Joint driving device and rehabilitation medical equipment

Abstract

The utility model discloses a joint driving device and rehabilitation medical equipment, the joint driving device is used for a joint in a biological trunk needing rehabilitation medical treatment, and the joint driving device comprises a fixing assembly used for supporting the joint driving device; the power assembly is arranged on the fixing assembly; and the swinging assembly is connected with the power assembly, and the swinging assembly is used for performing reciprocating swinging based on the power output by the power assembly. According to the scheme, the structural complexity can be reduced, and a power source is directly provided for the biological trunk joint.

Description

Technical Field

[0001] This application relates to the field of electrical automation equipment, and particularly to a joint drive device and a rehabilitation medical device. Background Art

[0002] For the rehabilitation of the biological torso, various rehabilitation medical devices are provided. At present, the existing rehabilitation medical devices on the market mainly achieve the rehabilitation treatment of the biological torso joints through a linkage method. For example, for the rehabilitation treatment device of the human lower limbs, it realizes the bending of the activity angle similar to that when the human leg walks through a connecting rod, and drives the lower limbs to train by bundling with the human joint points. This structure requires the linkage between other components to be generated, and the structure is relatively complex, and the degree of integration is also low. Utility Model Content

[0003] This application provides at least a joint drive device and a rehabilitation medical device, which can reduce the structural complexity and directly provide a power source for the biological torso joints.

[0004] In the first aspect of this application, a joint drive device is provided. The joint drive device is used for a joint in a biological torso that needs rehabilitation medical treatment. The joint drive device includes: a fixing component for supporting the joint drive device; a power component disposed on the fixing component; and a swinging component connected to the power component, and the swinging component is used for reciprocating swinging based on the power output by the power component.

[0005] Wherein, the power component and the swinging component are respectively located on opposite sides of the fixing component; and / or, the power component is fixed to the fixing component by screws; and / or, the swinging component is connected to the output end of the power component by screws.

[0006] Wherein, the joint drive device further includes a power detection component disposed between the power component and the fixing component, and the power detection component is used for monitoring the power torque output by the power component.

[0007] Wherein, a first connection hole is provided on the fixing component, a second connection hole is provided on the power component, and the joint drive device further includes a first screw passing through the first connection hole and the second connection hole to connect the fixing component and the power component; and / or, a third connection hole is provided on the output end of the power component, a fourth connection hole is provided on the power detection component, and the joint drive device further includes a second screw passing through the third connection hole and the fourth connection hole to connect the power detection component and the power component; and / or, the power detection component is connected to the output end of the power component, a fifth connection hole is provided on the power detection component, a sixth connection hole is provided on the swinging component, and the joint drive device further includes a third screw passing through the fifth connection hole and the sixth connection hole to connect the swinging component and the power detection component.

[0008] Among them, a plurality of first connection holes are provided on the fixed component, a plurality of second connection holes and a plurality of third connection holes are provided on the output end of the power component, a plurality of fourth connection holes and a plurality of fifth connection holes are provided on the power detection component, and a plurality of sixth connection holes are provided on the swing component; among them, the plurality of second connection holes and the plurality of third connection holes are arranged around the axis of the power component, and the distances between the second connection holes and the third connection holes and the axis of the power component are different; the plurality of fourth connection holes and the plurality of fifth connection holes are arranged around the axis of the power detection component, and the distances between the fourth connection holes and the fifth connection holes and the axis of the power detection component are different.

[0009] Among them, the fixed component is provided with a receiving groove, and the power detection component is located in the receiving groove.

[0010] Among them, the swing component is provided with a positioning protrusion, and the power detection component is also provided with a positioning hole. The positioning protrusion is matched with the positioning hole to perform positioning when the swing component is connected to the power detection component.

[0011] Among them, the fixed component is provided with a first feature hole, and the swing component is provided with a second feature hole. The relative positions of the first feature hole and the second feature hole represent the position deviation of the swing component; and / or, the connection end of the fixed component is connected to the power component and the swing component, and a card slot is provided on one side of the fixed component away from the connection end for clamping and fixing.

