阅读说明：本技术 肢体康复外骨骼和肢体康复系统 (Limb rehabilitation exoskeleton and limb rehabilitation system ) 是由 谭高辉 马舜 梁余意 徐博源 于 2019-09-25 设计创作，主要内容包括：本发明公开一种肢体康复外骨骼和应用该肢体康复外骨骼的肢体康复系统,其中,肢体康复外骨骼包括：第一支撑杆；第二支撑杆,第二支撑杆与第一支撑杆转动连接；第一导轮组件,第一导轮组件设于第一支撑杆背离第二支撑杆的端部；第二导轮组件,第二导轮组件设于第二支撑杆背离第一支撑杆的端部；以及捆绑结构,捆绑结构用于固定部分肢体于第一支撑杆,且固定部分肢体于第二支撑杆。本发明技术方案旨在采用外骨骼辅助人体康复时,起到导向的作用,并固定肢体使其进行合理的运动轨迹,提高康复效果。(The invention discloses a limb rehabilitation exoskeleton and a limb rehabilitation system using the same, wherein the limb rehabilitation exoskeleton comprises: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and the binding structure is used for fixing part of the limb on the first support rod and fixing part of the limb on the second support rod. The technical scheme of the invention aims to play a role in guiding when the exoskeleton is adopted to assist the human body to recover, fix limbs to enable the limbs to move reasonably, and improve the recovery effect.)

1. A limb rehabilitation exoskeleton, comprising:

One end of the first supporting rod is provided with a first rotating shaft hole;

A second support rod, one end of which is provided with a second rotating shaft hole, and a rotating shaft sequentially passes through the first rotating shaft hole and the second rotating shaft hole so that the second support rod and the first support rod can rotate relatively;

The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod;

The second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and

The binding structure is used for fixing part of limbs on the first supporting rod and fixing part of limbs on the second supporting rod.

2. The limb rehabilitation exoskeleton of claim 1 wherein said binding structure comprises:

The first binding assembly is arranged on the first support rod and used for fixing part of limbs on the first support rod; and

The second binding assembly is arranged on the second supporting rod and used for fixing part of limbs on the second supporting rod.

3. The limb rehabilitation exoskeleton of claim 2 wherein said first strapping assembly is disposed at an end of said first support bar facing away from said second support bar.

4. the limb rehabilitation exoskeleton of claim 2 wherein said first strapping assembly comprises a first strap and a first carrier, said first carrier being connected to said first support bar, said first strap cooperating with said first carrier to form a first fixation space.

5. The limb rehabilitation exoskeleton of claim 4 wherein an abutment plate is provided at one end of the first bearing member near the first guide wheel assembly, the abutment plate being used for abutting and limiting the limb.

6. the limb rehabilitation exoskeleton of claim 2 wherein said second binding assembly comprises a second binding member and a second bearing member, said second bearing member being connected to said second support bar, said second binding member cooperating with said second bearing member to form a second fixation space.

7. The limb rehabilitation exoskeleton of any one of claims 2 to 6 wherein said binding structure further comprises an auxiliary binding assembly connected to said first or second support bar, said auxiliary binding assembly being located between said first and second binding assemblies.

8. the limb rehabilitation exoskeleton of claim 7 wherein said auxiliary binding assembly comprises an auxiliary carrier and an auxiliary binding, said auxiliary carrier being connected to said first support bar, said auxiliary binding forming an auxiliary binding space with said auxiliary carrier.

9. the limb rehabilitation exoskeleton of claim 8 wherein the first guide wheel assembly and the second guide wheel assembly are each adapted to rest on a support surface, the auxiliary bearing member being formed with an auxiliary restraint slot, the notch of the auxiliary restraint slot being disposed towards the support surface;

when the first binding assembly comprises a first bearing piece, the first bearing piece is provided with a first limiting groove, and a notch of the first limiting groove is arranged to deviate from the supporting surface;

When the second binding assembly comprises a second bearing piece, a second limiting groove is formed in the second bearing piece, and a notch of the second limiting groove is arranged to deviate from the supporting surface;

and/or when the first guide wheel assembly and the second guide wheel assembly are both arranged on a supporting surface, the first bearing piece is projected on the supporting surface to form a first projection area, the auxiliary bearing piece is projected on the supporting surface to form an auxiliary projection area, and the first projection area is larger than the auxiliary projection area;

And/or the auxiliary bearing piece is arranged at the end part of the first supporting rod close to the second supporting rod.

