Exoskeleton mechanical arm for inhibiting static tremor

Abstract

The invention belongs to the technical field of power-assisted mechanical arms, and particularly relates to an exoskeleton mechanical arm for inhibiting static tremor, which comprises two groups of self-adaptive damping type tremor prevention mechanisms, a damping manual preloading assembly, a palm fixing mechanism, a forearm fixing mechanism and a big arm fixing mechanism, the palm fixing mechanism and the forearm fixing mechanism are rotationally connected through a self-adaptive damping type anti-tremor mechanism, and the forearm fixing mechanism and the big arm fixing mechanism are rotationally connected through a self-adaptive damping type anti-tremor mechanism. According to the technical scheme, the hydraulic suppression mode and the motor suppression mode are combined, high-speed response is conducted in the hydraulic suppression mode at the initial stage of the high-frequency tremor action, then an electric control mechanism with general precision is used in an auxiliary mode, and the good technical effect can be achieved at the low cost.

Description

Technical Field

[0001] The invention belongs to the technical field of power-assisted mechanical arms, and in particular refers to an exoskeleton mechanical arm for suppressing static tremor. Background Art

[0002] Resting tremor is a common core symptom of Parkinson's syndrome, usually manifested as involuntary, rhythmic movements of the hands, feet or jaw. This tremor is most obvious when the patient is still and not actively moving, and it will weaken or even disappear when actively moving.

[0003] With the current medical level, there is no solution that can completely cure Parkinson's syndrome. In order to improve the stability of the patient's limbs when they are at rest, relieve the patient's symptoms and anxiety, and slow down the deterioration of the disease, the current method of applying reverse force is to suppress the patient's resting tremor; this process does not produce any side effects and will not cause secondary harm to the patient.

[0004] Most of these medical devices are expensive, and the high cost will cause a significant burden on patients. If we want ordinary people to enjoy the convenience brought by technology at a lower price, the cost reduction solution for exoskeleton robotic arms is a key issue that needs to be considered in this field.

[0005] In addition, response speed and control accuracy have always been the main reasons for the high cost of such medical devices. This is because static tremor is a small-amplitude high-frequency movement. Therefore, if the response speed and control accuracy are insufficient, there will be almost no obvious inhibitory effect. In order to achieve good results, not only high requirements are placed on software control, but also high requirements on the accuracy of basic hardware. Summary of the invention

[0006] In view of the above situation, in order to overcome the defects of the prior art, the present invention proposes an exoskeleton robot arm for suppressing static tremor based on dual control of hydraulic and electric control; the present invention adopts a technical solution that combines hydraulic suppression and motor suppression. In the early stage of high-frequency tremor movement, high-speed response is performed through hydraulic suppression, and then assisted by an electric control mechanism with general accuracy, a relatively good technical effect can be achieved at a relatively low cost; and in slow movements (the normal movements of such patients are generally slow, and generally there will be no and no need for fast movements), low-cost control components are sufficient to provide them with assistance.

[0007] The technical solution adopted by the present invention is as follows: The present invention proposes an exoskeleton mechanical arm for suppressing static tremor, including an adaptive damping anti-tremor mechanism, a damping manual preload component, a palm fixing mechanism, a forearm fixing mechanism and an upper arm fixing mechanism, wherein the adaptive damping anti-tremor mechanism is provided with two groups, the palm fixing mechanism and the forearm fixing mechanism are rotationally connected through the adaptive damping anti-tremor mechanism, the forearm fixing mechanism and the upper arm fixing mechanism are rotationally connected through the adaptive damping anti-tremor mechanism, the damping manual preload component is provided with two groups, one group of the damping manual preload components is provided on the palm fixing mechanism, and the other group of the damping manual preload components is provided on the upper arm fixing mechanism, and the adaptive damping anti-tremor mechanism and the damping manual preload component are through-connected through a hydraulic pipeline; Furthermore, the adaptive damping anti-tremor mechanism comprises an annular hydraulic cavity assembly and an adaptive damping assembly, and the adaptive damping assembly is rotatably disposed in the annular hydraulic cavity assembly.

[0008] The adaptive damping anti-tremor mechanism can adaptively adjust the motion damping according to the patient's joint movement speed, thereby suppressing the patient's static tremor by hindering movement, thereby achieving the technical purpose of stabilizing the limbs.

