Wearable exoskeleton rehabilitation manipulator structure

Abstract

The utility model relates to the technical field of medical assistance, and discloses a wearable exoskeleton rehabilitation manipulator structure which comprises a manipulator arm shell, an arm supporting seat is fixedly connected to the left side of the exterior of the manipulator arm shell, and a plurality of electric push rods are fixedly connected to the top of the manipulator arm shell. The exteriors of the multiple electric push rods are fixedly connected with a near-finger end joint sliding frame, two directional grooves are formed in the near-finger end joint sliding frame, and the front side of the exterior of the near-finger end joint sliding frame is fixedly connected with a near-finger end joint driving part; the front side of the outer portion of the near finger end joint driving part is fixedly connected with a far finger end joint sliding frame. According to the wearable exoskeleton rehabilitation mechanical arm, the structure of the wearable exoskeleton rehabilitation mechanical arm is designed, the structure conforms to the ergonomic design, the joint movement range of the mechanical arm is adjusted according to the finger joint movement ranges of different patients, meanwhile, the finger joints are high in flexibility and good in overall continuity, and bending of the whole fingers can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of parts spraying, especially wearable exoskeleton rehabilitation manipulator structure. BACKGROUND

[0002] Wearable exoskeleton rehabilitation manipulator structure, ergonomics design, according to the different patient's finger joint activity, adjust the joint range of motion of manipulator, high finger joint flexibility, good overall coherence, can realize the bending of the whole finger, ensure the overall control effect.

[0003] In the prior art, some devices are designed to simulate the structure of tendons, muscles and ligaments during hand movement, the main body is made of metal wearable part, the movement is mainly realized by passing the artificial tendon through the path assembly fixed on the surface of the glove, and finally fixed at the fingertip, the force is transmitted to the fingertip by pulling the other end of the artificial tendon to realize the movement of the finger, and the mechanical structure of the wearable exoskeleton rehabilitation manipulator also affects the accuracy of operation in the use process. For example, if the joint of the manipulator is not flexible enough, or the material selection is not suitable, it may cause inaccurate operation of the manipulator, and the wearable exoskeleton rehabilitation manipulator structure is proposed to solve the above problems. SUMMARY

[0004] In order to make up for the above shortcomings, the utility model provides wearable exoskeleton rehabilitation manipulator structure, aims at improving the problem that part of the device in prior art cannot be controlled flexibly during use, resulting in inaccurate operation.

[0005] In order to realize the above purpose, the utility model adopts the following technical scheme:

[0006] Wearable exoskeleton rehabilitation manipulator structure, including manipulator arm shell, the outside left side of manipulator arm shell is fixedly connected with arm support seat, the top of manipulator arm shell is fixedly connected with a plurality of electric push rods, the outside of a plurality of electric push rods is fixedly connected with proximal phalanx end joint sliding frame, two towards grooves are set in the inside of proximal phalanx end joint sliding frame, the outside front side of proximal phalanx end joint sliding frame is fixedly connected with proximal phalanx end joint drive part, the outside front side of proximal phalanx end joint drive part is fixedly connected with distal phalanx end joint sliding frame, the bottom of distal phalanx end joint sliding frame is slidably connected with distal phalanx end joint drive part, the outside of distal phalanx end joint drive part is fixedly connected with distal phalanx end joint fixed part, the inside of distal phalanx end joint fixed part is set with fixed groove, the bottom of proximal phalanx end joint drive part is fixedly connected with proximal phalanx end joint fixed part, the outside of electric push rod is fixedly connected with a plurality of finger training structures;

[0007] As a further description of the above technical scheme:

[0008] The arm supporting seat is used for supporting arms of the patient, so as to avoid arm tiredness of the patient during hand function rehabilitation training.

[0009] As a further description of the above technical solution:

[0010] The finger training structure comprises index finger training mechanisms, middle finger training mechanisms, ring finger training mechanisms, little finger training mechanisms and thumb training mechanisms, wherein the thumb training mechanisms are arranged at side ends of the mechanical arm shell, the rest of the finger training mechanisms are arranged at front ends of the mechanical arm shell, and each finger training mechanism is in signal connection with the controller to realize control and data acquisition of the finger training mechanism.

