CN111297661A

CN111297661A - Flexible limb rehabilitation mechanism

Info

Publication number: CN111297661A
Application number: CN202010147285.7A
Authority: CN
Inventors: 别东洋; 韩建达
Original assignee: Nankai University
Current assignee: Nankai University
Priority date: 2020-03-05
Filing date: 2020-03-05
Publication date: 2020-06-19

Abstract

A flexible limb rehabilitation mechanism comprises N flexible actuators and M groups of flexible connecting rods; a group of flexible connecting rods is arranged between two adjacent flexible actuators, and the number of the flexible connecting rods in each group of flexible connecting rods is more than two; each flexible actuator comprises an annular shell, a flexible membrane and a rigid pressing head; a plurality of rigid pressing heads are arranged on the inner wall surface of the annular shell along the circumferential direction, each rigid pressing head is of a hollow structure, a flexible membrane is fixedly connected to the end of each rigid pressing head, the flexible membranes, the rigid pressing heads and the annular shell form an air storage chamber, an air hole interface communicated with the air storage chamber is processed on the annular shell, and a group of flexible connecting rods is arranged between every two adjacent annular shells. The invention realizes massage by adopting a flexible combination mode, has simple structure, convenient wearing and adjustable pressing force and position.

Description

Flexible limb rehabilitation mechanism

Technical Field

The invention relates to a rehabilitation mechanism, in particular to a flexible limb rehabilitation mechanism for massaging limbs.

Background

The medical science adopts the mode of acupuncture point massage to help the patient carry out limb rehabilitation treatment, so as to achieve the effects of dredging the channels and collaterals and promoting qi and blood circulation. The manual massage mode can bring effective treatment to patients, but the labor cost is too high; the limb rehabilitation mechanism in the market is mostly fixed based on the base, utilizes motor drive, realizes the limb massage through the mode of vibration or beating, and its equipment structure is complicated often, bulky, and the position of effect is comprehensive not enough, and too rigid's mechanical structure can aggravate patient's use burden.

Disclosure of Invention

The invention provides a flexible limb rehabilitation mechanism for overcoming the defects of the prior art. The limb rehabilitation mechanism adopts a flexible combination mode to realize massage and has the advantages of simple structure, convenient wearing and adjustable pressing strength and position.

The technical scheme of the invention is as follows: a flexible limb rehabilitation mechanism comprises N flexible actuators and M groups of flexible connecting rods; wherein, N is M +1, M is more than or equal to 1, and M and N are positive integers;

a group of flexible connecting rods is arranged between two adjacent flexible actuators, and the number of the flexible connecting rods in each group of flexible connecting rods is more than two; each flexible actuator comprises an annular shell, a flexible membrane and a rigid pressing head; a plurality of rigid pressing heads are arranged on the inner wall surface of the annular shell along the circumferential direction, each rigid pressing head is of a hollow structure, a flexible membrane is fixedly connected to the end of each rigid pressing head, the flexible membranes, the rigid pressing heads and the annular shell form an air storage chamber, an air hole interface communicated with the air storage chamber is processed on the annular shell, and a group of flexible connecting rods is arranged between every two adjacent annular shells.

Compared with the prior art, the invention has the beneficial effects that:

the flexible connecting rod has the capability of being not damaged when being stretched, bent and twisted, has good elastic strength, and can realize the control of the massage frequency and the pressing degree on the control of the gas charging and discharging frequency and the gas quantity; the fixed position of the actuator relative to the limb is adjusted, so that the massage of different parts of the limb can be realized. In addition, the massage with adjustable pressing parts can be realized by carrying out air inflation and air deflation control on different rigid pressing heads, and the rigid pressing heads are favorable for ensuring the directionality and the rigidity of the flexible membrane. The design of the flexible actuator and the flexible connecting rod ensures the rehabilitation function and the functionality and comfort of human body matching; the modularized design can adjust the positions and the number of the flexible actuators and the flexible connecting rods according to the requirements of different rehabilitation parts.