[0012] Among them, the joint driving device further includes at least one limiting component, and the limiting component is arranged on the side of the fixed component close to the swing component for limiting the movement range of the swing component.

[0013] Among them, the limiting component is arranged on the periphery of the swing component to limit the movement range of the swing component.

[0014] In a second aspect of the present application, a rehabilitation medical device is provided. The rehabilitation medical device is used for rehabilitating the biological torso. The rehabilitation medical device includes the joint driving device according to any one of the first aspects above to guide the movement of the joints of the biological torso.

[0015] Among them, the rehabilitation medical device is a lower limb rehabilitation training device; and / or, the rehabilitation medical device is a functional training device for exercising the torso function of the patient, or an assisted walking device for helping the patient move.

[0016] In the above solution, the power component is arranged on the fixed component, and the swing component is connected to the power component. The fixed component is used to support the entire joint driving device, enabling the power component to drive the swing component to perform a reciprocating swinging motion similar to that of a biological torso joint. Compared with the prior art, it does not need to be linked with other components to achieve this. It can directly use the power component to provide a power source for the swing component, and the structure of this device is simple and has a high degree of integration.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings herein are incorporated into the specification and form a part of this specification. These drawings illustrate embodiments consistent with this application and, together with the specification, are used to explain the technical solutions of this application.

[0019] Figure 1 is a schematic structural diagram of an embodiment of the joint driving device of this application;

[0020] Figure 2 is a schematic structural diagram of an embodiment of the fixed component of this application;

[0021] Figure 3 is a schematic structural diagram of an embodiment of the power detection component of this application;

[0022] Figure 4 is a schematic structural diagram of an embodiment of the swing component of this application;

[0023] Figure 5 is a schematic structural diagram of another embodiment of the joint driving device of this application;

[0024] Figure 6 is a schematic framework diagram of an embodiment of the external control device of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following will describe the solutions of the embodiments of this application in detail with reference to the accompanying drawings of the specification.

[0026] In the following description, specific details such as specific system structures, interfaces, and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand this application.

[0027] As used herein, the term "and / or" merely describes an associated relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent three cases: A exists alone, both A and B exist simultaneously, and B exists alone. Additionally, in this text, the character " / " generally indicates an "or" relationship between the associated objects before and after. Furthermore, "multiple" in this text means two or more than two. Additionally, the term "at least one" in this text means any one of multiple types or any combination of at least two of multiple types. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set composed of A, B, and C.

[0028] Please refer to Figure 1 , Figure 1 is a schematic structural diagram of an embodiment of the joint drive device of the present application. The joint drive device is used for joints in a biological torso that require rehabilitation medical treatment. The joint drive device includes: a fixed component 1, a power component 2, and a swing component 3. The fixed component 1 is used to support the joint drive device; the power component 2 is disposed on the fixed component 1; the swing component 3 is connected to the power component 2, and the swing component 3 is used to perform reciprocating swinging based on the power output by the power component 2.

[0029] The joint drive device in the present application is mainly applied to the fields of medical treatment (rehabilitation equipment) and electrical automation equipment. The fixed component 1 is used to support the entire joint drive device, and the fixed component 1 is used as a fixed point so that the swing component 3 can perform a movement similar to that of a biological torso joint around the fixed component 1 for reciprocating swinging.

[0030] In this embodiment, the component structure of the joint drive device is simple, with few components, reducing the complexity of equipment assembly and the space occupation ratio of components, and having the advantages of being structurally compact, simple, and lightweight.

