CN112155942B - Pneumatic driving wrist joint rehabilitation robot device - Google Patents
Pneumatic driving wrist joint rehabilitation robot device Download PDFInfo
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- CN112155942B CN112155942B CN202011088080.2A CN202011088080A CN112155942B CN 112155942 B CN112155942 B CN 112155942B CN 202011088080 A CN202011088080 A CN 202011088080A CN 112155942 B CN112155942 B CN 112155942B
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- trolley
- rope
- artificial muscle
- pneumatic
- shaped annular
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a pneumatic driving wrist joint rehabilitation robot device, which is used for analyzing the upper half part of a mechanical structure, wherein a trolley is positioned on a T-shaped annular track, and the starting and stopping can be realized at any position on the T-shaped annular track. One end of the pneumatic artificial muscle is connected with a winding roller on the trolley, and the other end is connected with a multi-strand rope on the multifunctional glove. Wherein, the inflation and deflation of the pneumatic artificial muscle driven by the pneumatic control system can realize the rehabilitation movement of the multifunctional glove. For the lower half of the mechanism, the overall device, movement pattern, and inter-device mounting requirements are nearly identical to those of the upper half, except for the tension sensor. The pneumatic control system controls the pneumatic artificial muscle to stretch in the vertical direction, so that the wrist joint can be subjected to inward bending/outward stretching movement; and circular motion of 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, so that the problem of single wrist joint rehabilitation mode is solved.
Description
Technical Field
The invention relates to the technical field of rehabilitation training robots, in particular to a pneumatic driving wrist joint rehabilitation robot device.
Background
With the aggravation of aging population and the increase of natural disasters, the incidence of wrist joint injury is increased year by year, and surgical treatment or fixation treatment means are usually adopted after injury, but long-term fixation can lead connective tissue fibers to be fused, so that joint stiffness and even loss of athletic functions are caused; the traditional rehabilitation training method has the defects of increased training intensity of doctors, high labor input cost, low rehabilitation efficiency and the like.
So that the use of instruments and even robots for rehabilitation training is a main rehabilitation means at present, and the rehabilitation device has complex structure and high price and can not meet the higher and higher requirements of people on the rehabilitation instruments; in order to achieve better rehabilitation effect, a novel wrist rehabilitation device capable of meeting the characteristics of safety, flexibility and light weight is urgently needed; aiming at various defects of the traditional rehabilitation training technique and the like, the wrist joint rehabilitation robot device plays an increasingly important role in wrist joint rehabilitation training.
The wrist joint consists of a wrist joint, an inter-wrist joint, a lower ulnar joint and the like, and the wrist joint rehabilitation robot device which can be made on the market at present can be used for flexion and extension, retraction and ring movement, and most of the wrist joint rehabilitation robot device has the problems of insufficient flexibility, complex structure, high cost and the like, and can not improve the treatment efficiency in effective time.
Disclosure of Invention
The purpose of the invention is that: in order to solve the technical problems, the pneumatic driving type wrist joint rehabilitation robot device is provided, pneumatic driving type rehabilitation training is realized on the wrist joint, the wrist joint can be enabled to conduct flexion and extension and ring movement rehabilitation, the recovery of the joint movement and movement capacity of a patient is promoted, and finally the rehabilitation of the wrist joint of the patient is realized.
