CN218652883U

CN218652883U - Lower limb exoskeleton rehabilitation instrument and leg length adjusting mechanism thereof

Info

Publication number: CN218652883U
Application number: CN202222929312.3U
Authority: CN
Inventors: 赵泰祥; 黄水平; 李爱民; 方小伟; 苏莹
Original assignee: Anhui Aibo Intelligent Technology Co ltd
Current assignee: Anhui Aibo Intelligent Technology Co ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-03-21
Anticipated expiration: 2032-10-31

Abstract

The utility model discloses a low limbs ectoskeleton rehabilitation apparatus and long adjustment mechanism of leg thereof, this long adjustment mechanism of leg includes: a leg tube having a locking assembly and a nut assembly mounted thereon, the nut assembly being rotatable relative to the leg tube; the leg rod is inserted in the leg pipe in a sliding mode and is in threaded fit with the nut component; the limiting structure is used for limiting the circumferential position of the leg rod; the locking assembly is used for pressing and fixing the leg rod and the leg pipe in a radial direction. Through structural optimization, the leg length adjusting mechanism can realize stepless adjustment, has good adaptability to patients with different leg lengths, and has better stability after being adjusted.

Description

Lower limb exoskeleton rehabilitation instrument and leg length adjusting mechanism thereof

Technical Field

The utility model relates to a rehabilitation apparatus technical field especially relates to a lower limbs ectoskeleton rehabilitation apparatus and long adjustment mechanism of leg thereof.

Background

The lower limb exoskeleton rehabilitation instrument is a rehabilitation instrument for assisting people in walking and training legs, which is developed for patients with cerebral apoplexy (commonly known as apoplexy) and hemiplegia, organically combines the mechanical structure of the exoskeleton and the two legs of the people, enables the patients to walk and train through the operation of an operator, and can be designed with different gaits and pace speeds to adapt to the patients with different diseases so as to improve the treatment effect.

However, different patients have different body types, particularly different lengths of limbs, and in order to adapt to different patients, the lower limb exoskeleton rehabilitation apparatus is generally provided with a leg length adjusting structure, the existing leg length adjusting structure is mainly adjusted in a stepped manner, and the stability of the leg length adjusting structure after adjustment is poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a low limbs ectoskeleton rehabilitation device and long adjustment mechanism of leg thereof, through configuration optimization, this long adjustment mechanism of leg can realize electrodeless regulation, and is good to the patient adaptability of different long legs to adjust the long mechanism of back leg and have better stability.

In order to solve the technical problem, the utility model provides a long adjustment mechanism of leg of recovered apparatus of low limbs ectoskeleton, include:

a leg tube having a locking assembly and a nut assembly mounted thereon, the nut assembly being rotatable relative to the leg tube;

the leg rod is inserted in the leg pipe in a sliding mode and is in threaded fit with the nut component;

the limiting structure is used for limiting the circumferential position of the leg rod;

the locking assembly is used for pressing and fixing the leg rod and the leg pipe in a radial direction.

The utility model provides a long adjustment mechanism of leg is applied to low limbs ectoskeleton rehabilitation apparatus, leg pipe and leg pole including sliding connection, the rotatable nut assembly screw-thread fit of installation on leg pole and the leg pipe, and through limit structure restriction circumference position, and thus, the nut assembly rotates, the leg pole can only follow leg pipe relative slip under the spacing effect of limit structure circumference, in order to change the cooperation length of leg pipe and leg pole, adjust the length of long structure of leg, adjust the leg length through screw-thread fit's mode, can realize stepless regulation, after adjusting, lock the relative position of leg pole and leg pipe through the locking subassembly, the locking subassembly specifically compresses tightly fixedly along radial leg pole and leg pipe, that is to say, the locking subassembly is in the position that the radial application of force was injectd leg pole and leg pipe, it is effectual to lock, can avoid leg pole and leg pipe not hard up to produce harmful effects.

The leg length adjusting mechanism of the lower limb exoskeleton rehabilitation instrument comprises a locking assembly, a locking assembly and a locking mechanism, wherein the locking assembly comprises a fixing ring, a pressing block and a cam; the fixing ring is fixed relative to the leg tube, the tube wall of the leg tube is provided with a limiting hole, the pressing block is located in the limiting hole, and the cam is pivoted with the fixing ring to press the pressing block against the leg rod along the radial direction.

According to the leg length adjusting mechanism of the lower limb exoskeleton rehabilitation instrument, the fixing ring is sleeved on the leg tube and comprises a first ring part and a second ring part which are arranged in a split mode and fixed relatively, the first ring part is provided with a lug extending out along the radial direction of the leg tube, the leg tube is provided with a jack, and the lug is inserted into the jack.

