阅读说明：本技术 一种可穿戴下肢康复装置 (Wearable lower limb rehabilitation device ) 是由 陈玉 刘莉 葛攀 靖亚丽 蒋兰天 韩波 郭策 刘永强 陈清源 周浩淼 郭福民 于 2021-09-17 设计创作，主要内容包括：本发明公开了一种可穿戴下肢康复装置,涉及下肢康复装置的技术领域,包括大腿辅助臂、小腿辅助臂及脚部板,所述大腿辅助臂的后端通过转轴一铰接于腰部固定机构上并在第一驱动机构的作用下进行旋转,所述大腿辅助臂的前端通过转轴二铰接于小腿辅助臂的上端并在第二驱动机构的作用下进行旋转,所述大腿辅助臂内侧的中间设有用于固定使用者大腿的大腿固定板,所述小腿辅助臂内侧的中间设有用于固定使用者小腿的小腿固定板,所述脚部板设于小腿辅助臂的下端。本发明装置中大腿辅助臂和小腿辅助臂采用分段式设计的方式来适应患者大小腿的长度,使患者使用时更加的舒适,并采用硬铝合金材质制成使整个装置更加的轻便。(The invention discloses a wearable lower limb rehabilitation device, which relates to the technical field of lower limb rehabilitation devices and comprises a thigh auxiliary arm, a shank auxiliary arm and a foot plate, wherein the rear end of the thigh auxiliary arm is hinged to a waist fixing mechanism through a first rotating shaft and rotates under the action of a first driving mechanism, the front end of the thigh auxiliary arm is hinged to the upper end of the shank auxiliary arm through a second rotating shaft and rotates under the action of a second driving mechanism, a thigh fixing plate for fixing a thigh of a user is arranged in the middle of the inner side of the thigh auxiliary arm, a shank fixing plate for fixing a shank of the user is arranged in the middle of the inner side of the shank auxiliary arm, and the foot plate is arranged at the lower end of the shank auxiliary arm. The thigh auxiliary arm and the shank auxiliary arm in the device adopt a sectional design mode to adapt to the length of the thigh and the shank of a patient, so that the patient feels more comfortable when using the device, and the whole device is made of hard aluminum alloy materials so as to be more portable.)

1. The utility model provides a wearable lower limbs rehabilitation device which characterized in that: including thigh auxiliary arm (1), shank auxiliary arm (3) and foot board (7), the rear end of thigh auxiliary arm (1) articulates on waist fixed establishment and rotates under the effect of first actuating mechanism (2) through pivot one, the front end of thigh auxiliary arm (1) articulates in the upper end of shank auxiliary arm (3) and rotates under the effect of second actuating mechanism (4) through pivot two, the centre of thigh auxiliary arm (1) inboard is equipped with thigh fixed plate (5) that are used for fixed user's thigh, the centre of shank auxiliary arm (3) inboard is equipped with shank fixed plate (6) that are used for fixed user's shank, the lower extreme of shank auxiliary arm (3) is located in foot board (7).

2. The wearable lower limb rehabilitation device according to claim 1, wherein: thigh auxiliary arm (1) is including thigh linking arm (11), thigh linking arm two (12) and thigh connecting plate (13), the upper and lower both sides of thigh linking arm (11) and thigh linking arm two (12) are equipped with thigh connecting plate (13) respectively, the equipartition has a plurality of thigh connecting plate mounting holes (131) on thigh connecting plate (13), be equipped with the thigh linking arm mounting hole that corresponds with thigh connecting plate mounting hole (131) on thigh linking arm (11) and thigh linking arm two (12) respectively, thigh linking plate (13) and thigh linking arm one (11), thigh linking arm two (12) are through the fix with screw that passes thigh connecting plate mounting hole (131) and thigh linking arm mounting hole, thigh fixed plate (5) are fixed with the inboard of thigh linking arm (11).

