Manipulator for disabled

Abstract

The invention belongs to the technical field of biomedical engineering, and particularly relates to a manipulator for the disabled, which comprises a joint assembly and a residual limb connecting assembly, a mechanical arm is arranged on one side of the joint assembly, the residual limb connecting assembly is rotationally connected to the other side of the joint assembly, one end of the residual limb connecting assembly is of an open structure, an elastic bandage is arranged on the side, away from the joint assembly, of the end of the residual limb connecting assembly, and a hook-and-loop fastener is arranged on the surface of the elastic bandage. The stump end of a user is sleeved with the stump connecting assembly through an open structure at one end of the stump connecting assembly, so that the joint of the joint assembly and the stump connecting assembly rotates, the angle is adjusted, and meanwhile the stump connecting assembly can be used for adjusting the comfort of the stump end of the user; and the comfort of wearing the manipulator at the stump end of the user for a long time is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of biomedical engineering, and in particular relates to a robotic arm for disabled people. Background Art

[0002] Biomedical engineering encompasses prosthetics. This field combines engineering, biology, and medicine to develop technologies and devices for healthcare. Prosthetics, devices that replace or augment human limbs, are a key area of research in biomedical engineering. While there are increasing numbers of dedicated facilities for people with disabilities in public spaces, this is far from sufficient.

[0003] After searching, in the prior art, Chinese patent publication number CN201617976U, authorization announcement date: 2010--11--03, discloses a disabled manipulator upper arm device, which is specially designed for disabled people who have lost their forearms and elbows and only retain a section of upper arm stump. It includes a forearm and an upper arm hinged to each other. The special feature is that the upper arm and the forearm are rotatably connected through a connecting joint, one end of the upper arm is sleeved on the upper arm stump of the human body and fixed by a fixing device, and a back drive device is provided on the back of the human body. Through the addition of the upper arm and the "7"-shaped connecting rod design, the control of the disabled manipulator is achieved without the feet or chest, and the manipulator is conveniently and effectively manipulated in a simpler way through the upper arm stump and back muscles. The design is simple in structure, ingenious in design, easy to manufacture, low in cost, and strong and durable.

[0004] However, the device still has the following defects: although it can realize the control of the disabled manipulator without using the feet or chest, as the intelligence and functionality of the manipulator gradually improve, the comfort of wearing the manipulator has not been improved synchronously. In order to adjust the comfort of the user's residual limb, a disabled manipulator that is suitable for the user to wear for a long time is needed. Summary of the Invention

[0005] In response to the above problems, the present invention provides a manipulator for disabled persons, comprising a joint assembly and a residual limb connection assembly; the manipulator is provided on one side of the joint assembly, the residual limb connection assembly is rotatably connected to the other side of the joint assembly, and one end of the residual limb connection assembly is an open structure;

[0006] The residual limb connection component is connected to the user's residual limb end using an open structure at one end, so that the connection between the joint component and the residual limb connection component can be rotated and the angle can be adjusted. At the same time, the residual limb connection component can also be used to adjust the user's residual limb end for comfort.

[0007] Furthermore, the joint assembly includes a linkage sleeve; a docking cavity is opened on one side wall of the linkage sleeve, and two groups of elastic hoses are embedded and installed on the inner wall of the docking cavity, one end of the two groups of elastic hoses extends into the docking cavity, and the two groups of elastic hoses are symmetrically arranged with the central axis of the docking cavity as the center.

[0008] Furthermore, an adjustment chamber is provided inside the linkage sleeve, and the adjustment chamber is communicated with the docking chamber. A driving chamber and an installation chamber are also provided on one side of the interior of the linkage sleeve, and the driving chamber and the installation chamber are both communicated with the adjustment chamber. A first motor is fixedly connected to the inner wall of the installation chamber, and the output end of the first motor is transmission-connected to a driving gear.

[0009] Furthermore, the residual limb connection assembly includes a guide mechanism, a buffer mechanism and a massage mechanism; the buffer mechanism and the massage mechanism are both slidably connected to the inner wall of the guide mechanism, one side wall of the guide mechanism is fixedly connected to a bearing, and a micro air pump is rotatably connected in the bearing, the output end of the micro air pump is connected to the end of two groups of elastic hoses, one side wall of the micro air pump is fixedly connected to a bearing seat, a linkage disk is provided on one side of the bearing seat, and a side wall of the linkage disk is fixedly connected to a dual-axis motor, and the output ends of the dual-axis motors are both transmission-connected in the bearing seat, the outer side wall of the linkage disk is fixedly connected to an outer gear ring, and the outer gear ring is meshed with the driving gear.