[0009] Preferably, the annular hydraulic cavity assembly comprises an annular cavity, an annular rotating cover and a fixed plug, wherein the annular rotating cover is rotatably arranged on the annular cavity, the fixed plug is symmetrically fixed to the inside of the annular cavity, and the cavity formed by the annular cavity and the annular rotating cover is filled with liquid; As a further preferred embodiment of the present invention, the adaptive damping component comprises a hollow annular slider, the hollow annular slider is fixedly connected to the annular rotating cover, and the hollow annular slider is slidably engaged in the annular cavity.

[0010] There is a circular hole in the center of the hollow annular slider. When the hollow annular slider rotates in the annular cavity, it will encounter resistance from the liquid. This resistance will prevent human limbs from moving, and the magnitude of this resistance will increase with the increase of movement speed, thereby reducing the resistance of the adaptive damping anti-tremor mechanism during normal movement at low speed, and increasing the resistance of the adaptive damping anti-tremor mechanism during high-speed tremor movement.

[0011] As a further preferred embodiment of the present invention, the adaptive damping assembly also includes an elastic baffle, which is symmetrically arranged on both sides of the hollow annular slider, one end of the elastic baffle is fixed to the hollow annular slider, and the elastic baffle forms a circular ring with a hole in the center. As the angle of the elastic baffle changes, the size of the center circular ring also changes accordingly.

[0012] The elastic baffle further limits and constrains the center hole of the hollow annular slider itself, so that when the sliding speed of the hollow annular slider increases, not only the flow resistance increases, but the diameter of the center hole of the hollow annular slider will also be further reduced, thereby further increasing the magnitude of the increase in resistance when the speed increases, thereby making the corresponding speed and damping effects more obvious, and achieving better technical effects of suppressing vibration.

[0013] As a further preferred embodiment of the present invention, the hollow annular slider consists of a non-elastic part, a hard rubber part and a soft rubber part, the non-elastic part is provided with a first joint, and the adaptive damping assembly also includes a pressure sensor, and the pressure sensor is located in the hard rubber part.

[0014] By designing the material or thickness of different parts of the hollow annular slider, the softness of each position can be changed, so that during rapid movement, the soft rubber part can still be deformed by the extrusion of the fluid, thereby achieving the technical purpose of reducing the flow channel when the speed increases.

[0015] Further, the damping manual preload assembly includes a preload cylinder bracket, a preload cylinder body, a preload adjustment nut and a preload adjustment screw. The preload cylinder body is snap-fitted in the preload cylinder bracket. A second joint is provided on the preload cylinder body. The second joint and the first joint are connected by a hydraulic pipeline. The preload adjustment nut is fixed to the end of the preload cylinder body. The preload adjustment screw and the preload adjustment nut are threadedly transmitted. An adjustment piston part is provided on the preload adjustment screw, and the adjustment piston part is snap-fitted and slidably provided in the preload cylinder body.

[0016] The resistance of the adaptive damping anti-tremor mechanism can be manually preset and adjusted by the damping manual preload component, so that it can adapt to different users and different stages of the same user.

[0017] Further, the palm fixing mechanism comprises a palm assisting component and a palm fixing component, and the palm fixing component is rotatably arranged on the palm assisting component; Preferably, the palm assist assembly comprises a palm hinge seat, a assist push rod hinge seat and a assist push rod body, the palm hinge seat and the assist push rod hinge seat are arranged on an annular rotating cover, the palm hinge seat and the assist push rod hinge seat are respectively located on both sides of the annular rotating cover, and the assist push rod body is rotatably arranged on the assist push rod hinge seat.

[0018] The palm fixing mechanism can assist the inward and outward movement of the patient's wrist by actively extending and retracting the power-assisting push rod body. Since the patient's static tremor is mainly concentrated in the rotation of the wrist and the elbow, the inward and outward movement of the palm are only provided with a power-assisting mechanism (controlled by sensor induction) and no damping mechanism. In actual application, if necessary, this part can still be adaptively installed based on the principles of the adaptive damping anti-tremor mechanism and the damping manual preload component.

[0019] As a further preferred embodiment of the present invention, the palm fixing assembly includes a palm fixing piece and a palm fixing strap, the palm fixing piece is provided with a mounting ring portion, one end of the mounting ring portion is hinged to a palm hinge seat, the other end of the mounting ring portion is hinged to a power-assisting push rod body, the palm fixing strap is arranged on the palm fixing piece, and one group of the damping manual preload assembly is fixed to the palm fixing piece through a preload cylinder bracket.