The leg length adjusting mechanism of the lower limb exoskeleton rehabilitation instrument comprises a limiting structure and a limiting device, wherein the limiting structure comprises a guide block fixedly arranged on the inner wall of the leg tube and a guide groove arranged on the outer peripheral wall of the leg rod, the guide groove extends along the length direction of the leg rod, and the guide block is in slidable fit with the guide groove.

The leg length adjusting mechanism of the lower extremity exoskeleton rehabilitation instrument is characterized in that the locking assembly is provided with the guide block.

The leg length adjusting mechanism of the lower extremity exoskeleton rehabilitation instrument comprises a shell and a nut, wherein the nut is fixedly connected with the shell, the shell is sleeved outside the leg tube and is axially limited and connected with the leg tube, and the shell can rotate relative to the leg tube; the nut is in threaded connection with the leg rod.

According to the leg length adjusting mechanism of the lower extremity exoskeleton rehabilitation instrument, at least one bearing is arranged between the shell and the leg tube.

According to the leg length adjusting mechanism of the lower extremity exoskeleton rehabilitation instrument, two bearings are arranged between the shell and the leg tube, and are separated by the bushing in the axial direction; one of the bearings is a deep groove ball bearing, and the other bearing is a thrust bearing.

According to the leg length adjusting mechanism of the lower limb exoskeleton rehabilitation instrument, the nut is a trapezoidal nut.

The utility model also provides a recovered apparatus of low limbs ectoskeleton, including above-mentioned arbitrary one the long adjustment mechanism of leg.

Since the leg length adjusting mechanism has the technical effects, the lower limb exoskeleton rehabilitation apparatus comprising the leg length adjusting mechanism also has the same technical effects, and the discussion is not repeated.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a leg length adjustment mechanism provided in the present invention;

FIG. 2 is a cross-sectional view of the leg length adjustment mechanism of FIG. 1;

fig. 3 is an exploded view of the leg length adjustment mechanism of fig. 1.

Description of the reference numerals:

leg tube 10, leg rod 20, guide groove 21;

the locking assembly 30, the fixing ring 31, the first ring part 311, the bump 3111, the second ring part 312, the pressing block 32, the cam 33, the handle part 331, and the pivot shaft 34;

the nut assembly 40, the housing 41, the nut 42, the first bearing 43, the second bearing 44, the bushing 45, and the support ring 46.

Detailed Description

In order to make the technical field better understand the solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and the detailed description.

For ease of understanding and clarity of description, the following description is provided in conjunction with a lower extremity exoskeleton rehabilitation apparatus and its leg length adjustment mechanism, and the beneficial effects will not be repeated.

The lower limb exoskeleton rehabilitation instrument is used for assisting a patient to carry out walking training, and enables the patient to carry out the walking training in a mode of organically combining a mechanical leg length structure and the legs of the human body. The key point of the method is that the leg length adjusting structure of the lower limb exoskeleton rehabilitation instrument is improved, and other structures of the lower limb exoskeleton rehabilitation instrument can be realized based on the prior art, and are not detailed here.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a leg length adjustment mechanism provided in the present invention.

In this embodiment, the leg length adjusting mechanism of the lower extremity exoskeleton rehabilitation apparatus comprises a leg tube 10, a leg rod 20, a locking assembly 30 and a nut assembly 40, wherein the locking assembly 30 and the nut assembly 40 are both installed on the leg tube 10, specifically located at one end of the leg tube 10 close to the leg rod 20, the nut assembly 40 is rotatable relative to the leg tube 10, the leg rod 20 is slidably inserted into the leg tube 10, the leg rod 20 is in threaded connection with the nut assembly 40, and the locking assembly 30 is used for radially compressing and fixing the leg rod 20 and the leg tube 10.

The radial direction here means a direction perpendicular to the axial direction of the leg tube 10, i.e., the longitudinal direction of the leg tube 10.

The leg length adjusting mechanism further includes a limiting structure for limiting the circumferential position of the leg lever 20 to prevent the leg lever 20 from rotating in the circumferential direction.

After the arrangement, the leg length adjusting mechanism can adjust the leg length by rotating the nut component 40, in practical application, the leg length can be adjusted according to different requirements of patients by operating the locking component 30 to release the fixation between the leg rod 20 and the leg tube 10, then rotating the nut component 40, because the leg rod 20 is limited in circumferential position by the limiting structure and cannot rotate, under the threaded fit with the nut component 40, the leg rod 20 can only move along the axial direction, namely, the nut component 40 can be rotated to enable the leg rod 20 to move axially relative to the leg tube 10 so as to change the insertion length between the leg rod and the leg tube, thereby adjusting the leg length, understandably, the length of the leg length is increased or decreased relative to the rotating direction of the nut component 40, the leg length adjusting mode is realized by threaded fit, stepless adjustment can be carried out, the length adjustment of the leg length is not limited, the application requirements of different patients can be met, and the adaptability and the universality are improved; after the leg length is adjusted, the locking assembly 30 is operated to press and fix the leg rod 20 and the leg tube 10 in the radial direction to lock the relative positions of the two, the locking mode applies force from the radial direction of the leg rod 20 and the leg tube 10, the locking effect is good, the two can be effectively prevented from being loosened to generate adverse effects, and the stability is good.

