Upper limb exoskeleton mechanical arm capable of achieving self-rehabilitation training

Abstract

The utility model discloses an upper limb exoskeleton mechanical arm capable of self-rehabilitation training, which comprises a big arm component connected with an external driving device, a small arm component rotationally connected with the tail end of the big arm component, and a handle component connected with the small arm component in a sliding manner, and a length adjusting component is arranged on the big arm component; the length adjusting component comprises a supporting plate, a ball screw is arranged on the supporting plate, one end of the ball screw is in transmission connection with the output end of the stepping motor, and a ball nut on the ball screw is fixedly connected with the large arm assembly. Through the sliding connection design of the handle assembly and the small arm assembly, the mechanical arm can adapt to hands of different sizes, and meanwhile the length of the mechanical arm can be flexibly adjusted through the length adjusting component on the large arm assembly; according to the real-time state information provided by the detection module, cooperative movement of upper limb exoskeleton machinery and good limbs can be realized, and the rehabilitation training effect is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and more specifically, relates to an upper limb exoskeleton mechanical arm capable of self-rehabilitation training. Background Art

[0002] Upper limb injury mainly refers to the partial or complete loss of function of the elbow and wrist joints. The main causes include stroke, sports injury, mechanical trauma, myelitis, etc., which have a great impact on individuals and families. Because upper limb injuries have a huge impact on human daily life, and the rehabilitation treatment of upper limb injuries is very critical in the early, middle and late stages. Therefore, timely and long-term auxiliary rehabilitation treatment is extremely important for patients with upper limb injuries.

[0003] Existing upper limb exoskeleton robotic arms have been widely used to help patients with rehabilitation training. However, traditional upper limb exoskeleton robotic arms often cannot be adjusted individually according to the patient's body shape and rehabilitation needs, resulting in poor rehabilitation training results. Or they need to be adjusted manually, with a small adjustment range and low adjustment accuracy, which cannot meet most needs.

[0004] For example, application number CN202221761881.5 discloses an upper limb exoskeleton robotic arm that can achieve multi-joint mobility. When adjusting the length of the upper and lower arms in the device, only the distance between the adjustment holes can be manually adjusted to make the device adapt to arms of different lengths. However, manual adjustment has a small adjustment range and low adjustment accuracy, and cannot fully adapt to the patient's arm. Utility Model Content

[0005] An object of the present invention is to solve at least the above problems and / or disadvantages and to provide at least the advantages to be described below.

[0006] In order to achieve these purposes and other advantages according to the utility model, an upper limb exoskeleton mechanical arm capable of self-rehabilitation training is provided, comprising: a large arm assembly connected to an external driving device, a small arm assembly rotatably connected to the end of the large arm assembly, and also comprising: a handle assembly slidably connected to the small arm assembly, wherein the large arm assembly is provided with a length adjustment component;

[0007] Wherein, the length adjustment component includes: a support plate, on which a ball screw is arranged, one end of the ball screw is transmission-connected to the output end of stepper motor I, and the ball nut on the ball screw is fixedly connected to the upper arm assembly.

[0008] Preferably, the boom assembly comprises: a support member for placing the boom, the support member being a U-shaped structure in space, and a fixing member arranged below the boom mounting slot;

[0009] Wherein, the front end of the fixing member is fixedly connected to the ball nut, and the rear end of the fixing member is rotationally connected to the small arm assembly through the stepping motor II.

[0010] Preferably, the forearm assembly comprises: a connecting plate for placing the forearm, a connecting block slidably connected to the connecting plate, and the other end of the connecting block is rotatably connected to the handle assembly;

[0011] Wherein, a slide rail is arranged below the connecting plate, a slider is slidably arranged on the slide rail, and the slider is fixedly connected to the connecting block.

