CN104116613B - A kind of Intelligent upper limb synkinesia device - Google Patents

Abstract

The invention discloses a kind of Intelligent upper limb synkinesia device, formed by mechanical exoskeleton and power conversion mechanism; Described mechanical exoskeleton comprises mechanical arm, elbow joint controlling organization, shoulder joint controlling organization, shoulder axle and backboard; Described power conversion mechanism comprises left side dimension control hydraulic cylinder, power converter and right side dimension control hydraulic cylinder, described left side dimension control hydraulic cylinder is connected with described power converter by oil pipe, and described power converter is connected with described right side dimension control hydraulic cylinder by oil pipe. The present invention adopts hydraulic system, simplicity of design, and reliability is high, as power source, without external power supply, safe and reliable by patient health upper limbs, without secondary injury risk, is again to use in the family simultaneously, has greatly reduced patient's rehabilitation expenditure.

Description

An intelligent auxiliary movement device for upper limbs

technical field

The invention relates to an auxiliary exercise device, in particular to an upper limb rehabilitation training device.

Background technique

The vast majority of stroke patients and some patients with accidental upper limb injuries need long-term and high-frequency rehabilitation training for the affected limbs after surgery, especially for stroke patients. After the operation is completed and the initial rehabilitation in the hospital is completed, the patient Will go back home, in order to enable the affected limb to move frequently and not shrink, the patient needs to regularly go to the rehabilitation center for rehabilitation training, which brings great inconvenience to the patient and their families.

There are three main methods of upper limb rehabilitation training: rehabilitation training performed by medical technicians, rehabilitation devices that perform circular motions similar to bicycle pedals, and mechanical arms similar to industrial robots controlled by electromechanics.

Rehabilitation training conducted by medical technicians, through the technician's observation and inquiry of the patient, the technician can have a detailed understanding of the patient's rehabilitation situation, and perform rehabilitation according to the patient's needs, which has a very good effect. At the same time, through the encouragement of the patient, Make patients full of confidence in recovery. One disadvantage of this method is that the patient needs to come and go to and from the rehabilitation center frequently, accompanied by others, which brings great inconvenience to patients in places far away from the rehabilitation center. Second, the cost of rehabilitation is relatively expensive. Medical technicians are middle-level and senior technical personnel, and the recovery process will take up more time for technicians. At the same time, rehabilitation often lasts for several years. This cost has brought troubles to many families.

A rehabilitation device that performs circular motion similar to bicycle pedals. Its working principle is to install handles on both sides of a rotating shaft, fix the healthy upper limb and the affected limb separately, and realize the training of the affected limb through manual or motor driving of the healthy upper limb. . Its advantage is that the cost is very low, and the second is that the patient can perform it at home, which is very convenient. Its shortcoming is that the direction and range of movement of the affected limb are very limited, the device can only be placed in front of the patient, and can move up, down, back and forth within a limited range, and the outward and elevation of the shoulder joint cannot be realized.

Rehabilitation training performed by mechanical arms similar to industrial robots controlled by electromechanical has the advantage of reducing the work intensity of medical technicians and improving the work efficiency of technicians. The disadvantages are that the cost is high, the patients still have to travel between home and the rehabilitation center, the third is that it can only perform actions according to the pre-programmed procedures, and the fourth is that the perception of pain is not timely enough under the existing technical conditions. , the fifth is how to eliminate the delay between pain perception and equipment stop working, and the resulting secondary injury.

Contents of the invention

Aiming at the problems existing in the prior art, the invention discloses an intelligent auxiliary exercise device for upper limbs, which can enable patients to independently perform rehabilitation training for affected limbs, and long-term training is helpful for the recovery of the nervous system of the affected limbs.

The technical solution of the present invention is: an intelligent auxiliary movement device for upper limbs, which is composed of a mechanical exoskeleton and a power conversion mechanism; the mechanical exoskeleton consists of a mechanical arm, an elbow joint control mechanism, a shoulder joint control mechanism, a shoulder shaft and a backboard Composed in sequence; the power conversion mechanism includes a left dimension control hydraulic cylinder, a power converter, and a right dimension control hydraulic cylinder, the left dimension control hydraulic cylinder is connected to the power converter through an oil pipe, and the power converter It is connected with the right side dimension control hydraulic cylinder through the oil pipe.

The above-mentioned intelligent upper limb assisted exercise device is further characterized in that: the mechanical arm includes a large arm and a small arm; The cylinder body fixing plate 314 and the plunger rod fixing pin 315 are composed; after the first hydraulic cylinder of the converter and the second hydraulic cylinder of the converter are fixed side by side, the plunger rod is fixed with the fixing pin.

