CN112155942A

CN112155942A - Pneumatic driving type wrist joint rehabilitation robot device

Info

Publication number: CN112155942A
Application number: CN202011088080.2A
Authority: CN
Inventors: 张业明; 刘俊磊; 曹琳卿; 石岩; 许未晴; 蔡茂林; 金公华
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2021-01-01
Anticipated expiration: 2040-10-13
Also published as: CN112155942B

Abstract

The invention discloses a pneumatic drive type wrist joint rehabilitation robot device, which analyzes the upper half part of a mechanical structure, wherein a trolley is positioned on a T-shaped annular track and can be started and stopped at any position on the T-shaped annular track. One end of the pneumatic artificial muscle is connected with the winding roller on the trolley, and the other end is connected with the multi-strand rope on the multifunctional glove. The pneumatic artificial muscle driven by the pneumatic control system is inflated and deflated to realize the rehabilitation exercise of the multifunctional glove. For the lower half part of the mechanism, except for the tension sensor, the requirements of the whole device, the motion form and the installation among devices are almost the same as those of the upper half part. The pneumatic control system controls the pneumatic artificial muscle in the vertical direction to stretch and contract, so that the inward/outward bending movement of the wrist joint can be realized; and the circular motion of the two trolleys in the vertical direction under the synchronous action of the main driving shafts of the trolleys can realize the circular motion of the wrist joint, thereby solving the problem of single rehabilitation mode of the wrist joint.

Description

Pneumatic driving type wrist joint rehabilitation robot device

Technical Field

The invention relates to the technical field of rehabilitation training robots, in particular to a pneumatic driving type wrist joint rehabilitation robot device.

Background

With the aggravation of the aging of population and the increase of natural disasters, the incidence of wrist joint injury also increases year by year, and after injury, a treatment means of operation treatment or fixation is usually adopted, but the connective tissue fiber of the wrist joint is fused after long-term fixation, so that the joint is stiff and even loses the motion function; the traditional rehabilitation training method has the defects of increased training intensity of doctors, high manual input cost, low rehabilitation efficiency and the like.

Therefore, the rehabilitation training by using instruments and even robots is the main rehabilitation means at present, and the rehabilitation devices have complex structures and high price and can not meet the higher and higher requirements of people on the rehabilitation instruments; in order to achieve a better rehabilitation effect, a novel wrist rehabilitation device which can meet the characteristics of safety, flexibility and lightness is urgently needed; aiming at various defects of the traditional rehabilitation training method and the like, the wrist joint rehabilitation robot device plays an increasingly important role in the wrist joint rehabilitation training.

The wrist joint comprises the radial wrist joint, the intercarpal joint, the ulnar radial joint and the like, the robot device for wrist joint rehabilitation which can be done on the market at present can do flexion, extension, contraction and rotation motions, most of the robot devices have the problems of insufficient flexibility, complex structure, high cost and the like, and the treatment efficiency can not be improved in effective time.

Disclosure of Invention

The purpose of the invention is: in order to solve the technical problem, the pneumatic drive type wrist joint rehabilitation robot device is provided, pneumatic drive type rehabilitation training is realized on a wrist joint, so that the wrist joint can be recovered by flexion, extension and rotation movement, the recovery of joint activity and movement capacity of a patient is promoted, and the recovery of the wrist joint of the patient is finally realized.

In order to achieve the above purpose, the present invention provides the following technical solutions: the trolley 3 is located on the T-shaped annular track 2 and the T-shaped annular track is connected to the support 1, so that the base 19 is mounted below the support in order to meet the stability of the support. Wherein the trolley 3 is driven by a hub motor to move on the T-shaped annular track 2. A motor 3-1 is arranged on the trolley 3, and the motor shaft of the motor 3-1 is connected with a winding roller 3-3, and the shaft of the winding roller 3-3 and the motor shaft are connected by a coupling 3-2 between the winding roller and the motor shaft, wherein the coupling has the main function of enabling the winding roller to rotate together to transmit torque. The driving shafts 3-8 driven by the motors 3-4 are arranged below the trolley and are respectively connected with the driven shafts 3-7 through springs 3-5, so that the trolley 3 can be kept in a stopped state and a started state at any position, and the wheels 3-6 are respectively arranged. The pneumatic artificial muscle 4 is connected through the cord of the winding drum 3-3, and likewise, the extension and contraction of the cord can be realized by driving the pneumatic artificial muscle 4 by using a pneumatic control system, and the pneumatic artificial muscle 4 can keep the cord in a natural, relaxed and vertical state. Meanwhile, the other end of the pneumatic artificial muscle 4 is provided with a rope and is connected to one side of the glove 6, and the hand of the patient can extend into the glove without dividing the left hand, the right hand and the front side and the back side. Likewise for the lower half. The trolley 11 is positioned on the T-shaped annular track 2, and the movement form of the trolley 11, the devices on the trolley, the installation and connection method among the devices and the like are completely the same as those described above. One end of the tension sensor 8 is connected with the winding roller 3-3 through a rope, and the other end is connected with the pneumatic artificial muscle 7. The other end of the pneumatic artificial muscle 7 is connected with the other side of the glove through a plurality of ropes.

