A magnetorheological feedback wrist active and passive rehabilitation training device

Abstract

This utility model discloses a magnetorheological force feedback wrist active and passive rehabilitation training device, including a universal joint, a handle, a first transmission system, and a second transmission system. One end of the universal joint is connected to the first transmission system, and the other end is connected to the second transmission system. The handle is mounted on the universal joint via a chassis. The first transmission system includes a first motor and a first magnetorheological damping joint; the second transmission system includes a second motor and a second magnetorheological damping joint. The first and second magnetorheological damping joints have identical structures. This utility model, through a hybrid drive transmission system combining a motor and a magnetorheological damping joint, solves the problem of poor flexible control performance in traditional rigid rehabilitation robots due to high inertia and motor stall impact, thus improving the human-machine interaction output performance of the rehabilitation robot.

Description

Technical Field

[0001] This utility model relates to a wrist rehabilitation training device, and more particularly to a feedback-type active and passive wrist rehabilitation training device based on magnetorheological fluid. Background Technology

[0002] In the field of modern rehabilitation medicine, the rehabilitation treatment of wrist dysfunction has always been a research hotspot and a challenge. As an important component of the upper limb, the wrist's flexibility, strength, and coordination are crucial for performing daily activities. However, due to various reasons such as trauma, neurological diseases, aging, and stroke, the number of patients with wrist dysfunction is constantly increasing, creating an urgent need for efficient and personalized rehabilitation training equipment.

[0003] Traditional wrist rehabilitation training devices mostly employ simple mechanical structures, driving wrist movements manually or electrically. While these devices can help patients regain wrist function to some extent, they often suffer from the following problems: First, the force feedback is not precise enough, making it impossible to personalize adjustments based on the patient's specific situation; second, the training modes are limited, lacking real-time monitoring and dynamic adjustment of the patient's rehabilitation progress; third, the devices are bulky and inconvenient, restricting the patient's rehabilitation environment and time; and fourth, traditional rehabilitation robots are all rigid structures composed of rigid links with significant inertia. Most are driven by motors and rigidly connected to actuators, lacking flexibility and prone to rigid impacts. Summary of the Invention

[0004] Based on the above problems, this utility model proposes a magnetorheological force feedback wrist active and passive rehabilitation training device. Through a hybrid drive transmission system combining a motor and a magnetorheological damping joint, it solves the problem of poor flexible control performance caused by high inertia and motor stall impact in traditional rigid rehabilitation robots, and improves the output performance of human-computer interaction in rehabilitation robots.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A magnetorheological force feedback wrist active and passive rehabilitation training device includes a universal joint, a handle, a first transmission system, and a second transmission system; one end of the universal joint is connected to the first transmission system, and the other end is connected to the second transmission system; a handle is mounted on the universal joint via a chassis; the first transmission system includes a first motor and a first magnetorheological damping joint; the second transmission system includes a second motor and a second magnetorheological damping joint.

[0007] The universal joint assembly includes a first drive shaft and a second drive shaft; the first drive shaft is connected to a first magnetorheological damping joint; the second drive shaft is connected to a second magnetorheological damping joint.

[0008] A first drive shaft sleeve is fitted onto the first drive shaft, and a second drive shaft sleeve is fitted onto the second drive shaft. The second drive shaft sleeve is located above the first drive shaft sleeve, and the two are fixed together in a cross shape.

[0009] The first drive shaft is provided with a first ball joint, and a first bracket is installed on the first drive shaft sleeve. The first fixing ring is located on the outside of the first bracket. The first ball joint is located inside the first fixing ring near the hollow coding area and can rotate within the first fixing ring.

[0010] The second drive shaft is provided with a second ball joint, and a second bracket is installed on the second drive shaft sleeve. The second bracket is fixed on the chassis, and the second fixing ring is located on the outside of the second bracket. The second ball joint is located inside the second fixing ring near the hollow code and can rotate within the second fixing ring.

[0011] The first drive shaft and the second drive shaft have the same structure;

[0012] A handle is mounted on the chassis via a handle connector, and a force sensor is installed between the chassis and the handle connector.

[0013] The input end of the first magnetorheological damping joint is connected to the output end of the first motor via a coupling, and the output end of the first magnetorheological damping joint is connected to the first drive shaft via a coupling and a hollow encoder in sequence.

[0014] The input end of the second magnetorheological damping joint is connected to the output end of the second motor via a coupling, and the output end of the second magnetorheological damping joint is connected to the second drive shaft via a coupling and a hollow encoder in sequence.

