CN108721053B

CN108721053B - Intelligent rehabilitation manipulator

Info

Publication number: CN108721053B
Application number: CN201810537143.4A
Authority: CN
Inventors: 李卓峰
Original assignee: Ai Tech Ltd
Current assignee: Ai Tech Ltd
Priority date: 2018-05-30
Filing date: 2018-05-30
Publication date: 2021-04-06
Anticipated expiration: 2038-05-30
Also published as: CN108721053A

Abstract

The invention discloses an intelligent rehabilitation manipulator, wherein a motor comprises a finger motor, a wrist motor and an elbow support motor, guide rails comprise a thumb front-end guide rail, a finger front-end guide rail and a finger rear-end guide rail, a control box is installed on a wrist, the thumb of a back of the hand is connected with the thumb front-end guide rail, the thumb front-end guide rail is connected with a motor shell, the finger motor is installed in the motor shell, the front surface of the back of the hand is provided with the finger front-end guide rail, two sides of each finger front-end guide rail are connected with finger push rod connecting frames, a finger lifting frame is installed between the two finger push rod connecting frames, the finger lifting frame is movably connected with the finger front-end guide rail through push rods, and one side, far away from the back of the hand, of the finger. This product can assist stroke patient to take exercise finger, wrist and elbow, and the security is high simultaneously, can help the patient effectively strengthen the muscle of taking exercise finger, wrist and elbow fully, and intelligent degree is high, easy operation, convenience, and strong adaptability carries and stores the convenience.

Description

Intelligent rehabilitation manipulator

Technical Field

The invention relates to a medical rehabilitation device, in particular to an intelligent rehabilitation manipulator.

Background

Apoplexy, the name of the traditional Chinese medicine, has the classification of external wind and internal wind, and the external wind is caused by the attack of external evil (wind evil), so the disease is named as apoplexy (also called cassia twig decoction disease) in the treatise on typhoid fever; endogenous wind pertains to the disease of internal injury, also known as stroke and apoplexy. Modern stroke, which is commonly called as stroke and internal injury of multiple fingers, is a cerebral spirit disease mainly manifested as sudden coma, hemiplegia, numbness of limbs, aphasia, facial distortion, hemianesthesia, etc. due to disturbance of qi and blood, obstruction of cerebral vessels or extravasation of blood in brain, and has the characteristics of acute onset of disease, rapid change, such as wind evil and excessive movement. The patient after a stroke has difficulty controlling muscle movement, particularly the hand muscles.

People can adopt various methods to take exercise to the hand of apoplexy patient, along with the development of science and technology, people have developed the manipulator and have assisted the recovery, but current manipulator quality is big, can not fold, carries inconveniently to do not have the recovered manipulator that collects finger, wrist and elbow as an organic whole, this has just brought the inconvenience for patient's use.

Disclosure of Invention

The invention aims to provide an intelligent rehabilitation manipulator to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an intelligent rehabilitation manipulator comprises a motor, a rotor, a control box, guide rails, a back of the hand, a finger lifting frame, a wrist and an elbow, wherein the motor comprises a finger motor, a wrist motor and an elbow support motor, the guide rails comprise a thumb front end guide rail, a finger front end guide rail and a finger rear end guide rail, the control box is installed on the wrist, the surface of the control box is covered with a control box cover, a support connecting piece is installed on the side part of the wrist, a first wrist connecting piece and a second wrist connecting piece are installed on the two sides of one end of the wrist respectively, a first back connecting piece and a second back connecting piece are installed on the two sides of one end of the back of the hand respectively, the first wrist connecting piece is connected with the first back connecting piece, the wrist motor is installed at the joint of the first wrist connecting piece and the first back connecting piece, the second wrist connecting piece is connected with the second back connecting piece, the thumb, the end part of the thumb front end guide rail is provided with a thumb guide rail bracket, the thumb front end guide rail is connected with the motor shell through a rotor, the back surface of the motor shell is covered with a motor back cover, the finger motor is arranged in the motor shell, the finger motor is clamped in the motor shell, the output end of the finger motor is connected with a motor screw rod, the motor screw rod passes through the rotor, the end part of the motor screw rod is sleeved with a bearing, the front surface of the back of the hand is provided with four finger front end guide rails, each finger front end guide rail is internally provided with a finger motor, both sides of each finger front end guide rail are connected with finger push rod connecting frames, the middle parts of the two finger push rod connecting frames are provided with finger lifting frames, the finger lifting frames are movably connected with the finger front end guide rails through push rods, one side of the finger push rod connecting frame, which is far away from the back of the hand, the lower extreme of finger rear end guide rail is installed the finger guide rail support, installs the motor copper ring in the finger front end guide rail to the motor copper ring links to each other with the finger motor.

