Artificial elbow joint, upper limb rehabilitation training system, method and program product

Abstract

The application provides an artificial elbow joint, an upper limb training rehabilitation system, an upper limb rehabilitation training method and a program product, and relates to the technical field of artificial exoskeleton bionic equipment. The artificial elbow joint comprises a large arm seat, a small arm seat, swing arms, a locking device and a transmission device, two swing arms are arranged side by side and one end is connected with the two side surfaces of the large arm seat and the other end is connected with the two side surfaces of the small arm seat; at least part of the transmission device is arranged in the large arm seat and acts on the swing arms to change the angle of the swing arms relative to the large arm seat; the top of the large arm seat and the top of the small arm seat are each provided with a locking device to fix or release the large arm and the small arm. By arranging the locking device on the top of the large arm seat and the top of the small arm seat, the arm can be conveniently, comfortably and safely locked or released, the technical problem that the conventional upper limb bionic exoskeleton device is not very convenient to put on and take off, the tightness adjustment is more complicated and additional burden is added to the patient or nursing staff is solved, and the application has great popularization value and wide application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of artificial exoskeleton bionic devices, in particular to an artificial elbow joint, an upper limb training rehabilitation system, an upper limb rehabilitation training method and a program product. BACKGROUND

[0002] An artificial exoskeleton is a wearable bionic device, which is usually used in the medical health field to provide action assistance for patients with disabilities, paraplegia and other inconvenient movements, help restore or improve motor ability, and prevent or delay muscle atrophy.

[0003] With the development of industrial level and the deepening of scientific research activities, more and more artificial exoskeleton devices have been used to help patients regain a life close to normal people, but it is undeniable that exoskeleton technology is still in the early stage of development and needs to be improved and optimized in many aspects.

[0004] For example, the applicant finds that the prior art at least has the following technical problems: conventional upper limb bionic exoskeleton devices are not very convenient to put on and take off, and the tightness adjustment is more cumbersome, which adds additional burden to the patient himself or the nursing staff. SUMMARY

[0005] The purpose of the present application is to provide an artificial elbow joint, an upper limb training rehabilitation system, an upper limb rehabilitation training method and a program product to solve the technical problems of conventional upper limb bionic exoskeleton devices in the prior art, which are not very convenient to put on and take off, the tightness adjustment is more cumbersome, and which adds additional burden to the patient himself or the nursing staff. 。 The preferred technical solutions in the many technical solutions provided by the present application can produce many technical effects, which are described in detail below.

[0006] To achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, the embodiments of the present application provide an artificial elbow joint, comprising a large arm seat, a small arm seat, a swing arm, a lock device and a transmission device, wherein: two swing arms are arranged side by side, one end of the two swing arms is connected to the two side surfaces of the large arm seat, and the other end is connected to the two side surfaces of the small arm seat; at least part of the transmission device is arranged in the large arm seat and acts on the swing arm to change the angle of the swing arm relative to the large arm seat; the top of the large arm seat is provided with the lock device to fix or release the large arm, and the top of the small arm seat is provided with the lock device to fix or release the small arm.

[0008] Further, the locking device comprises a bracket on the top of the large arm base and the small arm base respectively, and the bracket is provided with a socket on both sides in the width direction; a cover is arranged above the bracket, and the cover is in the shape of a door, both ends of the cover are inserted into the socket, and the insertion depth is adjustable; the bracket and the cover form a loop structure for accommodating the arm.

[0009] Further, the cover comprises two opposite side plates and a top plate between the two side plates, and the inside of the top plate and the two side plates forms a communicating space; a hook plate is arranged in each of the two side plates, the hook plate extends along the side plate, the middle part of the hook plate is rotationally connected with the side plate, the lower end of the hook plate is provided with a hook, the hook extends out of the lower part of the side plate, the upper end of the hook plate is bent and extends into the top plate; the side wall of the socket is provided with a tooth plate corresponding to the position of the hook, the tooth plate is arranged in parallel with the side plate, a plurality of tooth grooves are arranged on the tooth plate, and the plurality of tooth grooves are arranged in the vertical direction, the hook is matched with different tooth grooves to lock the depth of the cover inserted into the socket.

[0010] Further, the middle part of the top plate is provided with a rotating disc, the disc surface of the rotating disc is provided with two center-symmetric slide grooves, the slide grooves are in the shape of a curved arc, one end of the slide groove is close to the center of the rotating disc, and the other end is far from the center of the rotating disc; a pull plate is arranged on both sides of the rotating disc, the pull plate extends along the radial direction of the rotating disc, one end of the pull plate is provided with a slide column inserted into the corresponding slide groove, and the other end of the pull plate extends towards the side plate and is connected with the corresponding hook plate.

[0011] Further, the transmission device comprises a motor, a driving gear, a driven gear and a transmission shaft, wherein: the driving gear is arranged on the output shaft of the motor, the driven gear is connected with the driving gear in meshing; the transmission shaft is connected with the swing arm in perpendicular and fixed in the circumferential direction, and the driven gear is connected with the transmission shaft in transmission.

[0012] Further, an overload protection structure is arranged between the driven gear and the transmission shaft, the overload protection structure comprises a transmission disc, the transmission disc is embedded in the end of the driven gear and is concentric with the driven gear, the middle part of the transmission disc is connected with the transmission shaft in perpendicular and fixed in the circumferential direction; at least two limiting slide grooves are arranged on the disc surface of the transmission disc and are distributed in the circumferential direction, each limiting slide groove extends along the radial direction of the transmission disc, and the centrifugal end of each limiting slide groove extends to the edge of the transmission disc; the driven gear is provided with a ball head clamping groove corresponding to the position of each limiting slide groove, one end of each limiting slide groove close to the ball head clamping groove is provided with a ball head clamping column, a constant torque spring is arranged in each limiting slide groove and acts on the side of the ball head clamping column towards the transmission shaft, so that a part of each ball head clamping column is located in the corresponding limiting slide groove and the other part is located in the corresponding ball head clamping groove.

