CN116061157A - Exoskeleton bracket assembly and arm bracket assembly and manufacturing method thereof - Google Patents
Exoskeleton bracket assembly and arm bracket assembly and manufacturing method thereof Download PDFInfo
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- CN116061157A CN116061157A CN202310337437.3A CN202310337437A CN116061157A CN 116061157 A CN116061157 A CN 116061157A CN 202310337437 A CN202310337437 A CN 202310337437A CN 116061157 A CN116061157 A CN 116061157A
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- edge
- split
- connecting portion
- exoskeleton
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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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
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an exoskeleton bracket component, a manufacturing method thereof and an arm bracket component, wherein the exoskeleton bracket component comprises: a first split portion formed with a first edge and a second edge; a second split portion formed with a third edge and a fourth edge; the first edge is attached to the third edge and extends along a first spiral line, the second edge is attached to the fourth edge and extends along a second spiral line, and the axes of the first spiral line and the second spiral line are coincident and are opposite in rotation direction; the first split is spaced apart from at least part of the second split to form a receiving cavity for supporting a limb. The exoskeleton bracket component is divided into the first split part and the second split part by the first spiral line and the second spiral line which are overlapped in axis and opposite in rotation direction, and the exoskeleton bracket component with the spiral split structure is more convenient to wear.
Description
Technical Field
The invention relates to the technical field of exoskeleton and medical rehabilitation, in particular to an exoskeleton bracket component, an arm bracket component and a manufacturing method thereof.
Background
In the related art, the existing exoskeleton bracket assembly is mostly manufactured by using a rigid metal frame or other complex rigid transmission mechanisms, the exoskeleton bracket assembly in the prior art is generally constructed into an integrated structure, the wearing is troublesome, other people are often required to assist patients in wearing, meanwhile, the comfort is poor, the flexibility of the rigid metal frame structure is poor, and the quick adjustment cannot be performed according to the difference of the physiological structures of the patients and the change of the rehabilitation training freedom degree.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, it is an object of the present invention to provide an exoskeleton bracket assembly. The exoskeleton bracket component is divided into the first split part and the second split part by the first spiral line and the second spiral line which are overlapped in axis and opposite in rotation direction, and the exoskeleton bracket component with the spiral split structure is more convenient to wear.
Another object of the present invention is to provide an arm support assembly.
It is a further object of the present invention to propose a manufacturing method applied to said exoskeleton bracket assembly.
An exoskeleton bracket assembly according to the present invention comprises: a first split portion formed with a first edge and a second edge; a second split portion formed with a third edge and a fourth edge; the first edge is attached to the third edge and extends along a first spiral line, the second edge is attached to the fourth edge and extends along a second spiral line, and the axes of the first spiral line and the second spiral line are coincident and are opposite in rotation direction; the first split is spaced apart from at least part of the second split to form a receiving cavity for supporting a limb.
The exoskeleton bracket is provided with a first split part and a second split part, wherein the first edge of the first split part is attached to the third edge of the second split part, and the second edge of the first split part is attached to the fourth edge of the second split part; the first edge and the third edge extend along the first spiral line, and the second edge and the fourth edge extend along the second spiral line, so that the first split part and the second split part are easier to assemble due to the fact that the axes of the first spiral line and the second spiral line are the same and the rotation directions of the first spiral line and the second spiral line are opposite, and the wearing difficulty of a patient is reduced; when the relative dislocation occurs between the first split part and the second split part, the extension directions of the first edge, the second edge, the third edge and the fourth edge extend along the first spiral line and the second spiral line, so that the first split part and the second split part cannot perform the relative dislocation, and the stability and the reliability of the exoskeleton bracket assembly are improved.
According to one embodiment of the invention, the first edge and the second edge are arranged in a central symmetry manner with the axis of the first spiral line as the center; the third edge and the fourth edge are arranged in a central symmetry way by taking the axis of the first spiral line as the center.
According to one embodiment of the invention, the exoskeleton bracket assembly further comprises: a first connection portion provided to the first split portion and formed at the first edge; the second connecting part is arranged on the first split part and formed on the second edge; a third connecting portion provided at the second split portion and formed at the third edge; a fourth connecting portion provided at the second split portion and formed at the fourth edge; the first connecting part is suitable for being fixedly connected with the third connecting part, and the second connecting part is suitable for being fixedly connected with the fourth connecting part.
According to one embodiment of the present invention, a limiting protrusion is formed on one of the first connection portion and the second connection portion, and a limiting groove adapted to accommodate the limiting protrusion is formed on the other of the first connection portion and the second connection portion; one of the third connecting part and the fourth connecting part is provided with a limiting protrusion, and the other one of the third connecting part and the fourth connecting part is provided with a limiting groove which is suitable for accommodating the limiting protrusion.
According to one embodiment of the invention, the exoskeleton bracket assembly further comprises: the first limiting piece is sleeved on the peripheries of the first connecting part and the third connecting part to limit the first connecting part to be far away from the third connecting part; the second limiting piece is sleeved on the periphery of the second connecting portion and the periphery of the fourth connecting portion so as to limit the second connecting portion to be far away from the fourth connecting portion.
According to one embodiment of the invention, a first limit groove suitable for accommodating the first limit piece is formed on the periphery of the first connecting part and/or the periphery of the second connecting part; and a second limiting groove suitable for accommodating the second limiting piece is formed on the periphery of the third connecting part and/or the periphery of the fourth connecting part.
According to one embodiment of the present invention, the first connection portion and the third connection portion are configured to be arranged at intervals along the extending direction of the first spiral line and correspond to each other in a one-to-one manner, and the third connection portion and the fourth connection portion are configured to be arranged at intervals along the extending direction of the second spiral line and correspond to each other in a one-to-one manner.