The technical scheme of the invention is further explained by combining the drawings and the embodiment:

drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of a flexible link;

FIG. 3 is a perspective view of a flexible actuator;

FIG. 4 is a front view of the flexible actuator;

fig. 5 is a sectional view taken along line a-a of fig. 4.

Detailed Description

Referring to fig. 1-5, a flexible limb rehabilitation mechanism comprises N flexible actuators 1 and M groups of flexible connecting rods 2; wherein, N is M +1, M is more than or equal to 1, and M and N are positive integers; a group of flexible connecting rods 2 is arranged between two adjacent flexible actuators 1, and the number of the flexible connecting rods in each group of flexible connecting rods 2 is more than 2;

each flexible actuator 1 comprises an annular shell 1-1, a flexible membrane 1-5 and a rigid pressing head 1-2; the inner wall surface of the annular shell 1-1 is provided with a plurality of rigid pressing heads 1-2 along the circumferential direction, each rigid pressing head 1-2 is of a hollow structure, the end part of each rigid pressing head 1-2 is fixedly connected with a flexible membrane 1-5, the rigid pressing head 1-2 and the annular shell 1-1 form an air storage chamber 1-4, an air hole interface 1-3 communicated with the air storage chamber 1-4 is processed on the annular shell 1-1, and a group of flexible connecting rods 2 is arranged between every two adjacent annular shells 1-1. The number of flexible actuators 1 can be increased in series by flexible links 2 as desired.

Gas is injected into or pumped out of the gas storage chamber 1-4 through the gas hole interface 1-3, and the control of the gas injection and discharge frequency and the gas quantity can realize the control of the massage frequency and the pressure degree; the fixed position of the actuator relative to the limb is adjusted, so that the massage of different parts of the limb can be realized. In addition, the massage mode that the pressing part can be adjusted can be realized by controlling the inflation and deflation of different pressing heads, and the rigid pressing head is favorable for ensuring the directionality and the rigidity of the flexible membrane. The embodiment is particularly suitable for massaging acupuncture points, and the pointed acupuncture points can be adjusted by integrally adjusting the position and rotating aiming at the point positions by using the flexible membrane protruding out of the point positions. The diameter of the annular housing 1-1 can be designed according to the thickness and the placement position of the arm of different patients. The massaged limb is fixed relative to the actuator by contacting with the flexible membrane 1-5, and the massage effect is realized by inflating and deflating the rigid pressing head 1-2 in the actuator.

The flexible membrane 1-5 is subjected to the interaction of the air storage chamber 1-4 and the external air pressure to perform the contracting and expanding movement, when the air pressure in the air storage chamber 1-4 is larger than the external air pressure, the flexible membrane 1-5 expands outwards to press the arm; when the air pressure in the air storage chamber 1-4 is lower than the external air pressure, the flexible film 1-5 contracts inwards, and the force for pressing the arm is released. The massage frequency and the pressing pressure can be controlled by controlling the charging and discharging frequency and the gas quantity. The massage of different parts of the limb can be realized by adjusting the fixed position of the actuator relative to the limb. The massage mode of adjustable pressing parts can be realized by controlling the inflation and deflation of different pressing heads.

Each flexible connecting rod 2 is made of hard rubber or metal with adjustable rigidity. The metal with adjustable rigidity has the capability of not being damaged when being stretched, bent and twisted, and has good elastic strength. Such as a bent aluminum solid long rod of a vehicle-mounted mobile phone support.

Alternatively, a plurality of rigid pressing heads 2 are uniformly arranged in the circumferential direction. As shown in fig. 3, the preferred number is 6. Generally, the massage is especially needed to be directed at the acupuncture points in clinic, and the area of the acupuncture points is 1.5cm²Left and right, the point location can be aimed at with this kind of membrane of salient point location, through whole adjustment position and rotation, the acupuncture point of adjustment aim at. When the massage head is applied to acupoint massage, the flexible films 1-5 on two sides of the massage head do not work when one acupoint is massaged, and the three rigid pressing heads 2 on the opposite surfaces work to support.