[0013] Further, an adjusting structure is arranged between the forearm seat and the swing arm, the adjusting structure comprises an adjusting slide arranged on the swing arm, the adjusting slide extends along the length direction of the swing arm; the adjusting structure further comprises a connecting block which is movable along the adjusting slide, a translation shaft is arranged on the side of the connecting block corresponding to the adjusting slide, at least part of the translation shaft extends into the adjusting slide and forms a sliding connection, a rotation shaft is arranged on the side of the connecting block facing the forearm seat, at least part of the rotation shaft extends into the forearm seat and forms a rotating connection.

[0014] In a second aspect, embodiments of the present application provide an upper limb rehabilitation training system, comprising a control device and the artificial elbow joint as described above, the control device comprises a main control board arranged in the upper arm seat, and further comprises a control key and / or a display area in signal connection with the main control board, wherein: the control key comprises one or more of a start-stop key, an extension key, a flexion key, a timing key, a speed adjustment key, and a mode key, the control key is an entity button arranged on the control panel or a virtual point selection box presented on the screen of a smart terminal; the information presented on the display area comprises one or more of an angle icon, a speed icon, a time length icon, a mode icon, a Bluetooth icon, a WIFI icon, and a power icon, and the display area is a liquid crystal screen arranged on the control panel or an information display interface presented on the screen of a smart terminal.

[0015] In a third aspect, embodiments of the present application provide an upper limb rehabilitation training method, comprising the following steps: entering a corresponding rehabilitation training mode according to a selected mode instruction; when the selected mode is a support mode, the swing arm and the upper arm seat are kept at a preset angle; when the selected mode is a manual mode, the swing arm drives the forearm seat to flex or extend due to continuous input of a control signal, and the swing arm stops moving due to disconnection of the control signal; when the selected mode is an automatic mode, the swing arm drives the forearm seat to flex or extend and repeats the action based on a set or input flexion angle, extension angle, swing speed, and activity time length parameter; when the selected mode is a treatment course mode, the swing arm switches between different flexion angles, extension angles, swing speeds, and activity time length parameters according to the patient's course of disease, and drives the forearm seat to move according to the above parameters.

[0016] In a fourth aspect, embodiments of the present application provide a computer program product comprising executable instructions for implementing the upper limb rehabilitation training method as described above when executed by a processor.

[0017] Based on the above technical solutions, the artificial elbow joint, the upper limb training rehabilitation system, the upper limb rehabilitation training method, and the program product provided by the present application at least have the following outstanding substantive features and significant progress:

[0018] The artificial elbow joint provided by the application comprises a large arm base, a small arm base, swing arms, a locking device and a transmission device, two swing arms are arranged side by side, one end of the two swing arms is connected with two side surfaces of the large arm base, and the other end is connected with two side surfaces of the small arm base; at least part of the transmission device is arranged in the large arm base and acts on the swing arms to change the angle of the swing arms relative to the large arm base; the top of the large arm base is provided with the locking device to fix or release the large arm, and the top of the small arm base is provided with the locking device to fix or release the small arm. By arranging the locking device on the top of the large arm base and the top of the small arm base, the arm can be conveniently, comfortably and safely locked or released, the technical problems that the conventional upper limb bionic exoskeleton device is not very convenient to put on and take off, the tightness adjustment is more complicated, and the patient himself or the nursing staff is additionally burdened are solved, and the artificial elbow joint has great popularization value and broad application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Figure 1 The artificial elbow joint provided by the application is a perspective structural schematic view in a locked state of the locking device.

[0021] Figure 2 The artificial elbow joint provided by the application is a perspective structural schematic view in an open state of the locking device.

[0022] Figure 3 The artificial elbow joint provided by the application is a front view structural schematic view.

[0023] Figure 4 The locking device of the artificial elbow joint provided by the application is a perspective structural schematic view.

[0024] Figure 5 The locking device of the artificial elbow joint provided by the application is a top view structural schematic view.

[0025] Figure 6 The artificial elbow joint provided by the application is a sectional view structural schematic view at A-A. Figure 3

[0026] Figure 7 The artificial elbow joint provided by the application is a sectional view structural schematic view at B-B. Figure 3

[0027] The internal structure of the large arm base of the artificial elbow joint provided by the application is a schematic view. Figure 8

[0028] ​​Figure 9 C-C is a schematic diagram of the cross-sectional structure of the application Figure 8

[0029] Figure 10 D-D is a schematic diagram of the cross-sectional structure of the application Figure 8

[0030] Figure 11 Figure 9 is a schematic diagram of the three-dimensional structure of the transmission device and related parts of the artificial elbow joint provided by the application

[0031] Figure 12 E is a schematic diagram of the local enlargement of the application Figure 11

[0032] Figure 13 F is a schematic diagram of the local enlargement of the application Figure 11

[0033] Figure 10 is a schematic diagram of the overall structure of the upper limb rehabilitation training system provided by the application. Figure 14

[0034] Figure 1 is a schematic diagram of the three-dimensional structure of the application

[0035] 1, large arm seat; 11, light emitting part; 12, main switch; 13, power supply port;

[0036] 2, small arm seat; 21, connecting block; 211, translation shaft; 212, rotation shaft;

[0037] 3, swing arm; 31, adjustment slide; 32, light transmission channel; 33, angle display plate; 34, connecting rod;

[0038] 4, lock device; 41, bracket; 411, gasket; 42, socket; 43, cover; 431, gasket; 432, side plate; 433, top plate; 44, hook plate; 441, hook; 442, rotating seat; 443, magnetic block; 45, toothed plate; 451, toothed groove; 46, pull plate; 461, slide column; 47, turntable; 471, sliding groove; 48, knob; 49, baffle; 491, return spring;

[0039] 5, transmission device; 51, motor; 511, output shaft; 52, speed measurement structure; 521, speed measurement disc; 522, speed measurement sensor; 53, driving gear; 54, driven gear; 541, ball head clamping groove; 55, transmission disc; 551, limiting slide; 552, ball head clamping column; 553, constant torque spring; 56, transmission shaft; 57, limiting structure; 571, limiting disc; 572, limiting block; 58, in-place detection structure; 581, detection disc; 582, in-place sensor;

[0040] 6, control device; 60, main control board; 61, control key; 62, display area.​​​​ DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions will be described below in detail with the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. In addition, the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. In addition, all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative work fall within the scope of the present application.