[0020] Further, the forearm fixing mechanism includes a forearm fixing assembly and a forearm power-assisting assembly, the forearm fixing assembly includes a forearm bracket and a forearm fixing strap, the forearm bracket is provided with a second mounting circular ring portion, the forearm bracket is fixedly connected to the annular cavity through the second mounting circular ring portion, and one group of the adaptive damping anti-tremor mechanism is arranged between the second mounting circular ring portion and the palm power-assisting assembly; As a further preferred embodiment of the present invention, the forearm assisting assembly includes a forearm assisting motor and an forearm assisting gear, the forearm assisting motor is fixedly connected to the forearm bracket, the forearm assisting gear is arranged on the output shaft of the forearm assisting motor, the annular rotating cover is provided with an edge gear portion, and the forearm assisting gear and the edge gear portion are meshed for transmission.

[0021] The forearm fixing mechanism and the boom fixing mechanism respectively have power assist functions. On the one hand, they can feedback the current movement speed of the hollow ring slider through the pressure sensing of the pressure sensor, and according to the drive presets between the pressure sensor and the forearm power assist motor and between the pressure sensor and the boom power assist motor, the technical effects of providing power assist during low-speed movement and providing damping during high-speed movement are achieved.

[0022] Further, the boom fixing mechanism includes a boom fixing assembly and a boom assist assembly, the boom fixing assembly includes a boom bracket and a boom fixing strap, another group of the adaptive damping anti-tremor mechanism is arranged between the forearm bracket and the boom bracket, wherein the forearm bracket is fixedly connected to the annular cavity, the boom bracket is fixedly connected to the annular rotating cover, the boom fixing strap is arranged on the boom bracket, and another group of the damping manual preload assembly is fixedly connected to the boom bracket through the preload cylinder bracket; Preferably, the boom assist assembly comprises a boom assist motor and a boom assist gear, the boom assist motor is arranged on the forearm bracket, the boom assist gear is arranged on the output shaft of the boom assist motor, and the boom assist gear is meshed with the edge gear part for transmission.

[0023] The beneficial effects achieved by the present invention using the above structure are as follows: (1) The adaptive damping anti-tremor mechanism can adaptively adjust the motion damping according to the patient's joint movement speed, thereby suppressing the patient's static tremor by hindering movement, achieving the technical purpose of stabilizing the limbs.

[0024] (2) There is a circular hole in the center of the hollow annular slider. When the hollow annular slider rotates in the annular cavity, it will encounter resistance from the liquid. This resistance will prevent the movement of human limbs, and the magnitude of this resistance will increase with the increase of movement speed, thereby reducing the resistance of the adaptive damping anti-tremor mechanism during normal movement at low speed, and increasing the resistance of the adaptive damping anti-tremor mechanism during high-speed tremor movement.

[0025] (3) The elastic baffle further limits and constrains the center hole of the hollow annular slider itself, so that when the sliding speed of the hollow annular slider increases, not only the flow resistance increases, but the diameter of the center hole of the hollow annular slider is also further reduced, thereby further increasing the magnitude of the resistance increase when the speed increases, thereby making the corresponding speed and damping effect more obvious, and achieving a better technical effect of suppressing vibration.

[0026] (4) By designing the material or thickness of different parts of the hollow annular slider, the softness of each position can be changed, so that during rapid movement, the soft rubber part can still be deformed by the extrusion of the fluid, thereby achieving the technical purpose of reducing the flow channel when the speed increases.

[0027] (5) The resistance of the adaptive damping anti-tremor mechanism can be manually preset and adjusted through the damping manual preload component, so that it can adapt to different users and different stages of the same user.

[0028] (6) The palm fixing mechanism can assist the inward and outward movement of the patient's wrist by actively extending and retracting the power-assisting push rod body. Since the patient's static tremor is mainly concentrated in the rotation of the wrist and the elbow, only a power-assisting mechanism (controlled by sensor induction) is set for the inward and outward movement of the palm, and no damping mechanism is set. If necessary in actual application, this part can still be adaptively installed based on the principles of the adaptive damping anti-tremor mechanism and the damping manual preload component.