10. a limb rehabilitation system comprising two sets of limb rehabilitation exoskeletons as claimed in any one of claims 1 to 9 arranged in opposition.

Technical Field

The invention relates to the technical field of exoskeletons, in particular to a limb rehabilitation exoskeleton and a limb rehabilitation system using the same.

Background

In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.

In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. And through artificially carrying out acute-phase rehabilitation training, the rehabilitation mode cannot be well controlled, such as effective switching of passive, active and impedance modes, or the existing rehabilitation training can also be assisted by some machines to guide rehabilitation, but the motion track of the existing auxiliary machine is not smooth enough, a large error exists between the motion track of the limb and the motion track of the limb, and meanwhile, due to unreasonable fixation of the limb, the limb does not carry out reasonable rehabilitation motion according to the auxiliary machine, so that the rehabilitation effect is not ideal.

the above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a limb rehabilitation exoskeleton, which aims to play a role in guiding when the exoskeleton is adopted to assist human body rehabilitation, fix limbs to enable the limbs to move reasonably and improve the rehabilitation effect.

in order to achieve the above object, the present invention provides a limb rehabilitation exoskeleton, comprising:

One end of the first supporting rod is provided with a first rotating shaft hole;

A second support rod, one end of which is provided with a second rotating shaft hole, and a rotating shaft sequentially passes through the first rotating shaft hole and the second rotating shaft hole so that the second support rod and the first support rod can rotate relatively;

The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod;

The second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and

The binding structure is used for fixing part of limbs on the first supporting rod and fixing part of limbs on the second supporting rod.

In an embodiment of the present invention, the binding structure includes:

The first binding assembly is arranged on the first support rod and used for fixing part of limbs on the first support rod; and

The second binding assembly is arranged on the second supporting rod and used for fixing part of limbs on the second supporting rod.

In an embodiment of the present invention, the first binding assembly is provided at an end of the first support bar facing away from the second support bar.

In an embodiment of the present invention, the first binding assembly includes a first binding member and a first bearing member, the first bearing member is connected to the first support rod, and the first binding member and the first bearing member cooperate to form a first fixing space.

in an embodiment of the invention, an abutting plate is bent at one end of the first bearing member close to the first guide wheel assembly, and the abutting plate is used for abutting and limiting the limb.

in an embodiment of the present invention, the second binding assembly includes a second binding member and a second bearing member, the second bearing member is connected to the second support rod, and the second binding member and the second bearing member cooperate to form a second fixing space.

In an embodiment of the present invention, the binding structure further includes an auxiliary binding assembly connected to the first support bar or the second support bar, the auxiliary binding assembly being located between the first binding assembly and the second binding assembly.

In an embodiment of the present invention, the auxiliary binding assembly includes an auxiliary bearing member and an auxiliary binding member, the auxiliary bearing member is connected to the first support bar, and the auxiliary binding member and the auxiliary bearing member form an auxiliary binding space.

In an embodiment of the present invention, the first guide wheel assembly and the second guide wheel assembly are both disposed on a supporting surface, the auxiliary bearing member is formed with an auxiliary limiting groove, and a notch of the auxiliary limiting groove is disposed toward the supporting surface;

When the first binding assembly comprises a first bearing piece, the first bearing piece is provided with a first limiting groove, and a notch of the first limiting groove is arranged to deviate from the supporting surface;

When the second binding assembly comprises a second bearing piece, the second bearing piece is provided with a second limiting groove, and the notch of the second limiting groove deviates from the supporting surface.

And/or when the first guide wheel assembly and the second guide wheel assembly are both arranged on a supporting surface, the first bearing piece is projected on the supporting surface to form a first projection area, the auxiliary bearing piece is projected on the supporting surface to form an auxiliary projection area, and the first projection area is larger than the auxiliary projection area.

And/or the auxiliary bearing piece is arranged at the end part of the first supporting rod close to the second supporting rod.

The invention also provides a limb rehabilitation system, which comprises two groups of limb rehabilitation exoskeletons which are oppositely arranged, wherein the limb rehabilitation exoskeletons comprise:

A first support bar;

The second support rod is rotatably connected with the first support rod;

The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod;

the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and

The binding structure is used for fixing part of limbs on the first supporting rod and fixing part of limbs on the second supporting rod.

