Summary of the invention
For the above-mentioned problems in the prior art, existing offer a kind of portable wearable upper limb exoskeleton rehabilitation trainingDevice, it is intended to effectively simplify structure, reduce weight, reduction volume, and then strengthen the portability of equipment, it is ensured that auxiliary upper extremity exercise meritThe impaired patient of energy carries out the effect of rehabilitation training, can carry out certain life auxiliary with body-worn simultaneously, have more extensivePracticality.
Concrete technical scheme is as follows:
A kind of portable wearable upper limb exoskeleton rehabilitation training aids, has the feature that, including:
Back module, described back module is used for carrying control system, battery power parts, is simultaneously used for realization and bears meritEnergy；
Two shoulder modules, described in two, shoulder module is respectively arranged on the left and right sides of described back module；
Two ancon modules, ancon module described in two is connected with shoulder module described in two respectively；
Bear mechanism, described in bear mechanism and be located in the module of described back, bear function for realization.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, described back module includes:
Back support；
Waist bracket, described waist bracket is located at below described back support, and described waist bracket and described backBracing frame is fixing to be connected；
Back original paper fixed plate, described back original paper fixed plate is located on described back support, is used for installing control electricityThe electrical equipments such as road plate, motor driving；
Battery mounting, described battery mounting is installed in described waist bracket, for the installation of battery component；
Handle, described handle is located at the top of described back bracket；
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described shoulder module includes:
Shoulder backrest, described shoulder backrest is installed on described back support by a shoulder breadth adjustment portion；
Omoplate frame, described omoplate frame is hinged with described shoulder backrest by a shoulder top joint shaft, thus realize shoulder joint can be0 °～the motion of 90 ° is carried out in horizontal plane；
Shoulder motor cabinet, described shoulder motor cabinet is provided with a power part, and described omoplate frame passes through an omoplate joint shaftHinged with described shoulder motor cabinet, thus realize shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane；
Upper arm assembling set, described upper arm assembling set is threadeded with the outfan of described power part；
Upper arm set, described upper arm set is connected with described upper arm assembling external threading；
Upper arm torr, described upper arm torr overlapped by a spring holder and described upper arm and is connected, thus realize shoulder joint can be0 °～90 ° motion in sagittal plane；
Upper armed lever, described upper armed lever can slide in the chute of described upper arm torr, and described upper armed lever can pass through described bulletSpring alignment pin fixed position；
Described upper armed lever can unload from described upper arm torr.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, described shoulder breadth adjustment portion includes:
Being located at the guide rail of described back bracket upper end, described shoulder backrest is connected with described guide rail slidably, and can lead toCross a street bolt to be fixed.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described ancon module includes:
Ancon retainer ring, described ancon retainer ring is fixing with the lower end of described upper armed lever to be connected；
Front armed lever, described front armed lever is hinged with described ancon retainer ring, thus realize elbow joint can sagittal plane 0 °～120 ° of motions；
Ancon motor mounting plate, described ancon motor mounting plate is located at the side of the pin joint of described ancon retainer ring, elbowPortion's power part is located on described ancon motor mounting plate；
Self-locking mechanism, described self-locking mechanism is located in described ancon retainer ring, and described self-locking mechanism moves with described anconThe outfan of power parts connects.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described self-locking mechanism includes:
Self-locking mechanism locator card, described self-locking mechanism locator card is circular, and respectively to arrange one axial cylindric at two endsProjection, described self-locking mechanism locator card is connected with the outfan of described ancon power part；
Two self-locking mechanism cards, the two ends of each described self-locking mechanism card are provided with groove, and described cylindrical bump is respectively arranged onIn described groove；
Each described self-locking mechanism card center has a hollow out, the side of described hollow out to be provided with tooth, and described tooth is along recessed described in twoThe line direction arrangement of groove；
Self-locking shaft, described self-locking shaft is circumferentially with tooth, and the tooth of described self-locking shaft can be with the tooth of each described self-locking mechanism cardEngagement, described self-locking shaft is fixing with described front armed lever to be connected；
Self-locking mechanism card described in two is laminated on described self-locking mechanism locator card, and described cylindrical bump is stuck in described grooveIn, the tooth of self-locking mechanism card described in two is relative, and described self-locking shaft is through self-locking mechanism described in two, and the tooth of described self-locking shaft is with everyThe tooth engagement of self-locking mechanism card described in.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, is additionally provided with in described ancon moduleOne scroll spring loss of weight mechanism, described scroll spring loss of weight mechanism includes:
Scroll spring, described scroll spring use outer end revolution mode install, the interior hook of described scroll spring with described fromLock shaft is fixed, and the outer hook of described scroll spring is fixing with the shell of described self-locking mechanism to be connected.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, each described front armed lever is all with oneIt is connected for holding up the forearm holder of forearm.