[0042] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element between them. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present.

[0043] In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0044] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned partial terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0045] In addition, the terms "mount", "set", "provided with", "connected", "connected to" should be broadly understood. For example, it can be a fixed connection, a detachable connection, or a monolithic structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] Reference is made to the accompanying drawings Figure 1 and combined with the description Figure 8As shown in the first aspect, the embodiment of the present application provides an artificial elbow joint, comprising a large arm seat 1, a small arm seat 2, a swing arm 3, a locking device 4 and a transmission device 5, wherein: two swing arms 3 are arranged side by side, one end of the two swing arms 3 is connected with the two side surfaces of the large arm seat 1, and the other end is connected with the two side surfaces of the small arm seat 2; at least part of the transmission device 5 is arranged in the large arm seat 1 and acts on the swing arm 3 to change the angle of the swing arm 3 relative to the large arm seat 1; the top of the large arm seat 1 is provided with a locking device 4 to fix or release the large arm, and the top of the small arm seat 2 is provided with a locking device 4 to fix or release the small arm. It can be understood that by arranging the locking device 4 on the top of the large arm seat 1 and the top of the small arm seat 2, the arm can be conveniently, comfortably and safely locked or released, solving the technical problem that the conventional upper limb bionic exoskeleton device is not very convenient to put on and take off, the tightness adjustment is more complicated, and additional burden is added to the patient himself or the nursing staff.

[0047] It should be noted that the large arm seat 1 of the artificial elbow joint provided in the embodiment is used to place the large arm of the user, and the center of rotation of the elbow joint of the user is basically coaxial with the rotation center between the large arm seat 1 and the swing arm 3, and after the position of the large arm of the user is placed, the locking device 4 locks the position of the large arm; the small arm seat 2 of the artificial elbow joint is used to place the small arm of the user, and the position is adjusted according to the length of the arm and the flexion degree of the elbow joint of the user, and the locking device 4 locks the position of the small arm. The transmission device 5 acts on the swing arm 3 to change the angle of the swing arm 3 relative to the rotation center between the large arm seat 1 and the swing arm 3, thereby driving the small arm seat 2 to change the angle around the rotation center between the large arm seat 1 and the swing arm 3, and further realizing that the elbow joint of the user is at a specific flexion angle or flexion or extension activity in a required angle range.

[0048] Referring to the drawings accompanying the specification Figure 2 As a further embodiment, as shown in FIG. 7, the locking device 4 comprises a bracket 41 respectively arranged on the top of the large arm seat 1 and the top of the small arm seat 2, and the two sides of the bracket 41 in the width direction are provided with a socket 42; the bracket 41 is provided with a cover 43 which spans the bracket 41, the cover 43 is in the shape of a door, the two ends of the cover 43 are inserted into the socket 42 and the insertion depth is adjustable; the bracket 41 and the cover 43 form a ring structure for accommodating the arm.

[0049] It should be noted that the large arm and the small arm of the human body are basically columnar or approximately columnar, so the bracket 41 is arranged on the top of the large arm seat 1 and the top of the small arm seat 2, obviously the length direction of the bracket 41 (i.e. the extension direction of the bracket 41) is along the direction in which the arm is placed, and the width direction of the bracket 41 refers to the direction perpendicular or basically perpendicular to the extension direction of the bracket 41, and similarly the cover 43 spanning the bracket 41 also refers to the cover 43 being perpendicular or basically perpendicular to the extension direction of the bracket 41. Therefore, the two lower ends of the door-shaped cover 43 can be inserted into the socket 42, thereby forming a ring structure for accommodating the arm.

[0050] It can be understood that the top of the large arm seat 1 and the small arm seat 2 are provided with a similar structure of the lock device 4, which includes a bracket 41 and a cover 43. The cover 43 can be inserted into the socket 42 with adjustable depth, or can be completely removed from the socket 42. (As shown in the description) Figure 2 Therefore, when wearing the artificial elbow joint, the user does not need to move the arm to a large extent like wearing a sleeve to put the arm into the ring structure, but can directly place the arm in the bracket 41, and then insert the cover 43 into the socket 42 and insert it to the appropriate position according to the thickness and comfortable tightness of the arm. Similarly, when removing the artificial elbow joint, the user does not need to move the arm to a large extent like taking off a sleeve to take the arm out of the ring structure, but can directly remove the cover 43 from the socket 42, and then directly take the arm out of the bracket 41.

[0051] As shown in the description Figure 2 As a preferred embodiment, a pad 411 is provided at the top of the bracket 41, and a protective cover 431 is provided on the inner wall of the cover 43 facing the bracket 41. The pad 411 and the protective cover 431 can be made of flexible materials to provide a more comfortable wearing experience for the user. In a more preferred embodiment, the pad 411 and the protective cover 431 are respectively detachably connected with the bracket 41 and the cover 43. In hot weather, the pad 411 and the protective cover 431 can be made of cool and skin-friendly materials, and in cold weather, the pad 411 and the protective cover 431 can be made of warm and skin-friendly materials. When the user puts the sleeve together in the artificial elbow joint, the pad 411 and the protective cover 431 can also have a material or structure that is more compatible with the textile fabric, so that the position of the user's arm in the large arm seat 1 and the small arm seat 2 is more stable and reliable, and the user is safer and more comfortable during use of the artificial elbow joint.

