Jacking and pulling knee joint and rehabilitation walking exoskeleton

Abstract

The utility model provides a kind of jacking lifting knee joint and rehabilitation walking aid exoskeleton, it is related to medical rehabilitation instrument technical field, solve the technical problem that the walking aid exoskeleton of prior art cannot provide support for patient knee joint, leading to the technical problem that the wearing comfort is not ideal.The jacking lifting knee joint and rehabilitation walking aid exoskeleton include rotation connection's thigh assembly and shank component, and the thigh assembly and shank component are provided with jacking assembly between, and the lifting binding is slidably arranged on the thigh assembly, and jacking assembly is used to drive the lifting binding to move close to or away from shank component when thigh assembly and shank component relatively rotate.The utility model is used to provide a kind of jacking lifting knee joint and rehabilitation walking aid exoskeleton, which can provide support for user knee joint, thereby improving the wearing comfort of user.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation equipment technology, and in particular to a knee joint lifting and rehabilitation assistive exoskeleton. Background Technology

[0002] Currently, with the increasing aging population, the proportion of people experiencing difficulty walking is growing daily. Simultaneously, the number of patients with knee osteoarthritis is also gradually increasing. These patients bear a heavy burden on their knee joints and experience severe pain during daily walking. Therefore, walking exoskeletons are playing an increasingly important role in assisting daily walking and in assisting walking for patients with knee osteoarthritis. Walking exoskeletons can provide walking assistance to people with weakened walking abilities, reduce the burden of outdoor activities, alleviate the load on the knee joints of patients with knee osteoarthritis, reduce the pressure of body weight on the knee joint, reduce knee pain, and effectively improve the wearer's quality of life.

[0003] Existing assistive exoskeletons mainly include direct motor drive and wire rope drive. Direct motor drive has the advantages of a simple drive structure, higher transmission efficiency, and the ability to provide assistance in both knee extension and flexion, offering excellent support. However, the actuators are generally located in the lower limbs, resulting in a larger lower limb mass and increasing the wearer's burden while walking. Wire rope drive has the advantage of a smaller lower limb structure, reducing the burden on the wearer. However, wire rope drive has lower transmission efficiency; it can drive the knee to extend but cannot provide assistance for knee flexion, and it cannot support the knee joint, causing knee pain for patients with knee problems when wearing the exoskeleton. Utility Model Content

[0004] The purpose of this invention is to provide a knee-lifting and rehabilitation assistive exoskeleton to solve the technical problem that existing assistive exoskeletons cannot provide support for the patient's knee joint, resulting in unsatisfactory wearing comfort. 。 The various technical effects of the preferred technical solutions among the many technical solutions provided by this utility model are described in detail below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The present invention provides a knee joint lifting and jacking device, which includes a thigh assembly and a calf assembly rotatably connected. A lifting component is provided between the thigh assembly and the calf assembly. A lifting strap is slidably provided on the thigh assembly. The lifting component is used to drive the lifting strap to move closer to or away from the calf assembly when the thigh assembly and the calf assembly rotate relative to each other.

[0007] Optionally, the lifting assembly includes a guide plate, which is disposed on the lower leg assembly. The guide plate has a guide groove, and a guide wheel is disposed on the guide groove. The lifting strap is connected to the guide wheel, and the guide wheel cooperates with the guide groove so that the guide wheel can be slidably disposed in the guide groove.

[0008] Furthermore, the guide groove is at a different distance from the rotation center of the thigh assembly and the calf assembly. When the thigh assembly and the calf assembly rotate relative to each other, the guide wheel drives the lifting strap to move closer to or away from the calf assembly.

[0009] Optionally, the guide groove is an arc-shaped groove.

[0010] Optionally, the lifting strap is disposed on the guide slider, and the thigh assembly is provided with a guide rail. The guide slider cooperates with the guide rail so that the lifting strap is slidably disposed on the thigh assembly.

[0011] Optionally, it also includes a drive component disposed on the thigh component, the drive component being used to drive the thigh component and the lower leg component to rotate.

[0012] Optionally, the drive assembly includes a motor and a planetary gear reducer, the output shaft of the planetary gear reducer being connected to the lower leg assembly, and the motor being connected to the planet carrier of the planetary gear reducer.

[0013] A rehabilitation assistive exoskeleton, including the knee joint lift and traction as described above.