In order to achieve the above purpose, the present invention provides the following technical solutions: the device comprises a T-shaped annular rail bracket 1, a T-shaped annular rail 2, a first trolley 3, a first pneumatic artificial muscle 4, a rope 5, a multifunctional glove 6, a second pneumatic artificial muscle 7, a tension sensor 8, a binding belt 9, a chair 10, a second trolley 11, a two-position three-way electromagnetic reversing valve 12, an oil mist device 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 rail bracket and a controller;
the structure and the composition of the trolley I3 and the trolley II 11 are identical, and the trolley I and the trolley II are symmetrically arranged on the upper half part and the lower half part of the T-shaped annular track;
the devices of the upper half and the lower half in the T-shaped annular track 2 are arranged completely symmetrically; the whole device, the movement form and the device mounting connection mode of the upper half part of the T-shaped annular track 2 comprise that a trolley I3 moves under the drive of a winding roller motor I3-1, a main driving shaft I3-8 and a driven shaft I3-7 clamp the T-shaped annular track 2 by a wheel group I3-6 under the action of a spring group I3-5, the winding roller motor I3-1 maintains the pre-tightening state of the whole movement mechanism through a rope 5 at the beginning of operation, one end of a pneumatic artificial muscle I4 is connected with the winding roller I3-3 on the trolley through the rope 5, the other end of the pneumatic artificial muscle I4 is connected with one surface of a multifunctional glove 6 through a plurality of ropes, the expansion of the rope connected with the winding roller I3-3 on the trolley I3 can be realized through the control of the contraction of the pneumatic artificial muscle through a pneumatic loop, and the expansion of the rope can control the movement of the multifunctional glove 6;
the whole device, the movement form and the device installation connection mode of the lower half part of the T-shaped annular track are the same as those of the upper half part of the T-shaped annular track except that the tension sensor 8 is additionally arranged;
in the upper half of the T-shaped circular rail 2, a trolley I3 is positioned on the T-shaped circular rail 2, and the T-shaped circular rail is connected to the bracket 1, so that a base 19 is arranged below the bracket in order to meet the stability of the bracket. Wherein the first trolley 3 moves on the T-shaped annular track 2 by a first main driving shaft motor 3-4. A reel motor 3-1 is mounted on a trolley 3, and a motor shaft of the reel motor 3-1 is connected with the reel 3-3, and the shaft of the reel 3-3 and the motor shaft are connected in the middle through a coupling 3-2, the main function of the coupling is to rotate together to transmit torque. The driving shaft I3-8 driven by the driving shaft motor I3-4 is arranged below the trolley I3, and the driven shaft I3-7 is respectively connected with the driving shaft I3-8 through the spring group I3-5, so that the trolley I3 can be kept in a stopping and starting state at any position, and the wheel groups I3-6 are respectively arranged. The pneumatic artificial muscle one 4 is connected by the rope of the winding drum one 3-3, and similarly, the expansion and contraction of the rope can be realized by driving the pneumatic artificial muscle one 4 by using the pneumatic control system, and the pneumatic artificial muscle one 4 can keep the rope in a naturally relaxed and vertical state. Meanwhile, the other end of the pneumatic artificial muscle I4 is provided with a rope and is connected with one side of the glove 6, and the hand of a patient can extend into the glove without being separated into left and right hands and the front and the back. Similarly, in the lower half of the T-shaped endless track 2, the second carriage 11 is located on the T-shaped endless track 2, and the movement form of the second carriage 11, the devices thereon, the inter-device mounting connection method, and the like are exactly the same as those described above. One end of the tension sensor 8 is connected with the first winding roller 3-3 through a rope, and the other end is connected with the second pneumatic artificial muscle 7. The other end of the pneumatic artificial muscle II 7 is connected with the other side of the glove through a plurality of ropes.
Compared with the movement process of the upper half part of the T-shaped annular track, the trolley I3 clamps the T-shaped annular track by the wheel group I3-6 through the driving shaft I3-8 and the driven shaft I3-7 under the action of the spring group I3-5, the T-shaped annular track moves under the driving of the winding drum motor I3-1, and the winding drum motor I3-1 keeps the pretightening state of the whole movement mechanism through a rope when the operation starts. One end of the pneumatic artificial muscle I4 is connected with the first winding roller I3-3 on the trolley through a rope, and the other end is connected with one surface of the multifunctional glove 6 through a plurality of ropes. The pneumatic control system supplies the internal pressure of the pneumatic artificial muscle 4, wherein the pneumatic control system firstly supplies compressed air by an air compressor 16, and the compressed air 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 which can realize proportional output to the air pressure. Then the air pipe is connected with an oil atomizer 13 with a lubricating function, then a two-position three-way electromagnetic reversing valve 12 is adopted, finally the air enters an air inlet of the pneumatic artificial muscle I4, when an electromagnet of the reversing valve 12 is electrified, the pneumatic artificial muscle I4 which enters compressed air is shortened and deformed in an inflated state, so that stretching force is generated, the multifunctional glove drives a wrist of a patient to realize rehabilitation movement through a rope, and meanwhile, the internal air flow of the pneumatic artificial muscle I4 is regulated by an electric proportional flow valve 17 to be kept unchanged.
