Arm function auxiliary exoskeleton robot

Abstract

The utility model relates to the technical field of mechanical exoskeletons, in particular to an arm function auxiliary exoskeleton robot which comprises a mechanical arm, a mechanical wrist and a mechanical palm, the mechanical arm comprises a large arm telescopic plate and a small arm telescopic plate, and the large arm telescopic plate and the small arm telescopic plate can stretch out and draw back along the two ends of the large arm telescopic plate and the small arm telescopic plate respectively. A plurality of arm fixing devices are arranged on the large arm telescopic plate and the small arm telescopic plate respectively, the bottom of the small arm telescopic plate is rotationally connected with one end of an L-shaped plate through a first wrist rotating shaft, the other end of the L-shaped plate is rotationally connected with a mechanical wrist through a second wrist rotating shaft, and a wrist sensing device is arranged on the mechanical wrist. The top of the mechanical palm is movably connected with the other end of the mechanical wrist, a finger moving assembly is arranged on the mechanical palm and used for controlling finger movement, and a finger sensing device is arranged on the mechanical palm, so that the self-care ability of patients is improved, and the social participation degree and life satisfaction degree of the patients are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical exoskeletons, and in particular to an arm function assisting exoskeleton robot. Background Art

[0002] Parkinson's disease is a chronic, progressive neurodegenerative disease that mainly affects the elderly. Its incidence increases with age, especially in people over 50 years old, who account for more than 90% of the total number of patients. Parkinson's disease is characterized by insidious onset, a slow but progressive course, and serious impact on the quality of life of patients.

[0003] The main symptoms of Parkinson's disease include tremor, rigidity, decreased movement, and posture and balance disorders. These symptoms gradually worsen, causing patients to have difficulties in daily life activities. Basic movements such as eating, drinking, dressing, and picking up things may be restricted. Over time, many patients may need outside help. According to statistics, about half of patients will need external assistance within 5-8 years after diagnosis.

[0004] In order to improve the quality of life of Parkinson's disease patients, the development and application of assistive technologies have become increasingly important. Utility Model Content

[0005] In view of this, the present invention aims at the deficiencies of the prior art and proposes an arm function-assisting exoskeleton robot, aiming to solve at least one of the problems raised by the above-mentioned background technology.

[0006] The utility model provides an arm function auxiliary exoskeleton robot, comprising: a mechanical arm, the mechanical arm comprising a large arm retractable plate and a small arm retractable plate, one end of the large arm retractable plate is rotatably connected with one end of the small arm retractable plate through a rotating shaft, the large arm retractable plate and the small arm retractable plate can be respectively retracted along their two ends, and a plurality of arm fixing devices are respectively arranged on the large arm retractable plate and the small arm retractable plate, and the arm fixing devices are used to fix the mechanical arm on the human arm;

[0007] A mechanical wrist, wherein the bottom of the forearm retractable plate is rotatably connected to one end of the L-shaped plate via a first wrist rotation axis, and the other end of the L-shaped plate is rotatably connected to the mechanical wrist via a second wrist rotation axis. A wrist sensing device is provided on the mechanical wrist, and the wrist sensing device is used to sense the shaking of the human wrist;

[0008] A robotic palm, wherein the top of the robotic palm is movably connected to the other end of the robotic wrist, a finger movable component is provided on the robotic palm, and the finger movable component is used to control finger movement, and a finger sensing device is provided on the robotic palm, and the finger sensing device is used to sense the shaking of human fingers.

[0009] In some embodiments, the arm fixing device comprises:

[0010] A kit, which is sleeved on the upper arm retractable plate and the lower arm retractable plate and is fixedly connected thereto;

[0011] The arc plate has a non-opening end fixedly connected to the kit, and an opening end of the arc plate matches an upper arm and a forearm of a human body.

[0012] In some embodiments, the robotic wrist comprises:

[0013] A J-shaped plate, the top of which is rotatably connected to the L-shaped plate via a second wrist rotation axis;

[0014] A wrist sensing device, the wrist sensing device is located on one side of the J-shaped plate and is fixedly connected to the J-shaped plate;

[0015] A pneumatic component is arranged on a side of the J-shaped plate away from the wrist sensing device.