[0012] Preferably, the handle assembly comprises: a special-shaped mounting plate, one end of which is fixedly connected to the handle, and the other end of which is provided with a rotating shaft, and the rotating shaft extends into a through hole on the connecting block for rotational connection;

[0013] A servo is arranged on the side of the special-shaped mounting plate close to one end of the connecting block, and the output gear at the output end of the servo is meshed with the gear at one end of the rotating shaft to make the special-shaped mounting plate rotate up and down in space.

[0014] A control circuit, the control circuit is applied to the above-mentioned upper limb exoskeleton machine capable of self-rehabilitation training, the control circuit comprises: a power supply module, a detection module for detecting current status information of a good limb, a control module connected to the detection module via a wireless signal, a drive module for adjusting the rotation direction and speed of a motor, and a control module connected to the detection module via a wireless signal;

[0015] Among them, the output end of the power module is connected to the power ports of the detection module and the driving module, the control module is electrically connected to the driving module, and the driving module is communicatively connected to the stepping motor II.

[0016] Preferably, it further comprises: a mechanical arm cooperating with the detection module;

[0017] Wherein, the detection module includes: an angle sensor for detecting the rotation angle of the forearm.

[0018] The utility model includes at least the following beneficial effects: the utility model adopts the sliding connection design between the handle assembly and the forearm assembly, so that the mechanical arm can adapt to hands of different sizes, increasing the comfort and convenience of use. At the same time, the length adjustment component on the upper arm assembly allows the length of the mechanical arm to be flexibly adjusted, which is suitable for users of different heights. According to the real-time status information provided by the detection module, this helps to achieve the coordinated movement of the upper limb exoskeleton machinery and the good limb, and improves the effect of rehabilitation training.

[0019] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a schematic diagram of the upper arm length adjustment component of the utility model;

[0022] Figure 3 It is a schematic diagram of the structure of the forearm assembly and the handle assembly;

[0023] Figure 4 This is a schematic diagram of the installation structure of the good limb robot arm and angle sensor;

[0024] Figure 5 This is the angle sensor circuit diagram;

[0025] Figure 6 This is the circuit diagram for connecting the drive module and stepper motor II;

[0026] Figure 7 It is the circuit diagram of the drive module direction signal input and the stepper motor II enable signal circuit;

[0027] Figure 8 The circuit diagram of the external 24V power supply circuit for the drive module;

[0028] Fig. 9 is a circuit diagram of a driving module circuit;

[0029] Fig.10 It is the circuit diagram of the step pulse signal circuit of the driving module;

[0030] Fig.11 This is a schematic diagram of the core control processor of the stm32 minimum system board.

[0031] Markings in the figure: 1. Length adjustment component, 101. Support plate, 102. Ball screw, 103. Stepper motor I, 2. Support, 3. Fixing part, 4. Stepper motor II, 5. Connecting plate, 6. Connecting block, 7. Slide rail, 8. Slider, 9. Special-shaped mounting plate, 10. Handle, 11. Rotating shaft, 12. Servo, 13. Robotic arm, 14. Angle sensor. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0033] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0034] It should be noted that in the description of the present invention, the orientation or position relationship indicated by the term is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does 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 cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present utility model, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "sleeved / connected", "connected", etc. should be understood in a broad sense. For example, "connected" 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 an indirect connection through an intermediate medium. It can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0036] In addition, in the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] Figure 1 The utility model shows an upper limb exoskeleton mechanical arm capable of self-rehabilitation training, comprising: a large arm assembly connected to an external driving device, a small arm assembly rotatably connected to the end of the large arm assembly, and also comprising: a handle assembly slidably connected to the small arm assembly, and a length adjustment component 1 is provided on the large arm assembly;

[0038] The length adjustment component 1 comprises: a support plate 101, on which a ball screw 102 is arranged, one end of the ball screw 102 is transmission-connected to the output end of a stepper motor I 103, and the ball nut on the ball screw 102 is fixedly connected to the arm assembly.