The above-mentioned intelligent upper limb auxiliary exercise device is further characterized in that: the power conversion mechanism has four groups, and each group controls the movement of the mechanical arm in one dimension, and controls the movement of four dimensions in total; the elbow joint control mechanism is a single-dimensional Movement; the shoulder joint control mechanism is a three-dimensional movement; the shoulder joint control mechanism is controlled by the upper, lower and horizontal three-dimensional control hydraulic cylinders, which are respectively arranged on the upper, lower and side sides of the arm, and the upper and lower dimensions The control hydraulic cylinders are fixed on the same vertical shoulder connected to the backplane, and the horizontal dimension control hydraulic cylinders are fixed on the lateral support rods protruding from the backplane.

When any action of the mechanical arm on one side will drive the dimension control hydraulic cylinder connected to it to make a telescopic movement, the telescopic movement of the dimension control hydraulic cylinder will transmit exactly the same telescopic movement to the other side through the power converter on one arm, causing the other arm to perform exactly the same motion.

The mechanical arm is connected to the backboard through a rotating shaft, and the power converter can be installed in the backboard; the present invention adopts a hydraulic transmission design, and the connection and fixing method between the mechanical arm and the user's arm is fixed by a snap ring, and the opening The snap ring can be opened and closed by palm control or nylon tape.

Compared with the existing technology, the present invention has obvious advantages and positive effects: 1. The device is designed according to the principle of mechanical exoskeleton, and the movement of the affected limb can almost complete all actions in daily life, and the training effect is obvious; 2. The device adopts a hydraulic system, which is simple in design, high in reliability, and suitable for long-term training; 3. The device is powered by the patient's healthy upper limbs, without external power supply, safe and reliable, and has no risk of secondary injury; 4. The device is cheap in cost and at the same time It is used at home, which greatly reduces the patient's rehabilitation expenses; 5. The connection between the device and the arm adopts a split clasp, and the clasp is in close contact with the arm, the power transmission is smoother, and the fixation and detachment of the arm is very convenient.

Description of drawings

Fig. 1 is the schematic diagram of power conversion mechanism of the present invention;

Fig. 2 is a working principle diagram of the system of the present invention;

Fig. 3 is a schematic diagram of the upper limb auxiliary exercise device of the present invention.

The part code table in the figure is as follows:

1 Left arm exoskeleton 10 Left mechanical arm elbow joint dimension control hydraulic cylinder 11 The dimension control hydraulic cylinder of the lower part of the shoulder joint of the left manipulator 111 Hydraulic cylinder block 112 Hydraulic cylinder plunger rod 12 The upper dimension control hydraulic cylinder of the shoulder joint of the left manipulator 13 Horizontal dimension control hydraulic cylinder of shoulder joint of left manipulator 14 left arm forearm 15 Elbow joint support of the left robotic arm 16 left arm arm 17 Lateral support of the left mechanical arm 2 --> 18 Shoulder axis of left robotic arm 3 power conversion mechanism 30 Elbow Power Converter 31 Hydraulic cylinder power converter at the lower part of the shoulder joint 311 Converter first hydraulic cylinder 312 Converter Second Hydraulic Cylinder 313 limit rod 314 Cylinder fixing plate 315 plunger rod fixing pin 32 Shoulder Joint Upper Hydraulic Cylinder Power Converter 33 Shoulder Joint Horizontal Hydraulic Cylinder Power Converter 5 right arm exoskeleton

50 The dimension control hydraulic cylinder of the elbow joint of the right robotic arm 51 The lower dimension control hydraulic cylinder of the shoulder joint of the right robotic arm 52 The upper dimension control hydraulic cylinder of the shoulder joint of the right robotic arm 53 The horizontal dimension of the shoulder joint of the right robotic arm controls the hydraulic cylinder 54 right arm forearm 55 Elbow joint support of the right mechanical arm 56 right arm arm 57 Lateral support of the right mechanical arm 58 Right arm shoulder axis 7 Backplane 9 tubing

detailed description

The technical solutions of the present invention will be further described through specific embodiments below in conjunction with the accompanying drawings.

As shown in Figure 1, Figure 2 and Figure 3, Figure 1 is a schematic diagram of the power conversion mechanism of the present invention; Figure 2 is a schematic diagram of the working principle of the system of the present invention; Figure 3 is a schematic diagram of the upper limb auxiliary exercise device of the present invention.