After the reversing valve 12 is reversed, the compressed air in the pneumatic artificial muscle I4 flows through the reversing valve 12, the electric proportional flow valve 17 and the silencer 18 to the atmosphere, wherein the control of the air pressure in the pneumatic artificial muscle I4 is realized through the electric proportional flow valve 17 connected with the air outlet of the reversing valve 12.
In summary, the patient stretches his or her hands into the multifunctional glove 6 while his or her arms are held by the straps 9 while resting on the support of the chair 10. The multifunctional glove 6 can realize the flexion and extension movements of the wrist through the inflation and deflation of the pneumatic artificial muscle I4; in addition, the winding roller motor I3-1 on the trolley I3 rotates to drive the winding roller I3-3 to rotate by the same angle to retract and release the rope, the main driving shaft motor I3-4 controls the driving shaft to drive the driven shaft I to move on the T-shaped annular track through the wheel group I3-6, and the wrist bending and stretching movement and the annular movement taking the forearm as the shaft on the vertical plane can be realized.
Next, the whole device, the movement pattern, and the device mounting connection pattern mounted on the lower half of the T-shaped endless track are opposite and identical to those mounted on the upper half of the T-shaped endless track except for the plurality of tension sensors 8. The tension sensor 8 plays a role in pre-tightening the rope when the whole device starts to move, and on one hand, if the tension signal value received by the tension sensor 8 is larger than the preset value of the pre-tightening force of the rope, the second winding roller motor 11-1 on the second trolley 11 stops rotating, and meanwhile, the second winding roller 11-3 stops tightening the rope to keep the pre-tightening force; on the other hand, if the value of the tension signal received by the tension sensor 8 is smaller than the preset value of the pretightening force, the second winding roller motor 11-1 on the second trolley 11 rotates to drive the second winding roller 11-3 to continuously tighten the rope, and until the value of the tension signal is equal to the preset value of the pretightening force, the second winding roller motor 11-1 stops rotating, and the tension is maintained.
Finally, for the pneumatic driving wrist rehabilitation robot device, the upper half part of the T-shaped annular track moves firstly, then the lower half part moves, and finally the upper half part and the lower half part move in a combined way through a series of control systems, so that the wrist bending and stretching movement can be realized, and the annular rotation movement taking the forearm as the axis on the vertical plane can be realized.
The pneumatic control system realizes inflation and deflation through the pneumatic artificial muscle 4 connected with one end of the multi-strand rope 5, so that the multifunctional glove connected with the other end is driven to move, wherein the multifunctional glove 6 considers special requirements of different patients, is designed for wrist patients at different positions, can be used for distinguishing left and right hands without distinguishing front and back sides of the hands, and is used for carrying the multifunctional glove, the outside of the glove adopts a rigid body structure, soft materials are used inside, and the hands and the wrists of the patients are prevented from being secondarily injured in the rehabilitation process.
The patient stretches the hand into the multifunctional glove 6, and meanwhile, the arm is placed on the upper limb support body 10-2 of the chair 10 and fixed through the binding belt 9, the connecting part of the upper limb support body 10-2 and the chair body 10-1 is connected through two telescopic support posts with bolt holes, the height change of the upper limb support body 10-2 can be realized through the position of the adjusting bolt, so that the special rehabilitation treatment is carried out on the wrist joint of the patient, the interference of other equipment is avoided, and meanwhile, the difference of the stature of the patient is also considered.