The technical proposal of the invention is that a first support rod and a second support rod are matched through a rotating shaft and a rotating shaft hole to realize rotating connection, a first guide wheel assembly is arranged at the end part of the first support rod departing from the second support rod, and a second guide wheel assembly is arranged at the end part of the second support rod departing from the first support rod, when the first support rod rotates relative to the second support rod under the action of external force, the first guide wheel assembly can play a role of guiding the movement of the end part of the first support rod departing from the second support rod, and the second guide wheel assembly also can play a role of guiding the movement of the end part of the second support rod departing from the first support rod, and because a binding structure fixes partial limbs at one end part of a joint to the first support rod, and fixes partial limbs at the other end part of the joint to the second support rod, when the first support rod and the second support rod rotate, the limbs in front and back of the joint can be simultaneously driven to, thereby performing effective rehabilitation exercise for the limbs.

for example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod is fixed with the shank of the human body through the binding structure, and after the second support rod is fixed with the thigh of the human body through the binding structure, the first support rod is driven to rotate relative to the second support rod so as to drive the lower limbs to do flexion and extension movement. When a human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly is arranged on the first support rod, so that when the first support rod does exercise, the first guide wheel assembly is in contact with the support surface and rolls relative to the support surface, resistance of the first support rod in the exercise process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of limbs, and the human body is ensured to move along the set direction. When the second supporting rod moves, the second guide wheel component is in contact with the supporting surface, so that the resistance of the second supporting rod in the moving process can be reduced, and the motion of the thigh part is more fit with the normal motion trail of the limb.

therefore, according to the technical scheme, when the exoskeleton is adopted to assist the human body to recover, the exoskeleton can play a role in guiding and simultaneously drive the limbs in front of and behind the joint to move, so that the movement tracks of the limbs are fitted, and the recovery effect is improved.

drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a limb rehabilitation exoskeleton according to an embodiment of the present invention;

FIG. 2 is a side view of the body rehabilitation exoskeleton of FIG. 1;

Fig. 3 is a top view of the body rehabilitation exoskeleton of fig. 1.

The reference numbers illustrate:

Reference numerals	name (R)	Reference numerals	Name (R)
				100	exoskeleton for limb rehabilitation	515	First binding piece
10	First support rod	52	Second binding assembly
				20	Second support rod	521	second bearing part
30	First guide wheel assembly	523	Second binding member
				40	second guide wheel assembly	53	Auxiliary binding assembly
51	first bundling assembly	531	Auxiliary bearing piece
				511	First bearing piece	533	Auxiliary binding piece
513	Abutting plate

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

in the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a limb rehabilitation exoskeleton 100. Aims at facilitating the lower limb rehabilitation of patients.

Referring to fig. 1-3, in one embodiment of the present invention, limb rehabilitation exoskeleton 100 comprises: a first support rod 10, a second support rod 20, a first guide wheel assembly 30, a second guide wheel assembly 40 and a binding structure, wherein one end of the first support rod 10 is provided with a first rotating shaft hole (not shown); one end of the second support rod 20 is provided with a second rotation shaft hole (not shown), and a rotation shaft (not shown) sequentially passes through the first rotation shaft hole and the second rotation shaft hole, so that the second support rod 20 and the first support rod 10 can rotate relatively; the first guide wheel assembly 30 is arranged at the end part of the first support rod 10, which is far away from the second support rod 20; the second guide wheel assembly 40 is arranged at the end part of the second support rod 20, which is far away from the first support rod 10; the binding structure is used for fixing a part of the limb on the first support bar 10 and fixing a part of the limb on the second support bar 20.