[0039] Working method:

[0040] The user first adjusts the length of the upper arm assembly through the length adjustment component 1 according to his or her body shape and needs. Through the control of the stepper motor Ⅰ103, the ball screw 102 rotates, and the ball nut is fixedly connected to the upper arm assembly, thereby achieving precise length adjustment. Then, the user slides the handle assembly on the forearm assembly according to the hand size and comfort to achieve the best grip state. The external drive device starts to work and provides the power required for the movement of the robot arm. This power is transmitted to the forearm assembly through the upper arm assembly, so that the entire robot arm can begin to simulate the natural movement of the upper limbs. Driven by the external drive device, the upper arm assembly begins to simulate the lifting and lowering of the human upper arm. Since the upper arm assembly and the forearm assembly are rotatably connected, the forearm assembly can rotate relative to the upper arm assembly to simulate the bending and straightening of the elbow joint. The sliding connection design of the handle assembly and the forearm assembly allows the robot arm to adapt to hands of different sizes, increasing the comfort and convenience of use. At the same time, the length adjustment component 1 on the upper arm assembly allows the length of the robot arm to be flexibly adjusted, suitable for users of different heights.

[0041] In the above scheme, the arm assembly includes: a support member 2 for placing the arm, the support member 2 is a U-shaped structure in space, and a fixing member 3 is arranged below the arm mounting groove; wherein the front end of the fixing member 3 is fixedly connected to the ball nut, and the rear end of the fixing member 3 is rotatably connected to the small arm assembly through the stepper motor II 4. With this technical method, the support member 2 adopts a U-shaped structure, which not only provides sufficient mechanical strength to support the entire arm assembly, but also makes the arm have better stability and rigidity during installation and use. The U-shaped structure can also effectively resist external impact and vibration, ensuring the smooth operation of the mechanical arm during rehabilitation training. The front end of the fixing member 3 is fixedly connected to the ball nut, which ensures the tight connection between the length adjustment component 1 (including the ball screw 102 and the ball nut) and the arm assembly. In this way, when the stepper motor I 103 drives the ball screw 102 to rotate, the ball nut can drive the entire arm assembly to perform precise linear motion along the ball screw 102, thereby achieving length adjustment. At the same time, the rear end of the fixing member 3 is rotationally connected to the forearm assembly through the stepper motor II 4, which ensures the flexible rotation between the upper arm assembly and the forearm assembly, so that the robotic arm can simulate the complex movements of the human upper limbs.

[0042] In the above scheme, the forearm assembly includes: a connecting plate 5 for placing the forearm, a connecting block 6 slidably connected to the connecting plate 5, and the other end of the connecting block 6 is rotatably connected to the handle assembly; wherein, a slide rail 7 is arranged below the connecting plate 5, and a slider 8 is slidably arranged on the slider 7, and the slider 8 is fixedly connected to the connecting block 6. With this technical method, the connecting plate 5 is used as the main part of the forearm assembly for placing the user's forearm. The connecting block 6 is slidably connected to the connecting plate 5, and this design allows the connecting block 6 to slide on the connecting plate 5 within a certain range to adapt to the arm length and training requirements of different users. This sliding connection not only improves the applicability of the mechanical arm, but also makes the training more comfortable and natural. The other end of the connecting block 6 is rotatably connected to the handle assembly, and this design allows the handle assembly to rotate relative to the forearm assembly. This rotational motion simulates the bending and straightening of the human elbow joint, so that the mechanical arm can more realistically simulate the natural movements of the upper limbs. At the same time, this rotational connection also increases the flexibility of the mechanical arm, so that the user can perform rehabilitation training at different angles and postures. A slide rail 7 is provided below the connecting plate 5, and a slider 8 is slidably provided on the slide rail 7. The slider 8 is fixedly connected to the connecting block 6, and this structure ensures that the connecting block 6 slides smoothly and reliably on the connecting plate 5. The coordinated use of the slide rail 7 and the slider 8 not only reduces the friction and resistance during the sliding process, but also makes the sliding process smoother and more precise.

