CN202892338U - Parallel connection type exoskeleton thumb rehabilitation training device - Google Patents

Abstract

The utility model discloses a parallel exoskeleton thumb rehabilitation training device. The first ball joint linear drive mechanism, the second ball joint linear drive mechanism and the thumb front end drive mechanism respectively include a drive device and a telescopic device connected to each other; the first ball joint linear drive mechanism and the second ball joint linear drive mechanism telescopic device The first ends of the thumb exoskeleton are respectively connected to the thumb exoskeleton connector through the ball joint, and the second ends are respectively connected to the first end of the telescopic device of the thumb front end drive mechanism through the ball joint. The first end of the device is connected so that the driving mechanism of the front end of the thumb can perform movements including curling, extension, adduction and swinging out; One end is hinged, and the thumb exoskeleton is connected with the second end of the telescoping device of the thumb front end drive mechanism through a connecting rod, so that the thumb exoskeleton can perform curling and extending movements.

Description

A parallel exoskeleton thumb rehabilitation training device

technical field

The utility model relates to a human body movement assisting device, in particular to an exoskeleton thumb rehabilitation training device and a using method thereof.

Background technique

For patients with hand diseases, including accidental injuries, strokes, etc., scientific rehabilitation training is of great significance for the maximum recovery of hand flexibility. At present, rehabilitation treatment is mainly carried out by professional doctors. This kind of treatment relies too much on the experience of doctors, and there is a lack of corresponding measures for the individual differences of patients, so the treatment effect is greatly limited.

The mechanical exoskeleton is a brand-new technology derived from the biological exoskeleton. As a way to strengthen the human body through machinery, it has been proposed as early as the last century and was initially tried to be used in the military field; at the same time, the mechanical exoskeleton The auxiliary and strengthening properties of exoskeleton also provide a new idea for rehabilitation treatment and disaster relief.

The existing exoskeleton rehabilitation training manipulator has achieved good results in the exercise rehabilitation of the index finger, middle finger and other fingers, but due to the design limitations of the thumb exoskeleton, it can only realize two simple movements of flexion and extension and lateral swing and their combination. The various complex movements of the thumb cannot be fully reproduced, which greatly reduces the rehabilitation of the thumb; as the most flexible finger, the thumb plays an indispensable role in the process of realizing various functions of the human hand. The poor rehabilitation effect of the hand will also seriously affect the overall rehabilitation effect of the hand.

Utility model content

The purpose of the utility model is to provide a parallel exoskeleton thumb rehabilitation training device aiming at the deficiencies of the prior art.

The purpose of this utility model is achieved through the following technical solutions:

The utility model parallel exoskeleton thumb rehabilitation training device comprises thumb exoskeleton connector, first ball joint linear drive mechanism, second ball joint linear drive mechanism, thumb front end drive mechanism and thumb exoskeleton, first ball joint linear drive mechanism 1. The second ball joint linear drive mechanism and the thumb front end drive mechanism respectively include a drive device and a telescopic device connected to each other, and the telescopic device can perform telescopic movement under the drive of the corresponding drive device; the first ball joint linear drive mechanism 1. The first end of the telescopic device of the second ball joint linear drive mechanism is respectively connected to the thumb exoskeleton connector through the ball joint, and the second end of the telescopic device of the second ball joint linear drive mechanism of the first ball joint linear drive mechanism is respectively passed through The ball joint is connected to the first end of the telescoping device of the front-end driving mechanism of the thumb, and the exoskeleton connector of the thumb is connected to the first end of the telescoping device of the front-end driving mechanism of the thumb, so that the front-end driving mechanism of the thumb can perform functions including curling, Movements of extension, adduction and outward swing; the proximal knuckle exoskeleton of the thumb exoskeleton is hinged with the first end of the telescopic device of the thumb front end drive mechanism, and the thumb exoskeleton is hinged with the second end of the telescopic device of the thumb front end drive mechanism The ends are connected by links to allow flexion and extension of the thumb exoskeleton.

Further, the thumb exoskeleton connector of the present invention is connected to the first end of the telescoping device of the thumb front end drive mechanism through a cross hinge.

Compared with prior art, the beneficial effect of the utility model is:

The utility model skillfully uses the parallel mechanism in the exoskeleton thumb rehabilitation training device. The mechanism design is novel, the idea is unique, and the control is precise, which provides a new option for hand rehabilitation treatment.