The first support rod 10 and the second support rod 20 can be both rod-shaped or flat-plate-shaped, and the like, and one end of the first support rod 10 is provided with a first rotating shaft hole; a second rotating shaft hole is formed in one end of the second supporting rod, and a rotating shaft sequentially penetrates through the first rotating shaft hole and the second rotating shaft hole, so that the second supporting rod and the first supporting rod can rotate relatively, and hollow structures can be arranged on the first supporting rod 10 and the second supporting rod 20 in order to reduce the weight of the first supporting rod 10 and the second supporting rod 20. The first support bar 10 and the second support bar 20 can be made of metal, plastic, other alloy materials, and the like. Or a mixture of metal and plastic may be used as long as the stability of the first and second support bars 10 and 20 in use is improved. In an embodiment of the present invention, the size of the second support bar 20 is larger than the size of the first support bar 10, and since the size of the thigh of the human body is larger than the size of the shank, setting the size of the second support bar 20 for supporting the thigh larger than the size of the first support bar 10 for supporting the shank can make the structure of the extremity rehabilitation exoskeleton 100 more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc.

in one embodiment of the present invention, the limb rehabilitation exoskeleton 100 further comprises a power device (not shown) which drives the first support rod 10 to rotate relative to the second support rod 20. The power device may be a motor, which may be a stepper motor or a servo motor or a brush motor or a brushless motor. The output shaft of the motor can also be in transmission connection with the first support rod 10 and/or the second support rod 20 through a transmission member. The transmission part can be a steel wire, a gear, a worm or a belt, and the like, as long as the transmission is convenient, in one embodiment, the motor can be arranged on the second support rod 20, when the power device drives the first support rod 10 to rotate through the transmission component during use, the first support rod 10 drives the shank to move, so that the human body completes actions of bending knees, straightening and the like, and when the actions are completed, the position change amplitude of the power device is very small, so that the power device can be reduced or even prevented from overcoming self gravity to do work. The problems of leg rotation and joint misalignment caused by uneven gravity distribution of joint components are also avoided, and the rehabilitation of a user is better assisted. In order to facilitate the patient to wear the exoskeleton, in this embodiment, the power device is detachably connected to the second support rod 20, when the exoskeleton is worn by the patient, the power device can be detached first to reduce the weight of the exoskeleton when the exoskeleton is worn, and then the power device is mounted on the second support rod 20 after the joint assembly is worn. In other embodiments of the present invention, a power device may be fixedly connected to the second support rod 20 to reduce the number of steps required to wear the exoskeleton.

It should be noted that, in the present application, the "end portion of the first guide wheel assembly 30 disposed in the end portion of the first support rod 10 away from the second support rod 20" is not limited to the end surface of the first support rod 10 in the length direction, and may be understood as the free end of the first support rod 10, that is, the first guide wheel assembly 30 may be mounted at the free end of the first support rod 10, and may be located at a distance from the end surface of the first support rod 10 in the length direction or fixed on the end surface, and the same "end portion of the second guide wheel assembly 40 disposed in the end portion of the second support rod 20 away from the first support rod 10" is referred to the foregoing description, and is not repeated herein.

in addition, the first guide wheel assembly 30 includes a first guide wheel (not labeled), the first support rod 10 is provided with a first rotating shaft (not shown), and the first guide wheel is rotatably sleeved on the first rotating shaft; the second guide wheel assembly 40 includes a second guide wheel, the second support rod 20 is provided with a second rotation shaft, and the second guide wheel is rotatably sleeved on the second rotation shaft. The first guide wheel and the second guide wheel are in contact with the supporting surface, so that when the first supporting rod 10 and the second supporting rod 20 rotate, the first guide wheel and the second guide wheel can be driven to roll relative to the supporting surface, and the rehabilitation exercise is facilitated.

According to the technical scheme of the invention, the first support rod 10 and the second support rod 20 are in rotating connection through the matching of a rotating shaft and a rotating shaft hole, the first guide wheel assembly 30 is arranged at the end part of the first support rod 10 departing from the second support rod 20, the second guide wheel assembly 40 is arranged at the end part of the second support rod 20 departing from the first support rod 10, when the first support rod 10 rotates relative to the second support rod 20 under the action of external force, the first guide wheel assembly 30 can play a role in guiding the movement of the end part of the first support rod 10 departing from the second support rod 20, the second guide wheel assembly 40 can also play a role in guiding the movement of the end part of the second support rod 20 departing from the first support rod 10, and because of a binding structure, part of limbs at one end part of a joint is fixed on the first support rod 10, and part of limbs at the other end part of the joint is fixed on the second support rod 20, when the first support rod 10 and the second support rod 20 rotate, the limbs before and after the joint can be simultaneously driven to do relative motion, thereby effectively rehabilitating the limbs.