The intelligent auxiliary movement device for upper limbs of this embodiment is composed of a left mechanical arm exoskeleton 1, a right mechanical arm exoskeleton 5 and a power conversion mechanism.

The left mechanical arm exoskeleton 1 is composed of the left mechanical arm elbow joint dimension control hydraulic cylinder 10, the left mechanical arm shoulder joint lower dimension control hydraulic cylinder 11, the hydraulic cylinder cylinder block 111, the hydraulic cylinder plunger rod 112, the left The upper dimension control hydraulic cylinder of the shoulder joint of the mechanical arm 12, the horizontal dimension control hydraulic cylinder 13 of the shoulder joint of the left mechanical arm, the small arm of the left mechanical arm 14, the elbow support of the left mechanical arm 15, the upper arm of the left mechanical arm 16, the left The lateral support 17 of the side mechanical arm and the shoulder shaft 18 of the left mechanical arm are sequentially formed;

The right side mechanical arm exoskeleton 5 is controlled by the right side mechanical arm elbow joint dimension control hydraulic cylinder 50, the right side mechanical arm shoulder joint lower dimension control hydraulic cylinder 51, the right side mechanical arm shoulder joint upper dimension control hydraulic cylinder 52, the right side Mechanical arm shoulder joint horizontal dimension control hydraulic cylinder 53, right arm arm 54, right arm elbow support 55, right arm arm 56, right arm lateral support 57, right arm shoulder axis 58 in sequence.

Described power converter 3 is made up of elbow joint power converter 30, shoulder joint bottom hydraulic cylinder power converter 31, shoulder joint top hydraulic cylinder power converter 32, shoulder joint horizontal hydraulic cylinder power converter 33; The hydraulic cylinder power converter 31 is made up of the first hydraulic cylinder 311 of the converter, the second hydraulic cylinder 312 of the converter, the limit rod 313, the cylinder body fixing plate 314, and the plunger rod fixing pin 315; the first hydraulic cylinder of the converter 311 and converter second hydraulic cylinder 312 are fixed side by side with plunger rod fixing pin 315 after fixing.

The left dimension control hydraulic cylinder includes the left mechanical arm elbow dimension control hydraulic cylinder 10, the left mechanical arm shoulder joint lower dimension control hydraulic cylinder 11, the left mechanical arm shoulder upper dimension control hydraulic cylinder 12, the left mechanical arm The horizontal dimension of the arm-shoulder joint controls the hydraulic cylinder 13.

The right dimension control hydraulic cylinder includes the right mechanical arm elbow dimension control hydraulic cylinder 50, the right mechanical arm shoulder joint lower dimension control hydraulic cylinder 51, the right mechanical arm shoulder upper dimension control hydraulic cylinder 52, the right mechanical arm The horizontal dimension of the arm-shoulder joint controls the hydraulic cylinder 53 .

There are four groups of the power conversion mechanism, and each group controls the movement of the mechanical arm in one dimension, and controls the movement in four dimensions in total. The elbow joint control mechanism is a single-dimensional movement; the shoulder joint control mechanism is a three-dimensional movement; the shoulder joint control mechanism is controlled by (upper, lower and horizontal) three-dimensional control hydraulic cylinders, which are respectively arranged on the upper arm upper dimension control cylinders above, lower dimension control cylinders below and horizontal dimension control cylinders on the sides, said upper dimension control cylinders and lower dimension control cylinders are fixed on the same vertical shoulder shaft connected to the backplane , the horizontal dimension control hydraulic cylinder is fixed on the transverse support bar protruding from the backboard.

Any movement of the mechanical arm on one side will drive the dimension control hydraulic cylinder connected to it to make a telescopic movement, and the telescopic movement of the dimension control hydraulic cylinder will transmit exactly the same telescopic movement to the other side through the power converter on the mechanical arm.

The mechanical arm is connected to the backboard 7 through a shoulder shaft; the power conversion mechanism is installed in the backboard 7 . The intelligent upper limb assisted exercise device adopts hydraulic transmission design, and the connection and fixation method between the mechanical arm and the user's arm is fixed by an open-close snap ring. The opening and closing of the open-close snap ring is controlled by the palm of the hand or by nylon tape.