The portable wearable upper limb exoskeleton rehabilitation training aids of above-mentioned one, wherein, described in bear mechanism and include:
Bear mechanism rack, described in bear mechanism rack and described back bracket and described waist bracket is fixing is connected；
Back pad, described back pad be located at described in bear in mechanism rack；
Braces, the upper end of described braces is being takeed on described shoulder support frame, under described braces by bungee opening sleeveEnd is sewn in described back pad；
Belt, the two ends of described belt are sewed up with described back pad respectively；
Front band, the two ends of described front band are sewed up with described back pad respectively.
The good effect of technique scheme is:
Portable wearable exoskeleton rehabilitation training aids is driven by two power parts of ancon module and shoulder moduleDegree of freedom and two drive lacking degree of freedom of shoulder module achieve the reduction of the four-degree-of-freedom to human upper limb locomotion, have preferablyBio-imitability.Meanwhile, by mechanism simplifying, reduce weight, reduce volume, and use self-locking mechanism and the scrollwork of ancon moduleSpring loss of weight mechanism, alleviates the required energy consumed of power part, extends the use time of battery, enhance integrated modelPocket.Ensure that the auxiliary impaired patient of upper extremity exercise carries out the effect of rehabilitation training, simultaneously as use modularityDesign, can be selected shoulder or whole arm module body-worn by patient, carries out certain life auxiliary, has widely practicalProperty.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, real belowExecute the technical scheme that example combines accompanying drawing 1 to Fig. 8 and provide the present invention to be specifically addressed.
Fig. 1 is the structural representation of the portable wearable exoskeleton rehabilitation training aids of the present invention.Fig. 2 be the present invention justThe structural representation of the shoulder module of formula of taking wearable exoskeleton rehabilitation training aids.Fig. 3 be the present invention portable wearable outsideThe structural representation of the ancon module of skeleton recovery training appliance for recovery.Fig. 8 is the portable wearable exoskeleton rehabilitation training of the present inventionThe use state diagram of device.Refer to shown in Fig. 1 to 3 and Fig. 8, it is shown that a kind of portable wearable upper limb exoskeleton rehabilitation instructionPractice device, have the feature that, including: back module 1, two shoulder module 2, two ancon module 3 and bear mechanism 4.
Concrete, described back module 1 is used for carrying control system, battery power parts, is simultaneously used for realization and bears meritEnergy.
Shoulder module 2 described in two is respectively arranged on the left and right sides of described back module 1.
Ancon module 3 described in two is connected with shoulder module 2 described in two respectively.
Described mechanism 4 of bearing is located in described back module 1, bears function for realization.
By above-mentioned setting, described in bear mechanism and described back module can be born with user, thus pass throughDescribed shoulder module realizes the activity of shoulder joint, is realized the activity of elbow joint by described ancon module.
Further, as in preferred embodiment, described back module 1 includes: back support 11, waist bracket12, back original paper fixed plate 13, battery mounting 14 and handle 15.
Wherein, described waist bracket 12 is located at below described back support 11, and described waist bracket 12 and the described back of the bodyPortion's bracing frame 11 is fixing to be connected.
Described back original paper fixed plate 13 is located on described back support 11, is used for installing control circuit plate, motor drivesMove and wait electrical equipment.
Described battery mounting 14 is installed in described waist bracket 12, for the installation of battery component.
Described handle 15 is located at the top of described back support 11.
It addition, as in preferred embodiment, each described shoulder module 2 includes: shoulder backrest 21, omoplate frame 22, shoulderMotor cabinet 23, upper arm assembling set 24, upper arm set 25, upper arm torr 26 and upper armed lever 27.