[0016] In some embodiments, the pneumatic assembly includes:

[0017] A first wrist pneumatic rod, the top of which is fixedly connected to the side wall of the J-shaped plate;

[0018] A second wrist pneumatic rod, the top of which is fixedly connected to the side wall of the J-shaped plate;

[0019] A third wrist pneumatic rod, the top of which is fixedly connected to the side wall of the J-shaped plate;

[0020] A connecting plate, on which a groove matching the outer diameters of the first wrist pneumatic rod, the second wrist pneumatic rod and the third wrist pneumatic rod is provided, the connecting plate is covered on the first wrist pneumatic rod, the second wrist pneumatic rod and the third wrist pneumatic rod through the groove, and both ends of the connecting plate are fixedly connected to the J-shaped plate;

[0021] The wrist sensing device is electrically connected to the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod. When the wrist sensing device senses the shaking of the human wrist, the wrist sensing device controls the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod to lock.

[0022] In some embodiments, the robotic palm comprises:

[0023] A palm connecting plate, wherein the top of the palm connecting plate is provided with a first universal yoke, a second universal yoke, and a third universal yoke corresponding to the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod, the opening direction of the second universal yoke is perpendicular to the first universal yoke and the third universal yoke, and the bottom telescopic ends of the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod are respectively connected to the first universal yoke, the second universal yoke, and the third universal yoke through universal joints;

[0024] There are five finger pneumatic rods, and one side of the palm connecting plate is provided with telescopic grooves matching the five finger pneumatic rods. The five finger pneumatic rods are respectively arranged in the five telescopic grooves, and the mounting ends are fixedly connected to the palm connecting plate, and the telescopic ends of the finger pneumatic rods are fixedly connected to the finger movable assembly.

[0025] In some embodiments, the finger movable component includes a thumb movable component, an index finger movable component, a middle finger movable component, a ring finger movable component, and a little finger movable component, and the thumb movable component, the index finger movable component, the middle finger movable component, the ring finger movable component, and the little finger movable component are linkage components with the same structure.

[0026] In some embodiments, the linkage component includes:

[0027] Triangular connecting plates, two of which are parallel to each other, shaft bodies are arranged at three apex angles of the two triangular connecting plates, the large angle ends of the two triangular connecting plates are rotatably connected by a connecting shaft, and the large angle ends of the two triangular connecting plates are also connected to two second connecting rods;

[0028] Two first connecting rods are provided, one end of each of the two first connecting rods is connected to a small angle corresponding to the two triangular plate connecting plates, and the other end thereof is connected to a connecting slider at the telescopic end of the finger pneumatic rod;

[0029] Two third connecting rods are provided, one end of the two third connecting rods is respectively connected to the other small angle corresponding to the two triangular connecting plates, and the other end of the two third connecting rods is connected to the end of the second connecting rod away from the triangular connecting plate through a double-hole T-shaped connecting rod.

[0030] In some embodiments, a finger sensing device is disposed in the connecting slider, and the finger sensing device is electrically connected to the five finger pneumatic rods.

[0031] In some embodiments, two support plates are disposed at one end of the third connecting rod and the second connecting rod away from the triangular connecting plate, and a groove for placing fingers is formed between the two support plates.

[0032] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0033] Other features and aspects of the present disclosure will become more apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 An axonometric diagram of an arm function assisting exoskeleton robot provided by an embodiment of the utility model;

[0036] Figure 2 A partial enlarged view of the arm function assisting exoskeleton robot provided by an embodiment of the utility model;

[0037] Figure 3 A partially enlarged view of the arm function assisting exoskeleton robot provided in an embodiment of the utility model.

[0038] Among them: 1. Robotic arm; 2. Extendable plate of upper arm; 3. Extendable plate of lower arm; 4. Robotic wrist; 5. L-shaped plate; 6. First wrist rotation axis; 7. Second wrist rotation axis; 8. Wrist sensing device; 9. Robotic palm; 10. Finger movable component; 11. Kit; 12. Arc plate; 13. J-shaped plate; 14. First wrist pneumatic rod; 15. Second wrist pneumatic rod; 16. Third wrist pneumatic rod; 17. Connecting plate; 18. Palm connecting plate; 19. First universal joint fork; 20. Second universal joint fork; 21. Third universal joint fork; 22. Finger pneumatic rod; 23. Telescopic slot; 24. Triangular connecting plate; 25. Second connecting rod; 26. First connecting rod; 27. Connecting slider; 28. Third connecting rod; 29. ​​Support plate. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] As mentioned in the background technology, the main symptoms of Parkinson's disease include tremor, rigidity, reduced movement, and posture and balance disorders. These symptoms gradually worsen, causing patients to encounter difficulties in daily life activities. Basic movements such as eating, drinking, dressing, and holding things may be restricted. As time goes by, many patients may need external help. According to statistics, about half of the patients will need external assistance within 5-8 years after diagnosis. In order to improve the quality of life of Parkinson's patients, the development and application of assistive technology has become increasingly important.