[0043] In the above scheme, the handle assembly includes: a special-shaped mounting plate 9, one end of which is fixedly connected to a handle 10, and the other end of which is provided with a rotating shaft 11, and the rotating shaft 11 extends into a through hole on the connecting block for rotational connection;

[0044] Among them, the side of the special-shaped mounting plate 9 near one end of the connecting block is provided with a steering gear 12, and the output gear of the output end of the steering gear 12 meshes with the gear at one end of the rotating shaft 11, so that the special-shaped mounting plate 9 rotates up and down in the spatial position. With this technical method, the handle 10 at the front end is grasped by the palm, and the special-shaped mounting plate 9 rotates up and down in the spatial position to drive the handle 10 to rotate at the same time, so that the wrist of the person can be moved and the rehabilitation of the wrist can be achieved. The rotating shaft at the other end of the special-shaped mounting plate 9 extends into the through hole on the connecting block, and the output gear is a component at the output end of the steering gear 12, which is used to convert the rotational motion of the steering gear 12 into another form of motion (usually meshing rotation between gears). The output gear meshes with the gear at one end of the rotating shaft 11, and when the steering gear 12 rotates, its output gear will drive the gear on the rotating shaft 11 to rotate together. In summary, through the interaction of the steering gear 12, the output gear and the rotating shaft 11, the special-shaped mounting plate 9 can be rotated up and down in the spatial position to achieve the rehabilitation of the wrist.

[0045] Example 2

[0046] Figure 5-Figure 11 A control circuit of the utility model is shown, and the control circuit is applied to an upper limb exoskeleton machine capable of self-rehabilitation training, and the control circuit comprises: a power supply module, a detection module for detecting current status information of the good limb, a driving module for adjusting the rotation direction and speed of the motor, and a control module connected to the detection module via a wireless signal;

[0047] Among them, the output end of the power module is connected to the power ports of the detection module and the driving module, the control module is electrically connected to the driving module, and the driving module is communicatively connected to the stepping motor II4.

[0048] Working principle:

[0049] The power module is the energy source of the entire control circuit and is responsible for providing a stable working voltage for the detection module, control module, and drive module. The detection module is responsible for collecting the current status information of the good limb (i.e., the healthy limb) in real time. This information is necessary for simulating the movement of the good limb and driving the affected side for rehabilitation training. Then, the control module (e.g., Fig.11 The master control module is located at the healthy arm and the slave control module is located at the affected arm. The master control module is wirelessly connected to the slave control module. The detection module transmits the posture data of the healthy arm, i.e., the angle between the upper arm and the lower arm, to the master control module. After processing, it is wirelessly transmitted to the slave control module. The drive module receives the pulse sent by the slave control module, and after processing, it is sent to the stepper motor II4, thereby controlling the rotation angle and rotation direction of the stepper motor II4. In actual applications, the drive module and the stepper motor II are connected in a circuit as shown in FIG. Figure 6 As shown, the A+, B+, A-, and B- pins on the driver module are respectively connected to Figure 6 The corresponding pins on the module are connected, and the drive module is connected to the signal input terminal of stepper motor II 4 through a pin header.

[0050] Drive module enable signal EN, drive module direction signal input (such as Figure 7 The DIR+ pin of the drive module is connected to the PB4 pin on the stm32 minimum system board through a pin header, the DIR- pin is grounded, the ENA+ pin and the ENA- pin are suspended and not processed, and the ENABLE pin and the DIR pin are connected to the corresponding pins of the control module 4 core control processor. Fig.10 The CLK+ pin of the drive module is connected to the PB5 pin of the stm32 minimum system board through a pin header, the CLK- pin is grounded, and the CLK pin on the step pulse signal of the drive module is connected to the CLK pin of the core control processor of the control module. The drive module is connected to an external 24V power supply (such as Figure 8As shown), the VIN pin of the power module is connected to the VIN pin of the drive module for power supply.