The arm support assembly according to the present invention is briefly described as follows.
An arm support assembly according to the present invention includes an exoskeleton support assembly according to any of the above embodiments. The arm support assembly comprises a palm support and a forearm support, wherein the forearm support is configured as the exoskeleton support assembly according to any one of the above embodiments. Because the arm support assembly is provided with the exoskeleton support assembly according to any one of the embodiments, the arm support assembly is more convenient to wear and is tightly attached to an arm, and the comfort is higher.
According to one embodiment of the invention, the arm support assembly further comprises: the rotating support is rotatably arranged on the forearm support, rotates around the axis of the forearm support, and is provided with a first pivot connection part; the large arm assembly is provided with a second pivot connecting part which is rotationally connected with the first pivot connecting part, and the pivot shaft of the first pivot connecting part and the pivot shaft of the second pivot connecting part are perpendicular to the axis of the small arm bracket.
The method of manufacturing an exoskeleton bracket assembly according to the present invention is briefly described as follows.
The method of manufacturing an exoskeleton bracket assembly according to the present invention includes: scanning the limb to generate a limb model; dividing the limb model by a first spiral line and a second spiral line to form a first split part and a second split part; the first split part and the second split part are printed and molded, so that the exoskeleton bracket assembly is convenient and quick to manufacture and low in manufacturing cost.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of the overall construction of an exoskeleton bracket assembly according to the present invention;
FIG. 2 is a schematic view of the structure of a palm rest according to the present invention;
FIG. 3 is a schematic view of the structure of the forearm assembly according to the invention;
FIG. 4 is a schematic view of the connection structure between the palm support and the forearm support according to the invention;
FIG. 5 is a schematic illustration of the connection between the palm support and the forearm support in accordance with the invention, in the event of failure to perform abduction or adduction movements;
FIG. 6 is a schematic illustration of a one-piece construction between a palm rest and a forearm rest in accordance with the invention;
FIG. 7 is a schematic view of the connection between the forearm assembly and the forearm support according to the invention;
FIG. 8 is an exploded view of the connection between the forearm assembly and the forearm support according to the invention;
FIG. 9 is a schematic illustration of a fixed connection of a forearm assembly with a forearm support according to the invention;
FIG. 10 is a schematic flow chart of a manufacturing process of an exoskeleton bracket assembly according to the present invention;
fig. 11 is a schematic illustration of a specific manufacturing process of an exoskeleton bracket assembly according to the present invention.
Reference numerals:
an exoskeleton bracket assembly 1;
the first split part 11, the first edge 111, the second edge 112, the first connecting part 113, the second connecting part 114, the first limiting piece 115, and the first limiting groove 116;
a second split 12, a third edge 121, a fourth edge 122, a third connection 123;
the device comprises a first spiral line 101, a second spiral line 102, an adjusting piece 103, a first rotating shaft 104, a limiting protrusion 105, a limiting groove 106, a fixing hole 107, a pin 108, a third spring retainer ring 109, a tightening groove 110 and a second rotating shaft 1041;
a palm support 21;
the arm support 22, the rotating support 221, the annular chute 220 and the limiting ring 222;
a large arm assembly 23, a second pivot connection 231;
the first sliding block 31, the second sliding block 32, the first sliding groove 301, the second sliding groove 302, the pivot hole 303, the first spring retainer 33 and the second spring retainer 34;
the forearm support axis 41.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the related art, the existing exoskeleton bracket assembly is mostly manufactured by using a rigid metal frame or other complex rigid transmission mechanisms, the exoskeleton bracket assembly in the prior art is generally constructed into an integrated structure, the wearing is troublesome, other people are often required to assist patients in wearing, meanwhile, the comfort is poor, the flexibility of the rigid metal frame structure is poor, and the quick adjustment cannot be performed according to the difference of the physiological structures of the patients and the change of the rehabilitation training freedom degree.
An exoskeleton bracket assembly according to an embodiment of the present invention is described below with reference to fig. 1-11.
According to some embodiments of the invention, exoskeleton bracket assembly 1 comprises: a first split portion 11 and a second split portion 12, the first split portion 11 being formed with a first edge 111 and a second edge 112; the second split part 12 is formed with a third edge 121 and a fourth edge 122; wherein the first edge 111 is attached to the third edge 121 and extends along the first spiral line 101, the second edge 112 is attached to the fourth edge 122 and extends along the second spiral line 102, and the axes of the first spiral line 101 and the second spiral line 102 are coincident and opposite in rotation direction; the first split 11 is spaced apart from at least part of the second split 12 to form a receiving cavity for supporting a limb.
A first starting point is selected at one end of one side surface of the exoskeleton bracket assembly 1, a first ending point is selected at the other end of the other side surface, and the first spiral line 101 is formed with the first starting point as the starting point, the first ending point as the ending point, and the extension direction of the exoskeleton bracket as the axis. The first edge 111 of the first split 11 engages the second edge 112 of the second split 12 and extends along the first spiral 101;
a second starting point is selected at one end of the other side surface of the exoskeleton bracket assembly 1, a second ending point is selected at the other end of the other side surface, and the second spiral 102 is formed with the second starting point as the starting point, the second ending point as the ending point, and the extension direction of the exoskeleton bracket as the axis. The second edge 112 of the first split 11 engages the fourth edge 122 of the second split 12 and extends along the first spiral 101.
The first starting point and the second starting point are respectively arranged on the surfaces of the same end of the exoskeleton bracket assembly 1, which deviate from each other, the first ending point and the second ending point are respectively arranged on the surfaces of the other end of the exoskeleton bracket assembly 1, which deviate from each other, the first starting point and the second starting point are opposite to each other in the thickness direction of the exoskeleton bracket assembly 1, and the first ending point and the second ending point are opposite to each other in the thickness direction of the exoskeleton bracket assembly 1.
