Flexible spine robot

Abstract

The utility model belongs to the technical field of medical rehabilitation, and particularly relates to a flexible spine robot. The device comprises an upper mounting plate, a middle supporting plate and a lower mounting plate which are sequentially arranged from top to bottom, an upper flexible air bag assembly and a lower flexible air bag assembly; the upper flexible air bag assembly and the lower flexible air bag assembly are supported through the spine-imitating connecting assembly. Each of the upper flexible air bag assembly and the lower flexible air bag assembly comprises three air bags which are vertically arranged; the sections of the three air bags are arranged in an isosceles triangle shape. The multi-degree-of-freedom assisting effect of the whole robot on the human body is controlled by inflating and deflating the flexible air bag assemblies, and meanwhile, the middle positions of the flexible air bag assemblies are connected through the spine-imitating connecting assemblies, so that the robot can be adaptively matched according to the natural curve and the movement mode of the spine of the human body; sufficient supporting capacity can be provided for the spine, and the advantages of being light in weight and good in wearable performance are achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the medical rehabilitation technical field, concretely relates to a flexible spine robot. BACKGROUND

[0002] The spine is the pillar of the human body, and plays a vital role in supporting, moving, etc. Its health directly affects the quality of people's life and work and the ability of daily activities. Therefore, improving and maintaining the health of the spine has become an important goal to improve the overall health level and quality of life of people.

[0003] In order to assist the spine health of the aging population or the spine injury population, the spine rehabilitation power assisting equipment capable of assisting the spine appears on the market, and the common spine rehabilitation power assisting equipment is mainly divided into two categories of powered and unpowered. The powered equipment mostly adopts hydraulic and motor drive, and the structure is heavy, inconvenient to use, poor in flexibility and comfort. The unpowered equipment relies on new materials such as elastic materials and shape memory alloys to provide power assistance, and although it is relatively light, the supporting effect on the spine is limited, and it may cause additional burden to the joints, and there is a risk of secondary injury. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at overcoming the defects of poor comfort of rigid structure and insufficient supporting force of flexible structure in the prior art, and provides a flexible spine robot with a rigid-flexible hybrid design, sufficient supporting capacity, light weight and good comfort.

[0005] The utility model solves the technical problems by adopting the following technical scheme: a flexible spine robot comprises:

[0006] An upper mounting plate, a middle supporting plate and a lower mounting plate are sequentially arranged from top to bottom;

[0007] An upper flexible air bag assembly and a lower flexible air bag assembly are arranged between the upper mounting plate and the middle supporting plate, and between the middle supporting plate and the lower mounting plate respectively;

[0008] A gas pump is in gas communication with the lower flexible air bag assembly through a control valve group;

[0009] The upper flexible air bag assembly and the lower flexible air bag assembly are supported by a spine-imitating connecting assembly; the upper flexible air bag assembly and the lower flexible air bag assembly each comprise three air bags arranged vertically; the three air bags are arranged in an isosceles triangle shape; the three air bags in the upper flexible air bag assembly and the three air bags in the lower flexible air bag assembly are in one-to-one correspondence and in gas communication in the vertical direction through the middle supporting plate; when worn, the base of the isosceles triangle formed by the three air bags of the upper flexible air bag assembly and the lower flexible air bag assembly is attached to the back of the human body.

[0010] Further, the lower mounting plate comprises a lower plate body, three air holes arranged on the lower plate body, and air inlets of the lower flexible air bag assembly are communicated with the three air holes one by one; the three air holes are communicated with the air pump air path.

[0011] Further, the air pump is provided with three air pumps, and the three air pumps are connected with the three air bags of the lower flexible air bag assembly one by one.

[0012] Further, the control valve group comprises a solenoid valve group connected with the three air pumps one by one, the solenoid valve group comprises two two-position three-way solenoid valves, the air outlet and the air inlet of the air pump are connected with the corresponding two two-position three-way solenoid valves, and the three air holes are connected with the corresponding solenoid valve group through three-way pipes and air pipes.