Through structural innovation, the utility model overcomes the shortcomings of the exoskeleton thumb rehabilitation device in the prior art, and truly makes the movement of the thumb exoskeleton as flexible as that of a human thumb. The utility model connects the thumb exoskeleton connecting piece with the first end of the telescopic device of the thumb front end drive mechanism, and the first ends of the telescopic device of the first ball joint linear drive mechanism and the second ball joint linear drive mechanism pass through the ball joint respectively. Connected with the thumb exoskeleton connector, the second ends of the telescopic devices of the first ball joint linear drive mechanism and the second ball joint linear drive mechanism are respectively connected with the first ends of the telescopic devices of the thumb front end drive mechanism through ball joints, Make the first ball joint linear drive mechanism, the second ball joint linear drive mechanism, the thumb exoskeleton connector and the thumb front end drive mechanism constitute a parallel mechanism, so that under the drive of the first ball joint linear drive mechanism and the second ball joint linear drive mechanism, , the front end drive mechanism of the thumb and the thumb exoskeleton can realize movements including curling, extension, adduction and swing out, and at the same time, the front end drive mechanism of the thumb can drive the thumb exoskeleton to perform curling and extension movements. The combination of the different modes of action of the second ball joint linear drive mechanism and the thumb front end drive mechanism makes the utility model truly realize the perfect reproduction of various movements of the thumb, and can more effectively help patients recover the function of the thumb. In addition, the utility model preferably uses the screw nut as the main body of the telescopic device of each driving mechanism, so that the movement transmission is more accurate, and at the same time, it can conveniently control the speed and force, and can realize personalized treatment for different patients. Treatment; the utility model has the advantages of simple structure, small size, light weight, high degree of fit with the thumb, no extra pressure and burden on the patient's thumb, and better therapeutic effect.

Description of drawings

Fig. 1 is the overall structure top view schematic diagram of the present utility model;

Fig. 2 is a structural schematic diagram of the first ball joint linear drive mechanism and the second ball joint linear drive mechanism of the present invention;

Fig. 3 is the structural representation of the thumb front end driving mechanism of the present utility model;

Fig. 4 is the structural representation of thumb exoskeleton of the present utility model;

In the figure, 2. First ball joint linear drive mechanism, 3. Second ball joint linear drive mechanism, 4. Thumb front end drive mechanism, 5. Thumb exoskeleton, 6. First joint ball bearing, 7. Second joint ball Bearing, 8. First ball joint connection, 9. Thumb exoskeleton connection, 10. First ball joint shaft, 11. First ball joint connecting rod, 12. Transmission gear, 13. Transmission gear, 14. Motor bracket , 15. Bearing seat, 16. First drive nut, 17. Fixed plate, 18. Second ball joint connecting rod, 19. First screw rod, 20. Driving motor, 21. Bearing seat, 22. Third joint ball Bearing, 23. Thumb frame, 24. Bearing seat, 25. The second ball joint connector, 26. The second ball joint shaft, 27. The second screw rod, 28. Driving motor, 29. The second drive nut, 30 . The third ball joint connection piece, 31. The third ball joint shaft, 32. Bearing seat, 33. Motor bracket, 34. Transmission gear, 35. Transmission gear, 36. Cross hinge, 37. Thumb MP joint bending rod, 38 . Thumb proximal knuckle exoskeleton, 39. Thumb DIP joint bending rod, 40. Thumb distal knuckle exoskeleton.

Detailed ways

Further illustrate the utility model below in conjunction with accompanying drawing and embodiment.

As shown in Figure 1, the utility model parallel exoskeleton thumb rehabilitation training device mainly includes thumb exoskeleton connector 9, first ball joint linear drive mechanism 2, second ball joint linear drive mechanism 3, thumb front end drive mechanism 4 and Thumb exoskeleton5.

Among them, the structure of the thumb exoskeleton connector 9 has no special requirements, as long as it can connect the first ball joint linear drive mechanism 2, the second ball joint linear drive mechanism 3 and the thumb front end drive mechanism 4 with the palm exoskeleton (not shown in the figure). shown) to connect. For example, on the one hand, the thumb exoskeleton connector 9 is fixedly connected to the palm exoskeleton; on the other hand, the thumb exoskeleton connector 9 is connected to the second ball joint linear drive mechanism 3 through the first joint ball bearing 6, and the thumb exoskeleton Part 9 connects the first ball joint linear drive mechanism 2 through the second joint ball bearing 7, and the thumb exoskeleton connecting part 9 is connected with the thumb frame 23 of the telescoping device of the thumb front end drive device 4 through the cross hinge 36.