Relative to the movement process of the upper half part of the T-shaped annular track, the trolley 3 clamps the T-shaped annular track through the main driving shaft 3-8 and the driven shaft 3-7 under the action of the spring 3-5 by the wheel 3-6, the T-shaped annular track moves under the driving of the hub motor 3-1, and the pre-tightening state of the whole movement mechanism is kept through a rope when the hub motor 3-1 starts to operate. One end of the pneumatic artificial muscle 4 is connected with the winding roller 3-3 on the trolley through a rope, and the other end is connected with one side of the multifunctional glove 6 through a plurality of ropes. The pneumatic control system supplies the pressure inside the pneumatic artificial muscle 4, wherein the pneumatic control system firstly supplies compressed air from an air compressor 16, enters an air filter 15 with the function of removing water vapor in the compressed air through an air pipe, and an electric proportional pressure valve 14 capable of realizing proportional output of the air pressure. Then, an oil atomizer 13 with a lubricating effect is connected with an air pipe, then a two-position three-way electromagnetic directional valve 12 is adopted, and finally the air enters an air inlet of the pneumatic artificial muscle 4, when an electromagnet of the directional valve 12 is electrified, the pneumatic artificial muscle 4 entering compressed air shortens and deforms in an inflation state, so that tensile force is generated, the multifunctional glove drives the wrist of a patient to achieve rehabilitation movement through a rope, and meanwhile, the internal gas flow of the pneumatic artificial muscle 4 is kept unchanged by adjusting an electric proportional flow valve 17.

After the reversing valve 12 reverses, the compressed air inside the pneumatic artificial muscle 4 flows through the reversing valve 12, the electric proportional flow valve 17 and the silencer 18 to flow into the atmosphere, wherein the control of the air pressure inside the pneumatic artificial muscle 4 is realized through the electric proportional flow valve 17 connected with the air outlet of the reversing valve 12.

In conclusion, the patient puts his hand into the multifunctional glove 6 and fixes his arm on the support of the chair 10 by the binding band 9. The multifunctional glove 6 can realize the flexion and extension movement of the wrist through the inflation and deflation of the pneumatic artificial muscle 4; in addition, the rotation of a motor 3-1 on the trolley 3 drives the wire winding roller 3-3 to rotate by the same angle to wind and unwind the rope, and the motor 3-4 controls the main driving shaft to drive the driven shaft to move on the T-shaped annular track through the wheels 3-6, so that the flexion and extension movement of the wrist and the rotary movement on a vertical plane by taking the small arm as the shaft can be realized.

Next, the overall device, the movement pattern, and the device installation connection pattern mounted on the lower half portion of the T-shaped circular track are opposite and identical to the overall device, the movement pattern, and the device installation connection pattern mounted on the upper half portion of the T-shaped circular track, except for the tension sensor 8. On one hand, if the value of a tension signal received by the tension sensor 8 is greater than a specified rope pre-tightening force value, the hub motor 11-1 on the trolley 11 stops rotating, and meanwhile, the winding roller 11-3 stops tightening the rope, so that the pre-tightening force is kept; on the other hand, if the tension signal value received by the tension sensor 8 is smaller than the pre-tightening force specified value, the hub motor 11-1 on the trolley 11 rotates to drive the winding roller 11-3 to continuously tighten the rope, and when the tension signal value is equal to the pre-tightening force specified value, the hub motor stops rotating, and the tension is maintained.

Finally, according to the pneumatic drive type wrist joint rehabilitation robot device, the upper half part of the T-shaped annular track moves firstly through a series of control systems, then the lower half part moves, and finally the upper half part and the lower half part move in a composite mode, so that not only can the flexion and extension movement of the wrist be realized, but also the rotation movement on the vertical plane with the forearm as the axis can be realized.