[0015] Furthermore, the first and second magnetorheological damping joints have the same structure. Taking the first magnetorheological damping joint as an example, the structure includes an upper housing, a lower housing, a side housing, a rotor, a drive shaft, and a flange shaft. The drive shaft serves as the input end, with one end connected to the first motor. The flange shaft serves as the output end, connected to the first drive shaft. The upper housing, lower housing, and side housing form a sealed space in which the rotor is placed. The drive shaft passes through the upper housing and the rotor, and is mounted on one side of the flange shaft via a bushing and a sealed bearing. The other side of the flange shaft passes through the lower housing and is connected to the first drive shaft via a coupling and a hollow encoder. The rotor is fixed to the drive shaft by a key and positioned by a shaft shoulder. There are gaps between the rotor and the upper housing, lower housing, and side housing, and these gaps are filled with magnetorheological fluid.

[0016] An outer flange is fixed to the outside of the upper housing, and the drive shaft is fixed to the outer flange; the upper housing has an upper coil groove and an upper wire hole, and an upper coil is installed in the upper coil groove; an upper magnetic isolation ring is fixed to the outside of the upper coil groove, and sealing rings are installed on both sides of the upper magnetic isolation ring to seal the upper coil groove.

[0017] A flange shaft is installed on one side of the lower housing. The lower housing has a lower coil slot and a lower wire hole. The lower coil is installed in the lower coil slot. A lower magnetic isolation ring is fixed on the outside of the lower coil slot. Sealing rings are installed on both sides of the lower magnetic isolation ring to seal the lower coil slot.

[0018] Furthermore, a conductive slip ring is installed on the flange shaft, and the conductive slip ring is connected to the upper coil and the lower coil through the lower wire hole and the upper wire hole, respectively.

[0019] This invention utilizes a combination of a motor and a magnetorheological damping joint to form a hybrid drive transmission structure, which solves the problem of poor flexible control performance caused by high inertia and motor stall impact in traditional rigid rehabilitation robots, and improves the output performance of human-machine interaction in rehabilitation robots.

[0020] This invention features both active and passive training modes.

[0021] 1. Active training mode

[0022] In active training mode, patients need to actively exert force to train their wrists or upper limbs. At this time, the first and second magnetorheological damping joints provide reverse resistance, helping patients enhance muscle strength and coordination. When the patient begins to actively exert force and rotates the handle, it drives the universal joint device to rotate. That is, when the patient exerts force, it drives the rotation of the first and second drive shafts. When the force sensor detects the patient's exertion, the control system adjusts the excitation current of the magnetorheological fluid according to preset training parameters (such as desired resistance and training speed). The first drive shaft is connected to the first magnetorheological damping joint, and the second drive shaft is connected to the second magnetorheological damping joint. By changing the damping torque, appropriate training resistance is provided to the patient.

[0023] During active training, the first and second motors do not directly drive the rotation of the magnetorheological damping joints; instead, they function as auxiliary or monitoring devices. The rotational speed and force output of the first and second transmission systems are influenced by adjusting the damping torque. During active training, the two magnetorheological damping joints work collaboratively, providing appropriate resistance based on the patient's force exertion and training needs. The first and second magnetorheological damping joints exhibit a high degree of synchronicity and coordination to ensure consistent training effectiveness and safety.

[0024] 2. Passive training mode

[0025] In passive training mode, the device actively drives the patient's wrist or upper limb to move, helping to restore muscle function and joint flexibility. In passive training mode, the first and second motors become the main driving force sources, driving the first and second magnetorheological damping joints to rotate according to preset training parameters and the patient's actual condition. The control system adjusts the excitation currents based on the driving torque of the first and second motors, the patient's resistance, and training needs, thereby changing the damping torque to achieve a smooth and stable passive training process. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the cross universal joint device in this utility model;

[0028] Figure 3 This is a schematic cross-sectional view of the first magnetorheological damping joint in this utility model.

[0029] Figure 4 This is a three-dimensional structural diagram of the first magnetorheological damping joint in this utility model.

[0030] Figure 5 This is an exploded schematic diagram of the first magnetorheological damping joint in this utility model;

[0031] Figure 6 This is a schematic diagram of the handle structure in this utility model;

[0032] Figure 7 This is a schematic diagram of the structure of the first transmission shaft in this utility model. Detailed Implementation

[0033] The technical solution of this utility model is described in detail below. The embodiments of this utility model are for illustrative purposes only, and the scale of the structure is not limited by the embodiments.