As shown in Figures 1 to 4, the first ball joint linear drive mechanism 2, the second ball joint linear drive mechanism 3 and the thumb front end drive mechanism 4 each include a drive device and a telescopic device that are connected to each other, and the telescopic device can correspond to each other. The telescopic movement is driven by the driving device.

As an embodiment of the present invention, both the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3 can adopt the structure shown in FIG. 2 . In Fig. 2, the drive devices of the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3 are composed of a transmission gear 13, a motor bracket 14 and a drive motor 20, wherein the transmission gear 13 and the drive motor 20 The transmission shaft is connected, and the motor bracket 14 is used to fix the drive motor 20 . The driving motor 20 is preferably a DC servo motor. The telescopic devices of the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3 are composed of a first ball joint shaft 10, a first ball joint connecting rod 11, a transmission gear 12, a bearing seat 15, and a first transmission nut 16. , the fixed plate 17, the second ball joint connecting rod 18, the first screw rod 19, the bearing housing 21 and the third joint ball bearing 22, wherein the first ball joint connecting rod 11 is fixedly connected with the fixed plate 17, and the first ball joint The joint shaft 10 is fixedly connected with the first ball joint connecting rod 11, the bearing seat 15 and the bearing seat 21 are fixedly connected with the fixed plate 17, the bearing seat 15 supports the first screw rod 19 through the deep groove ball bearing, and the first screw rod 19 is The first transmission nut 16 is set, the fixed plate 17 cooperates with the first transmission nut 16 and guides it, the bearing seat 21 supports the first screw rod 19 through the deep groove ball bearing, and the first screw rod 19 passes through the bearing seat and the third joint The ball bearing 22 is fixedly connected, the other end of the first screw mandrel 19 is fixedly connected with the transmission gear 12 through the bearing seat 15, the bearing seat 15 is fixedly connected with the motor bracket 14, and the transmission gear 12 is meshed with the transmission gear 13 for transmission.

For the first ball joint linear drive mechanism 2, when the drive motor 20 rotates, it drives the transmission gear 12 to rotate, and the transmission gear 12 drives the transmission gear 13, thereby indirectly causing the first screw rod 19 to rotate, so that the first transmission nut 16 moves forward. linear motion, pushing the second ball joint connecting rod 18, so that the third joint ball bearing 22 moves forward in a straight line, and the third joint ball bearing 22 pushes the second ball joint shaft 26, so that the thumb front end driving device 4 and the thumb exoskeleton 5 Make adduction movement; if the motor reverses, the thumb front end drive device 4 and the thumb exoskeleton 5 make outward swing movement. For the second ball joint linear drive mechanism 3, when the drive motor 20 rotates, it drives the transmission gear 12 to rotate, and the transmission gear 12 drives the transmission gear 13, thereby indirectly rotating the first screw mandrel 19, so that the first transmission nut 16 moves forward. linear motion, pushing the second ball joint connecting rod 18, so that the third joint ball bearing 22 moves forward in a straight line, and the third joint ball bearing 22 pushes the third ball joint shaft 31, so that the thumb front end driving device 4 and the thumb exoskeleton 5 Perform curling motion; if the motor reverses, the thumb front end driving device 4 and the thumb exoskeleton 5 perform stretching motion.

As the second embodiment of the present utility model, the transmission gear 12 and the transmission gear 13 in the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3 can be replaced by a pair of pulleys.

As the third embodiment of the present utility model, the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3 can remove the transmission gear 12, the transmission gear 13 and the rear motor bracket 14, and the drive motor 20 passes through the coupling The device is connected with one end of the first screw mandrel 19 to directly drive the first screw mandrel 19 to rotate.

In the utility model, the above-mentioned screw nut transmission structure can also be replaced by a push rod, and the hydraulic cylinder or air cylinder pushes the push rod to perform linear motion similar to the first drive nut 16 .