3. The wearable lower limb rehabilitation device according to claim 1, wherein: shank auxiliary arm (3) are including shank linking arm one (31), shank linking arm two (32) and shank connecting plate (33), the upper and lower both sides of shank linking arm one (31) and shank linking arm two (32) are equipped with shank connecting plate (33) respectively, the equipartition has a plurality of shank connecting plate mounting holes (331) on shank connecting plate (33), be equipped with the shank linking arm mounting hole that corresponds with shank connecting plate mounting hole (331) on shank linking arm one (31) and shank linking arm two (32) respectively, shank linking plate (33) are fixed through the screw that passes shank linking plate mounting hole (331) and shank linking arm mounting hole, shank fixed plate (6) are fixed with the inboard of shank linking arm one (31).

4. The wearable lower limb rehabilitation device according to claim 2, wherein: the first driving mechanism (2) comprises a first fixing plate (21), a third fixing plate (23) and a first speed reducer (24), the first fixing plate (21) is of a T-shaped structure, one side of the first fixing plate (21) is fixed with the first thigh connecting arm (12) through a second U-shaped fixing plate (22), the other side of the first fixing plate is rotatably connected with the third U-shaped fixing plate (23) through a first rotating shaft, the third fixing plate (23) is arranged on the waist fixing mechanism, and the first speed reducer (24) is arranged on the side face of the third fixing plate (23) and an output shaft of the first speed reducer is connected with the first rotating shaft.

5. The wearable lower limb rehabilitation device according to claim 3, wherein: the second driving mechanism (4) comprises a four fixing plate (41), a six fixing plate (43) and a second speed reducer (44), the four fixing plate (41) is of a T-shaped structure, one side of the four fixing plate (41) is fixed with the first shank connecting arm (32) through a five U-shaped fixing plate (42), the other side of the four fixing plate is rotatably connected with the six U-shaped fixing plate (43) through a second rotating shaft, the six fixing plate (43) is arranged at the front end of the second thigh connecting arm (13), the second speed reducer (44) is installed on the side face of the six fixing plate (43), and an output shaft of the second speed reducer is connected with the second rotating shaft.

6. The wearable lower limb rehabilitation device according to claim 1, wherein: a plurality of tie holes (51) are uniformly distributed on the thigh fixing plate (5) and the shank fixing plate (6).

Technical Field

The invention relates to the technical field of lower limb rehabilitation devices, in particular to a wearable lower limb rehabilitation device.

Background

With the improvement of the living standard of people, the use of various vehicles is increasingly common, and the frequency of various road traffic accidents is greatly increased, so that the number of disabled people is increased. The athlete can easily cause leg injury in training and competition, so the medical level also needs to be improved, the rehabilitation is a very important link, but the cost for helping the athlete to recover in a mode of labor, long time and high cost is very high, the athlete not only needs to be scientifically and effectively treated, but also needs the patient to carry out corresponding matched training to play a role in helping the patient to have certain effect, the lower limb rehabilitation device can provide safe and efficient rehabilitation training for the patient, can reduce the load of the patient, provide performance support for the patient and help the patient to support the ground, and enables the patient to use the rehabilitation equipment more conveniently and more comfortably.

Disclosure of Invention

The invention aims to provide a wearable lower limb rehabilitation device to overcome the defects in the prior art.

The utility model provides a wearable lower limbs rehabilitation device, includes thigh auxiliary arm, shank auxiliary arm and foot board, the rear end of thigh auxiliary arm articulates on waist fixed establishment and rotates under first actuating mechanism's effect through pivot one, the front end of thigh auxiliary arm articulates in the upper end of shank auxiliary arm and rotates under second actuating mechanism's effect through pivot two, the inboard centre of thigh auxiliary arm is equipped with the thigh fixed plate that is used for fixed user thigh, the inboard centre of shank auxiliary arm is equipped with the shank fixed plate that is used for fixed user shank, the lower extreme of shank auxiliary arm is located to the foot board.

Preferably, the thigh auxiliary arm comprises a thigh connecting arm I, a thigh connecting arm II and a thigh connecting plate, the upper side and the lower side of the thigh connecting arm I and the thigh connecting arm II are respectively provided with a thigh connecting plate, a plurality of thigh connecting plate mounting holes are uniformly formed in the thigh connecting plate, thigh connecting arm mounting holes corresponding to the thigh connecting plate mounting holes are formed in the thigh connecting arm I and the thigh connecting arm II respectively, the thigh connecting plate is fixed with the thigh connecting arm I and the thigh connecting arm II through screws penetrating through the thigh connecting plate mounting holes and the thigh connecting arm mounting holes, and the thigh fixing plate is fixed with the inner side of the thigh connecting arm I.

