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

A kind of Intelligent upper limb synkinesia device Download PDF

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CN104116613B
CN104116613B CN201410343237.XA CN201410343237A CN104116613B CN 104116613 B CN104116613 B CN 104116613B CN 201410343237 A CN201410343237 A CN 201410343237A CN 104116613 B CN104116613 B CN 104116613B
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hydraulic cylinder
mechanical arm
control hydraulic
dimension control
limb
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CN104116613A (en
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蒋文庆
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蒋文庆
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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

A kind of Intelligent upper limb synkinesia device
Technical field
The present invention relates to a kind of synkinesia apparatus, relate in particular to exercising apparatus for recovery of upper limb.
Background technology
Most patients with cerebral apoplexy and some upper limbs are subject to the patient of unexpected injury, need suffering limb after surgery longTime, high-frequency rehabilitation training, especially patients with cerebral apoplexy, performed the operation and finished after the preliminary rehabilitation of hospital patientIn will going back home, in order to make suffering limb can be often movable and be unlikely to atrophy, client need regularly carries out health to recovery centreRefreshment is practiced, and has brought very large inconvenience to patient and family members.
Present rehabilitation training of upper limbs mainly contains three kinds of modes: the rehabilitation training of being undertaken by Med Tech, similar bicycleThe mechanical arm of the convalescence device moving in a circle of pedal, the similar industrial robot of Electromechanical Control.
The rehabilitation training of being undertaken by Med Tech, the observation by technician to patient, inquiry, technician can be to patient's healthMultiple situation is carried out careful understanding, and for patient need to carry out rehabilitation, have extraordinary effect, simultaneously by patientEncouragement, make patient be full of the confidence of rehabilitation. The weak point one of this method is that needs of patients is under other people accompanying, oftenGround contact recovery centre, gives apart from the local patient far away of recovery centre and brings very large inconvenience. The 2nd, the expense comparison of rehabilitationCostliness, Med Tech belongs to middle-and-high-ranking technician, and rehabilitation course can take again the more time of technician, and rehabilitation simultaneously often will be heldThe time of continuous several years, this expense brings puzzlement to many families.
The convalescence device moving in a circle of similar bicycle pedal, its action principle is the both sides at a turning cylinderMounting knob, healthy upper limbs and suffering limb is fixing respectively, by healthy upper limbs manually or driven by motor realize suffering limbTraining. Its advantage one is that expense is very cheap, the 2nd, and patient oneself just can carry out at home, very convenient. Its deficiencyPart is that direction and the amplitude of suffering limb motion is all very limited, and this device can only be placed in patient front, in limited amplitude, entersMotion before and after going up and down, outside and high cannot the realization of act of shoulder joint.
The rehabilitation training that the mechanical arm of the similar industrial robot of Electromechanical Control carries out, its advantage is to have reduced medical skillTeacher's working strength, has improved technician's operating efficiency. Weak point one is somewhat expensive, the 2nd, and the patient family of still will coming and goingAnd between recovery centre, the 3rd, it can only move according to programming in advance, and the 4th, under existing technical conditions, rightThe perception of pain is not prompt enough, and the 5th, how eliminate pain perception and the equipment time delay between quitting work, and bring thusSecondary injury.
Summary of the invention
For problems of the prior art, the invention discloses a kind of Intelligent upper limb synkinesia device, can makePatient independently carries out the rehabilitation training of suffering limb, and long-term training contributes to the neural recovery of suffering limb.
Technical solution of the present invention is: a kind of Intelligent upper limb synkinesia device, is turned by mechanical exoskeleton and powerConverting mechanism composition; Described mechanical exoskeleton is complied with by mechanical arm, elbow joint controlling organization, shoulder joint controlling organization, shoulder axle and backboardInferior composition; Described power conversion mechanism comprises left side dimension control hydraulic cylinder, power converter, 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 by oil pipe and instituteStating right side dimension control hydraulic cylinder is connected.
Above-mentioned Intelligent upper limb synkinesia device, it is further characterized in that: described mechanical arm comprises large arm and forearm; InstituteState power converter by converter the first hydraulic cylinder 311, converter the second hydraulic cylinder 312, gag lever post 313, cylinder body fixed head314, plunger rod steady pin 315 forms; Described converter the first hydraulic cylinder and converter the second hydraulic cylinder are fixing rear with solid side by sidePlunger rod is fixed in rationed marketing.