[0010] Furthermore, the guide mechanism includes a guide cylinder, a first protective plate and a second protective plate; a first guide groove is provided at the top and bottom of the guide cylinder, and four groups of second guide grooves are provided on the outer wall of the guide cylinder, and the four groups of second guide grooves are symmetrically arranged with the central axis of the first guide groove as the center; the outer wall of the guide cylinder also has two groups of embedded grooves, and the two groups of embedded grooves are symmetrically arranged with the central axis of the first guide groove as the center, one group of the embedded grooves is connected to the two groups of second guide grooves, and the end of one group of the embedded grooves extends to one end of the guide cylinder, the side wall of the embedded groove is provided with a first guide hole, and the central axis of the first guide hole coincides with the central axis of the embedded groove, and one end of the first guide hole is connected to the elastic hose.

[0011] Furthermore, the first protective plate is arranged in one group of embedded grooves, and the second protective plate is arranged in another group of embedded grooves, and the first protective plate and the second protective plate have the same structure and size.

[0012] Furthermore, a rotating shaft is provided at one end of the first protective plate, and the rotating shaft is rotatably connected to the inner wall of the embedded groove. Two groups of third guide grooves are provided on the surface of the first protective plate, and the third guide grooves are connected to the second guide grooves. A second motor is embedded and installed on one side wall of the first protective plate and close to the third guide grooves. A screw is connected to the output end of the second motor for transmission. A second guide hole is provided on the outer wall of the first protective plate and on the side away from the second motor.

[0013] Furthermore, one end of the second guide hole is interconnected with the first guide hole, and the other end of the second guide hole is closed. Several groups of arc-shaped cavities are opened on the first protective plate, and several groups of the arc-shaped cavities are interconnected with the second guide hole. Both ends of several groups of the arc-shaped cavities extend into the third guide groove. Several groups of through holes are opened on the inner wall of the first protective plate, and one end of several groups of the through holes are interconnected with the arc-shaped cavities.

[0014] Furthermore, the buffer mechanism includes a buffer cylinder; the buffer cylinder is slidably connected to the inner walls of the guide cylinder, the first protective plate and the second protective plate, the top and bottom of the buffer cylinder are fixedly connected with pins, and the two groups of pins are slidably connected to the inner wall of the first guide groove, the inner wall of the buffer cylinder is provided with an elastic ring, and the outer wall of the elastic ring is fixedly connected with four groups of elastic columns.

[0015] Furthermore, one end of the four groups of elastic columns are fixedly connected to the inner wall of the buffer tube and close to the port, four groups of smear silicone balls are rotatably connected to the elastic ring, the inner wall of the buffer tube is provided with several groups of oily moisturizing cream blocks, and several groups of the oily moisturizing cream blocks are fitly connected to the surface of the smear silicone balls, the inner wall of the elastic ring is provided with a cross elastic net, and several groups of buffer silicone balls are provided on the cross elastic net and the elastic ring.

[0016] The beneficial effects of the present invention are:

[0017] 1. The residual limb connection component is connected to the user's residual limb through an open structure at one end, so that the connection between the joint component and the residual limb connection component can be rotated and the angle can be adjusted. At the same time, the residual limb connection component can also be used to adjust the comfort of the user's residual limb, thereby improving the comfort of the user's residual limb wearing the robotic arm for a long time.

[0018] 2. During the continuous operation of the output end of the micro air pump, gas is injected into the two groups of elastic hoses at the same time. After being interconnected with the first guide hole, the second guide hole, several groups of arc-shaped cavities and several groups of through holes, the gas is evenly distributed on the inner walls of the first protective plate and the second protective plate through several groups of through holes, thereby ventilating the skin on both sides of the user's residual limb. This can prevent excessive humidity in the receiving cavity in hot summer weather and prevent eczema on the skin of the residual limb.

[0019] 3. The buffer cylinder is used to accommodate the user's residual limb. When the user's residual limb pushes the buffer cylinder forward, the silicone ball soaked in oily moisturizing cream is used to automatically apply it to the user's residual limb, thereby maintaining the user's residual limb in a dry environment and avoiding sudden itching caused by dry skin. The coordinated use of elastic rings, elastic columns and cross elastic nets can adaptively adjust the positions of several groups of buffer silicone balls and distribute them at different positions of the residual limb, thereby improving the comfort of the residual limb in the receiving cavity.