[0014] Optionally, the thigh assembly includes a thigh plate and a thigh binding, the thigh binding being disposed on the thigh plate;

[0015] And / or, the lower leg assembly includes a lower leg bar and a lower leg strap, the lower leg strap being secured to the lower leg bar;

[0016] And / or, the thigh plate and / or the calf bar are provided with an attitude sensor and a digital-to-analog converter.

[0017] Optionally, it also includes a foot support assembly, which includes a foot support plate, a footrest, an ankle joint connector, and a foot support rod. The foot support rod is connected to the lower leg assembly, the bottom of the ankle joint connector is rotatably connected to the foot support plate, and the top of the ankle joint connector is connected to the foot support rod via the foot support connector.

[0018] Optionally, the lower leg rod is provided with an adjustment groove and an adjustment element, and the foot support rod is provided with a plurality of holes along its length. The foot support rod is adapted to the adjustment groove, and the foot support rod can slide along the adjustment groove so that the foot support rod can be locked on the lower leg rod by the adjustment element cooperating with the holes.

[0019] The beneficial effects of this utility model are as follows: The knee joint lifting and rehabilitation assistive exoskeleton provided by this utility model includes a thigh component and a calf component that are rotatably connected. The calf component is worn on the user's calf, and the thigh component is worn on the user's thigh. A lifting strap is slidably disposed on the thigh component to bind the user's thigh. The lifting strap can slide on the thigh component to change the position of the user's thigh. A lifting component is disposed between the thigh component and the calf component. When the thigh component and the calf component rotate relative to each other, the lifting component can drive the lifting strap to move closer to or away from the calf component. By lifting the strap, the user's thigh can be moved closer to or away from the calf, thereby adjusting the knee joint pressure. This provides support for the user's knee joint when the thigh component and the calf component rotate, thereby improving the user's wearing comfort. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a perspective view of the present invention;

[0022] Figure 2 This is a partial structural diagram of the present invention (A).

[0023] Figure 3 This is a partial structural diagram of the present invention (B).

[0024] Figure 4 This is a front view of the present invention;

[0025] Figure 5 This is a partial structural diagram of the present invention (C).

[0026] Figure 6 This is a schematic diagram of the knee joint bending structure of this utility model;

[0027] Figure 7 This is a partial structural diagram of the present invention (D).

[0028] Figure 8 This is a schematic diagram of the foot support assembly structure of this utility model;

[0029] Figure 9 This is a schematic diagram of the planetary gear reducer structure of this utility model.

[0030] In the picture:

[0031] 1. Lifting assembly; 11. Lifting and binding; 12. Guide plate; 13. Guide groove; 14. Guide wheel; 15. Arc-shaped groove section; 16. Support groove section; 17. Guide slider; 18. Guide slide rail;

[0032] 2. Thigh assembly; 21. Thigh plate; 22. Thigh binding;

[0033] 3. Lower leg assembly; 31. Lower leg rod; 32. Lower leg binding; 33. Indexing pin flange; 34. Indexing pin;

[0034] 4. Foot support assembly; 41. Foot support plate; 42. Footrest; 43. Foot support connector; 44. Ankle joint connector; 45. Foot support rod connector; 46. Foot support rod; 47. Foot support rod limiter; 48. Plantar pressure sensor;

[0035] 5. Drive assembly; 51. Motor; 52. Planetary gear reducer; 521. Internal gear ring; 522. Sun gear; 523. Planetary gears; 524. Planetary carrier; 525. Reducer housing. Detailed Implementation

[0036] Please refer to the attached diagram below. Figures 1-9This document explains the content of this utility model and its differences from existing technologies. The technical solutions (including preferred solutions) of this utility model are further described in detail below through accompanying drawings and examples of optional embodiments. It should be noted that any technical feature or solution in this embodiment is one or more of a variety of optional technical features or solutions. For the sake of brevity, this document cannot exhaustively list all alternative technical features and solutions of this utility model, nor is it convenient to emphasize that each implementation of a technical feature is one of multiple optional implementations. Therefore, those skilled in the art should understand that any technical means provided by this utility model can be replaced, or any two or more technical means or features provided by this utility model can be combined to obtain a new technical solution. No technical feature or solution in this embodiment limits the scope of protection of this utility model. The scope of protection of this utility model should include any alternative technical solutions that can be conceived by those skilled in the art without creative effort, as well as new technical solutions obtained by combining any two or more technical means or features provided by this utility model.

[0037] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] This invention provides a knee-lifting and rehabilitation assistive exoskeleton that provides support to the user's knee joint, thereby improving the user's wearing comfort.