[0029] (7) The forearm fixing mechanism and the boom fixing mechanism are respectively provided with power assist functions. On the one hand, they can provide feedback of the current movement speed of the hollow annular slider through the pressure sensing of the pressure sensor, and on the other hand, according to the drive preset between the pressure sensor and the forearm power assist motor and between the pressure sensor and the boom power assist motor, the technical effect of providing power assist during low-speed movement and providing damping during high-speed movement can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A stereoscopic diagram of an exoskeleton mechanical arm for suppressing resting tremor proposed by the present invention; Figure 2 A front view of an exoskeleton mechanical arm for suppressing resting tremor proposed by the present invention; Figure 3 A left view of an exoskeleton mechanical arm for suppressing resting tremor proposed by the present invention; Figure 4 A top view of an exoskeleton mechanical arm for suppressing resting tremor proposed by the present invention; Figure 5 for Figure 2 A cross-sectional view along the cutting line AA; Figure 6 for Figure 2 A cross-sectional view along the cutting line BB; Figure 7 for Figure 4 A cross-sectional view along the cutting line CC; Figure 8 for Figure 4 A cross-sectional view along the cutting line DD; Fig. 9 An exploded schematic diagram of an exoskeleton mechanical arm for suppressing resting tremor proposed by the present invention; Fig.10 for Figure 5 A partial enlarged view of point Ⅰ in the middle; Fig.11 for Figure 8 A partial enlarged view of the middle II; Fig.12 for Figure 6 A partial enlarged view of the middle part III; Fig.13 It is a schematic diagram of the local structure of the adaptive damping anti-tremor mechanism; Fig.14 Schematic diagram of the relationship between the indication of the pressure sensor and the torque of the power assist motor.

[0031] Among them, 1. adaptive damping anti-tremor mechanism, 2. damping manual preload component, 3. palm fixing mechanism, 4. forearm fixing mechanism, 5. upper arm fixing mechanism, 6. annular hydraulic chamber component, 7. adaptive damping component, 8. annular chamber, 9. annular rotating cover, 10. fixed plug, 11. hollow annular slider, 12. elastic baffle, 13. pressure sensor, 14. edge gear part, 15. non-elastic part, 16. first joint, 17. hard rubber part, 18. soft rubber part, 19. preload cylinder bracket, 20. preload cylinder body, 21. preload adjustment nut, 22. preload adjustment screw, 23. second joint, 24. Adjusting piston part, 25. Palm power assisting assembly, 26. Palm fixing assembly, 27. Palm articulated seat, 28. Power assisting push rod articulated seat, 29. Power assisting push rod body, 30. Palm fixing part, 31. Palm fixing strap, 32. Installing ring part one, 33. Forearm fixing assembly, 34. Forearm power assisting assembly, 35. Forearm bracket, 36. Forearm fixing strap, 37. Forearm power assisting motor, 38. Forearm power assisting gear, 39. Installing ring part two, 40. Upper arm fixing assembly, 41. Upper arm power assisting assembly, 42. Upper arm bracket, 43. Upper arm fixing strap, 44. Upper arm power assisting motor, 45. Upper arm power assisting gear.

[0032] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0035] like Figure 1 to Figure 13As shown, the present invention proposes an exoskeleton mechanical arm for suppressing static tremor, comprising an adaptive damping anti-tremor mechanism 1, a damping manual preload component 2, a palm fixing mechanism 3, a forearm fixing mechanism 4 and an upper arm fixing mechanism 5, wherein the adaptive damping anti-tremor mechanism 1 is provided with two groups, the palm fixing mechanism 3 and the forearm fixing mechanism 4 are rotationally connected through the adaptive damping anti-tremor mechanism 1, the forearm fixing mechanism 4 and the upper arm fixing mechanism 5 are rotationally connected through the adaptive damping anti-tremor mechanism 1, the damping manual preload component 2 is provided with two groups, one group of the damping manual preload components 2 is provided on the palm fixing mechanism 3, and the other group of the damping manual preload components 2 is provided on the upper arm fixing mechanism 5, and the adaptive damping anti-tremor mechanism 1 and the damping manual preload component 2 are through-connected through a hydraulic pipeline; The adaptive damping anti-tremor mechanism 1 comprises an annular hydraulic cavity assembly 6 and an adaptive damping assembly 7 , wherein the adaptive damping assembly 7 is rotatably disposed in the annular hydraulic cavity assembly 6 .

[0036] The adaptive damping anti-tremor mechanism 1 can adaptively adjust the motion damping according to the patient's joint movement speed, thereby suppressing the patient's static tremor by hindering the movement, thereby achieving the technical purpose of stabilizing the limbs.

[0037] The annular hydraulic cavity assembly 6 comprises an annular cavity 8, an annular rotating cover 9 and a fixed plug 10. The annular rotating cover 9 is rotatably arranged on the annular cavity 8. The fixed plug 10 is symmetrically fixed to the inside of the annular cavity 8. The cavity formed by the annular cavity 8 and the annular rotating cover 9 is filled with liquid. The adaptive damping assembly 7 includes a hollow annular slider 11 , which is fixed to the annular rotating cover 9 , and the hollow annular slider 11 is slidably engaged in the annular cavity 8 .