[0020] 4. The output end of the second motor drives the screw to rotate, so that the massage balls are threadedly connected to the screw. At the same time, several groups of massage balls move horizontally along the radial direction of the screw, and the residual limb that is in contact with the inner walls of the first protective plate and the second protective plate is moved back and forth and massaged, thereby stretching the residual limb and improving the local blood circulation at the residual limb end.

[0021] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It shows a schematic structural diagram of a robot arm for disabled people according to an embodiment of the present invention;

[0024] Figure 2 A schematic structural diagram of a joint assembly according to an embodiment of the present invention is shown;

[0025] Figure 3 It shows a schematic exploded view of the structure of the joint assembly according to an embodiment of the present invention;

[0026] Figure 4 A schematic structural diagram of a residual limb connection assembly according to an embodiment of the present invention is shown;

[0027] Figure 5 It shows a schematic exploded view of the structure of the residual limb connection assembly according to an embodiment of the present invention;

[0028] Figure 6 A schematic structural diagram of a guide mechanism according to an embodiment of the present invention is shown;

[0029] Figure 7 A schematic structural diagram of a guide cylinder according to an embodiment of the present invention is shown;

[0030] Figure 8 A schematic structural diagram of a first protective plate according to an embodiment of the present invention is shown;

[0031] Figure 9 A schematic structural diagram of a buffer mechanism according to an embodiment of the present invention is shown;

[0032] Figure 10 A schematic structural diagram of a massage mechanism according to an embodiment of the present invention is shown.

[0033] Figure: 1, joint assembly; 11, linkage sleeve; 12, docking chamber; 13, elastic hose; 14, adjustment chamber; 15, drive chamber; 16, installation chamber; 17, first motor; 18, driving gear; 2, manipulator; 3, residual limb connection assembly; 31, guide mechanism; 311, guide cylinder; 312, first protective plate; 313, second protective plate; 314, first guide groove; 315, second guide groove; 316, embedded groove; 317, first guide hole; 318, rotating shaft; 319, third guide groove; 3110, second motor ; 3111, screw rod; 3112, second guide hole; 3113, arc cavity; 3114, through hole; 32, buffer mechanism; 321, buffer cylinder; 322, pin; 323, elastic ring; 324, elastic column; 325, smear silicone ball; 326, oily moisturizing cream; 327, cross elastic net; 328, buffer silicone ball; 33, massage mechanism; 331, linkage ring; 332, massage ball; 333, internal threaded hole; 34, bearing; 35, micro air pump; 36, bearing seat; 37, linkage disk; 38, outer gear ring. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0035] The embodiment of the present invention provides a robot arm for disabled persons, comprising a joint assembly 1 and a residual limb connection assembly 3; for example, Figure 1 shown.

[0036] A manipulator 2 is provided on one side of the joint assembly 1, and the residual limb connection assembly 3 is rotatably connected to the other side of the joint assembly 1, and one end of the residual limb connection assembly 3 is an open structure.

[0037] Furthermore, an elastic bandage is provided at the end of the residual limb connection component 3 and at a side away from the joint component 1, and a Velcro is provided on the surface of the elastic bandage.

[0038] Specifically, the residual limb connection component 3 is sleeved on the user's residual limb end using an open structure at one end, so that the connection between the joint component 1 and the residual limb connection component 3 can be rotated and the angle adjusted, and the residual limb connection component 3 can also be used to adjust the comfort of the user's residual limb end.

[0039] The joint assembly 1 includes a linkage sleeve 11; illustratively, as Figure 2 and Figure 3 shown.

[0040] A docking cavity 12 is provided on one side wall of the linkage sleeve 11, and two groups of elastic hoses 13 are embedded and installed on the inner wall of the docking cavity 12. One end of the two groups of elastic hoses 13 extends into the docking cavity 12, and the two groups of elastic hoses 13 are symmetrically arranged with the central axis of the docking cavity 12 as the center. An adjustment cavity 14 is provided inside the linkage sleeve 11, and the adjustment cavity 14 is communicated with the docking cavity 12. A drive cavity 15 and an installation cavity 16 are also provided on one side of the interior of the linkage sleeve 11, and the drive cavity 15 and the installation cavity 16 are communicated with the adjustment cavity 14. A first motor 17 is fixedly connected to the inner wall of the installation cavity 16, and the output end of the first motor 17 is transmission-connected to a driving gear 18.