[0040] The following is combined with Figures 1-9The technical solution provided by this utility model will be described in more detail.

[0041] This utility model provides a method for lifting and relieving a knee joint, including a thigh assembly 2 and a calf assembly 3 rotatably connected. A lifting component 1 is provided between the thigh assembly 2 and the calf assembly 3. A lifting strap 11 is slidably provided on the thigh assembly 2. The lifting component 1 is used to drive the lifting strap 11 to move closer to or away from the calf assembly 3 when the thigh assembly 2 and the calf assembly 3 rotate relative to each other.

[0042] The present invention provides a knee-lifting and support system, comprising a thigh assembly 2 and a calf assembly 3 rotatably connected. The calf assembly 3 is worn on the user's calf, and the thigh assembly 2 is worn on the user's thigh. A lifting strap 11 is slidably disposed on the thigh assembly 2 to bind the user's thigh and slide on the thigh assembly 2, thereby changing the position of the user's thigh. A lifting assembly 1 is disposed between the thigh assembly 2 and the calf assembly 3. When the thigh assembly 2 and the calf assembly 3 rotate relative to each other, the lifting assembly 1 drives the lifting strap 11 to move closer to or away from the calf assembly 3. By lifting the strap 11, the user's thigh can be moved closer to or away from the calf, thereby adjusting the knee joint pressure and providing support to the user's knee joint when the thigh assembly 2 and the calf assembly 3 rotate, thus improving the user's wearing comfort.

[0043] Understandably, the thigh component 2 and the calf component 3 are rotatably connected to allow the user's thigh and calf joints to rotate. When the thigh component 2 and the calf component 3 rotate to an upright position, the foot is on the ground, and the body weight needs to be supported by the thigh and calf. At this time, the joint between the thigh and calf needs to bear a lot of pressure. The lifting component 1 drives the human thigh to move away from the calf, lifting the thigh upward, thereby reducing the pressure between the thigh and calf, so as to provide support for the patient's knee joint, making the user more comfortable after wearing it and reducing the user's knee joint pain.

[0044] In some embodiments of this utility model, the lifting assembly 1 includes a guide plate 12, the guide plate 12 is disposed on the lower leg assembly 3, the guide plate 12 is provided with a guide groove 13, the guide groove 13 is provided with a guide wheel 14, the lifting binding 11 is connected to the guide wheel 14, and the guide wheel 14 cooperates with the guide groove 13 so that the guide wheel 14 can be slidably disposed in the guide groove 13;

[0045] Furthermore, the guide groove 13 is at a different distance from the rotation center of the thigh assembly 2 and the calf assembly 3. When the thigh assembly 2 and the calf assembly 3 rotate relative to each other, the guide wheel 14 drives the lifting strap 11 to move closer to or away from the calf assembly 3.

[0046] In some embodiments of the present invention described above, the lifting assembly 1 includes a guide plate 12, on which a guide groove 13 is provided. The guide plate 12 is disposed on the lower leg assembly 3, and a guide wheel 14 is disposed on the guide groove 13. The lifting strap 11 is connected to the guide wheel 14. When the thigh assembly 2 and the lower leg assembly 3 rotate, the guide wheel 14 can slide along the guide groove 13. Since the distance between the guide groove 13 and the rotation center of the thigh assembly 2 and the lower leg assembly 3 is different, the guide wheel 14 sliding along the guide groove 13 can drive the lifting strap 11 to slide on the thigh assembly 2, thereby realizing the adjustment of the position of the lifting strap 11, moving the thigh closer to or away from the lower leg, thereby reducing the pressure between the thigh and the lower leg, so as to provide support for the patient's knee joint, thereby making the user more comfortable after wearing it and reducing the user's knee joint pain.

[0047] In some embodiments of this utility model, the guide groove 13 is an arc-shaped groove.

[0048] In some of the embodiments of this utility model described above, the guide groove 13 is an arc-shaped groove. The arc structure allows the thigh to move more smoothly, ensuring that it rotates slowly and evenly with the thigh component 2 and the calf component 3, thereby improving user comfort.

[0049] Preferably, the guide groove 13 includes an arc-shaped groove segment 15 and a support groove segment 16. The support groove segment 16 is located at the end of the arc-shaped groove segment 15. The support operation is a flat groove, and the support groove segment 16 is at its maximum distance from the rotation center of the thigh assembly 2 and the lower leg assembly 3. When the guide wheel 14 moves to the support groove segment 16, the thigh assembly 2 and the lower leg assembly 3 are in an upright state. At this time, the setting of the support groove segment 16 can ensure a better knee joint support effect.