[0011] As a further description of the above technical solution:

[0012] The thumb training mechanisms and the little finger training mechanisms are the same in structure, and the index finger training mechanisms, the middle finger training mechanisms and the ring finger training mechanisms are the same in structure.

[0013] As a further description of the above technical solution:

[0014] The finger training structure comprises an electric push rod, a proximal finger end joint sliding frame, a joint driving piece and a joint fixing piece, the telescopic end of the electric push rod is hingedly arranged with the driving piece, the sliding frame and the driving piece are both arc-shaped, and the sliding frame is internally provided with an arc-shaped guide groove, so that the electric push rod slides in the arc-shaped groove when driving the driving piece to move; during rehabilitation training, the joint fixing piece can fix the thumb or the little finger of the human hand, and the electric push rod is elongated or contracted.

[0015] As a further description of the above technical solution:

[0016] The distal finger end joint fixing piece is more ergonomic, so that the finger and the training mechanism have better fitting property; the fixing seat bottom surface of the joint fixing piece of each finger training mechanism is provided with a fixing groove matched with the human finger, and the fixing groove is designed in size and angle according to the characteristics of different fingers of different people; and the two sides of the fixing seat are provided with binding belts or magic tapes for fixing the fingers.

[0017] The wearable exoskeleton rehabilitation mechanical hand structure has the following beneficial effects:

[0018] In the utility model, the wearable exoskeleton rehabilitation mechanical hand structure is ergonomic, the joint movement range of the mechanical hand is adjusted according to the finger joint movement degree of different patients, the finger joint flexibility is high, the overall coherence is good, the bending of the whole finger can be realized, and the overall control effect is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 It is a three-dimensional schematic view of the wearable exoskeleton rehabilitation mechanical hand structure.

[0020] Fig. 2 The structure diagram of the proximal finger end joint sliding frame of the wearable exoskeleton rehabilitation mechanical hand structure provided by the utility model is shown in the figure;

[0021] Fig. 3 The structure diagram of the fixed groove of the wearable exoskeleton rehabilitation mechanical hand structure provided by the utility model is shown in the figure;

[0022] Fig. 4 The structure diagram of the proximal finger end joint driving member of the wearable exoskeleton rehabilitation mechanical hand structure provided by the utility model is shown in the figure.

[0023] Legend:

[0024] 1, mechanical arm shell; 2, arm support seat; 3, electric push rod; 4, proximal finger end joint sliding frame; 5, guide groove; 6, proximal finger end joint driving member; 7, distal finger end joint sliding frame; 8, distal finger end joint driving member; 9, distal finger end joint fixing member; 10, proximal finger end joint fixing member; 11, fixed groove; 12, finger training structure. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0026] Reference Figs. 1 to 4 An embodiment provided by the utility model: a wearable exoskeleton rehabilitation mechanical hand structure, comprising a mechanical arm shell 1, which is the basic framework of the whole device and is used for supporting and fixing other components. The arm support seat 2 is fixedly connected to the left side of the outside of the mechanical arm shell 1, which provides support for the patient's arm and avoids causing arm fatigue or discomfort during hand function rehabilitation training. A plurality of electric push rods 3 are fixedly connected to the top of the mechanical arm shell 1, which are responsible for providing power to drive the fingers to move in various ways. The proximal finger end joint sliding frame 4 is fixedly connected to the outside of the plurality of electric push rods 3, two guide grooves 5 are formed in the inside of the sliding frame, which are used for guiding and limiting the movement direction of the joint. Two guide grooves 5 are formed in the inside of the proximal finger end joint sliding frame 4, the proximal finger end joint driving member 6 is fixedly connected to the front side of the outside of the proximal finger end joint sliding frame 4, the distal finger end joint sliding frame 7 is fixedly connected to the front side of the outside of the proximal finger end joint driving member 6, and the distal finger end joint driving member 8 is slidingly connected to the bottom of the distal finger end joint sliding frame 7. This design allows more precise control of the action range and intensity of the fingers;