As an embodiment of the present invention, the thumb front end driving mechanism 4 can adopt the structure shown in FIG. 3 . In Fig. 3, the thumb front end driving mechanism 4 comprises a thumb frame 23, a bearing seat 24, a second ball joint connection 25, a second ball joint shaft 26, a second screw mandrel 27, a driving motor 28, and a second drive nut 29 , The third ball joint connection part 30, the third ball joint shaft 31, the bearing seat 32, the motor support 33, the transmission gear 34, the transmission gear 35 and the cross hinge 36. Wherein, the driving device of thumb front end driving mechanism 4 is by drive motor 28, motor support 33, transmission gear 34, wherein, transmission gear 34 is connected with the transmission shaft of drive motor 28, and motor support 33 is used for fixing drive motor 28. The drive motor 28 is preferably a DC servo motor. The telescoping device of thumb front end drive mechanism 4 is connected by thumb frame 23, bearing seat 24, the second ball joint connector 25, the second ball joint shaft 26, the second screw mandrel 27, the second drive nut 29, the third ball joint Part 30, the third ball joint shaft 31, bearing block 32, transmission gear 35, cross hinge 36 constitute, wherein bearing block 24 and bearing block 32 are all fixedly connected with thumb frame 23, and cross hinge 36 is hinged with thumb frame 23, The bearing seat 24 supports the second screw mandrel 27 through the deep groove ball bearing, the second screw mandrel 27 is covered with the second driving nut 29, the thumb frame 23 cooperates with the second driving nut 29 and guides it, and the bearing seat 32 passes through the deep groove ball bearing. The groove ball bearing supports the second screw mandrel 27, the second screw mandrel 27 is fixedly connected with the transmission gear 35 through the bearing seat 32, the motor bracket 33 is fixedly connected with the bearing seat 32, and the transmission gear 34 is meshed with the transmission gear 35 for transmission; the second ball joint Both the connecting part 25 and the third ball joint connecting part 30 are fixedly connected with the thumb frame 23, one end of the second ball joint shaft 26 is fixedly connected with the second ball joint connecting part 25 , and one end of the third ball joint shaft 31 is connected with the third The ball joint connection part 30 is fixedly connected.

When the driving motor 28 rotates, it drives the transmission gear 34 to rotate, and the transmission gear 34 drives the transmission gear 35, thereby indirectly causing the second screw mandrel 27 to rotate, so that the second transmission nut 29 moves forward in a straight line; Two drive nuts 29 do linear motion after the image.

As the second embodiment of the present utility model, in the thumb front end driving mechanism 4, the transmission gear 34 and the transmission gear 35 meshing with each other can be replaced by a pair of belt pulleys.

In the utility model, the driving mechanism 4 at the front end of the thumb can remove the transmission gear 34, the transmission gear 35 and the motor bracket 33, and the driving motor 28 is connected with one end of the second screw mandrel 27 through a coupling to directly drive the second screw mandrel 27. turn. In addition, the screw nut driving structure can be replaced by a push rod, which is pushed by a hydraulic cylinder or an air cylinder to perform linear motion similar to the second driving nut 29 .

As an embodiment of the present invention, the thumb exoskeleton 5 can adopt the structure shown in FIG. 4 . In FIG. 4 , the thumb exoskeleton 5 includes thumb MP joint bending rod 37 , thumb proximal knuckle exoskeleton 38 , thumb DIP joint bending rod 39 and thumb distal knuckle exoskeleton 40 . Among them, the thumb proximal knuckle exoskeleton 38 and the thumb DIP joint bending rod 39 are hinged with the thumb MP joint bending rod 37, and the thumb distal knuckle exoskeleton 40 is respectively connected to the thumb proximal knuckle exoskeleton 38 and the thumb DIP joint bending rod. The rod 39 is hinged. When the thumb MP joint bending rod 37 is pushed forward, the thumb MP joint bending rod 37 pushes the exoskeleton 38 of the proximal knuckle of the thumb to curl up, and the thumb MP joint bending rod 37 simultaneously pushes the thumb DIP joint bending rod 39 to move forward. Thus, the exoskeleton 40 at the distal end of the thumb performs curling motion; if the motor is reversed, the exoskeleton at the proximal end of the thumb knuckle 38 and the exoskeleton 40 at the distal end of the thumb perform stretching motions.

Each first ball joint shaft 10 is correspondingly located at the first end of the telescopic device of the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3, and each first ball joint shaft 10 is also connected to the second joint ball joint respectively. Bearing 7 is connected. Each third joint ball bearing 22 is correspondingly located at the second end of the telescopic device of the first ball joint linear drive mechanism 2 and the second ball joint linear drive mechanism 3, wherein the first ball joint linear drive mechanism 2 of the telescopic device The three-joint ball bearing 22 is connected with the third ball joint shaft 31 of the thumb front end driving device 4, and the third joint ball bearing 22 of the telescoping device of the second ball joint linear drive mechanism 3 is then connected with the second ball joint shaft 26; The exoskeleton connector 9 is connected with the thumb frame 23 of the telescoping device of the thumb front end driving device 4 through a cross hinge 36 . Due to the adoption of the above-mentioned connection method, the thumb exoskeleton connector 9, the first ball joint linear drive mechanism 2, the second ball joint linear drive mechanism 3 and the thumb front end drive device 4 form a parallel mechanism, so that the thumb front end drive mechanism 4 can be composed of Movements that include curling, extending, adduction and aversion.