Compared with the prior art, the invention obtains the following technical achievements: the invention can realize the rehabilitation form of the rotary motion while performing the flexion and extension motions on the wrist joint of the patient, enriches the rehabilitation form of the wrist joint, saves medical resources, enables more doctors to be put into other work, improves the working efficiency and the enthusiasm of the patient for rehabilitation, provides a new comprehensive rehabilitation means for the complicated wrist joint, has higher applicability and effectively improves the utilization efficiency of the rehabilitation training robot.

Drawings

Fig. 1 is a schematic view of the overall structure of a robot apparatus for performing rehabilitation exercise on a wrist joint according to the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention mounted on a cart;

FIG. 3 is a diagram of the multifunctional glove of the present invention;

fig. 4 is a schematic view of a chair according to the present invention.

Wherein: in fig. 1: the device comprises a T-shaped annular track support 1, a T-shaped annular track 2, a trolley 3, a pneumatic artificial muscle 4, a rope 5, a multifunctional glove 6, a pneumatic artificial muscle 7, a tension sensor 8, a binding belt 9, a chair 10, a trolley 11, a two-position three-way electromagnetic directional valve 12, an oil atomizer 13, an electrical proportional pressure valve 14, an air filter 15, an air compressor 16, an electrical proportional flow valve 17, a silencer 18 and a base of the T-shaped annular track support 19.

In fig. 2: 3-1 is a motor, 3-2 is a coupler, 3-3 is a winding roller, 3-4 is a main driving shaft motor, 3-5 is a spring, 3-6 is a wheel, 3-7 is a slave driving shaft, and 3-8 is a main driving shaft;

in fig. 3: 6, multifunctional gloves;

in fig. 4: 10-1 chair body and 10-2 upper limb support body.

Detailed Description

The invention aims to provide a pneumatic drive type wrist joint rehabilitation robot device, which aims to overcome the defect of single training mode in the modern technology, and can better perform rehabilitation training on a wrist joint under the assistance of the rehabilitation robot device by realizing the rehabilitation training of flexion, extension and rotation of the wrist joint, so that the rehabilitation efficiency is improved.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

The invention provides a pneumatic driving type wrist joint rehabilitation robot device, wherein a trolley 3 is positioned on a T-shaped annular track 2, the T-shaped annular track is connected to a support 1, and a base 19 is arranged below the support in order to meet the stability of the support. The trolley 3 is driven by a hub motor to move on the T-shaped annular track 2. As shown in FIG. 2, a motor 3-1 is installed on the cart 3, and a motor shaft of the motor 3-1 is connected to the take-up drum 3-3, and a shaft of the take-up drum 3-3 and a motor shaft are connected therebetween by using a coupling 3-2, whose main function is to rotate them together to transmit torque. The driving shafts 3-8 driven by the motors 3-4 are arranged below the trolley and are respectively connected with the driven shafts 3-7 through springs 3-5, so that the trolley 3 can be kept in a stopped state and a started state at any position, and the wheels 3-6 are respectively arranged. As shown in figure 3, one side of the multifunctional glove 6 is connected with the pneumatic artificial muscle 4 through a plurality of ropes 5, the pneumatic artificial muscle 4 has the characteristics of light weight, good flexibility and miniaturization, and the pneumatic artificial muscle 4 is extended and shortened in the inflation and deflation process to drive the glove to move through the ropes 5. As shown in fig. 4, the patient sits on the chair body 10-1 with his or her hands inserted into the multi-functional gloves 6 and his or her arms placed on the upper limb supporters 10-2 of the chair 10 and fixed by the binding bands 9. Wherein the part of the upper limb support 10-2 connected with the chair body 10-1 is connected by two telescopic support columns with bolt holes, and the height change of the upper limb support 10-2 can be realized by adjusting the position of the bolt.