Referring to fig. 2 and 3 together, fig. 2 is a cross-sectional view of the leg length adjustment mechanism of fig. 1; fig. 3 is an exploded view of the leg length adjustment mechanism of fig. 1.

In this embodiment, the locking assembly 30 includes a fixing ring 31, a pressing block 32 and a cam 33, wherein the fixing ring 31 is fixed to the leg tube 10, the fixing ring 31 can be sleeved on the leg tube 10, a limiting hole (not labeled) is formed on the tube wall of the leg tube 10, the pressing block 32 is located in the limiting hole, the cam 33 is pivoted to the fixing ring 31 to press the pressing block 32 against the leg rod 20 in the radial direction, the pivot axis of the cam 33 is parallel to the axial direction of the leg tube 10, so that the cam 33 can apply force to the pressing block 32 when rotating around the pivot axis, and the leg rod 20 is pressed and fixed to the leg tube 10 by the pressing block 32.

Specifically, a pivot shaft 34 may be provided on the fixed ring 31, and the cam 33 may be pivotally connected to the fixed ring 31 via the pivot shaft 34. To facilitate rotation of the cam 33, a handle 331 (shown in fig. 1) may be integrally formed on the body of the cam 33.

As can be seen from fig. 2, a portion of the pressing piece 32 is located in the leg tube 10 through the position-limiting hole and can contact with the outer peripheral wall of the leg rod 20 inserted into the leg tube 10, and the pressing piece 32 can be prevented from being removed from the position-limiting hole by the cooperation of the position-limiting hole of the leg tube 10, the leg rod 20 and the cam 33.

When specifically setting up, for the relative position of restriction solid fixed ring 31 and leg pipe 10 in the axial, avoid solid fixed ring 31 to shift along the relative leg pipe 10 of axial, set up solid fixed ring 31 as the components of a whole that can function independently structure, including first ring portion 311 and second ring portion 312, two ring portions hold the periphery of fixing at leg pipe 10 tightly, and accessible fasteners such as screw are fixed between two ring portions.

Wherein, the inner wall of the first ring portion 311 is provided with a projection 3111 extending in the radial direction towards the leg tube 10, the corresponding position of the leg tube 10 is provided with a socket, when the first ring portion 311 embraces the leg tube 10, the projection 3111 can be inserted into the socket, thereby defining the axial position of the first ring portion 311 and the leg tube 10, and because the first ring portion 311 and the second ring portion 312 are fixed, that is, the axial position of the whole fixed ring 31 and the leg tube 10 is defined.

In order to facilitate the engagement of the cam 33 with the pressing piece 32, the cam 33 may be pivotally connected to the second ring portion 312, and the pressing piece 32 may be disposed at a position engaged with the cam 33.

Specifically, to ensure structural stability, both the first ring portion 311 and the second ring portion 312 may be configured as semicircular ring structures.

In this embodiment, the limiting structure includes a guide block and a guide groove 21, wherein the guide block is fixedly disposed on the inner peripheral wall of the leg tube 10, the guide groove 21 is formed on the outer peripheral wall of the leg rod 20, the guide groove 21 extends along the length direction of the leg rod 20, when the leg rod 20 is inserted into the leg tube 10, the guide groove 21 can be slidably engaged with the guide block of the leg tube 10, that is, the guide block can be inserted into the guide groove 21, so that the guide block and the guide groove 21 interfere with each other in the circumferential direction of the leg rod 20, the leg rod 20 cannot rotate in the circumferential direction, and when the nut assembly 40 is rotated, the leg rod 20 can only extend or retract relative to the leg tube 10 in the axial direction.

To simplify the structure, the guide block may be disposed on the fixing ring 31, and specifically, the protrusion 3111 of the first ring portion 311 may be simultaneously used as a guide block to be slidably engaged with the guide groove 21 of the leg bar 20; in addition, the pressing piece 32 of the locking assembly 30 can be used as a guide piece to be slidably matched with the guide groove 21 of the leg rod 20.

In this embodiment, two guiding grooves 21 are disposed on the leg rod 20, and are respectively slidably engaged with the protrusion 3111 and the pressing block 32, that is, two sets of guiding blocks and guiding grooves are disposed between the leg rod 20 and the leg tube 10, so as to limit the circumferential direction of the leg rod 20 and guide the extension and retraction of the leg rod 20, which is beneficial to improving the stability of the motion of the leg rod 20.