for example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod 10 is fixed with the lower leg of the human body through the binding structure, and after the second support rod 20 is fixed with the thigh of the human body through the binding structure, the first support rod 10 is driven to rotate relative to the second support rod 20 to drive the lower limbs to make flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly 30 is arranged on the first support rod 10, so that when the first support rod 10 does exercise, the first guide wheel assembly 30 is in contact with the support surface and rolls relative to the support surface, the resistance of the first support rod 10 in the exercise process can be reduced, the movement of the lower leg part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. When the second support bar 20 moves, the second guide wheel assembly 40 contacts with the support surface, so that the resistance of the second support bar 20 in the moving process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb.

therefore, according to the technical scheme, when the exoskeleton is adopted to assist the human body to recover, the exoskeleton can play a role in guiding and simultaneously drive the limbs in front of and behind the joint to move, so that the movement tracks of the limbs are fitted, and the recovery effect is improved.

It should be noted that the binding structure can be integrally arranged between the first support bar 10 and the second support bar 20, which is convenient for production; or the first support bar 10 and the second support bar 20 can be separately and independently arranged, so that the binding stability is further improved; it is only necessary to ensure that the binding structure fixes the limb at one end of the joint on the first support bar 10 and then fixes the limb at the other end of the joint on the second support bar 20.

In an embodiment of the present invention, the binding structure includes:

A first binding member 51, the first binding member 51 being provided to the first support bar 10 for fixing a part of the limb to the first support bar 10; and

The second binding assembly 52 is disposed on the second support rod 20, and the second binding assembly 52 is used for fixing a part of the limb on the second support rod 20.

Referring to fig. 1 to 3, taking the exoskeleton assisting the lower limb rehabilitation of the human body as an example, considering that the diameter of the thigh of the human body is generally larger than that of the calf, for the stability of the fixation, two binding structures are provided, namely a first binding assembly 51 and a second binding assembly 52, the first binding assembly 51 is used for fixing the calf at the first support rod 10, and the second binding assembly 52 is used for fixing the thigh at the second support rod 20, so that the first binding assembly 51 can completely wrap the calf and is firmly fixed at the first support rod 10, and the second binding assembly 52 completely wraps the thigh and is firmly fixed at the second support rod 20.

Further, the first ligating assembly 51 is provided to an end of the first support bar 10 facing away from the second support bar 20. It can be understood that, in order to make the stress balance, be convenient for rotate, improve recovered effect, locate the tip that first bracing piece 10 deviates from second bracing piece 20 with first bundle subassembly 51, because first guide pulley subassembly 30 is located the tip that first bracing piece 10 deviates from second bracing piece 20, through the roll of guide pulley on the holding surface to also can slightly loose through the manual work and rotate first bracing piece 10 and second bracing piece 20, and drive the limbs and carry out recovered motion. For example, when the second binding assembly 52 is used to fix the thigh to the second supporting rod 20, the first binding assembly 51 is disposed near the ankle of the lower leg, and the guide wheel rolls on the supporting surface, so that the first supporting rod 10 is more convenient to drive the lower leg to perform rehabilitation exercise.

In an embodiment of the present invention, referring to fig. 1 and 2, the first ligating assembly 51 comprises a first binding member 515 and a first carrier 511, the first carrier 511 is connected to the first support bar 10, and the first binding member 515 cooperates with the first carrier 511 to form a first fixing space. It can be understood that the first supporting member 511 can be detachably connected to the first supporting rod 10, so as to facilitate replacement and maintenance of the first supporting member 511 when damaged, and specifically, the first supporting member 511 can be connected by a connection method such as a screw connection, a clamping connection, etc., for example, by forming a threaded hole in the first supporting rod 10, forming a corresponding mounting hole in the first supporting member 511, and passing a screw through the mounting hole and threadedly connecting the threaded hole, so that the first supporting member 511 abuts against the first supporting rod 10. Secondly, since the first carrying member 511 is used for contacting and carrying the limb, the material of the first carrying member 511 may be selected to be a material having a certain flexibility and a load-bearing capacity, such as nylon (PA6, PA66, PAll, PAl2, PA46, PA610, PA612, PAl010, etc.), so as to avoid rigid contact of the limb and reduce the possibility of damage to the limb of the patient. In addition, in order to ensure the stability of the support, a reinforcing member may be connected to a surface of the first supporting member 511 facing away from the limb, the reinforcing member may enhance the stability of the first supporting member 511 and has a certain deformation amount, for example, a plate body formed by an elastic material, so that when the limb is placed on the first supporting member 511, there is a certain deformation amount, the rigid contact is reduced, and the stability of the support is improved.