Concrete, described shoulder backrest 21 is installed on described back support 11 by a shoulder breadth adjustment portion 28.
Described omoplate frame 22 is hinged with described shoulder backrest 21 by a shoulder top joint shaft 221, thus realize shoulder joint can be0 °～the motion of 90 ° is carried out in horizontal plane.
Described shoulder motor cabinet 23 is provided with a power part 231, described omoplate frame 22 by an omoplate joint shaft 222 withDescribed shoulder motor cabinet 23 is hinged, thus realizes shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane.
Described upper arm assembling set 24 is fixing with the outfan of described power part 231 to be connected.
Described upper arm set 25 is fixing with described upper arm assembling set 24 to be connected.
Described upper armed lever 27 is provided with hole, some location 271 along its length, and described spring holder 272 is through fixed described in oneHole 271, position and described upper arm set 25 are fixed.
Described upper arm torr 26 connects in described upper armed lever 27 is fixing, thus realize shoulder joint can in sagittal plane 0 °～90 °Motion.
Described upper armed lever 27 can overlap 25 from described upper arm torr 26 and described upper arm and unload.
By the setting of above-described embodiment, by described shoulder backrest is installed to described back support, thus realizeDescribed shoulder module is connected with described back module.And by a shoulder top joint shaft by described omoplate frame and the described shoulder back of the bodyFrame is hinged, then be capable of shoulder joint and can carry out the motion (DOF1) of 0 °～90 ° in horizontal plane.By described omoplate joint shaftBy hinged with described omoplate frame for described shoulder motor cabinet, it is possible to realize shoulder joint and can carry out 0 °～the motion of 90 ° in coronalplane(DOF2).Described shoulder motor cabinet is provided with a power part, thus when described power part works, it is possible to drive with describedThe upper arm assembling set motion that the outfan of power part connects, thus drive the upper arm set fortune being connected with described upper arm assembling setDynamic, then drive described upper arm torr, described upper arm torr can hold up the upper arm of user, it is achieved shoulder joint can in sagittal plane 0 °～90 ° of motions (DOF3).It addition, the armed lever in above-described embodiment can slide in the chute of described upper arm torr, and described upper armBar can pass through described spring holder fixed position, thus according to the upper arm lengths of different users, it is possible to regulate described upper armThe effective length of bar, can adapt to the upper arm lengths of user.
Further, as in preferred embodiment, described shoulder breadth adjustment portion 28 includes: be located at described back bracket upper endGuide rail 281, described shoulder backrest 21 is connected with described guide rail 281 slidably, and can carry out solid by a regulation bolt 282Fixed.
By arranging the shoulder breadth adjustment portion in above-described embodiment, then can according to the actual shoulder breadth size of different users,Adjust takeing on backrest described in two to correct position, and then the distance between two shoulder modules is adjusted the shoulder to applicable userWide.
It addition, the structural representation of the self-locking mechanism card of the portable wearable exoskeleton rehabilitation training aids that Fig. 4 a is the present inventionFigure；Fig. 4 b is the structural representation of the self-locking mechanism locator card of the portable wearable exoskeleton rehabilitation training aids of the present invention；Figure4c is the structural representation of the self-locking shaft of the portable wearable exoskeleton rehabilitation training aids of the present invention；Fig. 4 d be the present invention justThe structural representation of the self-locking mechanism of formula of taking wearable exoskeleton rehabilitation training aids.Fig. 5 be the present invention portable wearable outsideThe operation principle schematic diagram of the self-locking mechanism of skeleton recovery training appliance for recovery.Refer to shown in Fig. 4 a-d and Fig. 5, as the most realExecuting in example, each described ancon module 3 includes: ancon retainer ring 31, front armed lever 32, ancon motor mounting plate 33 and from lock machineStructure 34.
Described ancon retainer ring 31 is fixing with the lower end of described upper armed lever 27 to be connected.
Described front armed lever 32 is hinged with described ancon retainer ring 31, thus realize elbow joint can be in 0 °～120 ° fortune of sagittal planeDynamic.
Described ancon motor mounting plate 33 is located at the pin joint of described ancon retainer ring 31, and ancon power part 331 is located atOn described ancon motor mounting plate 33.
