Wearable exoskeleton structure

Abstract

The utility model provides a wearable exoskeleton structure which comprises a thigh skeleton, a shank skeleton, a first end face tooth, a second end face tooth, an elastic piece and a connecting assembly, the thigh skeleton and the shank skeleton are fixed on a lower limb in a wearing mode, the first end face tooth is arranged on the shank skeleton, and the second end face tooth is arranged on the thigh skeleton; the connecting assembly comprises a locking piece and a connecting piece, the connecting piece sequentially penetrates through the thigh bone, the second end face tooth, the elastic piece and the first end face tooth, the locking piece is connected with one end of the connecting piece and located on the outer side of the thigh bone, and the locking piece pulls the connecting piece to move left and right in the horizontal direction, so that the first end face tooth and the second end face tooth are meshed or separated; during meshing locking, rotation limiting is carried out through meshing of the first end face teeth and the second end face teeth; when the angle needs to be adjusted, the locking piece is loosened, and the coupling tooth position of the first end face tooth and the second end face tooth is adjusted; the lower limb support can meet different requirements of standing or knee bending of lower limbs of a human body, and is convenient to adjust.

Description

TECHNICAL FIELD

[0001] The utility model relates to rehabilitation device technical field, especially a kind of wearable exoskeleton structure, mainly in the application scene of the body weight support of patient or normal person squatting after wearing. BACKGROUND

[0002] At present, the rehabilitation tools selected by patients with lower limb paralysis or people with difficulty in walking mainly include crutches, wheelchairs and installed artificial limbs. Such passive rehabilitation equipment is inconvenient to use, and has the following defects during use: heavy weight, not easy to carry, poor freedom adjustment, joint rotation adjustment, etc. Sometimes it needs other people to assist in adjustment, and cannot meet the actual movement needs of human body. Therefore, in view of the above problems, it is necessary to provide a wearable exoskeleton structure which is convenient to adjust and has light weight. SUMMARY

[0003] The main purpose of the utility model is to overcome the above shortcomings and deficiencies of the prior art, and provide a wearable exoskeleton structure.

[0004] A wearable exoskeleton structure includes a femur, a tibia, a first end surface tooth, a second end surface tooth, an elastic member and a connecting assembly. The femur and the tibia are fixed on the lower limbs of the human body by wearing. The first end surface tooth is arranged on the tibia, and the second end surface tooth is arranged on the femur. The connecting assembly includes a locking member and a connecting member. The connecting member passes through the femur, the second end surface tooth, the elastic member and the first end surface tooth in sequence. The locking member is connected with one end of the connecting member and located outside the femur. The locking member pulls the connecting member to move left and right in the horizontal direction, so that the first end surface tooth and the second end surface tooth are engaged or separated. When separated, the first end surface tooth and the second end surface tooth can rotate relatively.

[0005] In the implementation of one of the embodiments, the lower end of the femur is provided with a groove, one side of the groove is provided with a limiting groove, and the periphery of the second end surface tooth is provided with a limiting part. When installed, the second end surface tooth is placed in the groove, and the limiting part is arranged in the limiting groove.

[0006] In the implementation of one of the embodiments, the locking member includes a cam, a handle arranged on the cam and a mounting column. The cam is arranged on one end of the connecting member through the mounting column and abuts against the end surface of the femur. The handle is used to rotate the cam relative to the end surface of the femur.

[0007] In an embodiment of one of the embodiments, the connecting piece comprises a connecting column, a guide sleeve and a fixing part, the guide sleeve passes through the femoral skeleton, the first end surface tooth, the elastic member and the second end surface tooth, the guide sleeve is arranged on the connecting column, and the fixing part is arranged at the end of the connecting column and abuts against the guide sleeve.

[0008] In an embodiment of one of the embodiments, a limiting convex part is arranged on the guide sleeve, and the limiting convex part abuts against the first end surface tooth.

[0009] In an embodiment of one of the embodiments, a second elastic member is arranged between the first end surface tooth and the recessed end surface of the femoral skeleton.

[0010] In an embodiment of one of the embodiments, a receiving groove is arranged on the first end surface tooth and / or the second end surface tooth, and the elastic member is arranged in the receiving groove.