[0031] In some embodiments, the harmonic reducer can be used as the power component 2 to provide the main power source for the joint drive device. Utilizing the characteristics of the harmonic reducer such as being structurally compact, having a large reduction ratio, large output torque, and low noise, the weight and space occupation ratio of the joint drive device components are reduced in terms of structure, and the complexity of the components in the joint drive device is simplified. In addition, the harmonic reducer can also achieve forward and reverse rotation of its output end through an external control program, driving the swing component 3 to perform a single-pendulum angular movement around the axis of the harmonic reducer. It can be understood that in addition to the above-mentioned harmonic reducer, the power component 2 can also adopt a pneumatic transmission structure, an electromagnetic transmission structure, etc., which are not specifically limited herein.

[0032] Among them, the power component 2 can be fixed to the fixed component 1 by means of screws, or can also be connected to the fixed component 1 by means of snap connection, etc., which are not specifically limited herein.

[0033] Please refer to Figure 2 On the fixed component 1, a first connection hole is provided, and on the power component 2, a second connection hole is provided. The joint driving device further includes a first screw 4. The first screw 4 passes through the first connection hole and the second connection hole to connect the fixed component 1 and the power component 2.

[0034] In addition, the swing component 3 can be directly connected to the output end of the power component 2 by screws, or can be connected to the power component 2 by means such as snap connection.

[0035] Regarding the installation positions between the power component 2 and the swing component 3, they can be located on opposite sides of the fixed component 1 respectively, as Figure 1 shown. They can also be located on the same side of the fixed component 1 at the same time (not shown in the figure). At this time, the power component 2 is arranged between the fixed component 1 and the swing component 3, and the power component 2 is fixed to the fixed component 1. The fixed component 1 and the power component 2 are stationary relative to the swing component 3.

[0036] In some embodiments, the joint driving device further includes a power detection component 5. The power detection component 5 is arranged between the power component 2 and the fixed component 1. The power detection component 5 is used to monitor the power torque output by the power component 2. Specifically, the power detection component 5 can be a torque sensor, and the torque sensor can transmit the actual torque output by the output end of the power component 2 in real time for the monitoring and detection of the torque.

[0037] Please refer to Figure 3 On the output end of the power component 2, a third connection hole is provided, and on the power detection component 5, a fourth connection hole is provided. The joint driving device further includes a second screw 6. The second screw 6 passes through the third connection hole and the fourth connection hole to connect the power detection component 5 and the power component 2.

[0038] Please refer to Figure 4 The power detection component 5 is connected to the output end of the power component 2. A fifth connection hole is provided on the power detection component 5, and a sixth connection hole is provided on the swing component 3. The joint driving device further includes a third screw 7. The third screw 7 passes through the fifth connection hole and the sixth connection hole to connect the swing component 3 and the power detection component 5. Specifically, a positioning protrusion is provided on the surface of the swing component 3 close to the power detection component 5, and a positioning hole is also provided on the surface of the power detection component close to the swing component 3. During the connection of the swing component 3 and the power detection component 5, the positioning protrusion cooperates with the positioning hole to perform positioning when the swing component 3 and the power detection component 5 are connected.

[0039] In a specific embodiment, each component in the joint driving device can be connected by screws. Please continue to refer to Figure 1, the fourth connection hole on the power detection component 5 is arranged at the outer connection part of the power detection component 5, and the fifth connection hole on the power detection component 5 is arranged at the central connection part of the power detection component 5. The third screw 7 passes through the fifth connection hole on the power detection component 5 and the sixth connection hole on the swing component 3 to connect the swing component 3 and the power detection component 5. And the second screw 6 passes through the third connection hole on the output end of the power component 2 and the fourth connection hole on the power detection component 5 to connect the power detection component 5 and the power component 2. In this way, when controlling the movement of the swing component 3, a slight relative displacement will occur between the outer connection part and the central connection part of the power detection component 5 to detect the torque transmitted in real time by the power component 2. At the same time, a first connection hole is provided on the fixing component 1, and a second connection hole is provided on the power component 2. The first screw 4 passes through the first connection hole and the second connection hole to connect the fixing component 1 and the power component 2.