[0038] There is a circular hole in the center of the hollow annular slider 11. When the hollow annular slider 11 rotates in the annular cavity 8, it will encounter resistance from the liquid. This resistance will prevent human limbs from moving, and the magnitude of this resistance will increase with the increase of movement speed, thereby reducing the resistance of the adaptive damping anti-tremor mechanism 1 during normal movement at low speed, and increasing the resistance of the adaptive damping anti-tremor mechanism 1 during high-speed tremor movement.

[0039] The adaptive damping assembly 7 also includes an elastic baffle 12, which is symmetrically arranged on both sides of the hollow annular slider 11. One end of the elastic baffle 12 is fixed to the hollow annular slider 11. The elastic baffle 12 forms a circular ring with a hole in the center. As the angle of the elastic baffle 12 changes, the size of the center circular ring also changes accordingly.

[0040] The elastic baffle 12 further limits and constrains the center hole of the hollow annular slider 11 itself, so that when the sliding speed of the hollow annular slider 11 increases, not only the flow resistance increases, but the diameter of the center hole of the hollow annular slider 11 will also be further reduced, thereby further increasing the amplitude of the increase in resistance when the speed increases, thereby making the corresponding speed and damping effects more obvious, and achieving a better technical effect of suppressing vibration.

[0041] The hollow annular slider 11 consists of a non-elastic part 15 , a hard rubber part 17 and a soft rubber part 18 . A first joint 16 is provided on the non-elastic part 15 . The adaptive damping assembly 7 also includes a pressure sensor 13 , which is located in the hard rubber part 17 .

[0042] By designing the material or thickness of different parts of the hollow annular slider 11, the softness of each position can be changed, so that during rapid movement, the soft rubber part 18 can still be deformed by the squeezing of the fluid, thereby achieving the technical purpose of reducing the flow channel when the speed increases.

[0043] The damping manual preload assembly 2 includes a preload cylinder bracket 19, a preload cylinder body 20, a preload adjustment nut 21 and a preload adjustment screw 22. The preload cylinder body 20 is snap-fitted in the preload cylinder bracket 19. A second joint 23 is provided on the preload cylinder body 20. The second joint 23 and the first joint 16 are connected by a hydraulic pipeline. The preload adjustment nut 21 is fixedly connected to the end of the preload cylinder body 20. The preload adjustment screw 22 and the preload adjustment nut 21 are threadedly transmitted. An adjustment piston part 24 is provided on the preload adjustment screw 22. The adjustment piston part 24 is snap-fitted and slidably provided in the preload cylinder body 20.

[0044] The resistance of the adaptive damping anti-tremor mechanism 1 can be manually preset and adjusted by the damping manual preload assembly 2, so that it can adapt to different users and different stages of the same user.

[0045] The palm fixing mechanism 3 includes a palm assisting component 25 and a palm fixing component 26, and the palm fixing component 26 is rotatably arranged on the palm assisting component 25; The palm assist assembly 25 includes a palm hinge seat 27, a assist push rod hinge seat 28 and a assist push rod body 29. The palm hinge seat 27 and the assist push rod hinge seat 28 are arranged on the annular rotating cover 9. The palm hinge seat 27 and the assist push rod hinge seat 28 are respectively located on both sides of the annular rotating cover 9. The assist push rod body 29 is rotatably arranged on the assist push rod hinge seat 28.

[0046] The palm fixing mechanism 3 can assist the inward and outward movement of the patient's wrist by actively extending and retracting the power-assisting push rod body 29. Since the patient's static tremor is mainly concentrated in the rotation of the wrist and the elbow, the inward and outward movement of the palm are only provided with a power-assisting mechanism (controlled by sensor induction), and no damping mechanism is provided. In actual application, if necessary, this part can still be adaptively installed according to the principles of the adaptive damping anti-tremor mechanism 1 and the damping manual preload component 2.

[0047] The palm fixing assembly 26 includes a palm fixing part 30 and a palm fixing strap 31. The palm fixing part 30 is provided with a mounting ring part 32. One end of the mounting ring part 32 is hinged to the palm hinge seat 27, and the other end of the mounting ring part 32 is hinged to the power-assisting push rod body 29. The palm fixing strap 31 is arranged on the palm fixing part 30. One group of the damping manual preload assembly 2 is fixed to the palm fixing part 30 through the preload cylinder bracket 19.

