CN111317645A - A flexible modular joint rehabilitation mechanism - Google Patents

Abstract

A flexible modular joint rehabilitation mechanism, which includes a flange, a flexible clamping unit and a flexible driving unit; the flexible clamping units are arranged in pairs and are respectively installed on one flange, and the two flanges are evenly distributed with A flexible driving unit connecting the two; the flexible clamping unit performs clamping on the limbs in the positioning channel; each of the flexible driving units includes a ball socket, a hollow joint bolt and a plurality of hollow flexible bodies; the plurality of hollow flexible bodies are connected in series A flexible drive body is formed. The hollow flexible bodies at both ends of the flexible drive body are placed in the ball socket to form a spherical hinge. The hollow flexible body of the spherical hinge is connected to the ball socket through hollow joint bolts. The holes of the hollow joint bolts are communicated with the central channel. The flange is limited and fixed by the ball socket and the hollow joint bolts pierced through the flange. The present invention not only provides active rehabilitation exercise ability, but also has the ability to passively adapt to the joint movement law of the patient's individualized body shape plan.

Description

A flexible modular joint rehabilitation mechanism

technical field

The invention relates to a joint rehabilitation mechanism, in particular to a flexible modular joint rehabilitation mechanism.

Background technique

At present, for hemiplegia, soft tissue strain and postoperative joint rehabilitation, post-rehabilitation training has become the main link to promote overall rehabilitation. At present, medical equipment is mainly based on fixed brackets and passively movable joints, mainly relying on the patient's own active movement. In the early stage of rehabilitation, how to actively assist patients with joint movement is the key to joint rehabilitation. In the active rehabilitation structure, the parallel structure has become the mainstream trend due to its advantages of high stability, continuous torque, and large working space, while the current main products are directly transferred from the parallel rigid structure, which is complicated in drive and control, bulky, and poor in portability. More importantly, there is no individualized body shape plan for different patients, and the rigid structure is easy to cause secondary damage to the recovered patients.

SUMMARY OF THE INVENTION

The present invention provides a flexible modular joint rehabilitation mechanism in order to overcome the deficiencies of the prior art. The mechanism adopts flexible drive, which not only provides active rehabilitation exercise ability, but also provides the ability to passively adapt to the joint movement law of the patient's personalized body shape plan from the material itself; it simplifies the complexity of the existing overall structure design, and has good convenience, and can be worn on the rehabilitation limb , move with the patient.

The technical scheme of the present invention is as follows: a flexible modular joint rehabilitation mechanism, which includes a flange, a flexible clamping unit and a flexible driving unit; the flexible clamping units are arranged in pairs and are respectively installed on one flange, and the two methods N flexible driving units connected to the flanges are evenly distributed between the flanges; the flange, the flexible clamping unit and the flexible driving unit have positioning channels for the limbs to enter and exit, and the flexible clamping unit performs clamping on the limbs in the positioning channels; Where N≥3, N is a positive integer;

Each of the flexible drive units includes a ball socket, a hollow joint bolt and a plurality of hollow flexible bodies; a plurality of hollow flexible bodies are connected in series to form a flexible drive body, and the hollow flexible bodies at both ends of the flexible drive body are placed in the ball socket to form a spherical hinge , the hollow flexible body of the spherical hinge is connected with the ball socket through the hollow joint bolt, a plurality of hollow flexible bodies are provided with a central channel that communicates with each other, the hole of the hollow joint bolt is communicated with the central channel, and each flange The hollow joint bolts arranged on the flange are fixed together with the limit.

Compared with the prior art, the present invention has the following beneficial effects:

The hollow flexible body and the ball socket of the present invention form a spherical hinge, the flexible driving unit can freely rotate relative to the ball socket by the ball hinge, the flexible driving unit is made of flexible materials, and there is a central channel inside the flexible driving unit to communicate with the flexible body. During inflation, as the air pressure increases, the flexible drive unit can be elongated in the direction of elongation; the elongation of the flexible drive unit is actively controlled, the relative rotation of the ball twist is passive adaptation, and the hollow flexible body can passively adapt to individual joints of different patients movement rules. The flexible clamping unit provides sufficient fixing force to ensure safety and increase comfort. The whole is portable and can be carried around, and the flange and flexible drive unit can be quickly replaced to achieve a modular design.