According to the first spiral line 101 and the second spiral line 102, the exoskeleton bracket assembly 1 can be divided into the first split portion 11 and the second split portion 12, a containing cavity for fixing limbs is formed between the first split portion 11 and the second split portion 12, the first split portion 11 is provided with a first edge 111 extending along the first spiral line 101 and a second edge 112 extending along the second spiral line 102, the second split portion 12 is provided with a third edge 121 extending along the first spiral line 101 and a fourth edge 122 extending along the second spiral line 102, compared with the conventional exoskeleton bracket assembly of an integral rigid frame structure, the exoskeleton bracket assembly 1 of the spiral split structure is more convenient to wear, namely, a patient can wear the first split portion 11 firstly, wear the second split portion 12 after the first split portion 11 is worn and adjusted to the most comfortable position, and the first edge 121 on the second split portion 12 is attached to the first split portion 11, namely, the second edge 122 is attached to the second split portion 12, namely, when the first split portion 12 is worn, the first split portion is attached to the second split portion 12, namely, the second split portion is not required to be worn by the patient, and the second split portion is attached to the first split portion 11, namely, the second split portion is worn by the patient, and the second split portion is attached to the second split portion 12.
Since the axes of the first spiral line 101 and the second spiral line 102 coincide and the directions of rotation are opposite, the first edge 111 extending along the first spiral line 101 and the fourth edge 122 extending along the second spiral line 102 are in a consistent trend, the first edge 111 and the fourth edge 122 are both configured in a continuously curved shape, the third edge 121 extending along the first spiral line 101 and the second edge 112 extending along the second spiral line 102 are in a consistent trend, the third edge 121 and the second edge 112 are also both configured in a continuously curved shape, and when the first split body 11 and the second split body 12 are mutually attached, the first split body 11 and the second split body 12 are not easily dislocated in the axial direction, and the first split body 11 and the second split body 12 are mutually separated when relatively rotated, thereby effectively preventing the dislocation thereof while ensuring the tight attachment of the first split body 11 and the second split body 12 to the limb.
The exoskeleton bracket according to the present invention is provided with a first split portion 11 and a second split portion 12, wherein a first edge 111 of the first split portion 11 is attached to a third edge 121 of the second split portion 12, and a second edge 112 of the first split portion 11 is attached to a fourth edge 122 of the second split portion 12; the first edge 111 and the third edge 121 extend along the first spiral line 101, and the second edge 112 and the fourth edge 122 extend along the second spiral line 102, so that the first split part 11 and the second split part 12 are easier to assemble due to the fact that the axes of the first spiral line 101 and the second spiral line 102 are the same and the directions of rotation are opposite, and the wearing difficulty of a patient is reduced; when the relative dislocation occurs between the first split part 11 and the second split part 12, the first edge 111, the second edge 112, the third edge 121 and the fourth edge 122 extend along the first spiral line 101 and the second spiral line 102, so that the first split part 11 and the second split part 12 cannot perform the relative dislocation, and the stability and the reliability of the exoskeleton bracket assembly 1 are improved.
According to some embodiments of the present invention, the first edge 111 and the second edge 112 are disposed symmetrically about the axis of the first spiral 101, the first edge 111 rotates 180 ° about the axis of the first spiral 101 to obtain the second edge 112, so that the direction of the bending on the first edge 111 is opposite to the direction of the bending on the second edge 112, the third edge 121 and the fourth edge 122 also are disposed symmetrically about the axis of the first spiral 101, the third edge 121 rotates 180 ° about the axis of the first spiral 101 to obtain the fourth edge 122, and the direction of the bending on the third edge 121 is opposite to the direction of the bending on the fourth edge 122.
By arranging the first edge 111 and the second edge 112 in a central symmetry about the axis of the first spiral line 101 and arranging the third edge 121 and the fourth edge 122 in a central symmetry about the axis of the second spiral line 102, the difference in the structural dimensions of the first split portion 11 and the second split portion 12 is reduced. The user wears first components of a whole that can function independently portion 11 and second components of a whole that can function independently portion 12 in wearing exoskeleton support subassembly 1 in-process, and after the edge of first components of a whole that can function independently portion 11 corresponds the laminating with the edge of second components of a whole that can function independently portion 12, accomplish the dress of exoskeleton support subassembly 1, because the structural dimension difference of first components of a whole that can function independently portion 11 and second components of a whole that can function independently portion 12 is little, can make the user wear more conveniently, and the accommodation chamber space that forms in the single first components of a whole that can function independently portion 11 is bigger can reduce the extrusion and the contact to limbs in wearing the in-process.
According to some embodiments of the invention, exoskeleton bracket assembly 1 further comprises: a first connecting portion 113, a second connecting portion 114, a third connecting portion 123, and a fourth connecting portion, the first connecting portion 113 being provided to the first split portion 11 and formed at the first edge 111; the second connecting portion 114 is disposed on the first split portion 11 and formed on the second edge 112; the third connecting portion 123 is disposed on the second split portion 12 and formed on the third edge 121; the fourth connecting portion is disposed on the second split portion 12 and formed on the fourth edge 122; wherein the first connecting portion 113 is adapted to be fixedly connected to the third connecting portion 123, and the second connecting portion 114 is adapted to be fixedly connected to the fourth connecting portion.
After the first edge 111 of the first split part 11 is attached to the third edge 121 of the second split part 12, the first split part 11 is attached to the second split part 12 and connected with each other, the first connecting part 113 and the third connecting part 123 can form a cylindrical or round table structure, the first edge 111 and the third edge 121 pass through the center of the cylindrical or round table, and the first split part 11 and the second split part 12 are connected through the cooperation of the first connecting part 113 and the third connecting part 123.