[0041] The residual limb connection assembly 3 includes a guide mechanism 31, a buffer mechanism 32 and a massage mechanism 33; for example, Figure 4 and Figure 5 shown.

[0042] The buffer mechanism 32 and the massage mechanism 33 are both slidably connected to the inner wall of the guide mechanism 31. A bearing 34 is fixedly connected to one side wall of the guide mechanism 31, and a micro air pump 35 is rotatably connected to the bearing 34. The output end of the micro air pump 35 is communicated with the ends of two groups of elastic hoses 13. A side wall of the micro air pump 35 is fixedly connected to a bearing seat 36. A linkage disk 37 is provided on one side of the bearing seat 36, and a side wall of the linkage disk 37 is fixedly connected to a dual-axis motor, and the output ends of the dual-axis motors are both transmission-connected in the bearing seat 36. The outer side wall of the linkage disk 37 is fixedly connected to an outer gear ring 38, and the outer gear ring 38 is meshed with the driving gear 18.

[0043] The guide mechanism 31 includes a guide cylinder 311, a first protective plate 312 and a second protective plate 313; for example, Figure 6 、 Figure 7 and Figure 8 shown.

[0044] The guide cylinder 311 is provided with a first guide groove 314 at both the top and the bottom. The outer wall of the guide cylinder 311 is further provided with four groups of second guide grooves 315. The four groups of second guide grooves 315 are symmetrically arranged around the central axis of the first guide groove 314. The outer wall of the guide cylinder 311 is further provided with two groups of embedded grooves 316. The two groups of embedded grooves 316 are symmetrically arranged around the central axis of the first guide groove 314. One group of the embedded grooves 316 is interconnected with the two groups of second guide grooves 315. The end of one group of the embedded grooves 316 extends to one end of the guide cylinder 311. The side wall of the embedded groove 316 is provided with a first guide hole 317. The central axis of the first guide hole 317 coincides with the central axis of the embedded groove 316. One end of the first guide hole 317 is interconnected with the elastic hose 13.

[0045] The first protective plate 312 is disposed in one set of embedded grooves 316 , and the second protective plate 313 is disposed in another set of embedded grooves 316 . The first protective plate 312 and the second protective plate 313 have the same structure and size.

[0046] One end of the first protective plate 312 is provided with a rotating shaft 318, and the rotating shaft 318 is rotatably connected to the inner wall of the embedded groove 316. The surface of the first protective plate 312 is provided with two sets of third guide grooves 319, and the third guide grooves 319 are connected to the second guide grooves 315. A second motor 3110 is embedded and installed on one side wall of the first protective plate 312 and close to the third guide grooves 319. The output end of the second motor 3110 is connected to the screw rod 3111. The outer wall of the first protective plate 312 and the side away from the second motor 3110 are provided with a third Two guide holes 3112, one end of the second guide hole 3112 is interconnected with the first guide hole 317, and the other end of the second guide hole 3112 is closed. The first protective plate 312 is provided with a plurality of groups of arc-shaped cavities 3113, and the plurality of groups of the arc-shaped cavities 3113 are interconnected with the second guide hole 3112, and both ends of the plurality of groups of the arc-shaped cavities 3113 extend into the third guide groove 319. The inner wall of the first protective plate 312 is provided with a plurality of groups of through holes 3114, and one end of the plurality of groups of the through holes 3114 are interconnected with the arc-shaped cavities 3113.

[0047] The buffer mechanism 32 includes a buffer cylinder 321; illustratively, as Figure 9 shown.

[0048] The buffer cylinder 321 is slidably connected to the inner walls of the guide cylinder 311, the first protective plate 312 and the second protective plate 313. The top and bottom of the buffer cylinder 321 are fixedly connected with pins 322. The two groups of pins 322 are slidably connected to the inner wall of the first guide groove 314. The inner wall of the buffer cylinder 321 is provided with an elastic ring 323. The outer wall of the elastic ring 323 is fixedly connected with four groups of elastic columns 324. One end of the four groups of elastic columns 324 is fixed Fixedly connected to the inner wall of the buffer cylinder 321 and near the port, four groups of smear silicone balls 325 are rotatably connected to the elastic ring 323, and the inner wall of the buffer cylinder 321 is provided with several groups of oily moisturizing cream blocks 326. Several groups of the oily moisturizing cream blocks 326 are fitted and connected to the surface of the smear silicone balls 325. The inner wall of the elastic ring 323 is provided with a cross elastic net 327, and several groups of buffer silicone balls 328 are provided on the cross elastic net 327 and the elastic ring 323.