[0013] Further, the simulated spine connecting assembly comprises a first simulated spine connecting assembly and a second column connecting assembly; the first simulated spine connecting assembly comprises:

[0014] a first upper fixed column fixedly installed on the lower end surface of the upper mounting plate;

[0015] a first lower fixed column fixedly installed on the upper end surface of the middle support plate;

[0016] a plurality of first fixed plates connected between the first upper fixed column and the first lower fixed column through universal joints;

[0017] Further, the second column connecting assembly comprises:

[0018] a second upper fixed column fixedly installed on the lower end surface of the middle support plate;

[0019] a second lower fixed column fixedly installed on the upper end surface of the lower mounting plate;

[0020] a plurality of second fixed plates connected between the second upper fixed column and the second lower fixed column through universal joints.

[0021] Further, it further comprises a flexible wearing mechanism for wearing on the shoulder and back of the human body; the flexible wearing mechanism comprises: a first connecting piece fixedly installed on the side surface of the upper mounting plate, a second connecting piece fixedly installed on the side surface of the middle support plate, a third connecting piece fixedly installed on the side surface of the lower mounting plate, and two flexible shoulder straps;

[0022] One end of the flexible shoulder strap is fixed on the first connecting piece, and the other end is fixed on the third connecting piece through the second connecting piece;

[0023] When worn, the corresponding two flexible straps between the first connecting piece and the second connecting piece are worn on the shoulders of the human body respectively; the corresponding two flexible straps between the second connecting piece and the third connecting piece are provided with fastening mechanisms for fastening the two flexible straps on the waist of the human body.

[0024] Further, the air bag driving control device is arranged at the distal end of the human body for controlling inflation and deflation of each air bag;

[0025] The air bag driving control device comprises a control box, a control board arranged in the control box, a voice module arranged on the control board, a microphone module, a loudspeaker and an air pump control module.

[0026] Further, the air bag driving control device controls the air bags at the top corners of the corresponding isosceles triangle in the lower flexible air bag assembly to be inflated, and the air bags at the two bottom corners are not inflated, thereby assisting the forward or backward bending movement of the human body;

[0027] When the corresponding three air bags in the lower flexible air bag assembly are inflated and deflated simultaneously, the initial state is restored;

[0028] When any one of the air bags at the two bottom corners of the corresponding isosceles triangle in the lower flexible air bag assembly is inflated, the human body is assisted to bend laterally.

[0029] The flexible spine robot has the advantages that: the upper mounting plate, the lower mounting plate and the middle supporting plate are relatively rigid, and the flexible air bag assemblies are arranged between the upper mounting plate and the middle supporting plate and between the middle supporting plate and the lower mounting plate, the inflation and deflation of the flexible air bag assemblies are utilized to control the forward or backward bending, lateral bending and other multi-freedom assisting actions of the whole robot on the human body, the middle positions of the flexible air bag assemblies are connected through the spine-imitating connecting assemblies, the robot can adaptively cooperate according to the natural curve and movement mode of the human spine, sufficient supporting capacity is provided for the spine, the robot has the advantages of light weight, good wearability, independent supporting capacity, no increase of the burden of the spine in the rehabilitation assisting process, no secondary damage to the spine and high safety.

[0030] The utility model discloses a flexible body mechanism is formed by the cooperation of upper mounting plate, middle support plate, lower mounting plate and two groups of flexible air bag assemblies, the air pump for filling and discharging the flexible air bag assembly and the air bag drive control device for controlling the filling and discharging of each air bag are not arranged on the human body, and are all arranged at the distal end of the human body, the air pump and the flexible air bag assembly are communicated through the air pipe air path, the load of the human body is reduced, the motion flexibility and environmental adaptability of the robot are enhanced, and the endurance and intelligent motion level are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] The utility model discloses further in detail in combination with the drawings and specific embodiment.

[0032] Figure 1 It is the structure schematic diagram of the flexible spine robot of this embodiment wearing on the human body.

[0033] Figure 2 It is the perspective view of the flexible spine robot of this embodiment.

[0034] Figure 3 It is the partial structure schematic diagram of the flexible spine robot of this embodiment.

[0035] Figure 4 It is the structure schematic diagram of lower mounting plate of this embodiment.