After the second edge 112 of the first split part 11 is attached to the fourth edge 122 of the second split part 12, the first split part 11 is attached to the second split part 12 and connected with each other, the second connecting part 114 and the fourth connecting part can form a cylindrical or round table structure, the second edge 112 and the fourth edge 122 pass through the center of the cylindrical or round table, and the first split part 11 and the second split part 12 are connected through the cooperation of the second connecting part 114 and the fourth connecting part.
On both sides of the exoskeleton bracket assembly 1 facing away from each other, a first connecting portion 113, a second connecting portion 114, a third connecting portion 123 and a fourth connecting portion are respectively provided, and the first split portion 11 and the second split portion 12 are fixed by matching the first connecting portion 113 with the third connecting portion 123 and matching the second connecting portion 114 with the fourth connecting portion. The two sides of the exoskeleton bracket deviating from each other are guaranteed to be fixed, so that on one hand, the assembly convenience of the exoskeleton bracket assembly 1 can be improved, and on the other hand, the first split part 11 and the second split part 12 are connected more stably through the two pairs of connecting parts.
In some embodiments of the present invention, the first connecting portion 113 and the third connecting portion 123 form a cylindrical or circular truncated cone structure after being mated, and the second connecting portion 114 and the fourth connecting portion form a cylindrical or circular truncated cone structure after being mated, and axes of the cylindrical and circular truncated cones are perpendicular to axes of the first spiral line 101, respectively.
The surface of the first connecting portion 113 facing the third connecting portion 123 coincides with the first edge 111, and the surface of the third connecting portion 123 facing the first connecting portion 113 coincides with the third edge 121, so that the first split portion 11 and the second split portion 12 are ensured to be kept flat at the edges, and the first split portion 11 and the second split portion 12 are convenient to be matched.
The surface of the second connecting portion 114 facing the fourth connecting portion coincides with the second edge 112, and the surface of the fourth connecting portion facing the second connecting portion 114 coincides with the fourth edge 122, so that the first split portion 11 and the second split portion 12 are ensured to be kept flat at the edges, and the first split portion 11 and the second split portion 12 are convenient to be matched.
According to some embodiments of the present invention, a limiting protrusion 105 is formed on one of the first connection portion 113 and the second connection portion 114, and a limiting groove 106 adapted to receive the limiting protrusion 105 is formed on the other of the first connection portion 113 and the second connection portion 114; one of the third connecting portion 123 and the fourth connecting portion is formed with a limit projection 105, and the other of the third connecting portion 123 and the fourth connecting portion is formed with a limit groove 106 adapted to receive the limit projection 105.
One of the first connecting portion 113 and the third connecting portion 123 is formed with a limit protrusion 105 on a side wall facing the first edge 111 or the third edge 121, the other one of the first connecting portion 113 and the third connecting portion 123 is formed with a limit groove 106 for being cooperatively connected with the limit protrusion 105, the limit protrusion 105 is accommodated in the limit groove 106, the outer surface of the limit protrusion 105 is attached to the inner surface of the limit groove 106 so as to limit the relative movement between the limit protrusion 105 and the limit groove 106, in addition, the protruding direction of the limit protrusion 105 is intersected with the first edge 111, the recessed direction of the limit groove 106 is intersected with the third edge 121, the first split portion 11 and the second split portion 12 are limited to move relative to the second split portion 12 in the extending direction of the first edge 111 through the cooperation of the limit protrusion 105, and the relative dislocation between the first split portion 11 and the second split portion 12 can only be separated along the protruding direction of the limit protrusion 105, and the relative dislocation between the first split portion 11 and the second split portion 12 is effectively prevented.
One of the second connecting portion 114 and the fourth connecting portion is formed with a limiting protrusion 105 on a side wall facing the second edge 112 or the fourth edge 122, the other of the second connecting portion 114 and the fourth connecting portion is formed with a limiting groove 106 for being cooperatively connected with the limiting protrusion 105, the limiting protrusion 105 is accommodated in the limiting groove 106, the outer surface of the limiting protrusion 105 is attached to the inner surface of the limiting groove 106 so as to limit the relative movement between the limiting protrusion 105 and the limiting groove 106, in addition, the protruding direction of the limiting protrusion 105 is intersected with the second edge 112, the recessed direction of the limiting groove 106 is intersected with the fourth edge 122, the first split portion 11 and the second split portion 12 are limited to move relative to the second split portion 12 in the extending direction of the second edge 112 through the cooperation of the limiting protrusion 105, and the relative dislocation between the first split portion 11 and the second split portion 12 can be effectively prevented.
In some embodiments, the limit protrusion 105 may extend in a tangential direction perpendicular to the first spiral line 101 or the second spiral line 102, and further, an outer edge of the limit protrusion 105 may be configured in an arc shape; the limit groove 106 may be configured as an arc-shaped groove adapted to the limit protrusion 105.
According to some embodiments of the invention, exoskeleton bracket assembly 1 further comprises: the first limiting piece 115 and the second limiting piece, the first limiting piece 115 is sleeved on the peripheries of the first connecting portion 113 and the third connecting portion 123 to limit the first connecting portion 113 to be far away from the third connecting portion 114; the second limiting member is sleeved on the outer circumferences of the second connecting portion 114 and the fourth connecting portion to limit the second connecting portion 114 to be far away from the fourth connecting portion.
The first split portion 11 and the second split portion 12 cannot be completely limited only by the first connecting portion 113 and the third connecting portion 123 being engaged with each other and the second connecting portion 114 and the fourth connecting portion being engaged with each other, and there is a risk of disengagement between the first split portion 11 and the second split portion 12.