[0011] In an embodiment of one of the embodiments, the elastic member is a spring or an elastic rubber ring. Preferably, the elastic member is a spring.

[0012] In an embodiment of one of the embodiments, the first end surface tooth is integrally formed with the lower leg skeleton.

[0013] In an embodiment of one of the embodiments, the femoral skeleton and the lower leg skeleton are formed by 3D printing. Preferably, the femoral skeleton and the lower leg skeleton are hollow inside, and the inside of the components is parameterized hollow design under the premise of ensuring the structural strength and the rigidity of the components, so that the components are printed and formed, and the material weight is reduced.

[0014] The wearable exoskeleton structure has the following beneficial effects: the central holes of the first end surface tooth and the second end surface tooth are coaxial with the connecting piece, the connecting piece is manually adjusted and controlled to move in the horizontal direction left and right by the locking member, the first end surface tooth and the second end surface tooth are engaged or separated, the femoral skeleton and the lower leg skeleton are rotationally limited by the engagement of the first end surface tooth and the second end surface tooth when the engagement is locked, the knee joint of the human body cannot be further squatted, but standing is not completely locked; when the angle needs to be adjusted, the locking member is loosened, and the coupling tooth position of the first end surface tooth and the second end surface tooth is adjusted; the wearable exoskeleton structure can be worn on the lower limbs of the human body, and is applied to the application scene of assisting a person to squat and support the body weight after being worn by a patient or a normal person, different needs of the human body to stand or bend the knees are met, and the wearable exoskeleton structure is convenient to adjust. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic view of the wearable exoskeleton structure.

[0016] Figure 2 It is Figure 1The utility model discares a wearing formula exoskeleton structure's partial structure schematic diagram.

[0017] Figure 3 For Figure 1 The utility model discares a wearing formula exoskeleton structure's partial structure schematic diagram.

[0018] Figure 4 For Figure 2 The utility model discares a wearing formula exoskeleton structure's partial structure schematic diagram.

[0019] Figure 5 For Figure 1 The utility model discares a wearing formula exoskeleton structure's partial structure schematic diagram.

[0020] Figure 6 For Figure 1 The utility model discares a wearing formula exoskeleton structure's partial structure schematic diagram. DETAILED DESCRIPTION

[0021] The embodiments of the utility model are described in detail below, and the examples of the embodiments are shown in the drawings, wherein the same or similar signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the utility model, and cannot be understood as the limitation of the utility model.

[0022] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and 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, therefore cannot be understood as the limitation of the utility model.

[0023] 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 indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0024] In the utility model, unless another definite provision and limitation, the terms "mount", "connect", "connect", "fix" and so on should do the broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be the communication of two elements or the interaction of 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.

[0025] In the utility model, unless another definite provision and limitation, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium.Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature.The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0026] The utility model provides a kind of wearable exoskeleton structure, including thigh skeleton, shank skeleton, first end surface tooth, second end surface tooth, elastic member and connecting assembly, the thigh skeleton and the shank skeleton are fixed on the lower limbs of human body by the way of wearing, the first end surface tooth is located on the shank skeleton, and the second end surface tooth is located on the thigh skeleton;The connecting assembly includes locking member and connecting piece, the connecting piece sequentially passes thigh skeleton, second end surface tooth, elastic member and first end surface tooth, the locking member is connected with one end of the connecting piece and located outside the thigh skeleton, the locking member pulls the connecting piece and moves left and right in horizontal direction, so that the first end surface tooth and the second end surface tooth engage or separate.

[0027] The utility model's first end surface tooth, the central hole of second end surface tooth and connecting piece are coaxial, by hand adjustment control locking member pulls the connecting piece and moves left and right in horizontal direction, so that first end surface tooth and second end surface tooth engage or separate, when locking, thigh skeleton and shank skeleton are rotated and are limited by first end surface tooth and second end surface tooth engagement;When angle needs to be adjusted, loosen locking member, and adjust the coupling tooth position of first end surface tooth and second end surface tooth, the utility model can satisfy the different needs of human body lower limbs straight or knee bending, and it is convenient to adjust.