[0036] Figure 5 It is the structure schematic diagram of air bag drive control device of this embodiment.

[0037] In the drawing: 1, upper mounting plate, 2, middle support plate, 3, lower mounting plate, 31, lower plate main body, 32, air hole, 4, upper flexible air bag assembly, 5, lower flexible air bag assembly, 51, air bag, 6, air pump, 7, control valve group, 71, two-position three-way electromagnetic valve, 72, three-way pipe, 8, imitate spine connecting assembly, 81, first imitate spine connecting assembly, 811, first upper fixed column, 812, first lower fixed column, 813, first fixed plate, 814, universal joint, 82, second column connecting assembly, 821, second upper fixed column, 822, second lower fixed column, 823, second fixed plate, 9, flexible wearing mechanism, 91, first connecting piece, 92, second connecting piece, 93, third connecting piece, 94, flexible waistband, 10, air bag drive control device, 101, control box, 102, control board, 103, voice module, 105, loudspeaker, 106, air pump control module. DETAILED DESCRIPTION

[0038] The utility model will be further explained in detail in combination with the drawings. These drawings are all simplified schematic diagrams, just with the schematic way of explaining the basic structure of the utility model, so it just shows the structure related to the utility model.

[0039] As Figures 1-5 The specific embodiment of the flexible spine robot shown in the utility model comprises: upper mounting plates 1, middle support plates 2 and lower mounting plates 3 arranged in sequence from top to bottom, and further comprises upper flexible air bag assemblies 4, lower flexible air bag assemblies 5 and air pumps 6, wherein the upper flexible air bag assemblies 4 are arranged between the upper mounting plates 1 and the middle support plates 2, the lower flexible air bag assemblies 5 are arranged between the middle support plates 2 and the lower mounting plates 3, the air pumps 6 are in airway communication with the lower flexible air bag assemblies 5 through control valve groups 7, and the upper flexible air bag assemblies 4 and the lower flexible air bag assemblies 5 are both supported through spine-imitating connecting assemblies 8.

[0040] The upper flexible air bag assemblies 4 and the lower flexible air bag assemblies 5 in the embodiment both comprise three air bags 51 arranged vertically, wherein the three air bags 51 are arranged in an isosceles triangle shape in cross section, and the three air bags 51 in the upper flexible air bag assemblies 4 and the three air bags 51 in the lower flexible air bag assemblies 5 are in one-to-one correspondence and in airway communication in the vertical direction. When worn, the base edges of the isosceles triangles formed by the three air bags 51 of the upper flexible air bag assemblies 4 and the lower flexible air bag assemblies 5 are in contact with the back of the human body.

[0041] The embodiment adopts the flexible actuation technology of the air bag 51 assemblies, and realizes significant power assistance effect by virtue of its excellent flexibility and high safety. Meanwhile, the upper mounting plates 1, the lower mounting plates 3 and the middle support plates 2 are relatively rigid, and the flexible air bag 51 assemblies are arranged between the upper mounting plates 1 and the middle support plates 2 and between the middle support plates 2 and the lower mounting plates 3, the power assistance effect of the entire robot on the forward or backward bending of the human body is controlled by charging and discharging the flexible air bag 51 assemblies, the middle positions of the flexible air bag 51 assemblies are connected through the spine-imitating connecting assemblies 8, the robot can adaptively cooperate according to the natural curve and movement mode of the human spine, the strong support ability is ensured and the overall light weight is maintained by the ingenious use of the rigid and soft mixed structure. What is particularly important is that the cooperation of the two groups of flexible air bag 51 assemblies and the spine-imitating connecting assemblies 8 in the embodiment makes the matching degree of the robot and the human spine higher, improves the wearing comfort and the rehabilitation effect, and the independent support ability of the spine-imitating connecting assemblies 8 can effectively avoid the additional burden on the user's spine in the rehabilitation power assistance process.