[0049] The massage mechanism 33 includes a linkage ring 331; illustratively, Figure 10 shown.

[0050] The linkage ring 331 is sleeved on the outer walls of the guide cylinder 311, the first protective plate 312 and the second protective plate 313. Four groups of massage balls 332 are embedded and installed on the linkage ring 331, and the four groups of massage balls 332 are all slidably fitted on the inner walls of the second guide groove 315 and the third guide groove 319. The outer walls of the four groups of massage balls 332 are all provided with internal threaded holes 333, and the four groups of internal threaded holes 333 are all threadedly connected to the screw rod 3111.

[0051] Specifically, the output end of the first motor 17 drives the driving gear 18 to rotate, so that the outer ring gear 38 is engaged and connected, and the linkage sleeve 11 and the manipulator 2 are rotated around the bearing 34, so as to simulate the left and right rotation of the "wrist". When the output end of the dual-axis motor rotates, the linkage sleeve 11 and the manipulator 2 are adjusted up and down, and the manipulator 2 is swung around the output end of the dual-axis motor.

[0052] The buffer cylinder 321 is used to receive the user's residual limb. When the user's residual limb pushes the buffer cylinder 321 forward, the silicone ball 325 soaked with oily moisturizing cream 326 is automatically applied to the user's residual limb, thereby maintaining the user's residual limb in a dry environment and avoiding sudden itching caused by dry skin. The elastic ring 323, elastic column 324 and cross elastic net 327 are used in conjunction to adaptively adjust the positions of several groups of silicone buffer balls 328 and distribute them at different positions of the residual limb, thereby improving the comfort of the residual limb in the receiving cavity.

[0053] During continuous operation, the output end of the micro air pump 35 simultaneously injects gas into the two sets of elastic hoses 13. After the gas is interconnected with the first guide hole 317, the second guide hole 3112, the plurality of arc-shaped cavities 3113, and the plurality of through holes 3114, the gas is evenly distributed on the inner walls of the first protective plate 312 and the second protective plate 313 through the plurality of through holes 3114, thereby ventilating the skin on both sides of the user's residual limb and preventing excessive humidity in the receiving cavity during hot summer weather.

[0054] The output end of the second motor 3110 drives the screw rod 3111 to rotate, causing the massage balls 332 to be threadedly connected to the screw rod 3111. At the same time, during the process of horizontally moving the massage balls 332 along the radial direction of the screw rod 3111, the residual limb contacted by the inner walls of the first protective plate 312 and the second protective plate 313 is reciprocated and massaged, thereby stretching the residual limb.

[0055] After the pin 322 moves to one end of the inner wall of the first guide groove 314, the buffer cylinder 321 is fitted with the inner wall of the guide cylinder 311, and then the output end of the second motor 3110 and the continuous rotation of the screw rod 3111 are used to separate the screw rod 3111 from the massage ball 332. Then, the linkage ring 331 and the massage ball 332 are moved into the second guide groove 315, and the manipulator is adjusted to a state ready to clean the receiving cavity. The first protective plate 312 is rotated so that it rotates around the rotating shaft 318. After the first protective plate 312 is separated from the guide cylinder 311, the internal space of the receiving cavity is expanded, so that the expanded receiving cavity is in a state that is convenient for wiping with a warm and wet towel, thereby effectively preventing skin diseases.

[0056] The working principle of the robot arm for disabled persons proposed in the embodiment of the present invention is as follows:

[0057] The output end of the first motor 17 drives the driving gear 18 to rotate, so that the outer ring gear 38 is engaged and connected, and the linkage sleeve 11 and the manipulator 2 are rotated around the bearing 34 as the center, which is used to simulate the left and right rotation of the "wrist". When the output end of the dual-axis motor rotates, the linkage sleeve 11 and the manipulator 2 are adjusted up and down, and the manipulator 2 is swung around the output end of the dual-axis motor;

[0058] The buffer cylinder 321 is used to receive the user's residual limb. When the user's residual limb pushes the buffer cylinder 321 forward, the silicone ball 325 soaked with oily moisturizing cream 326 automatically applies oil to the user's residual limb, thereby maintaining the user's residual limb in a dry environment and avoiding sudden itching caused by dry skin. The elastic ring 323, elastic column 324 and cross elastic net 327 are used in conjunction to adaptively adjust the positions of several groups of silicone buffer balls 328 and distribute them at different positions of the residual limb, thereby improving the comfort of the residual limb in the receiving cavity.