[0048] The forearm fixing mechanism 4 includes a forearm fixing assembly 33 and a forearm assisting assembly 34. The forearm fixing assembly 33 includes a forearm bracket 35 and a forearm fixing strap 36. The forearm bracket 35 is provided with a second mounting ring portion 39. The forearm bracket 35 is fixedly connected to the annular cavity 8 through the second mounting ring portion 39. One group of the adaptive damping anti-tremor mechanism 1 is arranged between the second mounting ring portion 39 and the palm assisting assembly 25. The forearm assist assembly 34 includes a forearm assist motor 37 and an forearm assist gear 38. The forearm assist motor 37 is fixedly connected to the forearm bracket 35. The forearm assist gear 38 is arranged on the output shaft of the forearm assist motor 37. The annular rotating cover 9 is provided with an edge gear part 14. The forearm assist gear 38 and the edge gear part 14 are meshed for transmission.

[0049] The forearm fixing mechanism 4 and the upper arm fixing mechanism 5 respectively have a power assist function. On the one hand, they can feedback the current movement speed of the hollow annular slider 11 through the pressure sensing of the pressure sensor 13, and according to the drive preset between the pressure sensor 13 and the forearm power assist motor 37, and between the pressure sensor 13 and the upper arm power assist motor 44, the technical effect of providing power assist during low-speed movement and providing damping during high-speed movement is achieved.

[0050] The boom fixing mechanism 5 includes a boom fixing assembly 40 and a boom assist assembly 41, the boom fixing assembly 40 includes a boom bracket 42 and a boom fixing strap 43, another group of the adaptive damping anti-tremor mechanism 1 is arranged between the small arm bracket 35 and the big arm bracket 42, wherein the small arm bracket 35 is fixedly connected to the annular cavity 8, the big arm bracket 42 is fixedly connected to the annular rotating cover 9, the big arm fixing strap 43 is arranged on the big arm bracket 42, and another group of the damping manual preload assembly 2 is fixedly connected to the big arm bracket 42 through the preload cylinder bracket 19; The boom assist assembly 41 includes a boom assist motor 44 and a boom assist gear 45. The boom assist motor 44 is disposed on the arm bracket 35. The boom assist gear 45 is disposed on the output shaft of the boom assist motor 44. The boom assist gear 45 is meshed with the edge gear part 14 for transmission.

[0051] Fig.14 It is a schematic diagram of the relationship between the torque of the power-assisting motor and the pressure sensor 13, wherein the horizontal axis is the magnitude of the pressure on the pressure sensor 13, the positive and negative axes represent the direction of the edge pressure, the vertical axis represents the magnitude of the torque of the power-assisting motor, and the positive and negative axes represent the direction of the power assistance. Taking the positive half axis of the horizontal axis as an example, it is divided into three intervals, ABC, wherein the reading of the pressure sensor 13 in interval A is small, which indicates that the movement speed of the hollow annular slider 11 is slow, and the power-assisting motor provides the same power assistance as the movement direction; interval B indicates that after the speed increases to a certain extent, the system recognizes that vibration may be occurring or is about to begin, and the power assistance that the power-assisting motor can generate is reduced to zero, and interval B, as a transition interval between A and C (not a working interval), should be as narrow as possible; interval C indicates that after the speed is too high, the system recognizes that the operator is experiencing vibration, and the power-assisting motor can generate resistance in the opposite direction of movement. Under the action of this force, the operator's movement is actually restricted, thereby achieving the purpose of suppressing vibration.

[0052] The negative half of the horizontal axis represents another direction of movement, and the principle is the same as above.

[0053] During specific use, the user first needs to fix the device to the limbs through the palm fixing strap 31, the forearm fixing strap 36 and the upper arm fixing strap 43. When the limbs move, on the one hand, the power-assisting motor will provide assistance or resistance to the moving parts by identifying the speed; on the other hand, the adaptive damping anti-tremor mechanism 1 can automatically adjust the movement damping of the joints according to the movement speed of the joints.

[0054] Each moving part of the arm actually requires active assistance, such as the turning of the palm, the rotation of the wrist, and the rotation of the elbow; while static tremor mainly occurs in the rotation of the wrist and the rotation of the elbow, and is mainly manifested as a small-amplitude, high-frequency pattern.

[0055] When the joint moves at a lower speed, the power-assist motor can provide power assistance in the same direction of movement; when the speed of the joint movement increases to a certain level, the system recognizes that tremor may be occurring or is about to begin, and the power assistance generated by the power-assist motor is reduced to zero; when the speed of the joint movement is too high, the system recognizes that the operator is experiencing tremor, and the power-assist motor can generate resistance in the opposite direction of movement. Under the action of this force, the operator's movement is actually restricted, thereby achieving the purpose of suppressing tremor.