[0042] To facilitate wearing the robot on the back of the human body, the embodiment further comprises a flexible wearing mechanism 9 for wearing on the shoulder and back of the human body. The flexible wearing mechanism 9 comprises a first connecting piece 91 fixedly installed on the side of the upper mounting plate 1, a second connecting piece 92 fixedly installed on the side of the middle supporting plate 2, a third connecting piece 93 fixedly installed on the side of the lower mounting plate 3, and two flexible straps 94, one end of each of the two flexible straps 94 being fixed to the first connecting piece 91 and the other end of each of the two flexible straps 94 being fixed to the third connecting piece 93 through the second connecting piece 92. When wearing, the two flexible straps 94 between the first connecting piece 91 and the second connecting piece 92 are respectively worn on the shoulders of the human body, and the two flexible straps 94 between the second connecting piece 92 and the third connecting piece 93 are provided with fastening mechanisms for fastening the two flexible straps 94 on the waist of the human body. The fastening mechanism in the embodiment can be a magic tape adhesion or a clamping device, and any fastening structure that can be thought of by those skilled in the art can be applied to the embodiment, and therefore the structure of the fastening mechanism will not be described in detail here.

[0043] As shown in Figure 3 and Figure 4 The lower mounting plate 3 in the embodiment comprises a lower plate body 31 and three air holes 32 provided on the lower plate body 31. The air inlets of the lower flexible air bag assemblies 5 are in one-to-one correspondence with the three air holes 32, and the three air holes 32 are in air communication with the air pump 6. As a preferred embodiment, three air pumps 6 are provided in the embodiment, and the three air pumps 6 are respectively connected to the three air bags 51 of the lower flexible air bag assemblies 5 in one-to-one correspondence. The control valve group 7 comprises an electromagnetic valve group connected to the three air pumps 6. The electromagnetic valve group comprises two two-position three-way electromagnetic valves 71. The air outlet and the air inlet of the air pump 6 are respectively connected to the corresponding two-position three-way electromagnetic valves 71. The three air holes 32 are connected to the corresponding electromagnetic valve group through three-way pipes 72 and air pipes.

[0044] That is, in this embodiment, three air pumps 6 respectively inflate and deflate the three air bags 51 of the lower flexible air bag assembly 5. Since the three air bags 51 in the upper flexible air bag assembly 4 are vertically connected one by one with the three air bags 51 in the lower flexible air bag assembly 5, that is, three longer air bags 51 are formed, and the middle support plate 2 is used for support and assembly, so that the air bags 51 can completely cover the human body shoulder and back, and have strong supporting force. Three air pumps 6 are used for separate driving, one end of each air pipe is connected with the bottom of a longer air bag 51, and the other end is connected with two two-position three-way electromagnetic valves 71 through a three-way pipe 72. The interfaces of each two two-position three-way electromagnetic valves are respectively connected with the air outlet and air inlet of the corresponding air pump 6, so as to realize the control of the air inlet and air outlet of each longer air bag 51 by the air pump 6, and realize the movement of the robot in this way. When the air bags 51 at the top corners of the isosceles triangle are inflated, and the air bags 51 on the two sides are not inflated, the forward or backward bending of the robot can be realized. When the three groups of air bags 51 are inflated and deflated at the same time, the initial state can be quickly restored. When any one of the air bags 51 at the two bottom corners of the isosceles triangle in the lower flexible air bag assembly 5 is inflated, the side bending movement of the human body is assisted. If the air bag 51 on one side is inflated, the bending action of the robot to the other side is realized, and the side bending action of the human body is further assisted.

[0045] As shown in Figure 3 The imitation spine connecting assembly 8 in this embodiment includes a first imitation spine connecting assembly 8 and a second imitation spine connecting assembly. The first imitation spine connecting assembly 8 includes a first upper fixed column 811, a first lower fixed column 812, and a plurality of first fixed plates 813. The first upper fixed column 811 is fixedly installed on the lower end surface of the upper mounting plate 1, the first lower fixed column 812 is fixedly installed on the upper end surface of the middle support plate 2, and the plurality of first fixed plates 813 are connected between the first upper fixed column 811 and the first lower fixed column 812 through universal joints 814.