[0044] In order to improve the above-mentioned problems, the present application proposes an arm function-assisting exoskeleton robot. The robot system consists of a mechanical arm, a mechanical wrist and a mechanical palm. A sensing device is installed in the robot system, which is responsible for real-time monitoring of the movement state of the patient's arm, especially detecting whether the arm begins to twitch or vibrate. When arm vibration is detected, the sensing device will instruct these pneumatic rods to be temporarily locked, which means that the pneumatic rods will quickly increase their stiffness by adjusting the air pressure, thereby applying a stable supporting force to the patient's arm, effectively reducing or eliminating the vibration of the arm. The present device also has an adjustable function to meet the specific needs of different patients.

[0045] See also Figure 1-3As shown, the arm function assisting exoskeleton robot according to an embodiment of the present application includes:

[0046] A mechanical arm 1, the mechanical arm 1 comprises a retractable upper arm plate 2 and a retractable lower arm plate 3, one end of the retractable upper arm plate 2 is rotatably connected with one end of the retractable lower arm plate 3 via a rotating shaft, the retractable upper arm plate 2 and the retractable lower arm plate 3 can be retracted along their two ends respectively, and a plurality of arm fixing devices are respectively arranged on the retractable upper arm plate 2 and the retractable lower arm plate 3, and the arm fixing devices are used to fix the mechanical arm on the human arm;

[0047] The bottom of the forearm retractable plate 3 is rotatably connected to one end of the L-shaped plate 5 via a first wrist rotation axis 6, and the other end of the L-shaped plate 5 is rotatably connected to the mechanical wrist 4 via a second wrist rotation axis 7. The mechanical wrist 4 is provided with a wrist sensing device 8, which is used to sense the shaking of the human wrist;

[0048] A mechanical palm 9, the top of which is movably connected to the other end of a mechanical wrist 4, a finger movable component 10 is provided on the mechanical palm 9, and the finger movable component 10 is used to control finger movement, and a finger sensing device is provided on the mechanical palm 9, and the finger sensing device is used to sense the shaking of human fingers.

[0049] In some specific embodiments, the arm fixing device includes:

[0050] The kit 11 is sleeved on the upper arm retractable plate 2 and the lower arm retractable plate 3 and is fixedly connected thereto;

[0051] The arc plate 12 has a non-opening end fixedly connected to the sleeve 11, and an opening end of the arc plate 12 matches the upper arm and the lower arm of the human body.

[0052] In some specific embodiments, the robot wrist 4 includes:

[0053] A J-shaped plate 13, the top of which is rotatably connected to the L-shaped plate 5 via a second wrist rotation axis 7;

[0054] A wrist sensing device 8, which is located on one side of the J-shaped plate 13 and is fixedly connected to the J-shaped plate 13;

[0055] The pneumatic component is arranged on a side of the J-shaped plate 13 away from the wrist sensing device 8 .

[0056] In some specific embodiments, the pneumatic assembly includes:

[0057] A first wrist pneumatic rod 14, the top of which is fixedly connected to the side wall of the J-shaped plate 13;

[0058] A second wrist pneumatic rod 15, the top of which is fixedly connected to the side wall of the J-shaped plate 13;

[0059] A third wrist pneumatic rod 16, the top of which is fixedly connected to the side wall of the J-shaped plate 13;

[0060] A connecting plate 17 is provided with a groove matching the outer diameters of the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16. The connecting plate 17 is covered on the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16 through the groove, and both ends of the connecting plate 17 are fixedly connected to the J-shaped plate 13;

[0061] The wrist sensing device 8 is electrically connected to the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16. When the wrist sensing device 8 senses the shaking of the human wrist, the wrist sensing device 8 controls the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16 to lock.