The first limiting piece 115 is sleeved on the peripheries of the first connecting portion 113 and the third connecting portion 123, the second limiting piece is sleeved on the peripheries of the second connecting portion 114 and the fourth connecting portion, so that the first split portion 11 and the second split portion 12 can be prevented from being separated from each other, the stability of the exoskeleton bracket assembly 1 is further improved, and meanwhile, the mounting difficulty of the first split portion 11 and the second split portion 12 can be effectively reduced in a sleeved mode.
In some embodiments, both the first stop 115 and the second stop may be configured as elastomeric rings. When the first connecting portion 113 and the third connecting portion 123 have a tendency to be separated from each other, the elastic ring can be sleeved on the outer circumferences of the first connecting portion 113 and the third connecting portion 123, so that the elastic ring is tightened on the outer circumferences of the first connecting portion 113 and the third connecting portion 123, the first connecting portion 113 and the third connecting portion 123 are prevented from being separated, and the stability and the reliability of the connection between the first connecting portion 113 and the third connecting portion 123 are further enhanced.
The elastic ring can be sleeved on the outer periphery of the second connection part 114 and the fourth connection part, when the trend of mutual separation exists between the second connection part 114 and the third connection part 123, the elastic ring is tightly hooped on the outer periphery of the second connection part 114 and the fourth connection part, the second connection part 114 and the fourth connection part are prevented from being separated, and the connection stability and reliability of the second connection part 114 and the fourth connection part are further enhanced.
Through setting up first locating part 115 and second locating part, further improved the connection reliability of first components of a whole that can function independently portion 11 and second components of a whole that can function independently portion 12, prevent effectively that first components of a whole that can function independently portion 11 from breaking away from with second components of a whole that can function independently portion 12, set up first locating part 115 and second locating part as the elastic loop simultaneously can reduce the assembly degree of difficulty of first components of a whole that can function independently portion 11 and second components of a whole that can function independently portion 12 effectively.
According to some embodiments of the present invention, the outer circumference of the first connection part 113 and/or the outer circumference of the third connection part 123 is formed with a first stopper groove 116 adapted to receive the first stopper 115; the outer periphery of the second connection portion 114 and/or the outer periphery of the fourth connection portion is formed with a second limiting groove adapted to receive a second limiting member.
In some embodiments, the first limiting groove 116 is formed on the outer circumferences of the first connecting portion 113 and the third connecting portion 123, the first limiting groove 116 may be used for accommodating the first limiting member 115, the first limiting groove 116 may be configured to encircle a groove on the outer circumference of a circular table or a cylinder formed after the first connecting portion 113 and the third connecting portion 123 are spliced, and an inner wall of the first limiting groove 116 may abut against the first limiting member 115 in the extending direction of the circular table or the cylinder, so as to prevent the first limiting member 115 from being separated, and ensure the stability of the first limiting member 115 mated with the first connecting portion 113 and the third connecting portion 123 respectively.
The fourth connecting portion is formed with the second spacing groove with the second connecting portion 114 periphery, and the second spacing groove can be used for acceping the second locating part, and the second spacing groove can be constructed to encircle the periphery of round platform or cylinder behind fourth connecting portion and the second connecting portion 114 amalgamation, and the inner wall in second spacing groove can with the second locating part end in round platform or cylindrical extending direction to prevent that the second locating part breaks away from, ensure second locating part respectively with fourth connecting portion and second connecting portion 114 complex stability.
After the patient completes the wearing of the exoskeleton bracket assembly 1, the elastic ring can be sleeved in the first limiting groove 116 and the second limiting groove, so that the elastic ring is effectively prevented from moving during rehabilitation training of the patient, the elastic ring is prevented from falling off from the first connecting portion 113, the third connecting portion 123, the second connecting portion 114 and the fourth connecting portion, and the stability and the reliability of the exoskeleton bracket assembly 1 are further improved.
According to some embodiments of the present invention, the first connection portions 113 and the third connection portions 123 are configured as a plurality of one-to-one correspondence and spaced apart along the extension direction of the first spiral line 101, and the second connection portions 114 and the fourth connection portions are configured as a plurality of one-to-one correspondence and spaced apart along the extension direction of the second spiral line 102.
In one embodiment of the present invention, the exoskeleton bracket assembly 1 is provided with a plurality of first connection portions 113 and third connection portions 123 in one-to-one correspondence on the first spiral line 101, the plurality of first connection portions 113 are disposed at intervals in the extending direction of the first spiral line 101, and the plurality of third connection portions 123 are disposed at intervals in the extending direction of the first spiral line 101. The plurality of first connection portions 113 and the plurality of third connection portions 123 are sequentially arranged and connected on the first spiral line 101, respectively. The connection point between the first split part 11 and the second split part 12 is increased, and the stability of the connection between the first split part 11 and the second split part 12 is improved.
The exoskeleton each has a plurality of second and fourth connection portions 114 and 114 in one-to-one correspondence with the second spiral 102. The plurality of second connection portions 114 are disposed at intervals in the extending direction of the second spiral 102, and the plurality of fourth connection portions are disposed at intervals in the extending direction of the second spiral 102. The plurality of second connection portions 114 and the plurality of fourth connection portions are sequentially arranged and connected on the second spiral 102, respectively. The connection point between the first split part 11 and the second split part 12 is increased, and the stability of the connection between the first split part 11 and the second split part 12 is improved.