[0052] As shown in the description Figure 4Further embodiments are shown in FIG. 7, the cover 43 comprises two opposite side plates 432 and a top plate 433 between the two side plates 432, the top plate 433 and the two side plates 432 form a space inside; the two side plates 432 are each provided with a hook plate 44, the hook plate 44 extends along the side plate 432 and the middle part of the hook plate 44 is rotationally connected to the side plate 432, the lower end of the hook plate 44 is provided with a hook 441 which extends out of the lower part of the side plate 432, and the upper end of the hook plate 44 is bent and extends into the top plate 433; the side wall of the socket 42 is provided with a tooth plate 45 corresponding to the position of the hook 441, the tooth plate 45 is parallel to the side plate 432, the tooth plate 45 is provided with a plurality of tooth grooves 451 which are arranged in the vertical direction, and the hook 441 is adapted to the locking of different tooth grooves 451 to lock the depth of the cover 43 inserted into the socket 42. It can be understood that the door-shaped cover 43 is composed of a top plate 433 and two side plates 432, the two side plates 432 are inserted into the socket 42, and the depth of the cover 43 inserted into the socket 42 is adjusted by the cooperation between the hook plate 44 in the side plate 432 and the tooth plate 45 in the socket 42. When the user's arm is thin, the hook 441 at the lower end of the hook plate 44 cooperates with the lower tooth groove 451 of the tooth plate 45, thereby ensuring firm fixation of the user's arm; when the user's arm is thick, the hook 441 at the lower end of the hook plate 44 cooperates with the upper tooth groove 451 of the tooth plate 45, thereby ensuring the comfort of the user's arm.

[0053] It should be noted that "the hook plate 44 extends along the side plate 432, the middle part of the hook plate 44 is rotationally connected to the side plate 432, and the lower end of the hook plate 44 is provided with a hook 441 which extends out of the lower part of the side plate 432", the middle part of the hook plate 44 is rotationally connected to the side plate 432 and the hook 441 extends out of the lower part of the side plate 432, thereby realizing that the hook 441 can be locked and unlocked with the tooth groove 451, when the cover 43 is pressed down, the hook plate 44 rotates, the hook 441 exits the upper tooth groove 451, and after passing over the tooth top, the hook plate 44 reverses, and the hook 441 is locked into the lower tooth groove 451. The middle part of the hook plate 44 is rotationally connected to the side plate 432, which can be achieved by various structures, and an exemplary embodiment is provided here, as shown in the accompanying drawings of the specification Figure 4 and 6 As shown in FIG. 7, a rotating seat 442 is provided on both sides of the hook plate 44, the seat body of the rotating seat 442 is fixed to the side plate 432, one end of the rotating seat 442 towards the hook plate 44 is provided with a slot, the side wall of the slot is rotationally connected to the seat body of the rotating seat 442, and the line connecting the two slots is parallel to the width direction of the hook plate 44, thereby realizing the rotational connection between the middle part of the hook plate 44 and the side plate 432. The lower end of the hook plate 44 is provided with a hook 441 which extends out of the lower part of the side plate 432, which can also be achieved by various structures, and an exemplary embodiment is provided here, as shown in the accompanying drawings of the specification Figure 4 and 6or 7, a magnetic block 443 is arranged at the position of the side plate 432 towards the lower part of the hook plate 44, the hook plate 44 is made of magnetic sensitive material or a magnetic sensitive sheet is embedded at the position corresponding to the magnetic block 443, then the lower part of the hook plate 44 can be attracted to move towards the direction of the tooth plate 45, so as to realize the extension of the clamping hook 441 at the lower end of the hook plate 44 out of the lower part of the side plate 432; in addition, a spring can also be arranged at the position of the side plate 432 towards the lower part of the hook plate 44, and the spring is located at the side away from the tooth plate 45, so that the lower part of the hook plate 44 can be pushed to the position close to the tooth plate 45 under the action of the spring, thereby realizing the extension of the clamping hook 441 at the lower end of the hook plate 44 out of the lower part of the side plate 432.

[0054] Referring to the drawings accompanying the specification Figure 4 As a further embodiment, as shown in Fig. 7, a rotating disc 47 is arranged in the middle of the top plate 433, the disc surface of the rotating disc 47 is provided with two center-symmetrical sliding grooves 471, the sliding grooves 471 are arc-shaped and one end is close to the center of the rotating disc 47 and the other end is far away from the center of the rotating disc 47; the two sides of the rotating disc 47 are provided with pull plates 46, the pull plates 46 extend along the radial direction of the rotating disc 47 and one end is provided with a sliding column 461 inserted into the corresponding sliding groove 471 and the other end extends towards the side plate 432 and is connected with the corresponding hook plate 44. It can be understood that, since the sliding grooves 471 are arranged eccentrically, when the rotating disc 47 rotates, the pull plate 46 will move along the radial direction of the rotating disc 47 with the sliding column 461, and the other end of the pull plate 46 will drive the hook plate 44 to rotate around the rotating center of the hook plate 44 and the side plate 432. If the rotation of the rotating disc 47 makes the pull plate 46 move towards the center of the rotating disc 47, the hook plate 44 will rotate towards the side away from the tooth plate 45, so that the clamping hook 441 is separated from the tooth groove 451 and retracts into the inside of the side plate 432, thereby releasing the position locking relationship between the cover 43 and the large arm base 1 or the small arm base 2.

[0055] Referring to the drawings accompanying the specification Figure 5 As a preferred embodiment, as shown in Fig. 8, the two sides of the pull plate 46 in the width direction are provided with a stop edge, so as to constrain the freedom of the pull plate 46, so that the pull plate 46 can only move along the radial direction of the rotating disc 47 under the action of the sliding column 461, and cannot deviate in the width direction of the pull plate 46. The top of the rotating disc 47 is provided with a knob 48, the lower part of the knob 48 penetrates into the inside of the top plate 433 and is fixedly connected with the rotating disc 47 in the circumferential direction, the upper part of the knob 48 is disc-shaped for rotation, in order to easily distinguish the corresponding relationship between the rotation direction and unlocking and locking, an unlocking mark and a locking mark can also be arranged on the disc surface of the knob 48.