[0050] In some embodiments of this utility model, the lifting strap 11 is disposed on the guide slider 17, and the thigh assembly 2 is provided with a guide slide rail 18. The guide slider 17 cooperates with the guide slide rail 18 so that the lifting strap 11 is slidably disposed on the thigh assembly 2.

[0051] In some of the embodiments of the present invention described above, the lifting strap 11 is slidably mounted on the thigh assembly 2 by means of a guide rail 18 and a guide slider 17, thereby enabling the lifting strap 11 to move closer to or further away from the calf assembly 3.

[0052] In some embodiments of this utility model, a drive component 5 is also included. The drive component 5 is disposed on the thigh component 2 and is used to drive the thigh component 2 and the lower leg component 3 to rotate.

[0053] In some embodiments of the present invention described above, the driving component 5 is used to drive the thigh component 2 and the lower leg component 3 to rotate, thereby enabling the joint rotation of the thigh component 2 and the lower leg component 3, providing knee joint rotation assistance, facilitating user use, and improving user comfort.

[0054] In some embodiments of this utility model, the drive assembly 5 includes a motor 51 and a planetary gear reducer 52. The output shaft of the planetary gear reducer 52 is connected to the lower leg assembly 3, and the motor 51 is connected to the planet carrier 524 of the planetary gear reducer 52.

[0055] In some embodiments of the present invention described above, the thigh assembly 2 and the lower leg assembly 3 are rotatably connected, the motor 51 is connected to the planet carrier 524 of the planetary gear reducer 52, and the output shaft of the planetary gear reducer 52 is connected to the lower leg assembly 3, thereby realizing the driving of the thigh assembly 2 and the lower leg assembly 3.

[0056] In some embodiments of this utility model, the planetary gear reducer 52 includes a reducer housing 525, an internal gear ring 521, a sun gear 522, planet gears 523, and a planet carrier 524. The planet gears 523 mesh with both the sun gear 522 and the internal gear ring 521. The planet carrier 524 is connected to the planet gears 523. An output shaft is provided on the sun gear 522.

[0057] This invention also provides a rehabilitation assistive exoskeleton, including the knee joint lifting and jacking mechanism as described above.

[0058] In some embodiments of the present invention, the thigh assembly 2 includes a thigh plate 21 and a thigh binding 22, wherein the thigh binding 22 is disposed on the thigh plate 21;

[0059] And / or, the lower leg assembly 3 includes a lower leg bar 31 and a lower leg binding 32, the lower leg binding 32 being fixed to the lower leg bar 31;

[0060] And / or, the thigh plate 21 and / or the lower leg bar 31 are provided with an attitude sensor and a digital-to-analog converter.

[0061] In some embodiments of the present invention, a foot support assembly 4 is also included. The foot support assembly 4 includes a foot support plate 41, a footrest 42, an ankle joint connector 44, and a foot support rod 46. The foot support rod 46 is connected to the lower leg assembly 3. The bottom of the ankle joint connector 44 is rotatably connected to the foot support connector 43 on the foot support plate 41. The top of the ankle joint connector 44 is connected to the foot support rod 46 through a foot support rod connector 45. The top of the ankle joint connector 44 is rotatably connected to the foot support rod connector 45, and the rotation axes of the top and bottom of the ankle joint connector 44 are perpendicular to each other.

[0062] In some embodiments of the present invention described above, the foot support assembly 4 is worn on the user's foot, the foot support plate 41 is used to support the ball of the foot, the footrest 42 is used to support the heel, the ankle joint connector 44 and the foot support connector 43 on the foot support plate 41 are rotatably connected to realize the movement of the ankle joint, the foot support rod 46 is used to connect the lower leg assembly 3, the top of the ankle joint connector 44 is rotatably connected to the foot support rod connector 45, and the rotation axes of the top and bottom of the ankle joint connector 44 are perpendicular to each other, thereby ensuring that the ankle joint has freedom of movement in the front-back and left-right directions, ensuring that the ankle joint can rotate back and forth and swing left and right, meeting the user's normal walking needs.

[0063] It should be noted that the footrest 42 is mounted on the foot support plate 41, and the foot support plate 41 is equipped with elastic bandages to fix the user's feet, which are all conventional technical means in this field and will not be described in detail here.