In some embodiments, 3 points may be selected to set the first connection portion 113 and the third connection portion 123 at 10%, 50% and 90% of the total length of the first spiral line 101, and 3 points may be selected to set the second connection portion 114 and the fourth connection portion at 10%, 50% and 90% of the total length of the second spiral line 102, where the first connection portion 113 and the third connection portion 123 are set and the second connection portion 114 and the fourth connection portion are set symmetrically with respect to the axis of the first spiral line 101 and the second spiral line 102, so as to improve connection reliability and stability of the spiral split structure of the exoskeleton bracket assembly 1 at the point where the first spiral line 101 and the second spiral line 102 are used as the split line.
The arm support assembly according to the present invention is briefly described as follows.
An arm support assembly according to the present invention comprises an exoskeleton support assembly 1 according to any of the above embodiments. The arm support assembly comprises a palm support 21 and a forearm support 22, wherein the forearm support 22 is configured as the exoskeleton support assembly 1 according to any of the above embodiments. Since the arm support assembly according to the present invention is provided with the exoskeleton support assembly 1 according to any one of the above embodiments, the arm support assembly is more convenient to wear and is closely attached to an arm, with higher comfort.
According to one embodiment of the present invention, an arm support assembly includes a palm support 21 and a forearm support 22; the forearm support 22 is pivotally connected to the palm support 21; wherein both the palm support 21 and the forearm support 22 are configured as the exoskeleton support assembly 1 according to any of the embodiments described above.
The palm rest 21 has formed on one end thereof first rotation shafts 104, the first rotation shafts 104 being two and provided on both sides of one end of the palm rest 21 in the width direction, the two first rotation shafts 104 extending in directions away from each other, and the two first rotation shafts 104 may be perpendicular to the axis of the first spiral line 101.
The palm rest 21 further includes two adjustment pieces 103, the adjustment pieces 103 are configured to correspond to the first rotating shafts 104 one by one, one end of each adjustment piece 103 is rotatably arranged on the first rotating shaft 104, and the other end of the adjustment piece 103 is connected with the forearm rest 22. The palm support 21 is connected with the forearm support 22 through the adjusting piece 103, one end of the adjusting piece 103 is sleeved on the first rotating shaft 104, and the rotation of the palm support 21 relative to the forearm support 22 is realized so as to realize the bending or stretching movement of the wrist joint.
In some embodiments, limiting rings 222 are disposed on two sides of the forearm support 22, a mounting opening adapted to the adjusting plate 103 passing through is formed on the limiting rings 222, a fixing hole 107 penetrating in the thickness direction is formed on the adjusting plate 103, and an adjusting hole matching with the fixing hole 107 on the adjusting plate 103 is formed on a side surface of the limiting rings 222. When the palm support 21 and the forearm support 22 need to perform abduction or adduction movements, the adjustment tab 103 is moved in the mounting opening to effect abduction or adduction movements of the wrist. When the wrist joint needs to be fixed, the setting pins 108 respectively pass through the adjusting holes and the fixing holes 107 to fixedly connect the adjusting piece 103 with the forearm support 22, so as to ensure that the wrist joint cannot move relative to the forearm support 22.
The connection mode between the palm support 21 and the forearm support 22 can be selected by arranging the adjusting piece 103, and the mobility between the palm support 21 and the forearm support 22 can be adjusted by arranging the pin 108 according to the recovery condition of a user.
In some embodiments, the adjusting piece 103 may be printed from an elastic material, and the adjusting piece 103 is configured to be made from an elastic material, so that the adjusting piece 103 has a certain deformability, and the relative friction between the adjusting piece 103 and the mounting opening is reduced when the palm support 21 and the forearm support 22 are abducted and internally folded, so that the flexibility between the palm support 21 and the forearm support 22 is improved.
In some embodiments, the palm support 21 and the forearm support 22 are printed in an integrated structure, so as to realize the fixed connection between the palm support 21 and the forearm support 22.
According to one embodiment of the present invention, the arm support assembly further comprises a rotating support 221 and a big arm assembly 23, wherein the rotating support 221 is rotatably arranged on the small arm support 22, the rotating support 221 rotates around the small arm support axis 41, and a first pivot connection part is formed on the rotating support 221; the large arm assembly 23 is formed with a second pivot connection 231 rotatably connected to the first pivot connection, and the pivot axes of the first pivot connection and the second pivot connection 231 are perpendicular to the small arm support axis 41.
The rotating bracket 221 comprises a first sliding block 31 and a second sliding block 32, a first sliding groove 301 is formed on the inner surface of one end, far away from the big arm assembly 23, of the first sliding block 31 and the second sliding block 32, a second sliding groove 302 is formed on the outer surface of one end, far away from the big arm assembly 23, of the first sliding block 31 and the second sliding block 32, an annular sliding groove 220 is formed on the end face, facing the big arm assembly 23, of the small arm bracket 22, a first spring retainer ring 33 is sleeved in the annular sliding groove 220, the first sliding groove 301 is matched with the first spring retainer ring 33, and the first sliding block 31 and the second sliding block 32 can move around the first spring retainer ring 33, so that rotation between the rotating bracket 221 and the small arm can be realized.
When the first slider 31 and the second slider 32 are mounted on the annular chute 220 on the forearm support 22, the second chute 302 formed on the first slider 31 and the second slider 32 is sleeved with the second spring retainer ring 34, the first slider 31 and the second slider 32 are fixedly connected, and when the first slider 31 and the second slider 32 have a mutual separation trend in the rotating process of the rotating support 221 relative to the forearm, the second spring retainer ring 34 is tightly clamped in the second chute 302, so that the first slider 31 and the second slider 32 are prevented from being separated when rotating in the annular chute 220, and the stability and reliability of the connection of the first slider 31 and the second slider 32 are further enhanced.