Described self-locking mechanism 34 is located in described ancon retainer ring 31, and described self-locking mechanism 34 and described ancon power partThe outfan of part 331 connects.
In above-described embodiment, described ancon retainer ring is for being surrounded on user ancon when dressing.Described front armed lever withDescribed ancon retainer ring is hinged, thus by being located at the ancon power part on described ancon motor mounting plate, it is possible to by describedFront armed lever is mentioned, thus is mentioned by the forearm of user, it is achieved elbow joint can be 0 °～120 ° motion (DOF4) of sagittal plane.
Further, as in preferred embodiment, each described self-locking mechanism 34 includes: self-locking mechanism locator card 341,Two self-locking mechanism cards 342, self-locking shaft 343 and self-locking mechanism shell 344.
Described self-locking mechanism locator card 341 is in annulus lamellar, and two ends respectively arrange an axial cylindrical bump 345, instituteState self-locking mechanism locator card 341 to be connected with the outfan of described ancon power part 331.
The two ends of each described self-locking mechanism card 342 are provided with groove 346, and described cylindrical bump 345 is respectively arranged on describedIn groove 346.
Each described self-locking mechanism card 342 center has a hollow out, the side of described hollow out to be provided with tooth, and described tooth is along described in twoThe line direction arrangement of groove 346.
Described self-locking shaft 343 is circumferentially with tooth, and the tooth of described self-locking shaft 343 can be with each described self-locking mechanism card 342Tooth engages, and described self-locking shaft 343 is fixing with described front armed lever 32 to be connected.
Self-locking mechanism card 342 described in two is laminated on described self-locking mechanism locator card 341, and described cylindrical bump 345 blocksIn described groove 346, the tooth of self-locking mechanism card 342 described in two is relative, and described self-locking shaft 343 is through self-locking mechanism card described in two342, and the tooth of described self-locking shaft 343 engages with the tooth of each described self-locking mechanism card 342.
Self-locking mechanism card 342 described in two and described self-locking shaft 343 are located in described self-locking mechanism shell 344.
Described self-locking mechanism locator card 341 is connected with the outfan of described ancon power part 331, described self-locking shaft 343It is connected with described front armed lever 32.
The operation principle of the self-locking mechanism of above-described embodiment approximately as:
When described ancon power part works, described self-locking mechanism locator card is driven to rotate, thus cylindric described in twoProjection promotes the sidewall of described groove, drives described self-locking mechanism card to rotate.The most described self-locking mechanism card is by being meshedCingulum moves described self-locking shaft and rotates, thus drives described front armed lever to mention.
When described ancon power part quits work, but when user wishes to maintain the state that the front crook of the arm is lifted, described forearmBar first falls a small distance, drives described self-locking shaft to turn an angle, thus described self-locking shaft is made by the tooth being meshedSelf-locking mechanism card described in two produces the trend rotated, but has described cylinder owing to blocking in the grooves on two sides of self-locking mechanism card described in twoShape is protruding, thus self-locking mechanism card described in two moves to the direction of cylindrical bump respectively, so that self-locking mechanism card described in twoThe staggered inwall to self-locking mechanism shell described in post so that described self-locking shaft rotates and stops, thus completes self-locking.
The effect of the self-locking mechanism arranging above-described embodiment is, when user wishes to maintain the state that the front crook of the arm is lifted,Described ancon power part continuous firing need not be made, thus save energy usage amount.
Meanwhile, Fig. 6 is the knot of scroll spring loss of weight mechanism of portable wearable exoskeleton rehabilitation training aids of the present inventionStructure schematic diagram.Refer to shown in Fig. 6, as in preferred embodiment, in described ancon module 3, be additionally provided with a scroll spring loss of weightMechanism 35, described scroll spring loss of weight mechanism 35 includes: scroll spring 351, described scroll spring 351 uses outer end to turn round modeInstalling, the interior hook of described scroll spring 351 is fixed with described self-locking shaft 343, the outer hook of described scroll spring 351 and described self-lockingMechanism shell 344 is fixing to be connected.