[0062] It should be understood that the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16 respectively control and display small left and right and up and down swings of the wrist. When the wrist sensing device 8 detects that the wearer's wrist is shaking, the three wrist pneumatic rods will be temporarily locked to prevent the wearer from continuing to shake.

[0063] In some specific embodiments, the mechanical palm 9 includes:

[0064] A palm connecting plate 18, a first universal yoke 19, a second universal yoke 20, and a third universal yoke 21 are arranged at the top of the palm connecting plate 18 corresponding to the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16, the opening direction of the second universal yoke 20 is perpendicular to the first universal yoke 19 and the third universal yoke 21, and the bottom telescopic ends of the first wrist pneumatic rod 14, the second wrist pneumatic rod 15, and the third wrist pneumatic rod 16 are respectively connected to the first universal yoke 19, the second universal yoke 20, and the third universal yoke 21 through universal joints;

[0065] There are five finger pneumatic rods 22, and one side of the palm connecting plate 18 is provided with telescopic grooves 23 matching the five finger pneumatic rods 22. The five finger pneumatic rods 22 are respectively arranged in the five telescopic grooves 23, and the mounting ends are fixedly connected to the palm connecting plate 18, and the telescopic ends of the finger pneumatic rods 22 are fixedly connected to the finger movable assembly 10.

[0066] In some specific embodiments, the finger movable component 10 includes a thumb movable component, an index finger movable component, a middle finger movable component, a ring finger movable component, and a little finger movable component, and the thumb movable component, the index finger movable component, the middle finger movable component, the ring finger movable component, and the little finger movable component are linkage components with the same structure.

[0067] In some specific embodiments, the linkage component includes:

[0068] Triangular connecting plates 24, two of which are parallel to each other, shaft bodies are provided at three apex angles of the two triangular connecting plates 24, the large angle ends of the two triangular connecting plates are rotatably connected by a connecting shaft, and the large angle ends of the two triangular connecting plates are also connected to two second connecting rods 25;

[0069] Two first connecting rods 26 are provided, one end of the two first connecting rods 26 is respectively connected to a small angle corresponding to the two triangular plate connecting plates 24, and the other end thereof is connected to the connecting slider 27 at the telescopic end of the finger pneumatic rod 22;

[0070] There are two third connecting rods 28, one end of the two third connecting rods 28 is respectively connected to the other small angle corresponding to the two triangular connecting plates 24, and the other end of the two third connecting rods 28 is connected to the end of the second connecting rod 25 away from the triangular connecting plate 24 through a double-hole T-shaped connecting rod.

[0071] In some specific embodiments, a finger sensing device is disposed in the connecting slider 27 , and the finger sensing device is electrically connected to the five finger pneumatic rods 22 .

[0072] It should be understood that when the finger sensing device detects that the wearer's fingers are shaking, the five finger pneumatic rods 22 are temporarily locked to achieve the effect of preventing shaking.

[0073] In some specific embodiments, two support plates 29 are disposed at one end of the third connecting rod 28 and the second connecting rod 25 away from the triangular connecting plate 24 , and a groove for placing fingers is formed between the two support plates 29 .

[0074] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. Arm function assisting exoskeleton robot, It is characterized in that include: A mechanical arm, the mechanical arm comprising a telescopic upper arm plate and a telescopic lower arm plate, one end of the telescopic upper arm plate is rotatably connected to one end of the telescopic lower arm plate via a rotating shaft, the telescopic upper arm plate and the telescopic lower arm plate can be respectively telescoped along their two ends, the telescopic upper arm plate and the telescopic lower arm plate are respectively provided with a plurality of arm fixing devices, the arm fixing devices are used to fix the mechanical arm on a human arm; A mechanical wrist, wherein the bottom of the forearm retractable plate is rotatably connected to one end of the L-shaped plate via a first wrist rotation axis, and the other end of the L-shaped plate is rotatably connected to the mechanical wrist via a second wrist rotation axis. A wrist sensing device is provided on the mechanical wrist, and the wrist sensing device is used to sense the shaking of the human wrist; A robotic palm, wherein the top of the robotic palm is movably connected to the other end of the robotic wrist, a finger movable component is provided on the robotic palm, and the finger movable component is used to control finger movement, and a finger sensing device is provided on the robotic palm, and the finger sensing device is used to sense the shaking of human fingers.