Preferably, the shank auxiliary arm comprises a shank connecting arm I, a shank connecting arm II and shank connecting plates, the upper side and the lower side of the shank connecting arm I and the shank connecting arm II are respectively provided with the shank connecting plates, a plurality of shank connecting plate mounting holes are uniformly distributed on the shank connecting plates, shank connecting arm mounting holes corresponding to the shank connecting plate mounting holes are respectively formed in the shank connecting arm I and the shank connecting arm II, the shank connecting plates are fixed with the shank connecting arm I and the shank connecting arm II through screws penetrating through the shank connecting plate mounting holes and the shank connecting arm mounting holes, and the shank fixing plate is fixed with the inner side of the shank connecting arm I.

Preferably, the first driving mechanism comprises a first fixing plate, a third fixing plate and a first speed reducer, the first fixing plate is of a T-shaped structure, one side of the first fixing plate is fixed with the first thigh connecting arm through a second U-shaped fixing plate, the other side of the first fixing plate is rotatably connected with the third U-shaped fixing plate through a first rotating shaft, the third fixing plate is arranged on the waist fixing mechanism, the first speed reducer is arranged on the side face of the third fixing plate, and an output shaft of the first speed reducer is connected with the first rotating shaft.

Preferably, the second driving mechanism comprises a fourth fixing plate, a sixth fixing plate and a second speed reducer, the fourth fixing plate is of a T-shaped structure, one side of the fourth fixing plate is fixed with the first shank connecting arm through a fifth U-shaped fixing plate, the other side of the fourth fixing plate is rotatably connected with the sixth U-shaped fixing plate through a second rotating shaft, the sixth fixing plate is arranged at the front end of the second thigh connecting arm, the second speed reducer is mounted on the side surface of the sixth fixing plate, and an output shaft of the second speed reducer is connected with the second rotating shaft.

Preferably, a plurality of tie holes are uniformly distributed on the thigh fixing plate and the shank fixing plate.

The invention has the following advantages:

when the lower limb rehabilitation device is used, a human body is used as a carrier during working and running, the lower limb rehabilitation device carries out rehabilitation training movement on the injured limb of a patient, fully exerts the function of the human body during design, associates and combines ergonomics and bionics, and improves the safety, reasonability, reliability, comfort degree and efficiency of the lower limb rehabilitation device on the design requirement, so that the patient can not feel very fatigue and is very comfortable when wearing the lower limb rehabilitation device, the movement rule and special places of the lower limb of the human body can be well simulated, partial weight can be borne by the human body, and the lower limb with incomplete function can be driven to carry out good rehabilitation training, so that the lower limb movement function can be effectively recovered; the thigh auxiliary arm adopts a sectional design mode, the distance between the thigh connecting arm I and the thigh connecting arm II is adjusted through the thigh connecting plate to meet the requirements of thigh lengths of different patients, the crus auxiliary arm also adopts a sectional design mode, and the distance between the crus connecting arm I and the crus connecting arm II is adjusted through the crus connecting plate to meet the requirements of crus lengths of different patients, so that the patient feels more comfortable when using the device; the aim of assisting the rotation of the hip joint and the knee joint of the patient can be achieved through the driving of the first speed reducer of the first driving mechanism and the second speed reducer of the second driving mechanism.

Drawings

Fig. 1 and 2 are schematic structural diagrams of the present invention at different angles.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Wherein: 1. the thigh auxiliary arm comprises a thigh connecting arm I11, a thigh connecting arm I12, a thigh connecting arm II 13, a thigh connecting plate 131, a thigh connecting plate mounting hole 2, a first driving mechanism 21, a fixing plate I22, a fixing plate II 23, a fixing plate III 24, a first speed reducer 3, a shank auxiliary arm 31, a shank connecting arm I32, a shank connecting arm II 33, a shank connecting plate 331, a shank connecting plate mounting hole 4, a second driving mechanism 41, a fixing plate IV 42, a fixing plate V43, a fixing plate VI 44, a second speed reducer 5, a thigh fixing plate 51, a binding belt hole 6, a shank fixing plate 7 and a foot plate.

Detailed Description

The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the concept and technical solution of the present invention.