[0028] Embodiment

[0029] Please refer to Figures 1 to 6The utility model provides a kind of wearable exoskeleton structure 100, including femur skeleton 1, shank skeleton 2, first end surface tooth 3, second end surface tooth 4, elastic member 5 and connecting assembly 6, femur skeleton 1 and shank skeleton 2 are fixed on the lower limbs of human body by the mode of wearing, the mode of fixed is not limited to buckle and belt combination.It is preferably that the inside of femur skeleton 1 and shank skeleton 2 is hollow design, under the premise of guaranteeing structural strength, component rigidity, the hollow design of parameterization is carried out to component inside, and material weight is reduced.Wherein, first end surface tooth 3 is equipped on shank skeleton 2, second end surface tooth 4 is equipped on femur skeleton 1, connecting assembly 6 sequentially passes through femur skeleton 1, second end surface tooth 4, elastic member 5 and first end surface tooth 3 and is combined together.Optimally, first end surface tooth 3 is integrally formed with shank skeleton 2.More preferably, shank skeleton 2 and first end surface tooth 3 are integrally formed by 3D printing.Wherein, when needing batch production, femur skeleton 1 and shank skeleton 2 can also be made by opening mould.

[0030] More specifically, please refer to Figure 2 、 Figure 3 、 Figure 5 And Figure 6 , connecting assembly 6 includes locking piece 61 and connecting piece 62, connecting piece 62 sequentially passes through femur skeleton 1, second end surface tooth 4, elastic member 5 and first end surface tooth 3, locking piece 61 is connected with one end of connecting piece 62 and is located outside femur skeleton 1, locking piece 61 pulls connecting piece 62 to move left and right in horizontal direction, so that first end surface tooth 3 and second end surface tooth 4 engage or separate.When locking, femur skeleton 1 and shank skeleton 2 are rotated by first end surface tooth 3 and second end surface tooth 4 and are limited in position;When angle needs to be adjusted, locking piece 61 is loosened, and the coupling tooth position of first end surface tooth 3 and second end surface tooth 4 can be adjusted;The utility model can meet the different needs of human lower limbs standing or bending, and is convenient to adjust.

[0031] More specifically, please refer to Figure 4 , the lower end of femur skeleton 1 is equipped with recess 11, one side of recess 11 is equipped with limiting groove 12, the periphery of second end surface tooth 4 is equipped with limiting portion 41, when installing, second end surface tooth 4 is placed in recess 11, limiting portion 41 is arranged in limiting groove 12, and the limiting between second end surface tooth 4 and femur skeleton 1 is facilitated.Wherein, limiting portion 41 has the characteristics of reverse direction in limiting groove 12, after engaging and locking self-locking, limiting portion 41 is in contact in limiting groove 12, and the knee joint formed by first end surface tooth 3 and second end surface tooth 4 cannot be further bent, and has the ability to support human body gravity;When standing is needed, limiting portion 41 is separated from the inner wall of limiting groove 12, so that femur skeleton 1 can be straightened relative to knee joint, and the personnel standing is unlocked.

[0032] More specifically, please refer to Figure 2 、 Figure 5 AndFigure 6 The locking member 61 comprises a cam 611, a handle 612 arranged on the cam 611 and a mounting column 613, the cam 611 is arranged at one end of the connecting member 61 through the mounting column 613 and abuts against the end surface of the femur 1, and the cam 611 is rotated relative to the end surface of the femur 1 by rotating the handle 612. It can be understood that the cam 611 and the handle 612 are integrally formed, which can be called a quick-release adjustment handle. When the handle 612 is combined with the shank 2, the first end surface tooth 3 and the second end surface tooth 4 are in meshing state.