Above-mentioned Intelligent upper limb synkinesia device, it is further characterized in that: described power conversion mechanism has four groups, every groupControl the motion of a dimension of described mechanical arm, control altogether the motion of four dimensions; Described elbow joint controlling organization is one-dimensional degreeMotion; Described shoulder joint controlling organization is three dimensionality motion; Described shoulder joint controlling organization is by top, bottom and three dimensions of levelDegree is controlled hydraulic cylinder control, be arranged in large arm above, below and side, the dimension control hydraulic cylinder of upper and lower is solidFix on the same vertical shoulder axle being connected with backboard, the dimension control hydraulic cylinder of level is fixed on laterally propping up of being stretched out by backboardOn strut.
When the dimension control hydraulic cylinder that any action of the described mechanical arm in a side is attached thereto driving is made flexibleAction, the flexible of dimension control hydraulic cylinder is delivered to opposite side by described power converter by identical expanding-contracting actionOn mechanical arm, make the mechanical arm of opposite side make identical action.
Described mechanical arm is connected by rotating shaft with backboard, and power converter can be arranged in backboard; The present invention adopts liquidPress driven Design, the mode that is connected and fixed of described mechanical arm and user's arm adopts open-close type snap ring to fix, described open-close typeThe folding of snap ring use palm hold with a firm grip control or two kinds of modes of nylon belt.
The present invention compares and has obvious advantage and good effect in existing technology: 1, this device is according to mechanical exoskeletonPrinciple designs, and the motion of suffering limb almost can complete the everything in daily life, and training effect is obvious; 2, this deviceAdopt hydraulic system, simplicity of design, reliability is high, is applicable to long-term training; 3, this device by patient health upper limbs as power source,Without external power supply, safe and reliable, without secondary injury risk; 4, this apparatus cost is cheap, is again to use in the family simultaneously, greatlyGround has reduced patient's rehabilitation expenditure; 5, this device adopts open-close type snap ring with being connected of arm, and snap ring contacts with stapler arm,Power transmission is more smooth, arm fixing and depart from very convenient.
Brief description of the drawings
Fig. 1 is power conversion mechanism schematic diagram of the present invention;
Fig. 2 is System Working Principle figure of the present invention;
Fig. 3 is upper limbs synkinesia device schematic diagram of the present invention.
In figure, parts coding schedule is as follows:
1 Left side mechanical arm ectoskeleton
10 Left side mechanical arm elbow joint dimension control hydraulic cylinder
11 Left side mechanical arm shoulder joint bottom dimension control hydraulic cylinder
111 Hydraulic cylinder body
112 Cylinder plunger bar
12 Left side mechanical arm shoulder joint top dimension control hydraulic cylinder
13 Left side mechanical arm shoulder joint horizontal dimensions control hydraulic cylinder
14 Left side mechanical arm forearm
15 Left side mechanical arm elbow joint supports
16 The large arm of left side mechanical arm
17 Left side mechanical arm cross-brace 2 -->
18 Left side mechanical arm shoulder axle
3 Power conversion mechanism
30 Elbow joint power converter
31 Shoulder joint lower cylinder power converter
311 Converter the first hydraulic cylinder
312 Converter the second hydraulic cylinder
313 Gag lever post
314 Cylinder body fixed head
315 Plunger rod steady pin
32 Shoulder joint upper hydraulic cylinder power converter
33 Shoulder joint horizontal hydraulic cylinder power converter
5 Right side mechanical arm ectoskeleton
50 Right side mechanical arm elbow joint dimension control hydraulic cylinder
51 Mechanical arm shoulder joint bottom, right side dimension control hydraulic cylinder
52 Mechanical arm shoulder joint top, right side dimension control hydraulic cylinder
53 Right side mechanical arm shoulder joint horizontal dimensions control hydraulic cylinder
54 Right side mechanical arm forearm
55 Right side mechanical arm elbow joint supports
56 The large arm of right side mechanical arm
57 Right side mechanical arm cross-brace
58 Right side mechanical arm shoulder axle
7 Backboard
9 Oil pipe
Detailed description of the invention
Below in conjunction with accompanying drawing, by specific embodiment, technical solution of the present invention is described further.
As shown in Figure 1, Figure 2, Figure 3 shows, Fig. 1 is power conversion mechanism schematic diagram of the present invention; Fig. 2 is that system works of the present invention is formerReason figure; Fig. 3 is upper limbs synkinesia device schematic diagram of the present invention.
The Intelligent upper limb synkinesia device of the present embodiment, by left side mechanical arm ectoskeleton 1 and right side mechanical arm ectoskeleton 5Form with power conversion mechanism.
Described left side mechanical arm ectoskeleton 1 is takeed on by left side mechanical arm elbow joint dimension control hydraulic cylinder 10, left side mechanical armBottom, joint dimension control hydraulic cylinder 11, hydraulic cylinder body 111, cylinder plunger bar 112, mechanical arm shoulder joint top, left side dimensionDegree is controlled hydraulic cylinder 12, left side mechanical arm shoulder joint horizontal dimensions control hydraulic cylinder 13, left side mechanical arm forearm 14, left side machineryElbow joint support 15, the large arm 16 of left side mechanical arm, left side mechanical arm cross-brace 17, left side mechanical arm shoulder axle 18 group successivelyBecome;
Described right side mechanical arm ectoskeleton 5 is takeed on by right side mechanical arm elbow joint dimension control hydraulic cylinder 50, right side mechanical armBottom, joint dimension control hydraulic cylinder 51, mechanical arm shoulder joint top, right side dimension control hydraulic cylinder 52, right side mechanical arm shoulder jointHorizontal dimension control hydraulic cylinder 53, right side mechanical arm forearm 54, right side mechanical arm elbow joint support 55, the large arm of right side mechanical arm56, right side mechanical arm cross-brace 57, right side mechanical arm shoulder axle 58 form successively.