[0046] The second imitation spine connecting assembly 8 has the same structure as the second imitation spine connecting assembly 8. Specifically, the second imitation spine connecting assembly 8 includes a second upper fixed column 821, a second lower fixed column 822, and a plurality of second fixed plates 823. The second upper fixed column 821 is fixedly installed on the lower end surface of the middle support plate 2, the second lower fixed column 822 is fixedly installed on the upper end surface of the lower mounting plate 3, and the plurality of second fixed plates 823 are connected between the second upper fixed column 821 and the second lower fixed column 822 through universal joints 814. Since the human spine realizes multiple degrees of freedom by flexibly adjusting the positions of the lumbar joints, the imitation spine connecting assembly 8 in this embodiment skillfully uses multiple universal joints 814 to simulate the 26 vertebral bodies of the human spine, so that the robot is more in line with the natural movement law of the human body, and the secondary damage of the robot to the human body is greatly reduced.

[0047] AsFigure 5 As shown, in order to realize automatic control, a gas bag driving control device 10 for controlling inflation and deflation of each gas bag 51 is further arranged at the distal end of the human body. The gas bag driving control device 10 comprises a control box 101, a control board 102 arranged in the control box 101, a voice module 103 arranged on the control board 102, a microphone module, a loudspeaker 105, and a gas pump control module 106. The voice module 103 and the loudspeaker 105 are arranged for voice broadcast and alarm, the microphone module is arranged for receiving voice commands, and the gas pump control module 106 comprises four relays and six relays, which can be adjusted according to specific use by those skilled in the art, and will not be described in detail here.

[0048] The whole gas bag driving control device 10 is a control box 101, the control box 101 is connected by a screw outside the control box 101 shell and the control box 101 bottom cover, and the inside is provided with an Arduino control board 102, a CI-33T offline voice module 103, a microphone, a loudspeaker 105, and a gas pump 6, which are fixed by screws and baffles. The serial port pin of the Arduino board is connected with the voice module 103, a six-way relay, and a four-way relay, wherein the six-way relay controls the electromagnetic valve, and the four-way relay controls the gas pump 6. In addition, the power of the gas pump 6 can further control the speed and bending angle of the robot movement. The written code is written into the Arduino board by burning, and the inflation and deflation of each gas pump 6 is controlled by voice, so as to realize the multi-degree-of-freedom movement of the robot. It should be understood that the control box 101 in the embodiment is provided with a power supply for providing power for the control board 102, the gas pump 6 and each module, and the position of the power supply can be installed according to the specific installation mode, which will not be described in detail here.

[0049] In the embodiment, the upper mounting plate 1, the middle supporting plate 2, the lower mounting plate 3 and the two groups of flexible gas bag 51 assemblies jointly form a flexible body mechanism, the gas pump 6 for inflating and deflating the flexible gas bag 51 assembly and the gas bag driving control device 10 for controlling inflation and deflation of each gas bag 51 are not arranged on the human body, but are arranged at the distal end of the human body, the gas pump 6 and the flexible gas bag 51 assembly are communicated through the air pipe gas path, the load bearing of the human body is reduced, the movement flexibility and environmental adaptability of the robot are enhanced, and the endurance and intelligent movement level are greatly improved.

[0050] It should be understood that the specific embodiments described above are only used to explain the present application, and are not used to limit the present application. The obvious changes or modifications derived from the spirit of the present application are still within the protection scope of the present application.

Claims

1. A flexible spinal robot, characterized in that, include: The upper mounting plate (1), the middle support plate (2), and the lower mounting plate (3) are arranged sequentially from top to bottom; Upper flexible airbag assembly (4) and lower flexible airbag assembly (5), wherein the upper flexible airbag assembly (4) is disposed between the upper mounting plate (1) and the middle support plate (2); and the lower flexible airbag assembly (5) is disposed between the middle support plate (2) and the lower mounting plate (3). The air pump (6) is connected to the air passage of the lower flexible airbag assembly (5) through the control valve group (7); The upper flexible airbag assembly (4) and the lower flexible airbag assembly (5) are both supported by a spinal-like connecting assembly (8); the upper flexible airbag assembly (4) and the lower flexible airbag assembly (5) each include three vertically arranged airbags (51); the three airbags (51) are arranged in an isosceles triangle; the three airbags (51) in the upper flexible airbag assembly (4) and the three airbags (51) in the lower flexible airbag assembly (5) are vertically connected by a middle support plate (2) and their air passages are connected; when worn, the base of the isosceles triangle formed by the three airbags (51) in the upper flexible airbag assembly (4) and the lower flexible airbag assembly (5) fits against the back of the human body.