[0040] Multiple first connection holes can be provided on the fixing component 1, multiple second connection holes and multiple third connection holes are provided on the output end of the power component 2, multiple fourth connection holes and multiple fifth connection holes are provided on the power detection component 5, and multiple sixth connection holes are provided on the swing component 3. Among them, the multiple second connection holes and the multiple third connection holes are arranged around the axis of the power component 2, and the distances between the second connection hole and the third connection hole and the axis of the power component 2 are different. In this embodiment, the distance between the third connection hole and the axis of the power component 2 is greater than the distance between the second connection hole and the axis of the power component 2; the multiple fourth connection holes and the multiple fifth connection holes are arranged around the axis of the power detection component 5, and the distances between the fourth connection hole and the fifth connection hole and the axis of the power detection component 5 are different. In this embodiment, the distance between the fourth connection hole and the axis of the power detection component 5 is greater than the distance between the fifth connection hole and the axis of the power detection component 5.

[0041] In some embodiments, to reduce the space station ratio of the joint drive device, a receiving groove can be provided on the fixing component 1. During the assembly process, the power detection component 5 can be located in the receiving groove. After the assembly is completed, the power detection component 5 will not be exposed outside, and at the same time, the aesthetics of the joint drive device can also be improved.

[0042] During use, to ensure the structural stability of the components of the joint drive device, a first feature hole 11 can be provided on the fixing component 1, and a second feature hole 31 can be provided on the swing component 3. The relative positions of the first feature hole 11 and the second feature hole 31 represent the position deviation of the swing component.

[0043] Specifically, before the test or use begins, the detection fixture can be used to sequentially insert into the second feature hole 31 on the swing assembly 3 and the first feature hole 11 on the fixed assembly 1 to restrict the movement of the joint drive device. By setting the output torque of the power assembly 2 and recording the current position of the swing assembly 3 as the zero position, the active angle can be set with this position as the coordinate zero point. After that, power is supplied to the power assembly 2. When the swing assembly 3 has been running for a period of time, a zero return command is issued to the power assembly 2, and then the detection fixture is sequentially inserted into the two feature holes. If it can be inserted smoothly, it indicates that the component structure is stable and there is no running error. If it cannot be inserted into these two feature holes simultaneously, it indicates that the zero position has shifted and there is an error in the operation of the joint drive device. Therefore, it is necessary to adjust the swing assembly 3 or the power assembly 2.

[0044] Please continue to refer to Figure 2 To improve the overall rigidity of the fixed assembly 1, the fixed assembly 1 adopts an integrated casting process. The fixed assembly 1 is divided into two parts, one part is the connection end and the other part is the fixed end. The connection end of the fixed assembly 1 is connected to the power assembly 2 and the swing assembly 3. The connection end adopts a hollow design to facilitate the connection between the swing assembly 3 and the power detection assembly 5. A card slot is provided on one side of the fixed assembly 1 away from the connection end. The card slot is used for clamping and fixing. The side away from the connection end is the fixed end. The fixed end adopts a variable cross-section structure design. A larger structural area is adopted at the connection end according to the characteristics of the applied bending moment to resist the deformation caused by the bending moment. At the same time, weight reduction holes are used to reduce the gravity of the component. Among them, the card slot at the fixed end can be clamped with other fixing devices to stabilize the entire joint drive device.

[0045] Please refer to in combination Figure 1 and Figure 5 The joint drive device further includes at least one limiting component 8. The limiting component 8 is arranged on the side of the fixed assembly 1 close to the swing assembly 3. The limiting component 8 is used to limit the movement range of the swing assembly 3. The mechanical limit protection method is adopted to limit the movement of the moving part within the specified angle range. Once the active angle range is exceeded, the mechanical structure will be triggered to start protection. Among them, the limiting component 8 can be fixed to the fixed assembly 1 by the fourth screw 9.

[0046] Specifically, the limiting component 8 is arranged around the swing assembly 3 to limit the movement range of the swing assembly 3. Among them, the shape of the limiting component 8 can be Figure 5 an arc shape as shown in, or two blocking blocks (not shown in the figure), arranged at different positions around the swing assembly 3.