[0034] See Figures 1 to 7A magnetorheological force feedback wrist active and passive rehabilitation training device includes a universal joint device 1, a handle 5, a first transmission system 2, and a second transmission system 3. One end of the universal joint device 1 is connected to the first transmission system 2, and the other end is connected to the second transmission system 3. The handle 5 is mounted on the universal joint device 1 via a chassis 11. The first transmission system 2 includes a first motor 21 and a first magnetorheological damping joint 22. The second transmission system 3 includes a second motor 31 and a second magnetorheological damping joint 32. The universal joint device 1 includes a first transmission shaft 13 and a second transmission shaft 14. A first transmission shaft sleeve 15 is fitted on the first transmission shaft 13, and a second transmission shaft sleeve 17 is fitted on the second transmission shaft 14. The first transmission shaft sleeve 15 is located below the second transmission shaft sleeve 17, and the two are fixed in a cross shape.

[0035] The first drive shaft sleeve 15 is equipped with a first bracket 18, and the first fixing ring 19 is located outside the first bracket 18; the first drive shaft 13 is provided with a first ball joint 131, which is located inside the first fixing ring 19 near the hollow encoder and can rotate inside the first fixing ring 19.

[0036] The second drive shaft sleeve 17 is equipped with a second bracket 16, which is fixed to the chassis 11. The second fixing ring 21 is located on the outside of the second bracket 16. The second drive shaft 14 is provided with a second ball joint, which is located inside the second fixing ring 21 near the hollow encoder and can rotate within the second fixing ring 21. A handle is installed on the chassis 11, and a force sensor 52 is installed between the chassis 11 and the handle connector 51. The handle 5 is installed on the handle connector 51.

[0037] The first drive shaft 13 and the second drive shaft 14 have the same structure.

[0038] When this device is not in use, place the universal joint assembly 1 on the circular mounting platform 12 to reduce the force on the shaft over a long period of time, thereby protecting the service life of the universal joint assembly.

[0039] The first and second magnetorheological damping joints have the same structure; the structure of the first magnetorheological damping joint will be described using the first magnetorheological damping joint as an example. The input end of the first magnetorheological damping joint 22 is connected to the output end of the first motor 21 via a coupling 7. The output end of the first magnetorheological damping joint is connected to the first drive shaft 13 via the coupling 7 and the hollow encoder 6. The first magnetorheological damping joint 22 includes an upper housing 221, a lower housing 222, a side housing 223, a rotor 224, a drive shaft 225, and a flange shaft 226. The drive shaft 225 serves as the input end of the first magnetorheological damping joint, and the flange shaft 226 serves as the output end. One side of the side housing 223 is fixed to the upper housing 221 with bolts, and the other side is fixed to the lower housing 222 with bolts, forming a sealed space. The rotor 224 is placed within this space. A liquid injection hole is provided on the side housing 223, through which magnetorheological fluid enters. The drive shaft 225 passes through the upper housing 221 and the rotor 224, and is mounted on one side of the flange shaft 226 via a fluororubber skeleton oil seal 8, a bushing 9, and a sealed bearing 10. The other side of the flange shaft 226 passes through the lower housing 222, and the flange shaft 226 is connected to the first drive shaft 13 via a coupling 7 and a hollow encoder 6. The rotor 224 is fixed to the drive shaft 225 by a key and positioned by a shaft shoulder. There are gaps between the rotor 224 and the upper housing 221, the lower housing 222, and the side housing 223, and these gaps are filled with magnetorheological fluid. A conductive slip ring 241 is mounted on the flange shaft 226, and the conductive slip ring 241 is connected to the upper coil 230 and the lower coil 232 via lower and upper wire holes, respectively. A conductive slip ring bracket 2411 on the conductive slip ring 241 is mounted on a bearing seat 2412, and the bearing seat is fixed to the base 4.

[0040] An outer flange 234 is fixed to the outer side of the upper housing 221, and a drive shaft 225 is fixed to the outer flange 234. The upper housing 221 has an upper coil groove 227 and an upper wire hole. An upper coil 230 is installed in the upper coil groove 227. An upper magnetic isolation ring 228 is fixed to the outer side of the upper coil groove 227. Sealing rings 229 are installed on both sides of the upper magnetic isolation ring 228 to seal the upper coil groove 227.