As a further scheme of the invention: the bearing sleeve is sleeved outside the bearing.

As a further scheme of the invention: the push rod is movably arranged on the finger push rod connecting frame through a fixing needle.

As a further scheme of the invention: the control box is provided with a control key and a work indicator light.

As a further scheme of the invention: the bracket connecting piece is connected with a mechanical arm, and the other end of the mechanical arm is provided with a fixed seat.

Compared with the prior art, the invention has the beneficial effects that: the product is reasonable in design, can assist stroke patients to exercise fingers, wrists and elbows, is high in safety, can help the stroke patients to effectively and fully strengthen muscles for exercising the fingers, wrists and elbows, is high in intelligent degree, simple and convenient to operate, high in adaptability, convenient to carry and store, capable of being comprehensively recovered, capable of exercising in any place due to the fact that Bluetooth, WIFI and a mobile power supply are connected, free of limitation of a use area and high in adaptability; this product can be folded, is convenient for accomodate and carry, and it is convenient to use to store, and this product can be tailored to different patients ' finger size, and patient's user demand of laminating more can be better satisfies people's demand.

Drawings

FIG. 1 is a perspective view of an intelligent rehabilitation robot;

FIG. 2 is a top view of the smart rehabilitation robot;

FIG. 3 is an exploded view of the interior of a motor housing in the smart rehabilitation robot;

FIG. 4 is an exploded view of a finger guide rail bracket and finger front and rear end guide rails in an intelligent rehabilitation robot;

fig. 5 is a schematic view of the holder and the robot arm.