Compared with the prior art, the invention has the following technical results: the invention can realize the rehabilitation mode of the wrist joint of a patient while carrying out the flexion and extension movements, enriches the rehabilitation mode of the wrist joint, saves medical resources, ensures that more doctors can put into other works, improves the working efficiency and the enthusiasm of the patient for rehabilitation, provides a new comprehensive rehabilitation means for the complex 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 device for rehabilitation exercise for the wrist 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 a multi-functional glove of the present invention;
fig. 4 is a schematic view of a chair according to the present invention.
Wherein: in fig. 1: the T-shaped annular track bracket comprises a T-shaped annular track bracket body, a trolley body, a pneumatic artificial muscle, a rope, a multifunctional glove, a pneumatic artificial muscle, a tension sensor, a binding belt, a chair, a trolley, a two-position three-way electromagnetic reversing valve, an oil mist device, an electric proportional pressure valve, an air filter, an air compressor, a muffler and a base, wherein the T-shaped annular track bracket body comprises the T-shaped annular track bracket body, the trolley, the pneumatic artificial muscle, the tension sensor, the binding belt, the chair, the trolley, the two-position three-way electromagnetic reversing valve, the oil mist device, the electric proportional pressure valve, the air filter, the air compressor, the electric proportional flow valve and the silencer, and the base of the T-shaped annular track bracket body.
In fig. 2: 3-1 is a winding roller motor I, 3-2 is a coupling I, 3-3 is a winding roller I, 3-4 is a main driving shaft motor I, 3-5 is a spring group I, 3-6 is a wheel group I, 3-7 is a driven shaft I, and 3-8 is a main driving shaft I;
the drawing number of the driving device corresponding to the trolley two 11 is: 11-1 is a winding roller motor II, 11-2 is a coupling II, 11-3 is a winding roller II, 11-4 is a main driving shaft motor II, 11-5 is a spring group II, 11-6 is a wheel group II, 11-7 is a driven shaft II, and 11-8 is a main driving shaft II;
in fig. 3: 6, multifunctional gloves;
in fig. 4: 10-1 chair body and 10-2 upper limb support
Detailed Description
The invention aims to provide a pneumatic driving wrist joint rehabilitation robot device, which solves the defect of single training mode in the modern technology, and can better perform rehabilitation training on the wrist joint under the assistance of the rehabilitation robot device by realizing rehabilitation training of flexion and extension and ring movement on the wrist joint, thereby improving rehabilitation efficiency.
In order that the manner in which the above recited objects, features and advantages of the present invention are obtained will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to the appended drawings.
The invention provides a pneumatic driving wrist rehabilitation robot device, wherein a trolley I3 is positioned on a T-shaped annular track 2, and the T-shaped annular track is connected to a bracket 1, so that a base 19 is arranged below the bracket in order to meet the stability of the bracket. The trolley I3 moves on the T-shaped annular track 2 by an in-wheel motor. As shown in fig. 2, a reel motor 3-1 is mounted on a trolley 3, and a motor shaft of the reel motor 3-1 is connected to the reel 3-3, between which a shaft of the reel 3-3 and a motor shaft are connected by using a coupling 3-2 whose main function is to rotate together to transmit torque. The driving shaft I3-8 driven by the driving shaft motor I3-4 is arranged below the trolley, the driven shaft I3-7 is respectively connected with the driving shaft I3-8 through the spring group I3-5, the trolley I3 can be kept in a stopping and starting state at any position, and the wheel groups I3-6 are respectively arranged. As shown in fig. 3, one surface of the multifunctional glove 6 is connected with the first pneumatic artificial muscle 4 through a plurality of ropes 5, the first pneumatic artificial muscle 4 has the characteristics of small weight, good flexibility and miniaturization, and the first pneumatic artificial muscle 4 stretches and shortens 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 and puts his hand into the multifunctional glove 6 while his arm is put on the upper limb support 10-2 of the chair 10 and is fixed by the strap 9. The upper limb support body 10-2 is connected with the chair body 10-1 through two telescopic struts with bolt holes, and the height change of the upper limb support body 10-2 can be realized by adjusting the positions of the bolts.
