that when the rotating part 3 rotates, the connecting part 5 can drive the engaging part 6 to slide in a predetermined track.

[0042] In the embodiment, a plurality of first matching portions 8 are arranged through the side wall of the second locking portion 2, and each of the clamping portions 6 is slidingly connected in the corresponding first matching portion 8. The first matching portion 8 is specifically provided in two groups, and each group is provided with a plurality of spaced-apart holes.

[0043] In the embodiment, the first locking portion 1 is provided with a second matching portion 9 corresponding to the position of each first matching portion 8. When the clamping portion 6 is inserted into the second matching portion 9 from the corresponding first matching portion 8, the relative position of the first locking portion 1 and the second locking portion 2 is locked.

[0044] In the embodiment, the first locking portion 1 and the second locking portion 2 are both provided with a strap connecting portion 10 for connecting the strap. Specifically, a hard head with a threaded hole is provided at the end of each of the two straps, and after the hard head is inserted into the strap connecting portion 10, the first locking portion 1 and the second locking portion 2 are connected to the strap by screwing.

[0045] In use, the ends of the two straps connected by the first locking portion 1 and the second locking portion 2 of the device are adjusted in relative position with the exoskeleton and the user, and then the two straps are wound in two directions. After the winding and fixing are completed, the second locking portion 2 is clamped in the corresponding side end surface of the first locking portion 1, and then the two support portions 4 are pinched and rotated, so that the rotating portion 3 rotates and drives the clamping portion 6 to continue sliding from the first matching portion 8 into the second matching portion 9. After sliding in place, the two support portions 4 are quickly adsorbed on the corresponding side end surface of the first locking portion 1 under the action of gravity and the attraction of the adsorption portion 7. At this time, the relative locking of the first locking portion 1 and the second locking portion 2 is completed. Without external intervention, the locking state will not change, and the defect of gradual loosening of the Velcro strap will not occur.

[0046] When the use is completed, the thumb and index finger of one hand are respectively in contact with the two side support portions 4 to pinch, so that the adsorption portion 7 is separated from the first locking portion 1. When the two support portions 4 are close to the finger end and are in close contact, the pinching action is completed. The rotating portion 3 is driven to rotate in the opposite direction of the locking operation, so that the clamping portion 6 slides out of the second matching portion 9 and stays in the first matching portion 8. At the same time, the two support portions 4 are pulled outward to complete the separation of the first locking portion 1 and the second locking portion 2. The process is continuous, efficient and easy to operate.

[0047] The above disclosed embodiments of the utility model are only used for helping the utility model to be described. The embodiments do not describe all the details, and also do not limit the utility model to be the specific implementation mode. According to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments, in order to better explain the principle and practical application of the utility model, so that the person skilled in the art can well understand and utilize the utility model.

Claims

1. A rapid locking component for a lower limb rehabilitation exoskeleton, characterized in that, include: The first locking part (1) has one end face used to engage the second locking part (2); The rotating part (3) is rotatably connected to the end face of the second locking part (2) away from the first locking part (1), and at least one support part (4) is rotatably provided on the end face away from the first locking part (1); The engaging part (6) is slidably disposed within the second locking part (2); The adsorption part (7) is provided on the end face of the support part (4) near the first locking part (1). When the first locking part (1) and the second locking part (2) are locked, the adsorption part (7) is adsorbed on the first locking part (1). When the adsorption part (7) disengages from the first locking part (1), the support part (4) acts as a handle to drive the rotating part (3) to rotate and drive the engaging part (6) to insert into or disengage from the first locking part (1).

2. The rapid locking assembly for a lower limb rehabilitation exoskeleton according to claim 1, characterized in that: The support part (4) is provided in two parts and is arranged symmetrically with respect to the rotating part (3).

3. A quick-locking assembly for a lower limb rehabilitation exoskeleton according to claim 1 or 2, characterized in that: When the end face of the support part (4) is parallel to the end face of the second locking part (2), the adsorption part (7) adsorbs the first locking part (1).

4. The rapid locking assembly for a lower limb rehabilitation exoskeleton according to claim 3, characterized in that: The opposite sides of the first locking part (1) and the adsorption part (7) are both made of magnetic material.

5. The rapid locking assembly for a lower limb rehabilitation exoskeleton according to claim 1, characterized in that: The number of the engaging parts (6) is two, and they are arranged symmetrically in a circle relative to the rotating parts (3).

6. The quick-locking assembly for a lower limb rehabilitation exoskeleton according to claim 5, characterized in that: The rotating part (3) is connected to the corresponding engaging part (6) via the connecting part (5).

7. The quick-locking assembly for a lower limb rehabilitation exoskeleton according to claim 6, characterized in that: One end of the connecting part (5) is pivotally connected to the rotating part (3), and the other end is pivotally connected to the corresponding engaging part (6).

8. A quick-locking assembly for a lower limb rehabilitation exoskeleton according to claim 1, 2, 4, 5, 6 or 7, characterized in that: A plurality of first mating parts (8) are arranged through the side wall of the second locking part (2), and each of the locking parts (6) is slidably connected in the corresponding first mating part (8).

9. A quick-locking assembly for a lower limb rehabilitation exoskeleton according to claim 8, characterized in that: The first locking part (1) is provided with a second mating part (9) corresponding to the position of each of the first mating parts (8). When the engaging part (6) passes through the corresponding first mating part (8) and inserts into the second mating part (9), the relative positions of the first locking part (1) and the second locking part (2) are locked.

10. A quick-locking assembly for a lower limb rehabilitation exoskeleton according to claim 1, 2, 4, 5, 6, 7 or 9, characterized in that: Both the first locking part (1) and the second locking part (2) are provided with strap connecting parts (10) for connecting straps.

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