[0064] In some embodiments of the present invention, the lower leg rod 31 is provided with an adjustment groove and an adjustment member, and the foot support rod 46 is provided with a plurality of holes in the length direction. The foot support rod 46 is adapted to the adjustment groove, and the foot support rod 46 can slide along the adjustment groove so as to lock the foot support rod 46 on the lower leg rod 31 by the cooperation of the adjustment member with the holes.

[0065] In some of the embodiments of the present invention described above, by providing an adjustment groove in the calf bar 31, the foot support bar 46 can be slidably disposed in the adjustment groove, and an adjustment hole is provided on the foot support bar 46. The positions of the foot support bar 46 and the calf bar 31 can be fixed by the adjustment component, thereby realizing the adjustment of the distance between the foot support assembly 4 and the calf assembly 3, which can meet the usage needs of users with different heights and leg lengths.

[0066] Specifically, the adjusting component includes an indexing pin flange 33 and an indexing pin 34. The indexing pin 34 is threaded onto the indexing pin flange 33 and can be inserted into the adjusting hole to fix the foot support assembly 4 and the lower leg assembly 3.

[0067] More specifically, the lower leg bar 31 is provided with a foot support bar limiter 47 to limit the extreme position of the foot support bar 46 movement. The foot support plate 41 is provided with a plantar pressure sensor 48.

[0068] In the description of this specification, references to terms such as “example,” “embodiment,” or “some embodiments” mean that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention.

[0069] In this specification, the illustrative expressions of the terms used do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0070] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A method for lifting and relieving the knee joint, characterized in that, The device includes a rotatably connected thigh assembly and a calf assembly, with a lifting assembly disposed between the thigh assembly and the calf assembly. A lifting strap is slidably disposed on the thigh assembly. The lifting assembly is used to drive the lifting strap to move closer to or away from the calf assembly when the thigh assembly and the calf assembly rotate relative to each other.

2. The method for lifting and relieving the knee joint according to claim 1, characterized in that, The lifting assembly includes a guide plate, which is disposed on the lower leg assembly. The guide plate has a guide groove, and a guide wheel is disposed on the guide groove. The lifting strap is connected to the guide wheel, and the guide wheel cooperates with the guide groove so that the guide wheel can be slidably disposed in the guide groove. Furthermore, the guide groove is at a different distance from the rotation center of the thigh assembly and the calf assembly. When the thigh assembly and the calf assembly rotate relative to each other, the guide wheel drives the lifting strap to move closer to or away from the calf assembly.

3. The method for lifting and relieving the knee joint according to claim 2, characterized in that, The guide groove is an arc-shaped groove.

4. The knee joint lifting and bolstering method according to any one of claims 1-3, characterized in that, The lifting strap is mounted on a guide slider, and a guide rail is provided on the thigh assembly. The guide slider cooperates with the guide rail to allow the lifting strap to slide on the thigh assembly.

5. The knee joint lifting and bolstering method according to any one of claims 1-3, characterized in that, It also includes a drive component disposed on the thigh component, the drive component being used to drive the thigh component and the lower leg component to rotate.

6. The knee joint lifting and bolstering method according to claim 5, characterized in that, The drive assembly includes a motor and a planetary gear reducer. The output shaft of the planetary gear reducer is connected to the lower leg assembly, and the motor is connected to the planet carrier of the planetary gear reducer.

7. A rehabilitation-aiding exoskeleton, characterized in that, This includes lifting and tucking the knee joint as described in any one of claims 1-6.

8. The rehabilitation-aiding exoskeleton according to claim 7, characterized in that, The thigh assembly includes a thigh plate and a thigh binding, the thigh binding being disposed on the thigh plate; And / or, the lower leg assembly includes a lower leg bar and a lower leg strap, the lower leg strap being secured to the lower leg bar; And / or, the thigh plate and / or the calf bar are provided with an attitude sensor and a digital-to-analog converter.

9. The rehabilitation-aiding exoskeleton according to claim 8, characterized in that, It also includes a foot support assembly, which includes a foot support plate, a footrest, an ankle joint connector, and a foot support rod. The foot support rod is connected to the lower leg assembly. The bottom of the ankle joint connector is rotatably connected to the foot support plate, and the top of the ankle joint connector is connected to the foot support rod via the foot support connector.

10. The rehabilitation-aiding exoskeleton according to claim 9, characterized in that, The lower leg rod is provided with an adjustment groove and an adjustment component. The foot support rod is provided with several holes along its length. The foot support rod is adapted to the adjustment groove and can slide along the adjustment groove so that the foot support rod can be locked on the lower leg rod by the adjustment component cooperating with the holes.

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