The use process of the intelligent upper limb auxiliary exercise device in this embodiment is divided into the following steps:

The first step is to fix the backboard 7 on the backrest of the chair, adjust the width of the backboard 7 and the length of the mechanical arm to adapt to the height of different patients; this operation usually only needs to be performed once during the long-term exercise of the patient , reducing the operating frequency of the patient's family;

In the second step, the patient sits on the chair, puts the affected limb into the clasp on the same side of the mechanical arm with the healthy upper limb, and then fastens the clasp with the nylon tape on the clasp, and then extends the healthy upper limb into the corresponding arm. Mechanical arm, hold the handle tightly;

In the third step, the healthy upper limbs of the patient perform the movements that they want the affected limbs to train, such as: raising flat, bending elbows, lifting upwards, stretching horizontally, looping clockwise and counterclockwise, etc.;

In the fourth step, when the movement is completed, the healthy upper limb is separated from the mechanical arm, and the nylon tape on the clasp of the affected limb is released, and the affected limb is separated from the mechanical arm.

The power source of this device is healthy upper limbs, and it adopts hydraulic transmission design at the same time. Its movement speed is relatively slow. During the exercise, if the patient feels any pain or discomfort, the healthy upper limbs can immediately stop the movement and return to the soothing direction, almost completely avoiding the pain. Occurrence of secondary injuries; patients can use the device independently without the assistance of others, and can perform rehabilitation training at any time; since the device has no external power supply, when the patient is alone at home, there is no need to worry about the risk of electric shock.

The arm fixing mechanism of this device is an open-and-close snap ring controlled by palms or nylon tape. If the patient has any other needs during use, such as coughing, scratching, drinking water, listening to the phone, etc., the healthy upper limb can be released at any time. Palm, so that the arm can be detached from the mechanical arm to complete the relevant needs, without the need to detach the affected limb from the mechanical arm and stand the body.

The foregoing embodiments are only used to illustrate the technical solution of the present invention and not to limit it; all changes made according to the technical solution of the present invention, and when the functions produced do not exceed the scope of the technical solution of the present invention, all belong to the protection scope of the present invention .

Claims (6)

1. An intelligent upper limb assisted exercise device, characterized in that: it is made up of a mechanical exoskeleton and a power conversion mechanism; the mechanical exoskeleton is composed of a mechanical arm, an elbow joint control mechanism, a shoulder joint control mechanism, a shoulder shaft and a backboard The power conversion mechanism includes a left dimension control hydraulic cylinder, a power converter, and a right dimension control hydraulic cylinder, the left dimension control hydraulic cylinder is connected to the power converter through an oil pipe, and the power converter is connected through an oil pipe Connected with the right dimension control hydraulic cylinder; The mechanical arm includes a large arm and a small arm; The intelligent upper limb auxiliary exercise device adopts a hydraulic transmission design; The power converter is composed of the first hydraulic cylinder of the converter (311), the second hydraulic cylinder of the converter (312), the limit rod (313), the cylinder body fixing plate (314), and the plunger rod fixing pin (315) ; The first hydraulic cylinder (311) of the converter and the second hydraulic cylinder (312) of the converter are fixed side by side, and then the plunger rod is fixed with a fixing pin. 2. The intelligent upper limb assisted exercise device according to claim 1, characterized in that: the power conversion mechanism has four groups, and each group controls the movement of the mechanical arm in one dimension, and controls the movement of four dimensions in total. 3. according to claim 1 and 2 described intelligent auxiliary exercise devices for upper limbs, it is characterized in that: the elbow joint control mechanism is a one-dimensional movement; the shoulder joint control mechanism is a three-dimensional movement; the shoulder joint control mechanism consists of Three-dimensional control hydraulic cylinder control, respectively, the upper dimension control hydraulic cylinder arranged on the boom, the lower dimension control hydraulic cylinder below and the horizontal dimension control hydraulic cylinder on the side, the upper dimension control hydraulic cylinder and the lower dimension control hydraulic cylinder The cylinders are fixed on the same vertical shoulder connected to the backboard, and the horizontal dimension control hydraulic cylinders are fixed on lateral support rods protruding from the backboard. 4. The intelligent upper limb assisted exercise device according to claim 1, characterized in that: any action of the mechanical arm on one side will drive the dimension control hydraulic cylinder connected to it to make telescopic movements, and the dimension control hydraulic cylinder Telescoping transmits exactly the same telescopic action to the mechanical arm on the other side through the power converter. 5. The intelligent auxiliary movement device for upper limbs according to claim 1, characterized in that: the mechanical arm is connected to the backboard through a shoulder shaft; the power converter is installed in the backboard. 6. The intelligent auxiliary exercise device for upper limbs according to claim 1, characterized in that: the connection and fixation of the mechanical arm and the user's arm is fixed by a snap ring, and the snap ring is opened and closed by the palm of the hand Tight control or nylon tape two ways.