The other ends of the first slider 31 and the second slider 32 are formed with first pivot connection portions rotatably connected with second pivot connection portions 231 formed on the forearm assembly 23, pivot holes 303 are formed in the first pivot connection portions, second rotating shafts 1041 matched with the pivot holes 303 are formed in the second pivot connection portions 231, and extending directions of the second rotating shafts 1041 and the pivot holes 303 are perpendicular to the forearm support axis 41, so that buckling or stretching movement between the forearm support 22 and the forearm assembly 23 is achieved.
An annular groove is formed on the outer wall surface of the second rotating shaft 1041, a third spring retainer ring 109 is sleeved in the annular groove, and when the first pivot connecting portion moves axially along the second rotating shaft 1041, the first pivot connecting portion is prevented from being separated from the second rotating shaft 1041 by the third spring retainer ring 109, so that stability and reliability of connection between the first pivot connecting portion and the second pivot connecting portion 231 are enhanced.
In this application, the second shaft 1041 extends in a direction perpendicular to the forearm support axis 41, thereby effecting rotation of the forearm assembly 23 relative to the forearm support 22 to allow flexion or extension movement of the limb.
The flexion or extension movement of the elbow joint can be realized through the second rotating shaft 1041 between the forearm support 22 and the forearm assembly 23 in the application, and the spin movement of the forearm can be realized through the sliding of the first sliding block 31 and the second sliding block 32 in the annular sliding groove 220. Therefore, the arm support assembly provided by the invention has high flexibility and good reliability.
In some embodiments of the present invention, a tightening slot 110 is further provided on the end of the big arm assembly 23 far from the small arm support 22, and an elastic band and a nylon buckle are used to fix the tightening slot 110, so that the comfort level of wearing the big arm assembly 23 is ensured, and meanwhile, the stability and reliability of the connection between the big arm assembly 23 and the limb are improved.
In some embodiments, the connection between the forearm support 22 and the forearm assembly 23 is adjusted according to the patient's need for elbow joint freedom in rehabilitation. When the spin movement of the forearm support 22 is not required, the rotation support 221 and the forearm support 22 may be integrally printed and formed, so that the position of the forearm support 22 relative to the large arm assembly 23 is relatively fixed, but the first pivot connection portion formed on the forearm support 22 is still rotatably connected with the second pivot connection portion 231 formed on the large arm assembly 23, and the elbow joint flexion or extension movement between the forearm support 22 and the large arm assembly 23 can be realized only through the second rotation shaft 1041.
When the degrees of freedom of the flexion and extension movements of the elbow joint and the spin of the forearm support 22 are not required, the second shaft 1041 is not required, and the connection structure between the forearm support 22 and the forearm assembly 23 is constructed as an integral structure according to the patient's health, thereby realizing the angle fixation between the forearm support 22 and the forearm assembly 23.
The method of manufacturing the exoskeleton bracket assembly 1 of the embodiment of the present invention is briefly described as follows.
As shown in fig. 6, the method of manufacturing the exoskeleton bracket assembly 1 includes: scanning the limb to generate a limb model; dividing the limb model by a first spiral line 101 and a second spiral line 102 and forming a first split part 11 and a second split part 12; the first split portion 11 and the second split portion 12 are print-molded.
A space curved surface model of a limb structure is obtained by scanning a limb part of a human body, a first starting point is selected at one end of one side surface of the curved surface model, a first end point is selected at the other end of the other side surface of the curved surface model, and a first spiral line 101 is formed by taking the first starting point as a starting point, the first end point as an end point and the extending direction of the curved surface model as an axis; one end of the other side surface is selected as a second starting point, the other end of the other side surface is selected as a second ending point, and the second spiral 102 is formed by taking the second starting point as a starting point, the second ending point as an ending point and the extending direction of the skeleton frame as an axis. The model is divided into a first split part 11 and a second split part 12 according to the formed first spiral line 101 and second spiral line 102, and the first split part 11 and the second split part 12 are printed and molded.
According to the manufacturing method of the exoskeleton bracket assembly 1 of the present invention, the first spiral line 101 and the second spiral line 102 divide the limb model and form the first split portion 11 and the second split portion 12, and the first split portion 11 and the second split portion 12 are printed and molded, so that the exoskeleton bracket assembly 1 is convenient and quick to manufacture and has low manufacturing cost.
As shown in fig. 10 and 11, in some embodiments of the present invention, a method of manufacturing an exoskeleton bracket assembly 1 includes:
step 1: model scanning, namely scanning the upper limb of a patient by using a scanner to obtain an STL format three-dimensional model scanning file of the upper limb of the patient;
step 2: the model cutting method specifically comprises the following steps:
step S21: firstly, an upper limb STL scanning file is imported into MATLAB software through a MATLAB self-contained function stlread;
step S22: dividing the model by using a SurfPart function, and dividing the model into two parts along a first spiral line 101 and a second spiral line 102, namely a first split part 11 and a second split part 12, so as to form a spiral split structure;
step 3: the generation of the cylinder or elliptic cylinder boss and the mortise and tenon structure specifically comprises the following steps:
step S31: firstly, 3 points are selected to be respectively arranged at 10%, 50% and 90% of the total length of the first spiral line 101 and the second spiral line 102 to be provided with connecting parts;
Step S32: and obtaining normal vectors of all points of the arm model by using a patch normal function in the GIBBON-master tool box. Substituting the coordinates of the six points to obtain normal vectors of the six points;
step S33: setting a radius of 15mm by taking the selected point as a circle center and a normal vector as a direction, and simultaneously extending a small length into and out of the arm to generate a cylinder, wherein the cylinder and the arm have only one closed intersection line;
step S34: using a SurfPart function to enable the cylindrical cutting arm to obtain a closed intersecting line;
step S35: all points of the intersecting line are moved by a certain distance in the direction of the normal vector used when generating the cylinder;
step S36: combining the points of the intersecting lines after movement with the points of the initial intersecting lines to generate a curved surface, thereby obtaining a connecting part of a cylindrical or elliptic cylinder boss structure;
step 4: the thickening model is characterized in that the model is thickened outwards by a certain thickness along the normal vector direction of each dough sheet through a function patch thick function in a GIBBON-master tool box, and the dough sheets are changed into models with thickness;
step 5: the hollowed-out treatment specifically comprises the following steps:
step S51: drawing a closed curve at any position avoiding joints on the formed limb model, and extending along the normal direction of the closed curve to form a curved surface body;
Step S52: cutting the arm model by using a SurfPart function sequentially by using each curved surface body to obtain a model with holes;
step 6: constructing a joint structure, namely designing the corresponding wrist joint assembly and elbow joint assembly according to the freedom degree requirements of rehabilitation training on the wrist joint, the elbow joint and the forearm;
step 7: model export, namely storing the model into an STL file by using a MATLAB self-contained function stlwrite for final export;
step 8: and printing and assembling the model, namely 3D printing the model to obtain corresponding structural members, and further finishing the assembly to form the individualized and rapid-formed upper limb exoskeleton lightweight bracket.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the invention, a "first feature" or "second feature" may include one or more of such features.