[0056] Continuing to refer to the drawings accompanying the specification Figure 6As further embodiments, as shown in Fig. 7, each of the sockets 42 is provided with a baffle 49, which is adapted in shape and size to the socket 42, and a return spring 491 is fixed to the baffle 49 away from the plate surface of the baffle 49, and the end of the return spring 491 away from the baffle 49 is connected to the large arm base 1 or the small arm base 2; the baffle 49 is perpendicular to the side plate 432, and when the side plate 432 is inserted into the socket 42, the baffle 49 retreats into the interior of the socket 42, and when the side plate 432 is at a fixed depth in the socket 42, the baffle 49 abuts against the side plate 432, and when the side plate 432 exits the socket 42, the baffle 49 is at the opening of the socket 42. It can be understood that when the buckle cover 43 is inserted into the socket 42, the return spring 491 is compressed, and the baffle 49 retreats into the interior of the socket 42, so that the clamping hook 441 is adapted and locked with the tooth groove 451. When the knob 48 is turned, the hook plate 44 rotates, the clamping hook 441 is disengaged from the tooth groove 451 and retreats into the interior of the side plate 432, and the buckle cover 43 is lifted under the action of the two return springs 491 until the side plate 432 completely exits the socket 42, at which time the baffle 49 is also just at the opening position of the socket 42, which plays a shielding and beautifying role for the opening position of the socket 42, and can also prevent foreign matter from entering to affect the normal insertion of the side plate 432.

[0057] Referring to the drawings Figure 8 As further embodiments, as shown in Fig. 7, each of the sockets 42 is provided with a baffle 49, which is adapted in shape and size to the socket 42, and a return spring 491 is fixed to the baffle 49 away from the plate surface of the baffle 49, and the end of the return spring 491 away from the baffle 49 is connected to the large arm base 1 or the small arm base 2; the baffle 49 is perpendicular to the side plate 432, and when the side plate 432 is inserted into the socket 42, the baffle 49 retreats into the interior of the socket 42, and when the side plate 432 is at a fixed depth in the socket 42, the baffle 49 abuts against the side plate 432, and when the side plate 432 exits the socket 42, the baffle 49 is at the opening of the socket 42. It can be understood that when the buckle cover 43 is inserted into the socket 42, the return spring 491 is compressed, and the baffle 49 retreats into the interior of the socket 42, so that the clamping hook 441 is adapted and locked with the tooth groove 451. When the knob 48 is turned, the hook plate 44 rotates, the clamping hook 441 is disengaged from the tooth groove 451 and retreats into the interior of the side plate 432, and the buckle cover 43 is lifted under the action of the two return springs 491 until the side plate 432 completely exits the socket 42, at which time the baffle 49 is also just at the opening position of the socket 42, which plays a shielding and beautifying role for the opening position of the socket 42, and can also prevent foreign matter from entering to affect the normal insertion of the side plate 432.

[0058] Referring to the drawings Figure 9As shown, as a further embodiment, an overload protection structure is provided between the driven gear 54 and the transmission shaft 56, which comprises a transmission disc 55 embedded at the end of the driven gear 54 and concentric with the driven gear 54, and the middle of the transmission disc 55 is vertically connected with the transmission shaft 56 and fixed in the circumferential direction; at least two limiting sliding channels 551 are uniformly distributed on the disc surface of the transmission disc 55, each of which extends in the radial direction of the transmission disc 55, and the centrifugal end of each limiting sliding channel 551 extends to the edge of the transmission disc 55; the driven gear 54 is provided with a ball head clamping groove 541 corresponding to the position of each limiting sliding channel 551, the end of each limiting sliding channel 551 close to the ball head clamping groove 541 is provided with a ball head clamping column 552, and a constant torque spring 553 is arranged in each limiting sliding channel 551 and acts on the side of the ball head clamping column 552 towards the transmission shaft 56, so that a part of each ball head clamping column 552 is located in the corresponding limiting sliding channel 551 and the other part is located in the corresponding ball head clamping groove 541. It can be understood that the transmission disc 55 is arranged between the driven gear 54 and the transmission shaft 56 to realize the overload protection mechanism. During normal operation, since a part of the ball head clamping column 552 is located in the limiting sliding channel 551 and the other part is located in the corresponding ball head clamping groove 541, the transmission disc 55 will rotate synchronously with the driven gear 54, so that the transmission shaft 56 drives the swing arm 3 to change the angle around the rotation center between the large arm base 1 and the swing arm 3. When sudden situations such as the motor 51 losing control and being unable to stop or the swing arm 3 being unable to rotate due to unexpected resistance occur, the driving gear 53 will continue to rotate due to the continuous output of the motor 51 and drive the driven gear 54 to rotate through the intermeshing teeth, but since the transmission resistance increases, if the transmission resistance exceeds the upper limit of the elastic force of the constant torque spring 553, the ball head clamping column 552 will exit the ball head clamping groove 541, and the transmission disc 55 and the driven gear 54 will move in the circumferential direction, so that the transmission force is released, thereby protecting the safety of the user and avoiding greater damage to the equipment.