[0041] A flange shaft 226 is installed on one side of the lower housing 222. The lower housing 222 has a lower coil groove 231 and a lower wire hole. A lower coil 232 is installed in the lower coil groove 231. A lower magnetic isolation ring 233 is fixed to the outside of the lower coil groove 231. Sealing rings 229 are installed on both sides of the lower magnetic isolation ring 233 to seal the lower coil groove 231. The upper housing 221, lower housing 222, side housing 223, flange shaft 226, and outer flange 234 are connected by bolts and move together as an outer shell.

[0042] The input end of the second magnetorheological damping joint 32 is connected to the output end of the second motor 31 via a coupling, and the output end is connected to the second transmission shaft 14 via a coupling 7 and a hollow encoder 6 in sequence.

Claims

1. A magneto-rheological force feedback wrist passive-active rehabilitation training device, characterized in that It includes a universal joint assembly, a handle, a first transmission system, and a second transmission system; one end of the universal joint assembly is connected to the first transmission system, and the other end is connected to the second transmission system; a handle is mounted on the universal joint assembly via a chassis; the first transmission system includes a first motor and a first magnetorheological damping joint; the second transmission system includes a second motor and a second magnetorheological damping joint. The universal joint device includes a first drive shaft and a second drive shaft; The first drive shaft is connected to the first magnetorheological damping joint; the second drive shaft is connected to the second magnetorheological damping joint. A first transmission shaft sleeve is fitted onto the first transmission shaft, and a second transmission shaft sleeve is fitted onto the second transmission shaft. The second transmission shaft sleeve is located above the first transmission shaft sleeve, and the two are fixed together in a cross shape. The first drive shaft is provided with a first ball joint, and a first bracket is installed on the first drive shaft sleeve. The first fixing ring is located on the outside of the first bracket. The first ball joint is located inside the first fixing ring near the hollow coding area and can rotate within the first fixing ring. The second drive shaft is provided with a second ball joint, which is located in the second fixed ring near the hollow encoder and can rotate within the second fixed ring; a second bracket is installed on the second drive shaft sleeve, the second bracket is fixed on the chassis, and the second fixed ring is located on the outside of the second bracket; The first drive shaft and the second drive shaft have the same structure; A handle is mounted on the chassis via a handle connector, and a force sensor is installed between the chassis and the handle connector. The input end of the first magnetorheological damping joint is connected to the output end of the first motor via a coupling, and the output end of the first magnetorheological damping joint is connected to the first drive shaft via a coupling and a hollow encoder in sequence. The input end of the second magnetorheological damping joint is connected to the output end of the second motor via a coupling, and the output end of the second magnetorheological damping joint is connected to the second transmission shaft via a coupling and a hollow encoder in sequence.

2. The magnetic field generating device according to claim 1, wherein the magnetic field generating device is a wrist passive-active rehabilitation training device. The first magnetorheological damping joint and the second magnetorheological damping joint have the same structure; It includes an upper housing, a lower housing, a side housing, a rotor, a drive shaft, and a flange shaft; the drive shaft serves as the input end of the first magnetorheological damping joint, and the flange shaft serves as the output end; the upper housing, lower housing, and side housing form a sealed space in which the rotor is placed; the drive shaft passes through the upper housing and the rotor, and is mounted on one side of the flange shaft via a bushing and a sealed bearing, while the other side of the flange shaft passes through the lower housing and is connected to the first drive shaft via a coupling and a hollow encoder; the rotor is fixed to the drive shaft by a key and positioned by a shaft shoulder; there are gaps between the rotor and the upper housing, lower housing, and side housing, and these gaps are filled with magnetorheological fluid; An outer flange is fixed to the outside of the upper housing, and the drive shaft is fixed to the outer flange; the upper housing has an upper coil groove and an upper wire hole, and an upper coil is installed in the upper coil groove; an upper magnetic isolation ring is fixed to the outside of the upper coil groove, and sealing rings are installed on both sides of the upper magnetic isolation ring to seal the upper coil groove. A flange shaft is installed on one side of the lower housing. The lower housing has a lower coil slot and a lower wire hole. The lower coil is installed in the lower coil slot. A lower magnetic isolation ring is fixed on the outside of the lower coil slot. Sealing rings are installed on both sides of the lower magnetic isolation ring to seal the lower coil slot.

3. The magnetic fluid force feedback wrist rehabilitation device according to claim 2, wherein A conductive slip ring is installed on the flange shaft, and the conductive slip ring is connected to the upper coil and the lower coil through the lower wire hole and the upper wire hole, respectively.

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