Described power converter 3 is by elbow joint power converter 30, shoulder joint lower cylinder power converter 31, shoulder jointJoint upper hydraulic cylinder power converter 32, shoulder joint horizontal hydraulic cylinder power converter 33 form; Described shoulder joint bottom hydraulic pressureCylinder power converter 31 is by converter the first hydraulic cylinder 311, converter the second hydraulic cylinder 312, gag lever post 313, cylinder body fixed head314, plunger rod steady pin 315 forms; Described converter the first hydraulic cylinder 311 and converter the second hydraulic cylinder 312 are fixing side by sideFixing with plunger rod steady pin 315 afterwards.
Described left side dimension control hydraulic cylinder comprises left side mechanical arm elbow joint dimension control hydraulic cylinder 10, left side mechanical armShoulder joint bottom dimension control hydraulic cylinder 11, mechanical arm shoulder joint top, left side dimension control hydraulic cylinder 12, left side mechanical arm shoulderJoint horizontal dimensions control hydraulic cylinder 13.
Described right side dimension control hydraulic cylinder comprises right side mechanical arm elbow joint dimension control hydraulic cylinder 50, right side mechanical armShoulder joint bottom dimension control hydraulic cylinder 51, mechanical arm shoulder joint top, right side dimension control hydraulic cylinder 52, right side mechanical arm shoulderJoint horizontal dimensions control hydraulic cylinder 53.
Described power conversion mechanism has four groups, and the motion of a dimension of mechanical arm, controls four dimensions altogether described in every group of controlThe motion of degree. Described elbow joint controlling organization is the motion of one-dimensional degree; Described shoulder joint controlling organization is three dimensionality motion; Described shoulderJoint control mechanism, by the control of (top, bottom and level) three dimension control hydraulic cylinders, is arranged in respectively above large armTop dimension control hydraulic cylinder, bottom dimension control hydraulic cylinder below and the horizontal dimensions control hydraulic cylinder of side, described onOn portion's dimension control hydraulic cylinder is fixed on bottom dimension control hydraulic cylinder the same vertical shoulder axle being connected with backboard, described waterFlat dimension control hydraulic cylinder is fixed in the transverse support bar of being stretched out by backboard.
Dimension control hydraulic cylinder driving being attached thereto in any action of the described mechanical arm of a side is made flexible movingMake the flexible machine that by described power converter, identical expanding-contracting action is delivered to opposite side of dimension control hydraulic cylinderOn tool arm.
Mechanical arm is connected by shoulder axle with backboard 7; Power conversion mechanism is arranged in backboard 7. Intelligent upper limb synkinesiaDevice adopts hydraulic drive design, and the mode that is connected and fixed of mechanical arm and user's arm adopts open-close type snap ring to fix, described inThe folding of open-close type snap ring use palm hold with a firm grip control or two kinds of modes of nylon belt.
The Intelligent upper limb synkinesia device use procedure of the present embodiment is divided into the following steps:
The first step, is fixed on backboard 7 on the backrest of chair, regulates the width of backboard 7 and the length of mechanical arm to adapt toDifferent patients' height; This operates generally, in patient's long-term motion process, only need to carry out once, has reducedPatient household's the operation frequency;
Second step, patient is sitting on chair, with healthy upper limbs, suffering limb is put into the snap ring on the mechanical arm of homonymy, then is usedNylon belt on snap ring is fastening by snap ring, and healthy upper limbs stretches into corresponding mechanical arm again, the handle of holding with a firm grip;
The 3rd step, patient health upper limbs is made the action of wishing that suffering limb is trained, such as: flat act, elbow in the wrong, upper act, waterFlat stretching, extension, suitable winding counterclockwise etc.;
The 4th step, when motion completes, healthy upper limbs departs from from mechanical arm, unties the nylon belt on suffering limb snap ring, willSuffering limb departs from from mechanical arm.
The power source of this device is healthy upper limbs, adopts hydraulic drive design simultaneously, and its movement velocity is slower, is movingCheng Zhong, patient feels any pain or discomfort, the stop motion immediately of healthy upper limbs is also replied to the direction of releiving, almost completeEntirely avoid the generation of secondary injury; Patient can complete independently to the use of this device oneself, does not need other people assistance, canWith rehabilitation training at any time; This device, owing to there is no external power supply, in the time that patient is in alone, is not worried the risk of getting an electric shock.
The arm fixed mechanism of this device be palm hold with a firm grip control or the fixing open-close type snap ring of nylon belt, if patient existsIn use procedure, have any other demand, such as coughing, tickle, drink water, answer a call etc., healthy upper limbs can unclamp hand at any timeThe palm, makes arm from mechanical arm, deviate from related needs, and does not need suffering limb to deviate from and the health of standing from mechanical arm.
Above-described embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; All according to technical solution of the present invention instituteThe change of making, when the function producing does not exceed the scope of technical solution of the present invention, all belongs to protection scope of the present invention.