The thumb frame 23 is located at the first end of the telescoping device of the thumb front end driving device 4, the thumb frame 23 is hinged with the thumb proximal knuckle exoskeleton 38 of the thumb exoskeleton 5, and the thumb exoskeleton 5 is connected through a connecting rod (for example, thumb MP joint The bending rod 37) is connected with the second transmission nut 29 installed at the second end of the telescoping device of the thumb front end driving device 4, thereby enabling the thumb exoskeleton 5 to curl and stretch.

The working process of the present utility model is as follows:

The patient's thumb wears the utility model parallel thumb exoskeleton rehabilitation training device, and the controller of the exoskeleton issues control instructions, and the thumb can perform various movements driven by the exoskeleton. The details are as follows: the driving device of the first ball joint linear drive mechanism 2 drives the telescopic device of the first ball joint linear drive mechanism 2 to move, so that the telescopic device of the first ball joint linear drive mechanism 2 is elongated, so that the front end of the thumb drive mechanism 4 and the thumb exoskeleton 5 for adduction movement; on the contrary, the driving device of the first ball joint linear driving mechanism 2 moves in the opposite direction, so that the telescopic device of the first ball joint linear driving mechanism 2 is shortened, thereby making the front end of the thumb driving mechanism 4 Do outward swing with the thumb exoskeleton 5 . The driving device of the second ball joint linear drive mechanism 3 drives the telescopic device of the second ball joint linear drive mechanism 3 to move, so that the telescopic device of the second ball joint linear drive mechanism 3 is elongated, so that the front end of the thumb drive mechanism 4 and the outer thumb The bone 5 makes a curling motion; otherwise, the driving device of the second ball joint linear driving mechanism 3 moves in the opposite direction, so that the telescopic device of the second ball joint linear driving mechanism 3 is shortened, so that the thumb front end driving mechanism 4 and the thumb exoskeleton 5 work together. Stretching exercises. The driving device of the front end of the thumb drive mechanism 4 drives the telescopic device of the front end of the thumb drive mechanism 4 to move, so that the telescopic device of the front end of the thumb drive mechanism 4 is stretched, so that the exoskeleton 5 of the thumb is curled up; otherwise, the drive of the front end of the thumb drive mechanism 4 The reverse movement of the device shortens the telescopic device of the driving mechanism 4 at the front end of the thumb, thereby making the exoskeleton 5 of the thumb curl up. The utility model enables the exoskeleton of the thumb to realize complex movements through the combination of different motion modes of the first ball joint linear drive mechanism, the second ball joint linear drive mechanism and the thumb front end drive mechanism, and truly realizes the perfection of various movements of the thumb. Recurrence, can more effectively help patients recover thumb function.

Claims (2)

1. A parallel exoskeleton thumb rehabilitation training device, characterized in that it includes a thumb exoskeleton connector (9), a first ball joint linear drive mechanism (2), a second ball joint linear drive mechanism (3), a thumb The front end drive mechanism (4) and the thumb exoskeleton (5), the first ball joint linear drive mechanism (2), the second ball joint linear drive mechanism (3) and the thumb front end drive mechanism (4) respectively include interconnected drive devices and telescopic device, the telescopic device can perform telescopic movement under the drive of the corresponding drive device; the first telescopic device of the first ball joint linear drive mechanism (2) and the second ball joint linear drive mechanism (3) The ends are respectively connected to the thumb exoskeleton connector (9) through ball joints, and the second ends of the telescopic devices of the first ball joint linear drive mechanism (2) and the second ball joint linear drive mechanism (3) are respectively connected to the thumb exoskeleton through ball joints. The thumb exoskeleton connector (9) is connected to the first end of the telescoping device of the thumb front end drive mechanism (4), so that the thumb front end drive mechanism (4) It can perform movements including curling, stretching, adduction and outward swing; the proximal knuckle exoskeleton of the thumb exoskeleton (5) is hinged to the first end of the telescopic device of the thumb front end drive mechanism (4), The thumb exoskeleton (5) is connected with the second end of the telescoping device of the thumb front end drive mechanism (4) through a connecting rod, so that the thumb exoskeleton (5) can perform curling and stretching movements. 2. The parallel exoskeleton thumb rehabilitation training device according to claim 1, characterized in that: the thumb exoskeleton connecting piece (9) and the first end of the telescoping device of the thumb front end drive mechanism (4) are connected through a cross hinged connection.

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