In an embodiment of the present invention, referring to fig. 1 and 3 in combination, an abutting plate 513 is disposed at an end of the first carrier 511 close to the first guide wheel assembly 30, and the abutting plate 513 is used for abutting against the limb. It can be understood that, take the example of the lower limb rehabilitation of the exoskeletal auxiliary human body, first carrier 511 is used for fixing the position of the shank, thereby in order to fix the foot of the patient while fixing the shank, therefore, bend at the one end that first carrier 511 is close to first guide wheel subassembly 30 and set up butt plate 513, foot for the spacing patient of butt, the contained angle that forms between butt plate 513 and first bracing piece 10 sets up to 87 degrees to 100 degrees, prevent the drop foot promptly, avoid muscle spasm again, and guarantee the heel laminating, the shape of butt plate 513 can set up the shape unanimity with human sole board, better accord with human structure, and then fix patient's limbs better.

In an embodiment of the present invention, the second binding assembly 52 includes a second binding member 523 and a second bearing member 521, the second bearing member 521 is connected to the second support rod 20, and the second binding member 523 and the second bearing member 521 cooperate to form a second fixing space. That is, the second supporting member 521 can be detachably connected to the second supporting rod 20, so as to facilitate replacement and maintenance of the second supporting member 521 when damaged, and in particular, reference may be made to the connection manner of the first supporting member 511 and the first supporting rod 10, which will not be described herein. It should be noted that, for example, the exoskeleton assists the lower limb rehabilitation of the human body, since the second binding assembly 52 is used for fixing the thigh at the second support rod 20, and the diameter of the thigh is generally larger than the diameter of the shank, the contact area between the second bearing member 521 and the limb is larger than the contact area between the first bearing member 511 and the limb, and therefore, the size of the second bearing member 521 is larger than the size of the first bearing member 511 during the design, so that the binding structure of the limb rehabilitation exoskeleton 100 can be more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc. In addition, in order to ensure the stability of the support, a reinforcing member may be connected to a side of the second bearing member 521 away from the limb, and the reinforcing member may enhance the stability of the support of the second bearing member 521, such as a plate body formed of an elastic material, so that when the limb is placed on the second bearing member 521, there is a certain amount of deformation, which reduces the rigid contact and improves the stability of the support. In addition, the second binding piece 523 can be a magic tape or a cloth tape, a connecting hole is formed in the second bearing piece 521, and the second binding piece 523 penetrates through the connecting hole to drive the two ends of the second bearing piece 521 to press the limbs of the patient, so that the limbs of the patient can be stably fixed on the second support rod 20.

referring to fig. 1 and 3 in combination, in an embodiment of the present invention, the binding structure further includes an auxiliary binding assembly 53, the auxiliary binding assembly 53 is connected to the first support bar 10 or the second support bar 20, and the auxiliary binding assembly 53 is located between the first binding assembly 51 and the second binding assembly 52. Since the first binding assembly 51 and the second binding assembly 52 are spaced apart from each other, so that the stability of fixing the limb between the first binding assembly 51 and the second binding assembly 52 is not high, and in order to further improve the stability of fixing the limb, the auxiliary binding assembly is disposed between the auxiliary binding assembly and the first binding assembly 51 and the second binding assembly 52, it should be noted that the auxiliary binding assembly can be connected to the first support rod 10 or the second support rod 20, only a part of the limb between the first binding assembly 51 and the second binding assembly 52 needs to be fixed, so that the limb of the patient is fixed by three points of the first binding assembly 51, the second binding assembly 52 and the auxiliary binding assembly 53, and the limb of the patient is completely fixed, thereby ensuring that the rehabilitation exoskeleton 100 can perform rehabilitation exercises following the limb rehabilitation exoskeleton 100, and improving the rehabilitation effect.