For rehabilitation robot devices performing ring movements for the wrist joint, taking the right hand as an example, it includes the following forms of movement rehabilitation:
(1) Inward flexing motion of wrist joint
At the beginning, the first trolley 3 and the second trolley 11 respectively hold the T-shaped annular track under the action of the first spring group 3-5 and the second spring group 11-5 by the first wheel group 3-6 and the second wheel group 11-5 through the first driving shaft 3-8, the second driving shaft 11-8, the first driven shaft 3-7 and the second driven shaft 11-7, and the pre-tightening state of the whole movement mechanism is respectively kept through ropes under the driving of the first winding roller motor 3-1 and the second winding roller motor 11-1. Firstly, the pneumatic artificial muscle II 7 is inflated through a pneumatic loop to shorten the shape, the pneumatic artificial muscle I4 is kept unchanged, one end of the multi-strand rope 5 is connected with the pneumatic artificial muscle I4, 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 II 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 pre-tightening state to be consistent with the operation state, then, inflating the first pneumatic artificial muscle 4 through a pneumatic loop to shorten the shape, keeping the second pneumatic artificial muscle 7 unchanged, connecting one end of the multi-strand rope 5 with the second pneumatic artificial muscle 7, connecting the other end of the multi-strand rope with one side of the glove, and simultaneously placing the forearm in the upper limb support body 10-2 and fixing the forearm through the binding belt 9 in the deformation process of the first pneumatic artificial muscle 4, so that the multifunctional glove 6 is driven to move upwards to form the wrist joint overhanging motion.
(3) Motion of wrist joint ring in whole space
Firstly, keeping the pre-tightening state, operating the pre-tightening state to be consistent with the pre-tightening state, then driving a first coiling roller motor 3-1 and a second coiling roller motor 11-1 through a controller, enabling a first trolley 3 and a second trolley 11 to move along a T-shaped annular track at the same time, 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 two trolleys are rotated 180 degrees. Finally, under the action of the controller, the driving motors of the two trolleys are reversed, so that the trolleys return along the original path, and the wrist joint can be rotated in a reciprocating manner.
The elastic motions of the pneumatic artificial muscle I4 and the pneumatic artificial muscle II 7, such as inflation contraction and deflation recovery, can buffer the impact of the upper arm during rehabilitation motion, and avoid secondary injury caused by the asynchronism of the rigid motion of the winding drum stay cord (or the rope) on the trolley I3 and the rigid motion of the winding drum rope (or the rope) on the trolley II 11.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, which are provided to assist in understanding the methods of the present invention and their core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (4)
1. A pneumatic drive type wrist rehabilitation robot device which is characterized in that: the device comprises a T-shaped annular track bracket (1), a T-shaped annular track (2), a first trolley (3), a first pneumatic artificial muscle (4), a rope (5), a multifunctional glove (6), a second pneumatic artificial muscle (7), a tension sensor (8), a binding belt (9), a chair (10), a second trolley (11), a two-position three-way electromagnetic reversing valve (12), an oil mist sprayer (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 bracket and a controller; the structure and the composition of the trolley I (3) and the trolley II (11) are identical, and the trolley I and the trolley II are symmetrically arranged on the upper half part and the lower half part of the T-shaped annular track;
the devices of the upper half part and the lower half part in the T-shaped annular track (2) are arranged completely symmetrically; the whole device, the movement form and the device mounting connection mode of the upper half part of the T-shaped annular track (2) comprise that a trolley I (3) moves under the drive of a hub motor I (3-1), a main driving shaft I (3-8) and a driven shaft I (3-7) clamp the T-shaped annular track (2) by a wheel group I (3-6) under the action of a spring group I (3-5), the hub motor I (3-1) maintains the pre-tightening state of the whole movement mechanism through a rope (5) at the beginning of operation, one end of a pneumatic artificial muscle I (4) is connected with a winding drum I (3-3) on the trolley through the rope (5), the other end of the pneumatic artificial muscle I is connected with one surface of a multifunctional glove (6) through a plurality of ropes, the expansion and contraction of the rope connected with the winding drum I (3-3) on the trolley I (3) can be realized through the control of a pneumatic loop, and the expansion and contraction of the rope can control the movement of the multifunctional glove (6);