[0033] More specifically, please refer to Figure 2 、 Figure 3 、 Figure 5 and Figure 6 The connecting member 62 comprises a connecting column 621, a guide sleeve 622 and a fixing portion 623, the guide sleeve 622 passes through the femur 1, the first end surface tooth 3, the elastic member 5 and the second end surface tooth 4, the guide sleeve 622 is arranged on the connecting column 621, and the fixing portion 623 is arranged at the end of the connecting column 621 and abuts against the guide sleeve 622, wherein the guide sleeve 622 is provided with a limiting convex portion 624, and the limiting convex portion 624 abuts against the first end surface tooth 3. When the handle 612 is separated from the shank 2, the first end surface tooth 3 and the second end surface tooth 4 are separated under the elastic force of the elastic member 5, and then the relative coupling tooth positions of the first end surface tooth 3 and the second end surface tooth 4 can be adjusted. When the handle 612 is combined with the shank 2, the mounting column 613 moves under the action of the cam 611, and then the first end surface tooth 3 and the second end surface tooth 4 on the guide sleeve 622 are extruded and meshed to be limited.

[0034] More specifically, please refer to Figure 2 and Figure 3 Figure 5 Figure 6 Figure 2 Figure 3 To avoid rigid contact between the first end surface tooth 3 and the femur 1, the second elastic member 7 is arranged between the first end surface tooth 3 and the end surface of the groove 11 of the femur 1. The first end surface tooth 3 and / or the second end surface tooth 4 is provided with a receiving groove, and the elastic member 5 is arranged in the receiving groove. The elastic member 5 and the second elastic member 7 are springs or elastic rubber rings, preferably, the elastic member 5 and the second elastic member 7 are springs.

[0035] The center holes of the first end surface tooth and the second end surface tooth are coaxial with the connecting member, the locking member is manually adjusted and controlled to pull the connecting member to move left and right in the horizontal direction, so that the first end surface tooth and the second end surface tooth are meshed or separated, when the meshing is locked, the femur and the shank are rotationally limited through the meshing of the first end surface tooth and the second end surface tooth; when the angle needs to be adjusted, the locking member is loosened, and the coupling tooth positions of the first end surface tooth and the second end surface tooth can be adjusted. The utility model can meet different needs of the human lower limbs standing or kneeling, and is convenient to adjust.

[0036] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the description.

[0037] The above-described embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as the limitation of the scope of the application patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the application patent should be subject to the appended claims.

Claims

1. A wearable exoskeleton structure, characterized by, The thigh bone and the calf bone are fixed on the lower limbs of human body by wearing, the first end surface tooth is arranged on the calf bone, and the second end surface tooth is arranged on the thigh bone.

2. The wearable exoskeleton structure of claim 1, wherein: The lower end of the thigh bone is provided with a recess, one side of the recess is provided with a limiting groove, the periphery of the second end surface tooth is provided with a limiting part, during installation, the second end surface tooth is arranged in the recess, and the limiting part is arranged in the limiting groove.

3. The wearable exoskeleton structure of claim 1, wherein: The locking part comprises a cam, a handle arranged on the cam and a mounting column, the cam is arranged on one end of the connecting part through the mounting column and abuts against the end surface of the thigh bone, and the cam is rotated relative to the end surface of the thigh bone by rotating the handle.

4. The wearable exoskeleton structure of claim 1, wherein: The connecting part comprises a connecting column, a guide sleeve and a fixing part, the guide sleeve passes through the thigh bone, the first end surface tooth, the elastic part and the second end surface tooth, the guide sleeve is arranged on the connecting column, and the fixing part is arranged at the tail end of the connecting column and abuts against the guide sleeve.

5. The wearable exoskeleton structure of claim 4, wherein: The guide sleeve is provided with a limiting convex part, and the limiting convex part abuts against the first end surface tooth.

6. The wearable exoskeleton structure of claim 1, wherein: The first end surface tooth and the recess end surface of the thigh bone are provided with a second elastic part.

7. The wearable exoskeleton structure of claim 1, wherein: The first end surface tooth and / or the second end surface tooth is provided with a containing groove, and the elastic part is arranged in the containing groove.

8. The wearable exoskeleton structure of claim 7, wherein: The elastic part is a spring or an elastic rubber ring.

9. The wearable exoskeleton structure of claim 1, wherein: The first end surface tooth and the calf bone are integrally formed.

10. The wearable exoskeleton structure of claim 1, wherein: The thigh bone and the calf bone are formed by 3D printing.

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