Wherein: 1-control box, 2-first wrist connection, 3-first back connection, 4-motor back cover, 5-rotor, 6-motor housing, 7-thumb front guide, 8-thumb guide support, 9-finger guide support, 10-finger brace, 11-finger back guide, 12-finger pushrod connection, 13-finger lift, 14-finger front guide, 15-second back connection, 16-wrist motor, 17-second wrist connection, 18-support connection, 19-wrist, 20-control box cover, 21-finger motor, 22-motor screw, 23-bearing, 24-motor copper ring, 25-bearing sleeve, 26-pushrod, 27-fixing needle, 28-motor support sleeve, 29-hand back, 30-fixed seat and 31-mechanical arm.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-5, an intelligent rehabilitation manipulator comprises a motor, a rotor 5, a control box 1, a guide rail, a back of hand 29, a finger lifting frame 13 and a wrist 19, wherein the motor comprises a finger motor 21, a wrist motor 16 and a motor support sleeve 28, the guide rail comprises a thumb front end guide rail 7, a finger front end guide rail 14 and a finger rear end guide rail 11, the control box 1 is mounted on the wrist 19, a control box cover 20 covers the surface of the control box 1, a support connecting piece 18 is mounted on the side of the wrist 19, a first wrist connecting piece 2 and a second wrist connecting piece 17 are respectively mounted on two sides of one end of the wrist 19, a first back of hand connecting piece 3 and a second back of hand connecting piece 15 are respectively mounted on two sides of one end of the back of hand 29, the first wrist connecting piece 2 is connected with the first back of hand connecting piece 3, and the wrist motor 16 is mounted at the joint of the first wrist connecting piece 2, the second wrist connecting piece 17 is connected with the second back connecting piece 15, a thumb front end guide rail 7 is connected with the thumb of the back 29, the end part of the thumb front end guide rail 7 is provided with a thumb guide rail bracket 8, the thumb front end guide rail 7 is connected with the motor shell 6 through the rotor 5, the back surface of the motor shell 6 is covered with the motor back cover 4, the finger motor 21 is arranged in the motor shell 6, the finger motor 21 is clamped on the motor shell 6, the output end of the finger motor 21 is connected with the motor screw 22, the motor screw 22 passes through the rotor 5, the end part of the motor screw 22 is sleeved with a bearing 23, the front surface of the back 29 is provided with four finger front end guide rails 14, each finger front end guide rail 14 is internally provided with the finger motor 21, the two sides of each finger front end guide rail 14 are connected with finger push rod connecting frames 12, and the middle parts of the two finger push rod connecting frames 12 are provided, the finger lifting frame 13 is movably connected with the finger front end guide rail 14 through a push rod 26, one side, away from a hand back 29, of the finger push rod connecting frame 12 is connected with the finger rear end guide rail 11, the finger rear end guide rail 11 is connected with the finger rear end guide rail 11 through a finger support post 10, the finger guide rail support 9 is installed at the lower end of the finger rear end guide rail 11, the finger support post 10 is arranged between the finger rear end guide rails 11, the finger guide rail support 9 is installed at the lower end of the finger rear end guide rail 11, a motor copper ring 24 is installed in the finger front end guide rail 14, the motor copper ring 24 is connected with the finger motor 21, the motor copper ring 24 is installed in the finger front end guide rail 14, and the motor copper ring 24 is. The bearing 23 is externally sleeved with a bearing sleeve 25. The push rod 26 is movably mounted on the finger push rod connecting frame 12 through a fixing pin 27. Control box 1 is last to be provided with control key and work pilot lamp, is connected with arm 31 on the leg joint spare, the arm 31 other end is provided with fixing base 30.

The working principle of the invention is as follows: install EMG signal electrode on patient's hand, sheathe gloves with the hand outside, then through the gasket cover in this product, link to each other this product with the support holder, this product adopts multi-point control, utilizes wireless transmission bluetooth, WIFI control finger motor 21, wrist motor 16 and motor support frame cover 28's electric current volume, speed, time and direction on the platform to receive muscle sensor and pass back the signal.

When the finger motor 21 is started, the finger motor 21 drives the finger front end guide rail 14 to move forward, the finger front end guide rail 14 is matched with the slide rail track to operate according to the central point of the finger front end guide rail 14, and the finger rear end guide rail 11 is driven to move forward by matching with the finger lifting frame 13, the push rod 26 and the finger push rod connecting frame 12 which are positioned between the finger front end guide rail 14 and the finger rear end guide rail 11, and the finger guide rail support 9 is pushed to slide forward according to the central point and the auxiliary track which are arranged on the slide rail; when the finger motor 21 finishes the stroke, the finger motor rotates to return the finger front end guide rail 14 and the finger rear end guide rail 11 to the original positions, and one action is finished; each time the finger performs an action, the platform will record the speed, current flow, time, highest, lowest and average values of each finger motor 21 used each time. When the finger motor 21 is started, the finger motor 21 drives the thumb front end guide rail 7 to move forwards, the thumb guide rail bracket 8 is driven to operate by matching the central point of the thumb front end guide rail 7 with the slide rail track, and the finger motor 21 rotates after completing the stroke so as to return the thumb guide rail bracket 8 of the thumb front end guide rail 7 to the original position and complete one-time movement; each time the thumb completes the motion, the platform will record the speed, current flow, time, highest, lowest and average of each finger motor 21 response used each time.