As shown in fig. 1 to 3, the invention provides a wearable lower limb rehabilitation device, which comprises a thigh auxiliary arm 1, a shank auxiliary arm 3 and a foot plate 7, wherein the rear end of the thigh auxiliary arm 1 is hinged to a waist fixing mechanism through a first rotating shaft and rotates under the action of a first driving mechanism 2, the front end of the thigh auxiliary arm 1 is hinged to the upper end of the shank auxiliary arm 3 through a second rotating shaft and rotates under the action of a second driving mechanism 4, a thigh fixing plate 5 for fixing a thigh of a user is arranged in the middle of the inner side of the thigh auxiliary arm 1, a shank fixing plate 6 for fixing a shank of the user is arranged in the middle of the inner side of the shank auxiliary arm 3, and the foot plate 7 is arranged at the lower end of the shank auxiliary arm 3.

In this embodiment, the thigh auxiliary arm 1 includes a thigh link arm 11, a thigh link arm 12 and a thigh link plate 13, the upper and lower sides of the thigh connecting arm I11 and the thigh connecting arm II 12 are respectively provided with a thigh connecting plate 13, a plurality of thigh connecting plate mounting holes 131 are uniformly distributed on the thigh connecting plate 13, thigh connecting arm mounting holes corresponding to the thigh connecting plate mounting holes 131 are respectively arranged on the thigh connecting arm I11 and the thigh connecting arm II 12, the thigh connecting plate 13 is fixed with the thigh connecting arm I11 and the thigh connecting arm II 12 through screws passing through the thigh connecting plate mounting holes 131 and the thigh connecting arm mounting holes, the distance between the thigh connecting arm I11 and the thigh connecting arm II 12 is adjusted through the thigh connecting plate 13 to be better suitable for the length of the thigh of the user, and the thigh fixing plate 5 is fixed on the inner side of the thigh connecting arm I11.

In this embodiment, the lower leg auxiliary arm 3 includes a first lower leg connecting arm 31, a second lower leg connecting arm 32 and a second lower leg connecting plate 33, the upper and lower sides of the first lower leg connecting arm 31 and the second lower leg connecting arm 32 are respectively provided with the lower leg connecting plate 33, the lower leg connecting plate 33 is uniformly provided with a plurality of lower leg connecting plate mounting holes 331, the first lower leg connecting arm 31 and the second lower leg connecting arm 32 are respectively provided with a lower leg connecting arm mounting hole corresponding to the lower leg connecting plate mounting hole 331, the lower leg connecting plate 33, the first lower leg connecting arm 31 and the second lower leg connecting arm 32 are fixed by screws penetrating through the lower leg connecting plate mounting holes 331 and the lower leg connecting arm mounting holes, the distance between the first lower leg connecting arm 31 and the second lower leg connecting arm 32 is adjusted by the lower leg connecting plate 33 to better adapt to the lower leg length of the user, and the lower leg fixing plate 6 is fixed to the inner side of the first lower leg connecting arm 31, the thigh auxiliary arm 1 and the shank auxiliary arm 3 are made of hard aluminum alloy with high strength, the strength of the thigh auxiliary arm can reach 480MPa, meanwhile, the hardness of the thigh auxiliary arm and the shank auxiliary arm is greatly improved, the basic requirements of exoskeleton mechanism design can be met, and meanwhile, the lower limb rehabilitation device is lighter and more portable.

Wherein, the length controllable range of the thigh auxiliary arm 11 is controlled between 410mm and 496mm, and the length controllable range of the shank auxiliary arm 3 is controlled between 319mm and 396 mm.

In this embodiment, the first driving mechanism 2 includes a first fixing plate 21, a second fixing plate 23 and a first reducer 24, the first fixing plate 21 is "T" shaped, one side of the first fixing plate 21 is fixed to the thigh connecting arm 12 through the second u-shaped fixing plate 22, the other side of the first fixing plate is rotatably connected to the third u-shaped fixing plate 23 through the first rotating shaft, the third fixing plate 23 is disposed on the waist fixing mechanism, the first reducer 24 is mounted on the side surface of the third fixing plate 23, and the output shaft of the first reducer is connected to the first rotating shaft.