[0047] In a specific embodiment, the joint drive device is used for the rehabilitation training of the human lower limbs. According to the principle of human bionics, the hip and knee joints are given active force, and a harmonic reducer is used as the power component 2 to achieve uniform angular motion while meeting the driving force. At the same time, in terms of output torque detection, a torsion sensor is connected in a bridging manner, and the torsion sensor is used as the power detection component 5. The actual output torque at the output end of the power component 2 can be transmitted in real time in a wired connection manner, which is convenient for monitoring and torque value detection. First, the torsion sensor is connected to the harmonic reducer in a bridging manner, and then the first screw 4 sequentially passes through the first connection hole on the fixing component 1 and the second connection hole on the harmonic reducer to connect the fixing component 1 and the harmonic reducer. Then, the third screw 7 sequentially passes through the sixth connection hole on the swing component 3 and the fifth connection hole on the torsion sensor to connect the swing component 3 and the torsion sensor. Finally, the fourth screw 9 is used to fix the limiting component 8 on the side of the fixing component 1 close to the swing component 3.

[0048] Working principle: Connect the joint drive device of the present application to an external control device, which can be connected in a wired manner. Insert the power supply and signal line into the connection position at the outer end of the harmonic reducer, so that the harmonic reducer can obtain the power supply and control instructions. Drive the swing component 3 through the torsion sensor to achieve single-pendulum fixed-angle range motion; since the swing component 3 and the harmonic reducer are respectively connected to the center and the outer end of the torsion sensor, through a small relative displacement, the torsion sensor can detect the real-time torque and transmit the torque value to the external control device in the form of a specific code in a wired connection manner. The limiting component 8 is used to prevent the movement angle from exceeding the range. Once the movement angle exceeds the set range, the movement of the swing component 3 will be blocked.

[0049] The present application adopts a dual protection method. First, the movement angle of the positive and negative rotation of the output end of the harmonic reducer is controlled by an algorithm. Secondly, a mechanical limit protection method is adopted to limit the movement of the moving part within a specified angle range. Once the movement angle exceeds the range, the mechanical structure will be triggered to start protection.

[0050] In addition, the present application also includes a rehabilitation medical device. The rehabilitation medical device is used for the rehabilitation of the biological trunk. The rehabilitation medical device includes any one of the above joint drive devices to guide the movement of the joints of the biological trunk, thereby helping the patient to recover physical function and mobility.

[0051] In a specific embodiment, the rehabilitation medical device can be a lower limb rehabilitation training device, such as a human bionics rehabilitation training device similar to the human hip joint and knee joint.

[0052] In another specific embodiment, the rehabilitation medical device can be a functional training device for exercising the trunk function of the patient, such as a rehabilitation training device, a rehabilitation simulator, and a rehabilitation experience device.

[0053] In addition, rehabilitation medical devices can also be used for auxiliary walking devices that help patients move, such as crutches, walkers, and walking aids.

[0054] Please refer to Figure 6 , Figure 6 , which is a schematic diagram of the framework of an embodiment of the external control device 60 of the present application. The external control device 60 includes a memory 61 and a processor 62 that are coupled to each other. The processor 62 is configured to execute program instructions stored in the memory 61 to control the above-mentioned joint drive device. In a specific implementation scenario, the external control device 60 may include, but is not limited to: a microcomputer, a server. In addition, the external control device 60 may also include mobile devices such as laptop computers and tablet computers, which are not limited herein.

[0055] Specifically, the processor 62 is used to control itself and the memory 61 to control the above-mentioned joint drive device. The processor 62 may also be referred to as a CPU (Central Processing Unit). The processor 62 may be an integrated circuit chip with signal processing capabilities. The processor 62 may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. In addition, the processor 62 may be implemented jointly by integrated circuit chips.