In the description of the present invention, "plurality" means two or more.
In the description of the invention, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by another feature therebetween.
In the description of the invention, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An exoskeleton bracket assembly (1), comprising:
a first split portion (11), the first split portion (11) being formed with a first edge (111) and a second edge (112);
a second split portion (12), the second split portion (12) being formed with a third edge (121) and a fourth edge (122);
wherein the first edge (111) is attached to the third edge (121) and extends along a first spiral (101), the second edge (112) is attached to the fourth edge (122) and extends along a second spiral (102), and the axes of the first spiral (101) and the second spiral (102) coincide and are opposite in rotation; the first split (11) is spaced apart from at least part of the second split (12) to form a receiving cavity for supporting a limb.
2. Exoskeleton bracket assembly (1) according to claim 1, wherein the first edge (111) and the second edge (112) are arranged centrally symmetrically about the axis of the first helix (101);
The third edge (121) and the fourth edge (122) are arranged in a central symmetry manner with the axis of the first spiral line (101) as the center.
3. The exoskeleton bracket assembly (1) of claim 2, further comprising:
a first connection portion (113), wherein the first connection portion (113) is provided to the first split portion (11) and is formed on the first edge (111);
a second connection portion (114), wherein the second connection portion (114) is provided on the first split portion (11) and is formed on the second edge (112);
a third connecting portion (123), wherein the third connecting portion (123) is provided on the second split portion (12) and is formed on the third edge (121);
a fourth connecting portion provided to the second split portion (12) and formed at the fourth edge (122); wherein the method comprises the steps of
The first connecting portion (113) is adapted to be fixedly connected with the third connecting portion (123), and the second connecting portion (114) is adapted to be fixedly connected with the fourth connecting portion.
4. An exoskeleton bracket assembly (1) as claimed in claim 3 wherein one of the first and second connection portions (113, 114) has a limit projection (105) formed thereon, the other of the first and second connection portions (113, 114) having a limit groove (106) formed thereon adapted to receive the limit projection (105);
One of the third connecting part (123) and the fourth connecting part is provided with a limiting protrusion (105), and the other one of the third connecting part (123) and the fourth connecting part is provided with a limiting groove (106) which is suitable for accommodating the limiting protrusion (105).
5. The exoskeleton bracket assembly (1) of claim 4, further comprising:
the first limiting piece (115) is sleeved on the peripheries of the first connecting part (113) and the third connecting part (123) to limit the first connecting part (113) to be far away from the third connecting part (123);
the second limiting piece is sleeved on the peripheries of the second connecting portion (114) and the fourth connecting portion so as to limit the second connecting portion (114) to be far away from the fourth connecting portion.
6. Exoskeleton bracket assembly (1) according to claim 5, wherein the outer circumference of the first connection portion (113) and/or the outer circumference of the third connection portion (123) is formed with a first limit groove (116) adapted to receive the first limit piece (115);
a second limit groove suitable for accommodating the second limit piece is formed on the outer periphery of the second connecting part (114) and/or the outer periphery of the fourth connecting part.
7. An exoskeleton bracket assembly (1) as claimed in claim 3 wherein said first and third connection portions (113, 123) are configured as a plurality of one-to-one correspondence and spaced apart along the direction of extension of said first helical wire (101), and said second and fourth connection portions (114 ) are configured as a plurality of one-to-one correspondence and spaced apart along the direction of extension of said second helical wire (102).
8. An arm support assembly, comprising:
a palm support (21);
a forearm support (22), the forearm support (22) being pivotably connected to the palm support (21); wherein the method comprises the steps of
Both the palm support (21) and the forearm support (22) are configured as an exoskeleton support assembly (1) as claimed in any one of claims 1 to 7.
9. The arm support assembly of claim 8, further comprising:
a rotating bracket rotatably provided on the forearm bracket (22), the rotating bracket rotating about the forearm bracket axis (41), a first pivot connection being formed on the rotating bracket;
the large arm assembly (23), be formed with on the large arm assembly (23) with the second pivot connecting portion of first pivot connecting portion swivelling joint, first pivot connecting portion with the pivot of second pivot connecting portion with forearm support axis (41) are perpendicular.
10. A method of manufacturing an exoskeleton bracket assembly (1) as claimed in any one of claims 1 to 7, comprising:
scanning the limb to generate a limb model;
dividing the limb model by a first spiral line (101) and a second spiral line (102) and forming a first split part (11) and a second split part (12);
printing and molding the first split part (11) and the second split part (12).
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| CN116061157B (en) | 2023-07-18 |
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