[0056] In addition to the active assistance of each joint, the rotating part can also automatically adjust the damping of the rotating part through the adaptive damping anti-vibration mechanism 1. The hollow annular slider 11 slides in the annular cavity 8 filled with liquid. Since the central flow channel of the hollow annular slider 11 is small, the hollow annular slider 11 will be subject to resistance from the liquid when sliding, and this resistance will increase with the increase of speed.

[0057] Embodiment 1: Elastic baffles 12 are evenly distributed in rings on both sides of the hollow annular slider 11. As the sliding speed of the hollow annular slider 11 in the annular cavity 8 increases, the elastic baffles 12 on the front side will move toward the hollow annular slider 11 under the squeezing effect of the liquid. During this process, the elastic baffles 12 are tightened and the holes between the elastic baffles 12 are reduced, thereby further increasing the rotational resistance of the adaptive damping anti-tremor mechanism 1.

[0058] Embodiment 2: If the elastic baffle 12 is removed, since the soft rubber part 18 is made of soft material, after being squeezed by the liquid on the side, the soft rubber part 18 will become flat during the squeezing process. During this process, the diameter of the center hole of the hollow annular slider 11 is actually reduced, which can further increase the movement resistance of the adaptive damping anti-tremor mechanism 1.

[0059] The combination of the adaptive damping anti-tremor mechanism 1 and the power assist component can provide assistance to the user during low-speed movements, and limit the patient's movement by increasing the movement resistance during high-speed tremors, thereby achieving the technical effect of suppressing static tremors.

[0060] When it is necessary to actively adjust the initial state of the adaptive damping anti-tremor mechanism 1, it is necessary to control the flow of liquid between the preload cylinder body 20 and the hollow annular slider 11 by rotating the preload adjustment screw 22. The more liquid in the hollow annular slider 11 and the smaller the center hole of the hollow annular slider 11 in the initial state, the greater the rotational resistance of the adaptive damping anti-tremor mechanism 1; the less liquid in the hollow annular slider 11 and the larger the center hole of the hollow annular slider 11 in the initial state, the smaller the rotational resistance of the adaptive damping anti-tremor mechanism 1.

[0061] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0062] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. An exoskeleton mechanical arm for suppressing resting tremor, comprising a palm fixing mechanism (3), a forearm fixing mechanism (4) and an upper arm fixing mechanism (5), characterized in that: It also comprises an adaptive damping anti-vibration mechanism (1) and a damping manual preload component (2), wherein the adaptive damping anti-vibration mechanism (1) is provided with two groups, the palm fixing mechanism (3) and the forearm fixing mechanism (4) are rotationally connected via the adaptive damping anti-vibration mechanism (1), the forearm fixing mechanism (4) and the upper arm fixing mechanism (5) are rotationally connected via the adaptive damping anti-vibration mechanism (1), the damping manual preload component (2) is provided with two groups, one group of the damping manual preload components (2) is provided on the palm fixing mechanism (3), and the other group of the damping manual preload components (2) is provided on the upper arm fixing mechanism (5), and the adaptive damping anti-vibration mechanism (1) and the damping manual preload component (2) are connected via a hydraulic pipeline; The adaptive damping anti-tremor mechanism (1) comprises an annular hydraulic cavity component (6) and an adaptive damping component (7), wherein the adaptive damping component (7) is rotatably disposed in the annular hydraulic cavity component (6).

2. The exoskeleton mechanical arm for suppressing resting tremor according to claim 1, characterized in that: The annular hydraulic cavity assembly (6) comprises an annular cavity (8), an annular rotating cover (9) and a fixed plug (10), wherein the annular rotating cover (9) is rotatably arranged on the annular cavity (8), and the fixed plug (10) is symmetrically fixed to the inside of the annular cavity (8), and the cavity formed by the annular cavity (8) and the annular rotating cover (9) is filled with liquid; The adaptive damping component (7) comprises a hollow annular slider (11), the hollow annular slider (11) being fixedly connected to the annular rotating cover (9), and the hollow annular slider (11) being slidably arranged in the annular cavity (8) in an engaging manner.

3. The exoskeleton mechanical arm for suppressing resting tremor according to claim 2, characterized in that: The adaptive damping component (7) further comprises an elastic baffle (12), wherein the elastic baffle (12) is symmetrically arranged on two sides of the hollow annular slider (11), one end of the elastic baffle (12) is fixedly connected to the hollow annular slider (11), and the elastic baffle (12) forms a circular ring with a hole in the center, and as the angle of the elastic baffle (12) changes, the size of the central circular ring also changes accordingly.