By arranging the scroll spring loss of weight mechanism in above-described embodiment, when current armed lever falls, described self-locking shaft rotates,Thus cause described scroll spring to tighten up energy storage, when described ancon power part starts, described front armed lever moves upward, describedScroll spring loosens, and releases energy, thus plays the effect of loss of weight and equilibrant, saves battery electric quantity.By described scrollwork bulletSpring loss of weight mechanism, greatly reduces the load in use of described ancon power part, decreases power consumption, extend electricityThe use time in pond.
It addition, as a kind of preferred version, described upper armed lever can unload from described upper arm torr, i.e. be used alone described anconModule, so that user individually carries out rehabilitation training to ancon.
Further, as in preferred embodiment, each described front armed lever 32 all is used for holding up the forearm of forearm with oneTorr 321 is connected.
By arranging the forearm holder in above-described embodiment, it is possible to drive described forearm holder when carrying on described front armed lever, fromAnd drive and carry on the forearm of user.
Additionally, the structural representation bearing mechanism of the portable wearable exoskeleton rehabilitation training aids that Fig. 7 is the present invention,Refer to shown in Fig. 7, as in preferred embodiment, described in bear mechanism 4 and include: bear mechanism rack 41, back pad 42, the back of the bodyBand 43, belt 44 and front band 45.
Wherein, bear mechanism rack 41 described in fix be connected with described back support 11 and described waist bracket 12.
Described back pad 42 is born in mechanism rack 41 described in being located at.
The upper end of described braces 43 by bungee opening sleeve on described back support 11, the lower end of described braces 43It is sewn in described back pad 42.
The two ends of described belt 44 are sewed up with described back pad 42 respectively.
The two ends of described front band 45 are sewed up with described back pad 42 respectively.
When actual bearing, first described braces is carried on the back in two shoulders, more described pectoral girdle is tied to front, finally by described waistBand is tied to waist, i.e. completes to bear.Meanwhile, arrange described in bear the effect of mechanism rack and be, by arranging this rigid element, fromAnd avoid in use owing to described braces, described belt and perturbing of described front band cause equipment to rock, thusAffect stability.
The occupation mode of the present invention and operation principle approximately as: first, adjust two shoulders according to the shoulder breadth of userDistance between module, adjusts the effective length of upper armed lever according to the upper arm lengths of user.After braces is carried on the back in two shoulders, by breastBand is tied to front, and belt is tied to waist, completes to bear.After completing to bear, by forearm through ancon retainer ring, upper arm is made to be positioned atIn upper arm torr, make elbow position be positioned at ancon retainer ring, make forearm be positioned at forearm holder, i.e. complete to dress.
Time actually used, user ipsilateral upper limb myoelectricity is passed through in the portable wearable exoskeleton rehabilitation training aids of the present inventionSignal (EMG) voice signal the mode such as patient's healthy side upper limb actuating signal control each power part so that shoulder module andAncon block motion, drives the suffering limb that cannot move to realize completing in sagittal interior receipts/abduction fortune with elbow joint of shoulder jointDynamic, carry out rehabilitation training and daily life auxiliary.By the repetitious stimulation of training campaign, can gradually help the portion of cerebral apoplexy patientDivide or whole upper extremity exercise function.Owing to the portable wearable exoskeleton rehabilitation training aids of the present invention uses portable wearing to setMeter, so also being able to patient's daily life is played certain assosting effect.
The portable wearable exoskeleton rehabilitation training aids that the present embodiment provides, by ancon module and the two of shoulder moduleDegree of freedom and two drive lacking degree of freedom of shoulder module that individual power part drives achieve to human upper limb locomotion four freelyDegree reduction, has preferable bio-imitability.Meanwhile, by mechanism simplifying, and self-locking mechanism and the scrollwork bullet of ancon module are usedSpring loss of weight mechanism, alleviates the required energy consumed of power part.Thus effectively simplify structure, reduce weight, reduction volume, enterAnd strengthening the portability of equipment, it is ensured that the auxiliary impaired patient of upper extremity exercise carries out the effect of rehabilitation training, because usingModularized design, can be selected shoulder or whole arm module to carry out body-worn by patient, carries out certain life auxiliary, has moreWide applicability.
These are only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and protection domain, rightFor those skilled in the art, it should can appreciate that the equivalent done by all utilization description of the invention and diagramatic content is replacedChange and obviously change obtained scheme, all should be included in protection scope of the present invention.