[0059] The accompanying drawings are referred to in the description of the specification Figure 10As further embodiments, the transmission 5 also comprises a limiting structure 57, which comprises a limiting disc 571 arranged on the transmission shaft 56 and a limiting block 572 arranged inside the big arm base 1. The disc face of the limiting disc 571 is in the shape of a sector. The limiting block 572 is located below the transmission shaft 56 and coincides with the limiting disc 571 in the axial direction. The limiting block 572 has two limiting faces, which respectively block the two sides of the limiting disc 571. When the limiting disc 571 rotates to the position shown by the solid line, the right side of the limiting disc 571 is in contact with the limiting face on the right side of the limiting block 572. When the limiting disc 571 rotates to the position shown by the dashed line, the right side of the limiting disc 571 is in contact with the limiting face on the left side of the limiting block 572. Thus, the maximum angle range of the movable limiting disc 571 is mechanically and rigidly limited, thereby avoiding reverse flexion or over flexion of the user's arm. According to the relevant standards, the angle range of the elbow joint of the artificial arm during flexion / extension is 0°-135°. Therefore, the angle range of the swing arm 3 relative to the rotation center between the swing arm 3 and the big arm base 1 is also 0°-135°.

[0060] Referring to the drawings Figure 11 and 13 As optional embodiments, the transmission 5 also comprises a position detection structure 58, which comprises a detection disc 581 and a position sensor 582. The detection disc 581 is arranged on the transmission shaft 56, and the position sensor 582 can be arranged inside the big arm base 1. The detection disc 581 is in the shape of a sector, and the position sensor 582 coincides with the detection disc 581 in the axial direction of the transmission shaft 56. The position sensor 582 is arranged on both sides of the transmission shaft 56 and has detection ports for the detection disc 581 to pass through. When the detection disc 581 is in the detection port, the position sensor 582 can sense the position of the detection disc 581, thereby knowing the position of the swing arm 3. It should be noted that the swing arm 3 will be in the 0° position by default before starting the elbow joint or after use. At this time, the position disc and the position sensor 582 can be used to determine whether the swing arm 3 is reset to the default 0° position.

[0061] Referring to the drawings Figure 11 and 12As shown, as an optional embodiment, the transmission device 5 further comprises a speed measuring structure 52, which comprises a speed measuring disc 521 and a speed measuring sensor 522. The speed measuring disc 521 is arranged on the rotating shaft of the motor 51 or other shaft rotating synchronously with the motor 51, and the speed measuring sensor 522 can be arranged inside the large arm base 1. The speed measuring disc 521 is circular, and the speed measuring sensor has a speed measuring port through which the speed measuring disc 521 passes. By sensing the number of rotations of the speed measuring disc 521, the angle position of the swing arm 3 and the angular velocity when the swing arm 3 changes the angle around the rotation center between the large arm base 1 and the swing arm 3 can be obtained.

[0062] Referring to the drawings accompanying the specification Figure 10 As shown in FIG. 13, as an optional embodiment, a plurality of light transmission channels 32 are arranged at intervals around the transmission shaft 56 of the swing arm 3, and the plurality of light transmission channels 32 are equidistant from the rotation center of the swing arm 3. The large arm base 1 is provided with a light emitting member 11 at a circular arc position corresponding to the positions of the plurality of light transmission channels 32. The swing arm 3 is provided with an angle display plate 33, which blocks all the light transmission channels 32, and the angle display plate 33 is provided with corresponding angle marks at positions corresponding to each of the light transmission channels 32. When the swing arm 3 rotates, the light of the light emitting member 11 illuminates the corresponding angle mark on the angle display plate 33 through the light transmission channel 32. It can be understood that the swing arm 3 changes the angle around the rotation center between the large arm base 1 and the swing arm 3, so the light emitting member 11 is arranged on the large arm base 1, and the plurality of light transmission channels 32 are arranged at intervals around the rotation center between the large arm base 1 and the swing arm 3. When the swing arm 3 is at different positions, the light emitted by the light emitting member 11 will be emitted from the corresponding different light transmission channels 32 and illuminate the corresponding angle mark on the angle display plate 33. This angle display method is intuitive and sensitive. In addition, in this angle display structure, all are mechanical structures except the light emitting member 11, and the light emitting member 11 itself can be a light emitting diode or a small lamp bead, so this angle display scheme also has very high stability.

[0063] Referring to the drawings accompanying the specification Figure 11 and combining the drawings accompanying the specification Figure 7As shown, as a preferred embodiment, the adjusting structure is provided between the forearm seat 2 and the swing arm 3, the adjusting structure comprises an adjusting slide 31 provided on the swing arm 3, the adjusting slide 31 extends along the length direction of the swing arm 3; the adjusting structure further comprises a connecting block 21 which is movable along the adjusting slide 31, the connecting block 21 is provided with a translation shaft 211 on the side surface corresponding to the adjusting slide 31, at least part of the translation shaft 211 extends into the adjusting slide 31 and forms a sliding connection, the connecting block 21 is provided with a rotation shaft 212 on the side surface facing the forearm seat 2, at least part of the rotation shaft 212 extends into the forearm seat 2 and forms a rotating connection. It can be understood that due to the differences in age, gender and growth, the forearms of different users may have different lengths, therefore, the adjusting structure is provided between the forearm seat 2 and the swing arm 3, the position of the forearm seat 2 on the swing arm 3 can be adjusted according to the length of the forearm, so as to adjust the distance between the forearm seat 2 and the rotation center between the forearm seat 2 and the swing arm 3, and then ensure that the user can maintain a comfortable state. It should be noted that the translation shaft 211 is provided on one side surface of the connecting block 21, at least part of the translation shaft 211 extends into the adjusting slide 31 to form a sliding connection, and a damping mechanism is provided between the translation shaft 211 and the adjusting slide 31, such as a rubber ring sleeved on the outside of the translation shaft 211, so that the position of the forearm seat 2 on the swing arm 3 is relatively fixed, and the position will change only when it needs to be adjusted by external force, rather than moving by itself during use. The other side surface of the connecting block 21 is provided with the rotation shaft 212, the rotation shaft 212 is inserted into the forearm seat 2 to form a rotating connection, the human forearm is only an approximate cylinder, not a standard cylinder, in addition, during the process that the swing arm 3 drives the forearm seat 2 to change the angle around the rotation center between the forearm seat 2 and the swing arm 3, the muscles on the arm will also change, therefore, the forearm seat 2 can rotate relative to the length direction of the swing arm 3, so that the forearm can be placed more stably, closely and comfortably in the ring structure composed of the holding groove 41 and the cover 43. It should be noted that in order to make the forearm seat 2 more stable, a connecting rod 34 is provided between the two swing arms 3, so that the positions of the two swing arms 3 are more synchronized, thereby ensuring the stability of the forearm seat 2.