Optionally, the flexible film 1-5 is made of rubber. By adopting the design scheme of the rigid pressing head 1-2 and the flexible membrane 1-5, under the supporting action of the rigid pressing head 1-2, the flexible membrane 1-5 can not shift when the flexible membrane 1-5 massages acupuncture points, and certain centering performance and rigidity are kept. Optionally, the annular housing 1-1 is a circular housing. The round shell is more suitable for the limbs of the human body, and is convenient for position adjustment.

Based on one embodiment of the scheme, the number of the flexible actuators 1 is three, the number of the flexible connecting rods 2 is two, and three flexible connecting rods 2 are selected from each group to form a structure as shown in fig. 1. As shown in figures 1 and 2, the end part of each flexible connecting rod 1-2 is made into a threaded section, the outer side of the annular shell 1-1 is fixedly connected with a connecting lug 1-6, a threaded hole is processed on the connecting lug 1-6, and the threaded section of the flexible connecting rod 1-2 is in threaded fit installation with the threaded hole. The initial state of the flexible film 1-5 is an arc surface which is convex or concave outwards. At the beginning, no air pressure exists in the air storage chamber 1-4, and the flexible membrane 1-5 naturally protrudes outwards or is inwards concave due to the accumulation of the area.

The gas is injected into or pumped out of the gas storage chamber 1-4 through the gas hole interface 1-3, the flexible membrane 1-5 is subjected to the interaction between the gas storage chamber 1-4 and the external air pressure to perform stretching movement, so that the limb is pressed, and the pressing degree and frequency of the pressing force can be controlled by controlling the quantity and frequency of the gas to be charged and discharged. The materials of the flexible films 1-5 need to be flexible materials with good compatibility with human bodies and high elastic strength. The flexible connecting rod 2 has the ability of not being damaged when being stretched, bent and twisted, and has good elastic strength. When the massage device is used, the flexible actuator 1 is contacted with different parts of the same limb of a patient, a certain amount of gas is filled into the gas storage chamber 1-4 through the gas hole interface 1-3 to ensure that the actuator is fixed relative to the limb, and the massage mode with controllable pressing force degree and adjustable pressing parts can be realized by controlling the degree of air filling and air discharging of the rigid pressing heads 1-2 of different actuators.

The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.

Claims

1. A flexible limb rehabilitation mechanism is characterized in that: the device comprises N flexible actuators (1) and M groups of flexible connecting rods (2); wherein, N is M +1, M is more than or equal to 1, and M and N are positive integers;

a group of flexible connecting rods (2) is arranged between two adjacent flexible actuators (1), and the number of the flexible connecting rods in each group of flexible connecting rods (2) is more than two; each flexible actuator (1) comprises an annular shell (1-1), a flexible membrane (1-5) and a rigid pressing head (1-2); a plurality of rigid pressing heads (1-2) are arranged on the inner wall surface of an annular shell (1-1) along the circumferential direction, each rigid pressing head (1-2) is of a hollow structure, a flexible membrane (1-5) is fixedly connected to the end part of each rigid pressing head (1-2), the flexible membrane (1-5), the rigid pressing heads (1-2) and the annular shell (1-1) form an air storage chamber (1-4), an air hole interface (1-3) communicated with the air storage chamber (1-4) is processed on the annular shell (1-1), and a group of flexible connecting rods (2) are arranged between every two adjacent annular shells (1-1).

2. The flexible limb rehabilitation mechanism of claim 1, wherein: the material of each flexible connecting rod (2) is hard rubber or metal with adjustable rigidity.

3. The flexible limb rehabilitation mechanism of claim 2, wherein: the rigid pressing heads (1-2) are uniformly arranged along the circumferential direction.

4. A flexible limb rehabilitation mechanism according to claim 1, 2 or 3, wherein: the flexible film (1-5) is made of rubber.

5. The flexible limb rehabilitation mechanism of claim 4, wherein: the annular shell (1-1) is a circular shell.

6. The flexible limb rehabilitation mechanism of claim 5, wherein: the flexible film (5) is an arc surface which is convex or concave outwards in the initial state.