[0056] The descriptions of the above embodiments tend to emphasize the differences between the embodiments. Their similarities or similarities can be referred to each other. For the sake of brevity, they will not be repeated herein.

[0057] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device implementation manners described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces. The indirect coupling or communication connection of the device or unit may be in electrical, mechanical or other forms.

[0058] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, may exist physically as individual units, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0059] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

Claims

1. An articular drive device, characterized in that, The joint driving device is used for joints in a biological torso that requires rehabilitation medicine, and the joint driving device includes: A fixing component, which is used to support the joint driving device; A power component, which is arranged on the fixing component; A power detection component, which is arranged between the power component and the fixing component. The power detection component is used to monitor the power torque output by the power component. The fixing component is provided with a receiving groove, and the power detection component is located in the receiving groove; A swinging component, which is connected to the power detection component and is used to perform reciprocating swinging based on the power output by the power component.

2. The device according to claim 1, wherein The power component and the swinging component are respectively located on opposite sides of the fixing component; And / or, the power component is fixed to the fixing component by screws; And / or, the swinging component is connected to the output end of the power component by screws.

3. The device according to claim 1, wherein The fixing component is provided with a first connection hole, and the power component is provided with a second connection hole. The joint driving device further includes a first screw, and the first screw passes through the first connection hole and the second connection hole to connect the fixing component and the power component; And / or, a third connection hole is provided on the output end of the power component, and a fourth connection hole is provided on the power detection component. The joint driving device further includes a second screw, and the second screw passes through the third connection hole and the fourth connection hole to connect the power detection component and the power component; And / or, the power detection component is connected to the output end of the power component. A fifth connection hole is provided on the power detection component, and a sixth connection hole is provided on the swinging component. The joint driving device further includes a third screw, and the third screw passes through the fifth connection hole and the sixth connection hole to connect the swinging component and the power detection component.

4. The device according to claim 3, characterized in that, The fixing component is provided with a plurality of the first connection holes, the output end of the power component is provided with a plurality of the second connection holes and a plurality of the third connection holes, the power detection component is provided with a plurality of the fourth connection holes and a plurality of the fifth connection holes, and the swinging component is provided with a plurality of the sixth connection holes; Wherein, the plurality of the second connection holes and the plurality of the third connection holes are arranged around the axis of the power component, and the distances between the second connection hole and the third connection hole and the axis of the power component are different; the plurality of the fourth connection holes and the plurality of the fifth connection holes are arranged around the axis of the power detection component, and the distances between the fourth connection hole and the fifth connection hole and the axis of the power detection component are different.

5. The device according to claim 1, characterized in that, The swinging component is provided with a positioning protrusion, and the power detection component is further provided with a positioning hole. The positioning protrusion is matched with the positioning hole to perform positioning when the swinging component is connected to the power detection component.

6. The device according to claim 1, characterized in that, The fixing component is provided with a first feature hole, and the swinging component is provided with a second feature hole. The relative positions of the first feature hole and the second feature hole represent the position deviation of the swinging component; And / or, the connecting end of the fixing component is connected to the power component and the swinging component, and a clamping groove is provided on one side of the fixing component away from the connecting end, and the clamping groove is used for clamping and fixing.

7. The device according to claim 1, characterized in that The joint driving device further includes at least one limiting component, and the limiting component is arranged on one side of the fixing component close to the swinging component, and the limiting component is used for limiting the movement range of the swinging component.

8. The device according to claim 7, characterized in that, The limiting component is arranged around the swinging component to limit the movement range of the swinging component.

9. A rehabilitation medical device, characterized in that, The rehabilitation medical device is used for rehabilitating the biological torso, and the rehabilitation medical device includes the joint driving device according to any one of claims 1 to 8 to guide the movement of the joints of the biological torso.

10. The rehabilitation medical device according to claim 9, characterized in that, The rehabilitation medical device is a lower limb rehabilitation training device; And / or, the rehabilitation medical device is a functional training device for exercising the torso function of the patient, or an assisted walking device for helping the patient move.

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