[0064] The accompanying drawings are referred to in the description of the application Figure 14As shown in the second aspect, the embodiment of the present application provides an upper limb rehabilitation training system, which comprises the operating device 6 and the artificial elbow joint as described above. The operating device 6 comprises the main control board 60 arranged in the upper arm seat 1, and further comprises the control keys 61 and / or the display area 62 which are in signal connection with the main control board 60. The control keys 61 comprise one or more of the start-stop key, the stretching key, the flexion key, the timing key, the speed adjustment key and the mode key. The control keys 61 are physical buttons arranged on the operating board or virtual point selection boxes presented on the screen of the smart terminal. The information presented on the display area 62 comprises one or more of the angle icon, the speed icon, the time icon, the mode icon, the Bluetooth icon, the WIFI icon and the power icon. The display area 62 is a liquid crystal screen arranged on the operating board or an information display interface presented on the screen of the smart terminal.

[0065] It can be understood that the aforementioned artificial elbow joint is mainly composed of the electromechanical module, and the operating device 6 mainly comprises the telecommunication facilities. The integration of the electromechanical module and the telecommunication facilities forms the upper limb rehabilitation training system, so as to realize the human-computer interaction and the information transmission. For example, the control keys 61 receive the instructions of the user, and even the sound information and the action information of the user are collected through the microphone, the camera and other devices to receive the requirements of the user. For another example, the display area 62 displays the current running data of the system, and even the current running data of the system, the physiotherapy situation of the user and other more abundant information are broadcasted or visualized through the loudspeaker and the projection and other devices.

[0066] It should be noted that the operating device 6 comprises the main control board 60 arranged in the upper arm seat 1. The main control board 60 can be in communication connection with the speed sensor 522, the in-place sensor 582 and the like, so as to obtain the working state of the swing arm 3, and can also guide the action of the swing arm 3 according to these data. In summary, through the arrangement of the operating device 6, the upper limb rehabilitation training system is more applicable and more intelligent. Figure 14 The operating board is exemplarily shown as the carrier of the control keys 61 and the display area 62. Obviously, the smart terminal such as the mobile phone and the tablet computer can also be the carrier of the control keys 61 and the display area 62. Moreover, the operation on the smart terminal such as the mobile phone and the tablet computer is more convenient, and only the corresponding Bluetooth module or WIFI module on the main control board 60 is needed to realize this, which is a routine operation for the person skilled in the art. Because there are too many daily household devices with the functions of intelligent interaction and remote control. The underlying technology of these is almost the same, and therefore, the description is omitted here.

[0067] In a third aspect, embodiments of the present application provide a method for upper limb rehabilitation training, comprising the following steps: entering a corresponding rehabilitation training mode according to a selected mode instruction; when the selected mode is a support mode, the swing arm 3 and the large arm base 1 are kept at a preset angle; when the selected mode is a manual mode, the swing arm 3 drives the small arm base 2 to flex or extend due to continuous input of a control signal, and the swing arm 3 stops moving due to disconnection of the control signal; when the selected mode is an automatic mode, the swing arm 3 drives the small arm base 2 to flex or extend and repeatedly moves based on a set or input flexion angle, extension angle, swing speed, and activity duration parameter; and when the selected mode is a treatment course mode, the swing arm 3 automatically switches between different flexion angles, extension angles, swing speeds, and activity duration parameters according to a patient's course of disease and drives the small arm base 2 to move according to the aforementioned parameters.

[0068] It can be understood that in the support mode, the swing arm 3 and the large arm base 1 are kept at a preset angle, which can be used in application scenarios where the user has a fracture, ligament injury, or needs to be at a certain specific flexion angle for a long time. In the manual mode, the flexion process needs to press the flexion key all the time, and after reaching the position, the user manually switches to the extension key to extend. Similarly, the extension process needs to press the extension key all the time, and after reaching the position, the user manually switches to the flexion key to flex. This can be used in the early familiarization and exploration stage of the rehabilitation training system, and can also be used in the scenario of presetting parameters for the rehabilitation training system according to the user's body feeling. In the automatic mode, the swing arm 3 drives the small arm to move according to the preset extension angle, flexion angle, and swing speed, until the preset treatment duration is met or the system set single longest treatment duration is reached. In the treatment course mode, the system can select and / or combine appropriate parameter combinations to form a complete process according to the patient's course of disease in different angle, speed, and duration parameter combinations, drive the user's arm to move, and even directly call the complete process in the database according to the patient's course of disease.

[0069] It should be noted that according to different diseases and different courses of disease, reasonable selection can be made among different modes, for example, for a certain fracture patient, in the bone setting stage, the arm needs to be at a specific flexion angle in order to heal the bone, at this time the support mode is suitable; in the early rehabilitation stage, the arm can already be slightly active, at this time it can be in the manual mode, according to the user's sense of feeling to preset the acceptable flexion angle, extension angle, swing angular velocity, activity time and other parameters, and then it can be switched to the automatic mode for small range activity; in the later rehabilitation stage, the arm can already be active to a certain intensity, at this time it can be in the manual mode, according to the user's sense of feeling to preset the acceptable flexion angle, extension angle, swing angular velocity, activity time and other parameters, and then it can be switched to the automatic mode for large range activity; in the physiotherapy stage, the arm can move freely but the muscle function is damaged after all, it can be in the treatment mode, select and / or combine appropriate parameter combinations in different angle, speed, time parameter combinations to form a complete process for activity, and gradually recover the function.