[0051] The above scheme also includes: a mechanical arm 13 that cooperates with the detection module; wherein the detection module includes: an angle sensor 14 for detecting the rotation angle of the forearm. With this technical method, the mechanical arm 13 is installed on the good limb, and the angle sensor 14 is installed at the bottom of the forearm end of the mechanical arm 13, wherein the angle sensor 14 is as follows Figure 5 As shown, the connection relationship is quite common and will not be described here. The MPU6050 includes a 3-axis gyroscope and a 3-axis accelerometer. The main function of the gyroscope is to measure the angular velocity of the object around the three coordinate axes of the chip. The principle is that the direction of the high-speed rotating rotor will remain unchanged, which is the so-called gyro effect. The accelerometer measures the acceleration of the three axes, which also refers to the three coordinate axes of the chip. The principle can be imagined as a cubic box with a weightless suspended ball. When subjected to external pressure, the ball will move in a certain direction, and the inner wall of the box will be subjected to a corresponding pressure, so that the acceleration in each direction can be calculated.

[0052] We initially set the forearm and the upper arm at a 90-degree angle, with the forearm parallel to the ground, and placed the angle sensor 14 horizontally on the forearm. The angle sensor 14 is connected to the power supply, the forearm rotates autonomously, and the angle between the forearm and the upper arm changes within the range of 0-90 degrees. Due to the factor of gravity, the angle sensor 14 can detect the change in the magnitude of acceleration in the vertical direction. According to the change in the acceleration of the angle sensor 14, the numerical transformation law is summarized, and the angle between the forearm and the horizontal direction (i.e., the rotation angle) is calculated.

[0053] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An upper limb exoskeleton mechanical arm capable of self-rehabilitation training, comprising: A large arm assembly connected to an external driving device, and a small arm assembly rotatably connected to the end of the large arm assembly, characterized in that it also includes: a handle assembly slidably connected to the small arm assembly, and a length adjustment component is provided on the large arm assembly; Wherein, the length adjustment component includes: a support plate, on which a ball screw is arranged, one end of the ball screw is transmission-connected to the output end of stepper motor I, and the ball nut on the ball screw is fixedly connected to the upper arm assembly.

2. The upper limb exoskeleton mechanical arm capable of self-rehabilitation training as claimed in claim 1, characterized in that: The boom assembly comprises: a support member for placing the boom, the support member being a U-shaped structure in space and a fixing member arranged below the boom mounting slot; Wherein, the front end of the fixing member is fixedly connected to the ball nut, and the rear end of the fixing member is rotationally connected to the small arm assembly through the stepping motor II.

3. The upper limb exoskeleton mechanical arm capable of self-rehabilitation training as claimed in claim 2, characterized in that: The forearm assembly comprises: a connecting plate for placing the forearm, a connecting block slidably connected to the connecting plate, and the other end of the connecting block is rotatably connected to the handle assembly; Wherein, a slide rail is arranged below the connecting plate, a slider is slidably arranged on the slide rail, and the slider is fixedly connected to the connecting block.

4. The upper limb exoskeleton mechanical arm capable of self-rehabilitation training as claimed in claim 3, characterized in that: The handle assembly comprises: a special-shaped mounting plate, one end of which is fixedly connected to the handle, and the other end of which is provided with a rotating shaft, and the rotating shaft extends into a through hole on the connecting block for rotational connection; A servo is arranged on the side of the special-shaped mounting plate close to one end of the connecting block, and the output gear at the output end of the servo is meshed with the gear at one end of the rotating shaft to make the special-shaped mounting plate rotate up and down in space.

5. A control circuit, the control circuit being applied to the upper limb exoskeleton machine capable of self-rehabilitation training as claimed in any one of claims 1 to 4, characterized in that: The control circuit includes: a power supply module, a detection module for detecting the current state information of the good limb, a driving module for adjusting the rotation direction and speed of the motor, and a control module connected to the detection module via a wireless signal; Among them, the output end of the power module is connected to the power ports of the detection module and the driving module, the control module is electrically connected to the driving module, and the driving module is communicatively connected to the stepping motor II.

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