4. The exoskeleton mechanical arm for suppressing resting tremor according to claim 2, characterized in that: The hollow annular slider (11) is composed of a non-elastic part (15), a hard rubber part (17) and a soft rubber part (18); a first joint (16) is provided on the non-elastic part (15); the adaptive damping component (7) further comprises a pressure sensor (13); and the pressure sensor (13) is located in the hard rubber part (17).

5. The exoskeleton mechanical arm for suppressing resting tremor according to claim 4, characterized in that: The damping manual preload assembly (2) comprises a preload cylinder bracket (19), a preload cylinder body (20), a preload adjustment nut (21) and a preload adjustment screw (22); the preload cylinder body (20) is snap-fitted in the preload cylinder bracket (19); a second joint (23) is provided on the preload cylinder body (20); the second joint (23) and the first joint (16) are connected via a hydraulic pipeline; the preload adjustment nut (21) is fixedly connected to the end of the preload cylinder body (20); the preload adjustment screw (22) and the preload adjustment nut (21) are threadedly driven; an adjustment piston portion (24) is provided on the preload adjustment screw (22); the adjustment piston portion (24) is snap-fitted and slidably provided in the preload cylinder body (20).

6. The exoskeleton mechanical arm for suppressing resting tremor according to claim 5, characterized in that: The palm fixing mechanism (3) comprises a palm assisting component (25) and a palm fixing component (26), wherein the palm fixing component (26) is rotatably mounted on the palm assisting component (25); The palm assist assembly (25) comprises a palm hinge seat (27), a assist push rod hinge seat (28) and a assist push rod body (29); the palm hinge seat (27) and the assist push rod hinge seat (28) are arranged on the annular rotating cover (9); the palm hinge seat (27) and the assist push rod hinge seat (28) are respectively located on two sides of the annular rotating cover (9); and the assist push rod body (29) is rotatably arranged on the assist push rod hinge seat (28).

7. The exoskeleton mechanical arm for suppressing resting tremor according to claim 6, characterized in that: The palm fixing assembly (26) comprises a palm fixing member (30) and a palm fixing strap (31); the palm fixing member (30) is provided with a mounting annular portion (32); one end of the mounting annular portion (32) is hinged to a palm hinge seat (27); the other end of the mounting annular portion (32) is hinged to a booster push rod body (29); the palm fixing strap (31) is arranged on the palm fixing member (30); and one group of the damping manual preload assembly (2) is fixed to the palm fixing member (30) via a preload cylinder bracket (19).

8. The exoskeleton mechanical arm for suppressing resting tremor according to claim 7, characterized in that: The forearm fixing mechanism (4) comprises a forearm fixing assembly (33) and a forearm assist assembly (34), the forearm fixing assembly (33) comprises a forearm bracket (35) and a forearm fixing strap (36), the forearm bracket (35) is provided with a second mounting annular portion (39), the forearm bracket (35) is fixedly connected to the annular cavity (8) via the second mounting annular portion (39), and one group of the adaptive damping anti-tremor mechanism (1) is arranged between the second mounting annular portion (39) and the palm assist assembly (25); The forearm assist assembly (34) comprises a forearm assist motor (37) and a forearm assist gear (38); the forearm assist motor (37) is fixedly connected to the forearm bracket (35); the forearm assist gear (38) is arranged on the output shaft of the forearm assist motor (37); an edge gear portion (14) is arranged on the annular rotating cover (9); the forearm assist gear (38) and the edge gear portion (14) are meshed for transmission.

9. The exoskeleton mechanical arm for suppressing resting tremor according to claim 8, characterized in that: The upper arm fixing mechanism (5) comprises an upper arm fixing component (40) and an upper arm assisting component (41), the upper arm fixing component (40) comprises an upper arm bracket (42) and an upper arm fixing strap (43), another group of the adaptive damping anti-tremor mechanism (1) is arranged between the lower arm bracket (35) and the upper arm bracket (42), wherein the lower arm bracket (35) is fixedly connected to the annular cavity (8), the upper arm bracket (42) is fixedly connected to the annular rotating cover (9), the upper arm fixing strap (43) is arranged on the upper arm bracket (42), and another group of the damping manual preload component (2) is fixedly connected to the upper arm bracket (42) via a preload cylinder bracket (19); The upper arm assist assembly (41) comprises an upper arm assist motor (44) and an upper arm assist gear (45); the upper arm assist motor (44) is arranged on the lower arm bracket (35); the upper arm assist gear (45) is arranged on the output shaft of the upper arm assist motor (44); the upper arm assist gear (45) and the edge gear portion (14) are meshed for transmission.

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