[0070] In a fourth aspect, embodiments of the present application provide a computer program product comprising executable instructions for implementing the upper limb rehabilitation training method as described above when executed by a processor. It can be understood that the working conditions of the upper limb rehabilitation training system in different working modes are programmed and preset by the executable instructions, and these executable instructions are contained in the computer program product or the storage device to be executed by the processor.

[0071] The above is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An artificial elbow joint, characterized in that, It includes a boom base (1), a forearm base (2), a swing arm (3), a locking device (4), and a transmission device (5), wherein: Two swing arms (3) are arranged side by side. One end of each swing arm (3) is connected to the two sides of the upper arm seat (1), and the other end is connected to the two sides of the lower arm seat (2). At least part of the transmission device (5) is disposed in the upper arm seat (1) and acts on the swing arm (3) so that the swing arm (3) changes angle relative to the upper arm seat (1); The upper arm seat (1) is provided with the locking device (4) at the top to fix or release the upper arm, and the lower arm seat (2) is provided with the locking device (4) at the top to fix or release the lower arm; The locking device (4) includes a bracket (41) located on the top of the upper arm seat (1) and the top of the lower arm seat (2), and the bracket (41) has a slot (42) on both sides in the width direction. A cover (43) spanning the bracket (41) is provided above the bracket (41). The cover (43) is door-shaped, and both ends of the cover (43) are inserted into the socket (42) respectively, with the insertion depth adjustable. The bracket (41) and the cover (43) form a ring structure for accommodating the arm; The cover (43) includes two oppositely arranged side plates (432) and a top plate (433) located between the two side plates (432), and the top plate (433) and the two side plates (432) form a communicating space. Both side plates (432) are provided with hook plates (44), the hook plates (44) extend along the side plates (432) and the middle part of the hook plates (44) is rotatably connected to the side plates (432), the lower end of the hook plates (44) is provided with hooks (441) and the hooks (441) extend out of the lower part of the side plates (432), and the upper end of the hook plates (44) is bent and extends into the top plate (433); The side wall of the socket (42) is provided with a toothed plate (45) corresponding to the position of the hook (441). The toothed plate (45) is arranged parallel to the side plate (432). The toothed plate (45) is provided with multiple toothed grooves (451) and the multiple toothed grooves (451) are arranged in a vertical direction. The hook (441) is adapted to different toothed grooves (451) to lock the depth of the buckle (43) inserted into the socket (42). The top plate (433) is provided with a turntable (47) in the middle. The turntable (47) has two centrally symmetrical sliding grooves (471) on its surface. The sliding grooves (471) are curved and one end is close to the center of the turntable (47) while the other end is far from the center of the turntable (47). Both sides of the turntable (47) are provided with pull plates (46). The pull plates (46) extend radially along the turntable (47) and one end is provided with a sliding post (461) inserted into the corresponding sliding groove (471), while the other end extends toward the side plate (432) and is connected to the corresponding hook plate (44).

2. The artificial elbow joint according to claim 1, characterized in that, The transmission device (5) includes a motor (51), a driving gear (53), a driven gear (54), and a transmission shaft (56), wherein: The driving gear (53) is mounted on the output shaft (511) of the motor (51), and the driven gear (54) meshes with the driving gear (53); The drive shaft (56) is vertically connected to the swing arm (3) and circumferentially fixed, and the driven gear (54) is connected to the drive shaft (56) in a transmission connection.

3. The artificial elbow joint according to claim 2, characterized in that, An overload protection structure is provided between the driven gear (54) and the transmission shaft (56). The overload protection structure includes a transmission disk (55). The transmission disk (55) is embedded at the end of the driven gear (54) and is concentric with the driven gear (54). The middle part of the transmission disk (55) is perpendicularly connected to the transmission shaft (56) and is circumferentially fixed. At least two limiting slides (551) are evenly distributed around the circumference of the transmission disk (55). Each limiting slide (551) extends radially along the transmission disk (55), and the centrifugal end of each limiting slide (551) extends to the edge of the transmission disk (55). The driven gear (54) is provided with ball joint grooves (541) at the positions corresponding to each of the limiting slides (551). Each of the limiting slides (551) is provided with a ball joint pin (552) at one end near the ball joint groove (541). Each of the limiting slides (551) is provided with a torque spring (553) and acts on the side of the ball joint pin (552) facing the drive shaft (56), so that a part of each ball joint pin (552) is located in the corresponding limiting slide (551) and the other part is located in the corresponding ball joint groove (541).

4. The artificial elbow joint according to claim 2, characterized in that, An adjustment structure is provided between the forearm seat (2) and the swing arm (3). The adjustment structure includes an adjustment slide (31) located on the swing arm (3) and the adjustment slide (31) extends along the length direction of the swing arm (3). The adjustment structure also includes a connecting block (21) that can move along the adjustment slide (31). The connecting block (21) has a translation shaft (211) on the side of the adjustment slide (31). At least part of the translation shaft (211) extends into the adjustment slide (31) and forms a sliding connection. The connecting block (21) has a rotation shaft (212) on the side of the forearm seat (2). At least part of the rotation shaft (212) extends into the forearm seat (2) and forms a rotational connection.

5. An upper limb rehabilitation training system, characterized in that, The device includes a control device (6) and an artificial elbow joint as described in any one of claims 1-4. The control device (6) includes a main control board (60) disposed in the upper arm base (1), and further includes control keys (61) and / or a display area (62) connected to the main control board (60) via signals, wherein: The control key (61) includes one or more of the following: start / stop key, extend key, bend key, timer key, speed adjustment key, and mode key. The control key is a physical button set on the control panel or a virtual selection box displayed on the screen of the smart terminal. The information displayed on the display area (62) includes one or more of the following: angle icon, speed icon, duration icon, mode icon, Bluetooth icon, WIFI icon, and battery icon. The display area is an information display interface set on the control panel or displayed on the screen of a smart terminal.

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