[0027] The outer part of the distal phalangeal joint driving member 8 is fixedly connected with a distal phalangeal joint fixing member 9, and the inner part of the distal phalangeal joint fixing member 9 is provided with a fixing groove 11 for closely fitting and keeping stable with the fingers. The bottom of the proximal phalangeal joint driving member 6 is fixedly connected with a proximal phalangeal joint fixing member 10, which helps to enhance the stability of the overall structure. It is worth noting that the outer part of all the electric push rods 3 is fixedly connected with a plurality of finger training structures 12, which are specially designed for different fingers and aim to promote the rehabilitation effect by simulating natural gestures. Among them, the thumb training mechanism is specially arranged at the side end of the mechanical arm shell 1, and the training mechanisms of the other four fingers are located at the front end. Each finger training mechanism can work independently and can be precisely controlled and data collected through the controller. The outer part of the electric push rod 3 is fixedly connected with a plurality of finger training structures 12, and the arm support seat 2 is used to support the patient's arm to avoid the patient's arm from being tired during the hand function rehabilitation training process. The finger training structure 12 includes index finger training mechanism, middle finger training mechanism, ring finger training mechanism, little finger training mechanism and thumb training mechanism, wherein the thumb training mechanism is arranged at the side end of the mechanical arm shell 1, and the rest of the finger training mechanisms are arranged at the front end of the mechanical arm shell 1. At the same time, each finger training mechanism is signal connected with the controller to realize the control and data collection of the finger training mechanism. The structure of the thumb training mechanism and the little finger training mechanism is the same, and the structure of the index finger training mechanism, the middle finger training mechanism and the ring finger training mechanism is the same. The finger training structure 12 includes an electric push rod 3, a proximal phalangeal joint sliding frame 4, a joint driving member and a joint fixing member. The telescopic end of the electric push rod 3 is hingedly arranged with the driving member. The sliding frame and the driving member are both arc-shaped, and the sliding frame is provided with a guide groove 5, so that the electric push rod 3 drives the driving member to slide in the arc-shaped groove. When performing rehabilitation training, the thumb or little finger of the human hand can be fixed through the joint fixing member, and the distal phalangeal joint fixing member 9 is more ergonomic by the extension or contraction of the electric push rod 3. It is more in line with the principle of ergonomics, which not only improves the comfort but also enhances the practicality;

[0028] The joint fixing member of each finger training mechanism is provided with a fixing groove 11 on the bottom surface of the fixing seat for closely fitting with the human finger. Considering the large difference in finger size among different groups of people, the size and angle of these fixing grooves 11 can be adjusted according to specific conditions to meet individual needs. Finally, to prevent the fingers from shifting during use, binding straps or magic tape can be installed on both sides of the fixing seat for secondary reinforcement. The size and angle of the fixing groove 11 are designed according to the characteristics of different human fingers, and binding straps or magic tape are provided on both sides of the fixing seat for finger fixation;

[0029] Working principle: in use, the patient will put his arms on the arm support seat 2 of the mechanical arm shell 1 to obtain the necessary support to prevent the arm from feeling tired or uncomfortable during the rehabilitation training. The top of the mechanical arm shell 1 is equipped with multiple electric push rods 3, which are responsible for providing power to drive the finger training structure 12 to perform various actions. Each finger training mechanism (such as the index finger, middle finger, ring finger, little finger and thumb training mechanism) can work independently and be accurately controlled by the controller.

[0030] The telescopic end of the electric push rod 3 is connected with the proximal finger joint driving piece 6, which drives the movement of the proximal finger joint sliding frame 4. The sliding frame is equipped with a guide groove 5 to guide the movement direction of the joint. The proximal finger joint driving piece 6 is connected with the distal finger joint sliding frame 7, which is connected with the distal finger joint driving piece 8 at the bottom to further control the range and intensity of the finger movement.