[0059] During continuous operation, the output end of the micro air pump 35 simultaneously injects gas into the two sets of elastic hoses 13. After the gas is interconnected with the first guide hole 317, the second guide hole 3112, the plurality of arc-shaped cavities 3113, and the plurality of through holes 3114, the gas is evenly distributed on the inner walls of the first protective plate 312 and the second protective plate 313 through the plurality of through holes 3114, thereby ventilating the skin on both sides of the user's residual limb and preventing excessive humidity in the receiving cavity during hot summer weather.

[0060] The output end of the second motor 3110 drives the screw rod 3111 to rotate, causing the massage balls 332 to be threadedly connected to the screw rod 3111. At the same time, during the process of horizontally moving the massage balls 332 along the radial direction of the screw rod 3111, the residual limb contacted by the inner walls of the first protective plate 312 and the second protective plate 313 is reciprocated and massaged, thereby stretching the residual limb.

[0061] After the pin 322 moves to one end of the inner wall of the first guide groove 314, the buffer cylinder 321 is fitted with the inner wall of the guide cylinder 311, and then the output end of the second motor 3110 and the continuous rotation of the screw rod 3111 are used to separate the screw rod 3111 from the massage ball 332. Then, the linkage ring 331 and the massage ball 332 are moved into the second guide groove 315, and the manipulator is adjusted to a state ready to clean the receiving cavity. The first protective plate 312 is rotated so that it rotates around the rotating shaft 318. After the first protective plate 312 is separated from the guide cylinder 311, the internal space of the receiving cavity is expanded, so that the expanded receiving cavity is in a state that is convenient for wiping with a warm and wet towel, thereby effectively preventing skin diseases.

[0062] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for disabled people, characterized by: The invention comprises a joint assembly (1) and a residual limb connection assembly (3); a manipulator (2) is provided on one side of the joint assembly (1); the residual limb connection assembly (3) is rotatably connected to the other side of the joint assembly (1); and one end of the residual limb connection assembly (3) is an open structure; The residual limb connection component (3) is sleeved on the residual limb end of the user by utilizing an open structure at one end, so that the connection between the joint component (1) and the residual limb connection component (3) can be rotated and the angle adjusted, and the residual limb connection component (3) can also be utilized to adjust the comfort of the residual limb end of the user.

2. The robot arm for the disabled according to claim 1, characterized in that: The joint assembly (1) includes a linkage sleeve (11); a docking cavity (12) is provided on one side wall of the linkage sleeve (11); two groups of elastic hoses (13) are embedded and installed on the inner wall of the docking cavity (12); one end of the two groups of elastic hoses (13) extends into the docking cavity (12), and the two groups of elastic hoses (13) are symmetrically arranged with the central axis of the docking cavity (12) as the center.

3. The robot arm for the disabled according to claim 2, characterized in that: An adjusting chamber (14) is provided inside the linkage sleeve (11), and the adjusting chamber (14) and the docking chamber (12) are communicated with each other. A driving chamber (15) and an installation chamber (16) are also provided on one side of the interior of the linkage sleeve (11), and both the driving chamber (15) and the installation chamber (16) are communicated with the adjusting chamber (14). A first motor (17) is fixedly connected to the inner wall of the installation chamber (16), and an output end of the first motor (17) is transmission-connected to a driving gear (18).