Claims (6)

1. an Intelligent upper limb synkinesia device, is characterized in that: be made up of mechanical exoskeleton and power conversion mechanism; DescribedMechanical exoskeleton is made up of successively mechanical arm, elbow joint controlling organization, shoulder joint controlling organization, shoulder axle and backboard; Described powerSwitching mechanism comprises left side dimension control hydraulic cylinder, power converter, right side dimension control hydraulic cylinder, the dimension control of described left sideHydraulic cylinder is connected with described power converter by oil pipe, and described power converter is by oil pipe and described right side dimension control liquidCylinder pressure is connected;
Described mechanical arm comprises large arm and forearm;
Described Intelligent upper limb synkinesia device adopts hydraulic drive design;
Described power converter by converter the first hydraulic cylinder (311), converter the second hydraulic cylinder (312), gag lever post (313),Cylinder body fixed head (314), plunger rod steady pin (315) composition; Described converter the first hydraulic cylinder (311) and converter the second liquidAfter cylinder pressure (312) is side by side fixing, with steady pin, plunger rod is fixed.
2. Intelligent upper limb synkinesia device according to claim 1, is characterized in that: described power conversion mechanism has fourGroup, the motion of a dimension of mechanical arm, controls the motion of four dimensions altogether described in every group of control.
3. Intelligent upper limb synkinesia device according to claim 1 and 2, is characterized in that: described elbow joint controllerStructure is the motion of one-dimensional degree; Described shoulder joint controlling organization is three dimensionality motion; Described shoulder joint controlling organization is by three dimension controlsHydraulic cylinder control processed is to be respectively arranged in the top dimension control hydraulic cylinder above large arm, bottom dimension control hydraulic pressure belowThe horizontal dimensions control hydraulic cylinder of cylinder and side, described top dimension control hydraulic cylinder and bottom dimension control hydraulic cylinder are fixed onOn the same vertical shoulder axle being connected with backboard, described horizontal dimensions control hydraulic cylinder is fixed on the cross-brace of being stretched out by backboardOn bar.
4. Intelligent upper limb synkinesia device according to claim 1, is characterized in that: at the described mechanical arm of a sideThe dimension control hydraulic cylinder that any action is attached thereto driving is made expanding-contracting action, the flexible institute that passes through of dimension control hydraulic cylinderStating power converter is delivered to identical expanding-contracting action on the mechanical arm of opposite side.
5. Intelligent upper limb synkinesia device according to claim 1, is characterized in that: described mechanical arm and described backboardConnect by shoulder axle; Described power converter is arranged in described backboard.
6. Intelligent upper limb synkinesia device according to claim 1, is characterized in that: described mechanical arm and user's handThe mode that is connected and fixed of arm adopts open-close type snap ring to fix, the folding of described open-close type snap ring use palm hold with a firm grip control or nylonTwo kinds of modes of adhesive tape.
CN201410343237.XA 2014-07-17 2014-07-17 A kind of Intelligent upper limb synkinesia device Active CN104116613B (en)

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JP6449713B2 (en) * 2015-04-23 2019-01-09 本田技研工業株式会社 Operation assistance device
CN108852740B (en) * 2018-02-09 2020-08-07 湖北工业大学 Pneumatic upper limb rehabilitation robot
CN110974615A (en) * 2019-12-07 2020-04-10 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 Method for generating mirror image motion and mirror image motion device

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CN101579282A (en) * 2009-06-12 2009-11-18 东华大学 Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device
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CN101579282A (en) * 2009-06-12 2009-11-18 东华大学 Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device
EP2620135A1 (en) * 2012-01-24 2013-07-31 Jaroslaw Andrzej Frydel Movement system of a device for alignment, support for motion and rehabilitation, in particular for the rehabilitation of people with difficulty walking and improving muscle strength
CN103919659A (en) * 2014-04-21 2014-07-16 安阳工学院 Automatic shoulder joint rehabilitation training device

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