Below in conjunction with accompanying drawing and embodiment, technical scheme of the present invention is further described:

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the front view of the flexible drive unit;

Fig. 3 is a sectional view along line A-A in Fig. 2;

Fig. 4 is the three-dimensional structure schematic diagram of the flexible clamping unit;

Figure 5 is a front view of the flexible clamping unit;

FIG. 6 is a cross-sectional view taken along line B-B in FIG. 5 .

Detailed ways

Referring to Fig. 1-Fig. 3, a flexible modular joint rehabilitation mechanism includes a flange 1, a flexible clamping unit 2 and a flexible driving unit 3; the flexible clamping units 2 are arranged in pairs and are respectively installed in one method On the flange 1, N flexible drive units 3 connected to the two flanges 1 are distributed between them; the flange 1, the flexible clamping unit 2 and the flexible driving unit 3 have positioning channels for the limbs to enter and exit, and the flexible clamps The tight unit 2 performs gripping on the limbs in the channel; wherein N≥3, N is a positive integer;

Each of the flexible drive units 3 includes a ball socket 31, a hollow joint bolt 32 and a plurality of hollow flexible bodies 33; the plurality of hollow flexible bodies 33 are connected in series to form a flexible drive body, and the hollow flexible bodies 33 at both ends of the flexible drive body are placed on the A spherical hinge is formed in the ball socket 31, and the hollow flexible body 33 of the spherical hinge is connected with the ball socket 31 through the hollow joint bolt 32. The plurality of hollow flexible bodies 33 are provided with a central channel 34 that communicates with each other. The central channels communicate with each other, and each flange 1 is limited and fixed by a ball socket 31 and a hollow joint bolt 32 pierced on the flange 1 together.

In this embodiment, a through hole is formed on the flange 1 corresponding to the flexible drive unit 3. After the threaded section of the hollow joint bolt 32 passes through the through hole, it is threadedly matched with the threaded hole 311 at the end of the ball socket 31, and the threaded section of the hollow joint bolt 32 is threaded. The end pierces the wall of the hollow flexible body 33 and extends into the hollow flexible body 33 to complete the fixing of the ball socket 31 and the hollow flexible body 33, as well as the sealing of the hollow flexible body 5, and the stepped end face of the hollow joint bolt 32 (such as the head The end face) abuts on the outer surface of the flange 1 or the groove surface where the through hole is located, so that the flange 1 is fixed by pressing or clamping the hollow joint bolt 32 and the ball socket 31 . Usually, the hollow joint bolts 32 are air valve screws. The series connection of the plurality of hollow flexible bodies 33 can be made by integral molding.

The positioning channel is worn on the limbs at both ends of the rehabilitation joint, and the flexible clamping unit 2 can be activated to tighten the internal limbs; at the same time, due to the function of flexibility, it can achieve flexible contact and large-area extrusion with the limbs, improving comfort and safety at the same time. Protective effects. The ball socket 31 is fixed on the flange 1 by threaded connection, and the hollow flexible body 33 and the ball socket 31 form a spherical hinge, which can realize the free rotation of the ball socket 31 by means of the ball hinge; the flexible drive unit 2 is made of flexible materials, and the hollow flexible body 33 There is a central channel 34 connected with each flexible body. When the hollow joint bolt 32 is inflated into the central channel 34 and enters the interior of the hollow flexible body 33, as the air pressure rises, the flexible driving body connected in series by the flexible bodies can stretch in the direction of elongation; The elongation of the flexible driving body is actively controlled, and the relative rotation of the ball joint is passive adaptation, which can passively adapt to the movement rules of individual joints of different patients.

Optionally, as shown in FIG. 1 and FIG. 4 to FIG. 6 , the actuator 21 includes an annular casing 211 , a flexible membrane 212 and a rigid pressing head 213 ; the inner wall of the annular casing 211 is provided with a plurality of rigid pressings in the circumferential direction Head 213, each rigid pressing head 213 is a hollow structure, the end of each pressing head 213 is fixed with a flexible film 212, the flexible film 212, the rigid pressing head 213 and the annular casing 211 form an air storage chamber 214, the annular casing An interface 2111 communicated with the gas storage chamber 214 is processed on the 211 , and the annular casing 211 is connected with the flange 1 . In this embodiment, in order to further achieve a modular arrangement and facilitate disassembly and assembly, a plurality of connecting lugs 215 are installed on the outer end of the annular housing 211 along the circumferential direction. In the matching holes, the detachable connection between the annular housing 211 and the flange 1 is realized by installing bolts in the matching holes.