In other embodiments, a guide block engaged with the guide groove 21 may be separately provided on the inner wall of the leg tube 10.

In this embodiment, the nut assembly 40 includes a housing 41 and a nut 42, the nut 42 is fixedly connected to the housing 41, the housing 41 is sleeved on the leg tube 10 and axially connected to the leg tube 10 in a limiting manner, the housing 41 can rotate relative to the leg tube 10, and the nut 42 is threadedly connected to the leg rod 20. The nut 42 is mounted on the leg tube 10 through the housing 41, and has a simple structure and is convenient to assemble.

The nut 42 and the housing 41 may be fixed by a fastening member such as a screw.

Specifically, a bearing is provided between the housing 41 and the leg tube 10 to bear the housing 41 and reduce friction between the housing 41 and the leg tube 10 when the housing 41 rotates.

More specifically, two bearings, namely a first bearing 43 and a second bearing 44, are arranged between the housing 41 and the leg tube 10, in order to avoid mutual influence between the two bearings, the first bearing 43 and the second bearing 44 can be separated by a bushing 45, and in practical arrangement, the first bearing 43 can be a deep groove ball bearing mainly used for bearing radial load, and the second bearing 44 can be a thrust bearing mainly used for bearing axial load. In practice, the choice of the specific type of bearing can be adjusted as desired.

Depending on the need to facilitate limiting the position of the bearing, a support ring 46 may also be fixed to the leg tube 10, as shown in fig. 2, with the second bearing 44 supported by the support ring 46. In the illustration, the support ring 46 is also of a split construction to facilitate assembly with the leg tube 10.

In this embodiment, the nut 42 may be a trapezoidal nut, and the leg rod 20 has a trapezoidal thread matching with the trapezoidal nut, so that the nut 42 and the leg rod 20 have a self-locking function, and the leg rod 20 and the leg tube 10 that are adjusted in position can be doubly fixed by the compression locking of the cam 33, thereby further ensuring structural stability.

The above description describes the lower limb exoskeleton rehabilitation instrument and the leg length adjusting mechanism thereof in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the scope of the appended claims.

Claims

1. Leg length adjustment mechanism of recovered apparatus of lower limbs ectoskeleton, its characterized in that includes:

2. The leg length adjustment mechanism for a lower extremity exoskeleton rehabilitation instrument of claim 1 wherein said locking assembly comprises a retaining ring, a weight and a cam; the fixing ring is fixed relative to the leg tube, the tube wall of the leg tube is provided with a limiting hole, the pressing block is located in the limiting hole, and the cam is pivoted with the fixing ring to press the pressing block against the leg rod along the radial direction.

3. The leg length adjustment mechanism of the lower extremity exoskeleton rehabilitation device of claim 2, wherein the fixing ring is sleeved on the leg tube, the fixing ring comprises a first ring part and a second ring part which are separately arranged and relatively fixed, the first ring part is provided with a projection which extends towards the leg tube along the radial direction, the leg tube is provided with a jack, and the projection is inserted into the jack.

4. The leg length adjustment mechanism of the lower extremity exoskeleton rehabilitation apparatus of claim 1, wherein the limiting structure comprises a guide block fixedly arranged on the inner wall of the leg tube and a guide groove arranged on the outer peripheral wall of the leg rod, the guide groove extends along the length direction of the leg rod, and the guide block is slidably matched with the guide groove.

5. The leg length adjustment mechanism for a lower extremity exoskeleton rehabilitation instrument of claim 4 wherein said locking assembly is provided with said guide block.

6. The leg length adjustment mechanism for the lower extremity exoskeleton rehabilitation device of any one of claims 1 to 5, wherein the nut assembly comprises a housing and a nut, the nut is fixedly connected with the housing, the housing is sleeved on the leg tube and is in axial limit connection with the leg tube, and the housing can rotate relative to the leg tube; the nut is in threaded connection with the leg rod.

7. The leg length adjustment mechanism for a lower extremity exoskeleton rehabilitation apparatus of claim 6 wherein at least one bearing is provided between the housing and the leg tube.

8. The leg length adjustment mechanism for a lower extremity exoskeleton rehabilitation device of claim 7 wherein two bearings are provided between said housing and said leg tube, said two bearings being axially separated by a bushing; one of the bearings is a deep groove ball bearing, and the other bearing is a thrust bearing.

9. The leg length adjustment mechanism for a lower extremity exoskeleton rehabilitation device of claim 6 wherein said nut is a trapezoidal nut.

10. A lower extremity exoskeleton rehabilitation apparatus comprising a leg length adjustment mechanism as claimed in any one of claims 1 to 9.