in an embodiment of the present invention, the auxiliary binding assembly 53 includes an auxiliary carrier 531 and an auxiliary binding 533, the auxiliary carrier 531 is connected to the first support bar 10, and the auxiliary binding 533 and the auxiliary carrier 531 form an auxiliary binding space. For convenience of maintenance and replacement, the auxiliary group first bearing part 511 may be detachably connected to the first support rod 10, for example, a threaded hole is formed in the first support rod 10, a corresponding connecting hole is formed in the auxiliary group first bearing part 511, and a screw passes through the connecting hole and is matched with the threaded hole, so that the auxiliary bearing part 531 is fixed at the first support rod 10, or the auxiliary group first bearing part may be fastened or adhered, specifically, selected by a person skilled in the art according to actual situations, and will not be described herein. In addition, the auxiliary binding member 533 can be a hook and loop fastener or a cloth strap, an auxiliary connecting hole is formed in the auxiliary bearing member 531, and the auxiliary binding member 533 penetrates through the auxiliary connecting hole to drive the two ends of the auxiliary bearing member 531 to press the limbs of the patient, so that the limbs of the patient can be stably fixed on the first support rod 10.

Further, the first guide wheel assembly 30 and the second guide wheel assembly 40 are both disposed on the supporting surface, the auxiliary bearing member 531 is formed with an auxiliary limiting groove, and a notch of the auxiliary limiting groove is disposed toward the supporting surface;

When the first bundling assembly 51 comprises the first bearing piece 511, the first bearing piece 511 is formed with a first limiting groove, and a notch of the first limiting groove is arranged away from the supporting surface;

When the second binding assembly 52 includes the second bearing member 521, the second bearing member 521 is formed with a second limiting groove, and a notch of the second limiting groove is disposed away from the supporting surface.

it can be understood that, because the first bearing component 511 and the second bearing component 521 mainly provide a supporting force for the limb, the notch formed with the first limiting groove on the first bearing component 511 and the notch formed with the second limiting groove on the second bearing component 521 are both set away from the supporting surface, which not only can play a better supporting role, but also can provide a restraining force, and prevent the recovery from being influenced by the difficulty in controlling muscle strength due to the fact that the leg is too fast stretched due to gravity; meanwhile, when the limbs of the patient are placed, the patient can easily wear the limb rehabilitation exoskeleton 100 without lifting up, adjusting and wearing the limb rehabilitation exoskeleton. In addition, the auxiliary bearing member 531 mainly exerts an auxiliary limiting force, so that the notch of the auxiliary limiting groove formed in the auxiliary bearing member 531 faces the support surface, and the function of limiting and abutting is realized. This wearing process can be assisted by one person completely and accomplish the dress, and the at utmost saves the labour human cost, improves the efficiency of using.

And/or when the first guide wheel assembly 30 and the second guide wheel assembly 40 are both disposed on the supporting surface, the first bearing part 511 is projected on the supporting surface to form a first projection area, and the auxiliary bearing part 531 is projected on the supporting surface to form an auxiliary projection area, where the first projection area is larger than the auxiliary projection area. It can be understood that the first bearing part 511 is projected on the supporting surface to form a first projection area larger than the auxiliary bearing part 531 is projected on the supporting surface to form an auxiliary projection area, that is, the area of the limb wrapped by the first bearing part 511 is larger than the area of the limb wrapped by the auxiliary bearing part 531, because the first bearing part 511 and the second bearing part 521 mainly provide a supporting force for the limb, the generated force is larger, and therefore the area of the limb wrapped by the first bearing part 511 is larger; the auxiliary bearing member 531 provides an auxiliary limiting force, the generated force is small, and in order to save cost and facilitate use, the area of the limb wrapped by the auxiliary bearing member 531 is smaller than the area of the limb wrapped by the first supporting rod 10.

And/or, the auxiliary bearing 531 is provided at an end of the first support bar 10 near the second support bar 20. Locate the tip that first bracing piece 10 is close to second bracing piece 20 with supplementary carrier 531 to make limbs set up first bundle respectively through the interval in proper order and tie up subassembly 51, supplementary subassembly 53 and the second of tying up these three positions of subassembly 52 and fix, thereby make limbs be fixed in first bracing piece 10 and second bracing piece 20 department completely and rationally, and then make first bracing piece 10 and second bracing piece 20 drive patient's limbs motion when rotating accord with reasonable movement track, improved recovered effect.

The present invention further provides a limb rehabilitation system, which includes two sets of limb rehabilitation exoskeletons 100 disposed oppositely, and the specific structure of the limb rehabilitation system refers to the above embodiments, and since the air conditioner employs all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not described herein again.

the above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.