the whole device, the movement form and the device installation connection mode of the lower half part of the T-shaped annular track of the device are the same as those of the upper half part of the T-shaped annular track except for a plurality of tension sensors (8), and specifically:
the trolley II (11) moves under the drive of the wheel hub motor II, the driving shaft II and the driven shaft II clamp the T-shaped annular track (2) under the action of the spring group II by the wheel group II, the wheel hub motor II maintains the pretightening state of the whole movement mechanism through the rope (5) at the beginning of the operation, one end of the pneumatic artificial muscle II (7) is connected with one end of the tension sensor (8) through the rope (5), the other end of the tension sensor (8) is connected with the winding roller II on the trolley through the rope (5), the other end of the pneumatic artificial muscle II (7) is connected with one surface of the multifunctional glove (6) through a multi-strand rope, the expansion and contraction of the rope connected with the winding roller II (11-3) on the trolley II (11) can be realized through the control of the pneumatic circuit, and meanwhile, the expansion and the movement of the multifunctional glove (6) can be controlled through the expansion and contraction of the rope;
the tension sensor (8) plays a role in pre-tightening the rope when the whole device starts to move, and on one hand, if the tension signal value received by the tension sensor (8) is larger than the preset value of the pre-tightening force of the rope, the hub motor II (11-1) on the trolley II (11) stops rotating, and meanwhile, the wire winding roller II (11-3) stops tightening the rope to keep the pre-tightening force; on the other hand, if the value of the tension signal received by the tension sensor (8) is smaller than the preset value of the pretightening force, the hub motor II (11-1) on the trolley II (11) rotates to drive the winding drum II (11-3) to continuously tighten the rope, and until the value of the tension signal is equal to the preset value of the pretightening force, the hub motor II (11-1) stops rotating, and the tension is maintained;
the motion process is as follows: dorsiflexion motion of (one) the wrist joint
When the device is started, the first trolley (3) and the second trolley (11) respectively hold the T-shaped annular track under the action of the first spring group (3-5) and the second spring group (11-5) by the first wheel group (3-6) and the second wheel group (11-5) through the first driving shaft (3-8), the second driving shaft (11-8) and the first driven shaft (3-7) and the second driven shaft (11-7), and the pre-tightening state of the whole movement mechanism is respectively kept through ropes under the driving of the first wheel hub motor (3-1) and the second wheel hub motor (11-1);
firstly, the pneumatic artificial muscle II (7) is inflated through a pneumatic loop to shorten the shape, the pneumatic artificial muscle I (4) is kept unchanged, one end of the multi-strand rope (5) is connected with the pneumatic artificial muscle I (4), the other end of the multi-strand rope is connected with one surface of the multifunctional glove, and in the deformation process of the pneumatic artificial muscle II (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;
extension movement of wrist
Firstly, keeping a pre-tightening state, operating the pre-tightening state to be consistent with the front, then, inflating the pneumatic artificial muscle I (4) through a pneumatic loop to shorten the shape, keeping the pneumatic artificial muscle II (7) unchanged, connecting one end of the multi-strand rope (5) with the pneumatic artificial muscle II (7) and the other end with one surface of the multifunctional glove, and simultaneously placing the forearm in the upper limb support body (10-2) and fixing the forearm through the binding belt (9) in the deformation process of the pneumatic artificial muscle I (4), so that the multifunctional glove (6) is driven to move upwards to form the extension movement of the wrist joint;
(III) motion of the wrist Ring in Integrated space
Firstly, keeping a pre-tightening state, operating the pre-tightening state to be consistent with the pre-tightening state, driving a hub motor I (3-1) and a hub motor II (11-1) through a controller, enabling a trolley I (3) and a trolley II (11) to move along a T-shaped annular track at the same time, and enabling a connecting line of the two trolleys to pass through the circle center of the T-shaped annular track until the positions of the two trolleys are reversed, namely, turning 180 degrees;
finally, the two trolleys return along the original path and reciprocate in this way; the wrist joint can realize the circumrotating movement.