In this embodiment, the second driving mechanism 4 includes a four fixing plate 41, a six fixing plate 43 and a second reducer 44, the four fixing plate 41 is of a "T" shape, one side of the four fixing plate 41 is fixed to the first shank connecting arm 32 through a five fixing plate 42 having a "u" shape, the other side is rotatably connected to the six fixing plate 43 having a "u" shape through a second rotating shaft, the six fixing plate 43 is disposed at the front end of the second thigh connecting arm 13, the second reducer 44 is mounted on the side of the six fixing plate 43, and the output shaft of the second reducer is connected to the second rotating shaft.

In this embodiment, a plurality of strap holes 51 are uniformly distributed on the thigh fixing plate 5 and the shank fixing plate 6, so that the user can conveniently use the straps to fix the thigh and the shank of the user.

The specific implementation mode and principle are as follows:

in practical application, the waist fixing mechanism is arranged on the waist of a patient, then the patient sits on a chair, then wears the thigh auxiliary arm 1, namely, the inner side cambered surface of the thigh fixing plate 5 is attached to the thigh of the patient, a binding belt penetrates through a binding belt hole 51 in the thigh fixing plate 5 so as to fix the thigh fixing plate 5 and the thigh of the patient, if the patient feels that the length of the thigh auxiliary arm 11 is not suitable, a screw for connecting the thigh connecting plate 13 with the thigh connecting arm I11 and the thigh connecting arm II 12 is loosened, the distance between the thigh connecting arm I11 and the thigh connecting arm II 12 is adjusted, and then the thigh connecting arm I11 and the thigh connecting arm II 12 are fixed through the thigh connecting plate 13; then the lower leg auxiliary arm 3 is worn, the inner side cambered surface of the lower leg fixing plate 6 is attached to the lower leg of the patient, a binding belt penetrates through a binding belt hole 51 on the lower leg fixing plate 6 to fix the lower leg fixing plate 6 and the lower leg of the patient, if the foot of the patient cannot accurately step on the foot plate 7, the length of the lower leg auxiliary arm 3 is not proper, at the moment, the screws for connecting the lower leg connecting plate 33 with the lower leg connecting arm I31 and the lower leg connecting arm II 32 are loosened, the distance between the lower leg connecting arm I31 and the lower leg connecting arm II 32 is adjusted, the lower leg connecting arm I31 and the lower leg connecting arm II 32 are fixed through the lower leg connecting plate 33, after the lower limb rehabilitation device is installed on the left leg and the right leg, the patient can carry out rehabilitation training, the output shaft of the first speed reducer 24 of the first driving mechanism 2 is controlled to rotate through the controller in the training process, and the purpose of rotating the hip joint of the patient can be achieved, and then the controller controls the output shaft of the second speed reducer 44 of the second driving mechanism 4 to rotate, so that the aim of rotating the knee joint of the patient can be fulfilled.

In conclusion, the lower limb rehabilitation device takes the human body as a carrier during working and running, carries out rehabilitation training movement on the injured limb of the patient, gives full play to the function of the human body during design, associates and combines ergonomics and bionics, improves the safety, reasonability, reliability and the comfort degree and efficiency of the lower limb rehabilitation device on the design requirement, ensures that the patient does not feel very fatigue and is very comfortable when wearing the lower limb rehabilitation device, can well simulate the movement law and special places of the lower limb of the human body, can bear partial weight for the human body, can drive the lower limb with incomplete function to carry out good rehabilitation training, and promotes the patient to effectively recover the movement function of the lower limb; the thigh auxiliary arm adopts a sectional design mode, the distance between the thigh connecting arm I and the thigh connecting arm II is adjusted through the thigh connecting plate to meet the requirements of thigh lengths of different patients, the crus auxiliary arm also adopts a sectional design mode, and the distance between the crus connecting arm I and the crus connecting arm II is adjusted through the crus connecting plate to meet the requirements of crus lengths of different patients, so that the patient feels more comfortable when using the device; the aim of assisting the rotation of the hip joint and the knee joint of the patient can be achieved through the driving of the first speed reducer of the first driving mechanism and the second speed reducer of the second driving mechanism.

The invention has been described above with reference to the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various insubstantial modifications of the invention, including those based on the spirit and scope of the invention, or other applications without modification.