2. The flexible spinal robot according to claim 1, characterized in that: The lower mounting plate (3) includes a lower plate body (31) and three ventilation holes (32) provided on the lower plate body (31). The air inlet of the lower flexible airbag assembly (5) is connected to the three ventilation holes (32) one by one. All three ventilation holes (32) are connected to the air circuit of the air pump (6).

3. A flexible spinal robot according to claim 2, characterized in that: Three air pumps (6) are provided, and the three air pumps (6) are respectively connected to the three airbags (51) of the lower flexible airbag assembly (5).

4. A flexible spinal robot according to claim 3, characterized in that: The control valve group (7) includes a solenoid valve group that is connected to the three air pumps (6) one by one. The solenoid valve group includes two two-position three-way solenoid valves (71). The air outlet and air inlet of the air pump (6) are respectively connected to the two corresponding two-position three-way solenoid valves (71). The three air vents (32) are all connected to the corresponding solenoid valve group through three-way pipes (72) and air pipes.

5. A flexible spinal robot according to claim 1, characterized in that, The simulated spine connection assembly (8) includes a first simulated spine connection assembly (8) and a second column connection assembly (82); the first simulated spine connection assembly (8) includes: The first upper fixed post (811) is fixedly installed on the lower end surface of the upper mounting plate (1); The first lower fixed column (812) is fixedly installed on the upper end surface of the middle support plate (2); Several first fixing plates (813) are connected in sequence between the first upper fixing post (811) and the first lower fixing post (812) via universal joints (814).

6. A flexible spinal robot according to claim 5, characterized in that, The second column connection assembly (82) includes: The second upper fixed column (821) is fixedly installed on the lower end surface of the middle support plate (2); The second lower fixing post (822) is fixedly installed on the upper end surface of the lower mounting plate (3); Several second fixing plates (823) are connected in sequence between the second upper fixing post (821) and the second lower fixing post (822) via universal joints (814).

7. A flexible spinal robot according to claim 1, characterized in that, It also includes a flexible wearable mechanism (9) for wearing on the shoulders and back of the human body; the flexible wearable mechanism (9) includes: a first connector (91) fixedly installed on the side of the upper mounting plate (1), a second connector (92) fixedly installed on the side of the middle support plate (2), a third connector (93) fixedly installed on the side of the lower mounting plate (3) and two flexible shoulder straps (94); One end of the flexible shoulder strap (94) is fixed to the first connector (91), and the other end passes through the second connector (92) and is fixed to the third connector (93); When worn, the two flexible shoulder straps (94) corresponding between the first connector (91) and the second connector (92) are worn on the shoulders of the human body; fastening mechanisms are installed on the two flexible shoulder straps (94) corresponding between the second connector (92) and the third connector (93) to fasten the two flexible shoulder straps (94) to the waist of the human body.

8. A flexible spinal robot according to claim 1, characterized in that: It also includes an airbag drive control device (10) located at the distal end of the human body for controlling the inflation and deflation of each of the airbags (51); The airbag drive control device (10) includes: a control box (101), a control board (102) installed in the control box (101), a voice module (103), a microphone module, a speaker (105), and an air pump control module (106) installed on the control board (102).

9. A flexible spinal robot according to claim 8, characterized in that: The airbag drive control device (10) controls the airbag (51) at the vertex of the corresponding isosceles triangle in the lower flexible airbag assembly (5) to inflate. When the airbags (51) at the two base corners are not inflated, they help the human body to bend forward or backward. When the three airbags (51) in the flexible airbag assembly (5) are inflated and deflated at the same time, they return to their initial state. When either of the airbags (51) at the two base angles of the corresponding isosceles triangle in the lower flexible airbag assembly (5) is inflated, it assists in the lateral bending movement of the human body.

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