[0031] When the electric push rod 3 telescopes, the driving piece slides in the sliding frame through the arc-shaped guide groove 5, driving the finger training mechanism to perform the action of simulating natural gestures. The joint fixing piece is used to fix the patient's fingers on the training mechanism to ensure the stability of the training process. In order to adapt to the finger size of different patients, the design of the fixed groove 11 can be adjusted according to the specific situation to meet the individual needs. In order to prevent the fingers from shifting during the training process, the fixed seat is also equipped with a binding belt or magic tape for secondary reinforcement.

[0032] The whole device realizes data acquisition and training parameter monitoring through the controller, and the operator can adjust the training intensity and mode in real time to adapt to the rehabilitation needs of the patient. In this way, the mechanical hand not only provides effective support and power, but also promotes the rehabilitation training of the fingers by simulating natural gestures, improving the functional recovery effect of the patient.

[0033] Finally, it should be pointed out that the above-mentioned is only the preferred embodiment of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A wearable exoskeleton rehabilitation robotic arm structure, comprising a robotic arm housing (1), characterized in that: An arm support base (2) is fixedly connected to the outer left side of the robotic arm housing (1). Multiple electric push rods (3) are fixedly connected to the top of the robotic arm housing (1). A proximal finger joint sliding frame (4) is fixedly connected to the outside of the multiple electric push rods (3). Two grooves (5) are formed inside the proximal finger joint sliding frame (4). A proximal finger joint drive component (6) is fixedly connected to the outer front side of the proximal finger joint sliding frame (4). The distal phalanx joint slide frame (7) is fixedly connected to the distal phalanx joint slide frame (7), the bottom of which is slidably connected to a distal phalanx joint drive (8), the external of which is fixedly connected to a distal phalanx joint fixation member (9), the internal of which is provided with a fixing groove (11), the bottom of which is fixedly connected to a proximal phalanx joint drive (6), and the external of which is fixedly connected to multiple finger training structures (12).

2. The wearable exoskeleton rehabilitation robotic hand structure according to claim 1, characterized in that: The arm support seat (2) is used to support the patient's arm and prevent the patient from experiencing arm fatigue during hand function rehabilitation training.

3. The wearable exoskeleton rehabilitation robotic hand structure according to claim 1, characterized in that: The finger training structure (12) includes an index finger training mechanism, a middle finger training mechanism, a ring finger training mechanism, a little finger training mechanism, and a thumb training mechanism. The thumb training mechanism is located at the side of the robotic arm housing, while the other finger training mechanisms are located at the front end of the robotic arm housing. At the same time, each finger training mechanism establishes a signal connection with the controller to realize the control and data acquisition of the finger training mechanism.

4. The wearable exoskeleton rehabilitation robotic hand structure according to claim 3, characterized in that: The thumb training mechanism and the little finger training mechanism have the same structure, and the index finger training mechanism, middle finger training mechanism and the ring finger training mechanism have the same structure.

5. The wearable exoskeleton rehabilitation robotic hand structure according to claim 1, characterized in that: The finger training structure (12) includes an electric push rod (3), a proximal finger joint sliding frame (4), a joint drive component, and a joint fixation component. The telescopic end of the electric push rod (3) is hinged to the drive component. Both the sliding frame and the drive component are arc-shaped. At the same time, the sliding frame is provided with an arc-shaped guide groove so that the electric push rod (3) can slide in the arc-shaped groove when it drives the drive component to move. During rehabilitation training, the joint fixation component can fix the thumb or little finger of the human hand. The extension or retraction of the electric push rod (3) can be used to fix the thumb or little finger of the human hand.

6. The wearable exoskeleton rehabilitation robotic hand structure according to claim 1, characterized in that: The distal phalanx joint fixation component (9) is more ergonomically designed, so that the fingers and training mechanism have better fit. The bottom surface of the fixing seat of the joint fixation component of each finger training mechanism is provided with a fixing groove (11) that fits the human finger. The fixing groove (11) is designed in size and angle according to the characteristics of different fingers of different human bodies. At the same time, the fixing seat is provided with binding straps or Velcro on both sides for fixing the fingers.

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