2. The arm function assisting exoskeleton robot according to claim 1, It is characterized in that The arm fixing device comprises: A kit, which is sleeved on the upper arm retractable plate and the lower arm retractable plate and is fixedly connected thereto; The arc plate has a non-opening end fixedly connected to the kit, and an opening end of the arc plate matches an upper arm and a forearm of a human body.

3. The arm function assisting exoskeleton robot according to claim 1, It is characterized in that The mechanical wrist comprises: A J-shaped plate, the top of which is rotatably connected to the L-shaped plate via a second wrist rotation axis; A wrist sensing device, the wrist sensing device is located on one side of the J-shaped plate and is fixedly connected to the J-shaped plate; A pneumatic component is arranged on a side of the J-shaped plate away from the wrist sensing device.

4. The arm function assisting exoskeleton robot according to claim 3, It is characterized in that The pneumatic assembly comprises: A first wrist pneumatic rod, the top of which is fixedly connected to the side wall of the J-shaped plate; A second wrist pneumatic rod, the top of which is fixedly connected to the side wall of the J-shaped plate; A third wrist pneumatic rod, the top of which is fixedly connected to the side wall of the J-shaped plate; A connecting plate, on which a groove matching the outer diameters of the first wrist pneumatic rod, the second wrist pneumatic rod and the third wrist pneumatic rod is provided, the connecting plate is covered on the first wrist pneumatic rod, the second wrist pneumatic rod and the third wrist pneumatic rod through the groove, and both ends of the connecting plate are fixedly connected to the J-shaped plate; The wrist sensing device is electrically connected to the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod. When the wrist sensing device senses the shaking of the human wrist, the wrist sensing device controls the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod to lock.

5. The arm function assisting exoskeleton robot according to claim 4, It is characterized in that The mechanical palm comprises: A palm connecting plate, wherein the top of the palm connecting plate is provided with a first universal yoke, a second universal yoke, and a third universal yoke corresponding to the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod, the opening direction of the second universal yoke is perpendicular to the first universal yoke and the third universal yoke, and the bottom telescopic ends of the first wrist pneumatic rod, the second wrist pneumatic rod, and the third wrist pneumatic rod are respectively connected to the first universal yoke, the second universal yoke, and the third universal yoke through universal joints; There are five finger pneumatic rods, and one side of the palm connecting plate is provided with telescopic grooves matching the five finger pneumatic rods. The five finger pneumatic rods are respectively arranged in the five telescopic grooves, and the mounting ends are fixedly connected to the palm connecting plate, and the telescopic ends of the finger pneumatic rods are fixedly connected to the finger movable assembly.

6. The arm function assisting exoskeleton robot according to claim 5, It is characterized in that The finger movable component includes a thumb movable component, an index finger movable component, a middle finger movable component, a ring finger movable component, and a little finger movable component. The thumb movable component, the index finger movable component, the middle finger movable component, the ring finger movable component, and the little finger movable component are linkage components with the same structure.

7. The arm function assisting exoskeleton robot according to claim 6, It is characterized in that The linkage components include: Triangular connecting plates, two of which are parallel to each other, shaft bodies are arranged at three apex angles of the two triangular connecting plates, the large angle ends of the two triangular connecting plates are rotatably connected by a connecting shaft, and the large angle ends of the two triangular connecting plates are also connected to two second connecting rods; Two first connecting rods are provided, one end of each of the two first connecting rods is connected to a small angle corresponding to the two triangular connecting plates, and the other end thereof is connected to a connecting slider at the telescopic end of the finger pneumatic rod; Two third connecting rods are provided, one end of the two third connecting rods is respectively connected to the other small angle corresponding to the two triangular connecting plates, and the other end of the two third connecting rods is connected to the end of the second connecting rod away from the triangular connecting plate through a double-hole T-shaped connecting rod.

8. The arm function assisting exoskeleton robot according to claim 7, It is characterized in that A finger sensing device is arranged in the connecting slider, and the finger sensing device is electrically connected to the five finger pneumatic rods.

9. The arm function assisting exoskeleton robot according to claim 7, It is characterized in that Two support plates are arranged at one end of the third connecting rod and the second connecting rod away from the triangular connecting plate, and a groove for placing fingers is formed between the two support plates.

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