For a rehabilitation robot device performing a rotation movement with respect to a wrist joint, taking a right hand as an example, it includes the following exercise rehabilitation forms:

(1) inflexion movement of the wrist joint

At the beginning, the trolleys 3 and 11 clamp the T-shaped annular track through the main driving shafts 3-8 and 11-8 and the driven shafts 3-7 and 11-7 by the wheels 3-6 and 11-6 under the action of the springs 3-5 and 11-5 and are respectively kept in a pre-tightening state of the whole movement mechanism through the ropes under the driving of the hub motors 3-1 and 11-1. Firstly, the pneumatic artificial muscle 7 is inflated through a pneumatic circuit to shorten the shape, the pneumatic artificial muscle 4 is kept unchanged, one end of the multi-strand rope 5 is connected with the pneumatic artificial muscle, the other end of the multi-strand rope is connected with one side of the glove, and in the deformation process of the pneumatic artificial muscle 7, the forearm is placed in the upper limb support body 10-2 and fixed through the binding belt 9, so that the multifunctional glove 6 is driven to move downwards to form wrist joint inward bending movement.

(2) Wrist extension movement

Firstly keeping a pre-tightening state, operating the same as the previous state, then inflating the pneumatic artificial muscle 4 through a pneumatic circuit to shorten the shape, keeping the pneumatic artificial muscle 7 unchanged, connecting one end of a multi-strand rope 5 with the pneumatic artificial muscle, connecting the other end with one side of a glove, and in the process of deforming the pneumatic artificial muscle 4, simultaneously placing a front arm in an upper limb support body 10-2 and fixing the front arm through a binding belt 9, so that the multifunctional glove 6 is driven to move upwards to form the extending movement of a wrist joint.

(3) Wrist joint rotation movement of whole space

Firstly, the pre-tightening state is kept, the operation is consistent with that of the previous vehicle, then the in-wheel motors 3-1 and 11-1 are driven by the controller, so that the trolleys 3 and 11 move along the T-shaped annular track simultaneously, and the connecting line of the two trolleys passes through the circle center of the annular track until the positions of the two trolleys are reversed, namely the trolleys rotate 180 degrees. And finally, under the action of the controller, the driving motors of the two trolleys rotate reversely to return the trolleys along the original path, and the reciprocating motion is realized, so that the wrist joint can rotate circularly.

The elastic movement of the pneumatic artificial muscle 4 and the pneumatic artificial muscle 7 for inflation contraction and deflation recovery can buffer the impact of the upper arm during rehabilitation movement, and avoid the secondary injury caused by the asynchronous rigid movement of the rope (or the stay cord) of the winding roller on the trolley 2 and the rope (or the stay cord) of the winding roller on the trolley 11.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above description of the examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. The utility model provides a recovered robot device of pneumatic drive formula wrist joint which characterized in that: the device comprises a T-shaped annular track support (1), a T-shaped annular track (2), a trolley (3), pneumatic artificial muscles (4), ropes (5), multifunctional gloves (6), pneumatic artificial muscles (7), tension sensors (8), binding bands (9), a chair (10), a trolley (11), a two-position three-way electromagnetic directional valve (12), an oil atomizer (13), an electric proportional pressure valve (14), an air filter (15), an air compressor (16), an electric proportional flow valve (17), a silencer (18), a base (19) of the T-shaped annular track support and a controller;

the devices of the upper half part and the lower half part in the T-shaped annular track (2) are completely symmetrically arranged; wherein the integral device, the movement form and the device installation and connection mode of the upper half part of the T-shaped annular track (2) comprise that a trolley (3) moves under the driving of a hub motor (3-1), a main driving shaft (3-8) and a driven shaft (3-7) clamp the T-shaped annular track (2) under the action of a spring (3-5) by a wheel (3-6), the hub motor (3-1) keeps the pre-tightening state of the whole movement mechanism through a rope at the beginning of operation, one end of a pneumatic artificial muscle (4) is connected with a winding roller (3-3) on the trolley through the rope, the other end of the pneumatic artificial muscle is kept connected with one surface of a multifunctional glove (6) through a plurality of ropes, and the expansion of the rope connected with the winding roller (3-3) on the trolley (3) can be realized by controlling the contraction of the pneumatic artificial muscle through a pneumatic loop, meanwhile, the stretching of the rope can control the movement of the multifunctional glove (6);

the integral device, the movement form and the device installation and connection mode of the lower half part of the T-shaped annular track of the device are the same as those of the integral device, the movement form and the device installation and connection mode of the upper half part of the T-shaped annular track except the tension sensors (8);

on one hand, if a tension signal value received by the tension sensor (8) is larger than a specified rope pretightening force value, a hub motor (11-1) on the trolley (11) stops rotating, and meanwhile, a winding roller (11-3) stops tightening the rope, so that the pretightening force is kept; on the other hand, if the tension signal value received by the tension sensor (8) is smaller than the pre-tightening force specified value, the hub motor (11-1) on the trolley (11) rotates to drive the winding roller (11-3) to continuously tighten the rope until the tension signal value is equal to the pre-tightening force specified value, the hub motor stops rotating, and the tension is maintained;