When the wrist motor 16 is started, the wrist motor 16 drives the first wrist connecting piece 2 and the second wrist connecting piece 17 to rotate, the hand back 29 is lifted upwards according to a set speed, and returns to the original point after the completion of the lifting, and then rotates towards the other direction, so that the hand back 29 returns to the original position after being bent downwards, and a movement is completed. Each time the wrist 19 performs an action, the platform will record the speed, amount of current, time, highest value, lowest value and average value of the muscle sensor response for each wrist motor 16 used each time. When the motor of the support bracket is started, the support bracket is driven to rotate leftwards, so that the elbow is driven to be straightened and move forwards from a buckling state, and the elbow returns to the original position after completing one movement. Each time the support frame completes the action, the platform will record the speed, current magnitude, time, highest value, lowest value and average value of the muscle sensor response of each support frame motor used each time.

The product utilizes the finger motor 21 on each finger to pull a group of sliding blocks connected with the front end of the finger motor 21 in a straight line operation manner, when the finger motor 21 is contracted, the finger is straightened until the palm is stretched flat, when the finger motor 21 is stretched, the sliding blocks can be pushed to slide to the tail end, the finger is assisted to bend inwards, a gripping and bending state is formed, and when the finger motor 21 runs each time, relevant data such as speed, current amount, time and the like of each finger motor 21 used each time can be recorded on the platform. The index reflected by the EMG muscle sensor during operation is used as a guide to regulate the speed and the strength of the finger motor 21, the part of the traction lower than the normal index enhances the muscle response to achieve the effect of returning to the normal state, the wrist motor 16 runs in a semicircular track, the wrist 19 can move upwards and downwards in the positive and negative directions, and the EMG muscle sensor index is also used as a guide to regulate the speed and the strength of the wrist motor 16. The support frame motor can help the patient's upper limbs and elbows perform the same mode of operation, strengthening the movement of the patient's entire elbow muscles. The length of the finger rack of the product can be adjusted, and the use requirements of different patients are met.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an intelligence rehabilitation manipulator, which is characterized in that, including motor, rotor, control box, guide rail, the back of the hand, the frame rises to the finger, wrist and elbow, the motor includes finger motor, wrist motor and elbow support motor, the guide rail includes thumb front end guide rail, point front end guide rail and point rear end guide rail, the control box is installed on the wrist, and control box surface covering has the control lid, the support connecting piece is installed to the lateral part of wrist, first wrist connecting piece and second wrist connecting piece are installed respectively to the both sides of wrist one end, first back of the hand connecting piece and second back of the hand connecting piece are installed respectively to the both sides of back of the hand one end, first wrist connecting piece links to each other with first back of the hand connecting piece, and the wrist motor is installed in the junction of first wrist connecting piece and first back of the hand connecting piece, second wrist connecting piece links to each other with second back of the hand connecting piece, the thumb department of, a thumb guide rail bracket is arranged at the end part of the thumb front end guide rail, the thumb front end guide rail is connected with a motor shell through a rotor, the back surface of the motor shell is covered with a motor back cover, four finger front end guide rails are arranged on the front surface of the back of the hand, a finger motor is arranged in each finger front end guide rail, two sides of each finger front end guide rail are connected with finger push rod connecting frames, a finger lifting frame is arranged between the two finger push rod connecting frames on the same finger front end guide rail and is movably connected with the finger front end guide rails through push rods, one side of each finger push rod connecting frame, which is far away from the back of the hand, is connected with the finger rear end guide rails, finger support columns are arranged between the finger rear end guide rails on the same finger, finger guide rail brackets are arranged at the lower ends of the finger support columns, control keys and work indicating lamps are arranged on the control boxes, the other end of the mechanical arm is provided with a fixed seat, when the finger motor is started, the finger motor drives the guide rail at the front end of the finger to move forwards, the guide rail at the rear end of the finger is matched with the slide rail to run according to the central point of the guide rail at the front end of the finger, and the finger lifting frame, the push rod and the finger push rod connecting frame which are positioned between the guide rail at the front end of the finger and the guide rail at the rear end of the finger are matched to drive the guide rail at the rear end of the finger to move forwards, and the finger; when the finger motor finishes the stroke, the finger motor rotates to return the finger front end guide rail and the finger rear end guide rail to the original positions, and one action is finished.

2. The intelligent rehabilitation manipulator of claim 1, wherein the push rod is movably mounted on the finger push rod connection frame through a fixing pin.