2. A pneumatically driven wrist rehabilitation robot device according to claim 1, characterized in that: for the movement form of the upper half part, the trolley I (3) moves on the T-shaped annular track (2) by a hub motor I (3-1), the hub motor I (3-1) is arranged on the trolley I (3), the hub motor I (3-1) is connected with a winding drum I (3-3), a shaft of the winding drum I (3-3) and a motor shaft are connected in the middle of the hub motor I (3-1) by a coupling I (3-2), a main driving shaft I (3-8) driven by a main driving shaft motor I (3-4) is arranged below the trolley, the main driving shaft I (3-8) and a driven shaft I (3-7) are respectively connected through a spring group I (3-5), the trolley I (3) can be kept in a stopped and started state at any position, and a wheel group I (3-6) is respectively arranged.
3. A pneumatically driven wrist rehabilitation robot device according to claim 1, characterized in that: the pneumatic control system realizes inflation and deflation through the pneumatic artificial muscle I (4) connected with one end of the multi-strand rope (5) so as to drive the multifunctional glove connected with the other end to move, wherein the multifunctional glove (6) considers the special requirements of different patients, can be used for wrist patients at different positions without distinguishing left and right hands, and meanwhile, the front and back sides of the hands are not required to be distinguished, and the multifunctional glove used at random is arranged outside the glove, adopts a rigid body structure, adopts soft materials inside, and ensures that the hands and the wrists of the patients are not subjected to secondary injury in the rehabilitation process.
4. A pneumatically driven wrist rehabilitation robot device according to claim 1, characterized in that: the patient stretches hands into the multifunctional glove (6), arms are placed on an upper limb support body (10-2) of a chair (10) and fixed through a binding belt (9), the upper limb support body (10-2) is connected with a chair body (10-1) above the chair (10) through two telescopic struts with bolt holes, the height change of the upper limb support body (10-2) can be realized through the positions of the adjusting bolts, so that special rehabilitation treatment is performed on wrist joints of the patient, the interference of other equipment is avoided, and meanwhile, the difference of the stature of the patient is also considered.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204562790U (en) * | 2015-01-29 | 2015-08-19 | 哈尔滨理工大学 | The upper limb rehabilitation robot that pneumatic muscles drives |
| CN107485539A (en) * | 2017-09-22 | 2017-12-19 | 常州大学 | A kind of wrist function rehabilitation trainer |
| CN110897830A (en) * | 2019-12-13 | 2020-03-24 | 武汉理工大学 | Pneumatic muscle driven modular exoskeleton elbow and wrist rehabilitation robot |
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| US7857734B2 (en) * | 2004-09-14 | 2010-12-28 | Glideboxx, L.L.C. | Sports training system |
| US8142296B2 (en) * | 2006-09-11 | 2012-03-27 | Larsen Stanley S | Maneuverable entertainment and training system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204562790U (en) * | 2015-01-29 | 2015-08-19 | 哈尔滨理工大学 | The upper limb rehabilitation robot that pneumatic muscles drives |
| CN107485539A (en) * | 2017-09-22 | 2017-12-19 | 常州大学 | A kind of wrist function rehabilitation trainer |
| CN110897830A (en) * | 2019-12-13 | 2020-03-24 | 武汉理工大学 | Pneumatic muscle driven modular exoskeleton elbow and wrist rehabilitation robot |
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