the motion process is as follows: inward bending movement of wrist joint

When the device is started, the trolleys (3) and (11) clamp the T-shaped annular track under the action of the springs (3-5) and (11-5) through the main driving shafts (3-8) and (11-8) and the driven shafts (3-7) and (11-7) by the wheels (3-6) and (11-6) and are respectively kept in a pre-tightening state of the whole movement mechanism through the ropes under the driving of the hub motors (3-1) and (11-1);

firstly, inflating a pneumatic artificial muscle (7) through a pneumatic circuit to shorten the shape, keeping the pneumatic artificial muscle (4) unchanged, connecting one end of a multi-strand rope (5) with the pneumatic artificial muscle, connecting the other end of the multi-strand rope with one side of a glove, and in the deformation process of the pneumatic artificial muscle (7), simultaneously placing a forearm in an upper limb support body (10-2) and fixing the forearm through a binding band (9), so that a multifunctional glove (6) is driven to move downwards to form wrist joint inward bending movement;

extension movement of wrist joint

Firstly, keeping a pre-tightening state, operating the pre-tightening state to be consistent with the operation of the pre-tightening state, then inflating the pneumatic artificial muscle (4) through a pneumatic loop to shorten the shape, keeping the pneumatic artificial muscle (7) unchanged, connecting one end of a multi-strand rope (5) with the pneumatic artificial muscle, connecting the other end of the multi-strand rope with one side of a glove, and in the deformation process of the pneumatic artificial muscle (4), simultaneously placing a front arm in an upper limb support body (10-2) and fixing the front arm through a binding band (9), so that a multifunctional glove (6) is driven to move upwards to form the extending movement of a wrist joint;

wrist joint rotary motion of (III) overall space

Firstly, keeping a pre-tightening state, wherein the operation is consistent with that of the pre-tightening state, then driving hub motors (3-1) and (11-1) through a controller to enable trolleys (3) and (11) to move along a T-shaped annular track simultaneously, and enabling a connecting line of the two trolleys to pass through the circle center of the annular track until the positions of the two trolleys are reversed, namely, the trolleys rotate 180 degrees;

finally, the two trolleys return along the original path, and the process is repeated; the wrist joint can rotate around.

2. A pneumatically driven wrist joint rehabilitation robot device using as recited in claim 1 above, characterized in that: as for the movement form of the upper half part, the trolley (3) moves on the T-shaped annular track (2) by a hub motor (3-1), the motor (3-1) is installed on the trolley (3), the motor (3-1) is connected with the winding roller (3-3), the shaft and the motor shaft of the winding roller (3-3) are connected between the motor (3-1) and the winding roller by a coupler (3-2), the driving shaft (3-8) driven by the motor (3-4) is installed below the trolley, the driven shaft (3-7) is respectively connected by a spring (3-5), the trolley (3) can be kept in a stop state and a start state at any position, and wheels (3-6) are respectively installed.

3. A pneumatically driven wrist joint rehabilitation robot device using as recited in claim 1 above, characterized in that: pneumatic control system passes through pneumatic artificial muscle (4) that stranded rope (5) one end is connected, realize filling the gassing, thereby drive the multi-functional gloves motion that the other end is connected, wherein different patients' special demand has been considered in multi-functional gloves (6), wrist patient to different positions, it can need not distinguish left and right hands to have designed a section, need not distinguish the positive and negative of hand simultaneously, along with the multi-functional gloves of usefulness in the area, this gloves outside adopts rigid body structure, soft material is used to inside, guarantee that the patient does not receive the secondary injury at recovered in-process hand and wrist.

4. A pneumatically driven wrist joint rehabilitation robot device using as recited in claim 1 above, characterized in that: the patient inserts the hand into the multifunctional glove (6), the arm is placed on the upper limb support body (10-2) of the chair (10) and fixed through the binding band (9), the part of the upper limb support body (10-2) connected with the chair body (10-1) is connected through two telescopic support columns with bolt holes, and the height change of the upper limb support body (10-2) can be realized by adjusting the position of the bolt, so that the wrist joint of the patient is specially rehabilitated, the interference of other equipment is avoided, and the difference of the body size of the patient is also considered.