4. The robot arm for the disabled according to claim 1, characterized in that: The residual limb connection assembly (3) comprises a guide mechanism (31), a buffer mechanism (32) and a massage mechanism (33); the buffer mechanism (32) and the massage mechanism (33) are both slidably connected to the inner wall of the guide mechanism (31); a bearing (34) is fixedly connected to one side wall of the guide mechanism (31); a micro air pump (35) is rotatably connected to the inner wall of the bearing (34); an output end of the micro air pump (35) is communicated with the ends of two groups of elastic hoses (13); a side wall of the micro air pump (35) is fixedly connected to a bearing seat (36); a linkage disk (37) is provided on one side of the bearing seat (36); a biaxial motor is fixedly connected to one side wall of the linkage disk (37); and the output ends of the biaxial motors are both transmission-connected to the inner wall of the bearing seat (36); an outer gear ring (38) is fixedly connected to the outer side wall of the linkage disk (37); and the outer gear ring (38) is meshedly connected to the driving gear (18).

5. The robot arm for the disabled according to claim 4, characterized in that: The guide mechanism (31) comprises a guide cylinder (311), a first protective plate (312) and a second protective plate (313); a first guide groove (314) is provided at the top and bottom of the guide cylinder (311); four groups of second guide grooves (315) are provided on the outer wall of the guide cylinder (311); the four groups of second guide grooves (315) are symmetrically arranged with the central axis of the first guide groove (314) as the center; the outer wall of the guide cylinder (311) is further provided with two groups of embedded grooves (316); the two groups of embedded grooves ( The first guide groove (314) and the second guide groove (315) are symmetrically arranged with the central axis of the first guide groove (316) as the center. One group of the embedded grooves (316) are connected to the two groups of second guide grooves (315), and the end of one group of the embedded grooves (316) extends to one end of the guide cylinder (311). The side wall of the embedded groove (316) is provided with a first guide hole (317), and the central axis of the first guide hole (317) coincides with the central axis of the embedded groove (316). One end of the first guide hole (317) is connected to the elastic hose (13).

6. The robot arm for the disabled according to claim 5, characterized in that: The first protective plate (312) is arranged in one group of embedded grooves (316), and the second protective plate (313) is arranged in another group of embedded grooves (316). The first protective plate (312) and the second protective plate (313) have the same structure and size.

7. The robot arm for the disabled according to claim 6, characterized in that: A rotating shaft (318) is provided at one end of the first protective plate (312), and the rotating shaft (318) is rotatably connected to the inner wall of the embedded groove (316). Two groups of third guide grooves (319) are provided on the surface of the first protective plate (312), and the third guide grooves (319) are communicated with the second guide groove (315). A second motor (3110) is embedded and installed on a side wall of the first protective plate (312) and near the third guide groove (319). The output end of the second motor (3110) is transmission-connected with a screw rod (3111). A second guide hole (3112) is provided on the outer wall of the first protective plate (312) and on the side away from the second motor (3110).

8. The robot arm for the disabled according to claim 7, characterized in that: One end of the second guide hole (3112) is communicated with the first guide hole (317), and the other end of the second guide hole (3112) is closed. The first protective plate (312) is provided with a plurality of groups of arc-shaped cavities (3113), and the plurality of groups of arc-shaped cavities (3113) are communicated with the second guide hole (3112). Both ends of the plurality of groups of arc-shaped cavities (3113) extend into the third guide groove (319). The inner wall of the first protective plate (312) is provided with a plurality of groups of through holes (3114), and one end of the plurality of groups of through holes (3114) are communicated with the arc-shaped cavities (3113).

9. The robot arm for the disabled according to claim 4, characterized in that: The buffer mechanism (32) includes a buffer cylinder (321); the buffer cylinder (321) is slidably connected to the inner walls of the guide cylinder (311), the first protective plate (312) and the second protective plate (313); the top and bottom of the buffer cylinder (321) are fixedly connected with pins (322); two groups of pins (322) are slidably connected to the inner wall of the first guide groove (314); the inner wall of the buffer cylinder (321) is provided with an elastic ring (323); the outer wall of the elastic ring (323) is fixedly connected with four groups of elastic columns (324).

10. The robot arm for the disabled according to claim 9, characterized in that: One end of the four groups of elastic columns (324) are fixedly connected to the inner wall of the buffer cylinder (321) and close to the port. Four groups of smearing silicone balls (325) are rotatably connected to the elastic ring (323). The inner wall of the buffer cylinder (321) is provided with a plurality of groups of oily moisturizing cream blocks (326). The plurality of groups of oily moisturizing cream blocks (326) are fitted and connected to the surface of the smearing silicone balls (325). The inner wall of the elastic ring (323) is provided with a cross elastic net (327). The cross elastic net (327) and the elastic ring (323) are provided with a plurality of groups of buffering silicone balls (328).

Images