Optionally, the annular casing 211 is a circular casing. The round shell is more suitable for the human arm, which is convenient for position adjustment.

In the above example, the annular casing 211 is fixedly connected to the flange 1 by matching bolts in the holes, the rigid annular casing 211 is sleeved on the limbs at both ends of the rehabilitation joint, inflated through the interface 2111, the air pressure in the air storage chamber 214 increases, and the flexible membrane 212 Expanding to the inside of the annular shell 211, when all the flexible membranes 212 expand at the same time, the internal limbs can be clamped; at the same time, due to the flexibility of the flexible membranes 212, flexible contact with the limbs and large-area extrusion can be achieved, improving comfort and safety at the same time. effect. In addition, by injecting or extracting gas into the gas storage chamber 214, the frequency of charging and discharging gas and the amount of gas can be controlled to control the massage frequency and pressing force; and the fixed position of the actuator relative to the arm can be adjusted to massage different parts of the arm. .

In addition, since the configuration of the flexible drive unit 3 is circumferentially symmetrical, the overall mechanism can be rotated around the arm to an appropriate position according to the needs of the flexible clamping unit 2. The two annular housings 211 are configured in mirror images. The joints are bent down, and the flexible membrane 212 can massage the corresponding acupoints. Because the pressure is maintained and pressurized during massage, it also plays a clamping role. While realizing joint rehabilitation, the inflation and deflation control of different rigid pressing heads can realize adjustable massage of the pressing parts, and the rigid pressing heads are beneficial to ensure the directionality and stiffness of the flexible membrane. The flexible membrane 212 protruding from the point can be used to adjust the acupoint by adjusting the position and rotation as a whole for the point.

Optionally, the number of the flexible driving units 3 is six, each of which is arranged in a group, and the two flanges 1 and the three groups of flexible driving units 2 are arranged in a delta mechanism. At this time, although the overall rehabilitation mechanism is a delta parallel structure, a flexible driving unit 3 is used, and a flexible clamping unit 2 for clamping limbs is added. The whole has no cumulative error, good dynamic response, compact structure and large bearing capacity; the completely symmetrical parallel mechanism has better isotropy. Optionally, the material of the hollow flexible body 33 is rubber. When the active movement law is different from the patient's personalized bone law, it can be passively adjusted under the patient's reaction force, which plays a role in safety protection.

Optionally, a plurality of the rigid pressing heads 213 are evenly arranged along the circumferential direction.

Optionally, the material of the flexible membrane 212 is rubber. The rigid pressing head 213 and the flexible membrane 212 are adopted. Under the support of the rigid pressing head 213, when the flexible membrane 212 massages the acupoints, the flexible membrane 212 will not shift and maintain a certain reassurance and rigidity. Optionally, the initial state of the flexible film 212 is an outwardly convex (such as a hemispherical film) or an inwardly concave arc surface. Initially, there is no air pressure in the air storage chamber 214 , and naturally, due to the accumulation of area, the flexible membrane 212 will appear outwardly convex or inwardly concave.

working principle

The whole mechanism is put into the rehabilitation limb, and the annular casings 211 are located on both sides of the rehabilitation joint. First, the flexible membrane 212 in the annular casing 211 is inflated, and the flexible membrane 212 is expanded by gas pressure to clamp the internal limbs and play a fixed role; then Through the extension and shortening of the flexible driving body of the flexible driving unit 3, the control flange 1 and the annular housing 211 drive the relative movement of the limbs, and the posture and amplitude of the relative movement of the limbs can be adjusted according to the actual feeling of the patient. Made of materials, when the active movement law is different from the patient's personalized bone law, it can be passively adjusted under the patient's reaction force, which plays a role in safety protection.

The present invention has been disclosed above with preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make use of the structure and technical content disclosed above to make some The modification or modification of the same is equivalent to the equivalent implementation case, which still falls within the scope of the technical solution of the present invention.

Claims (7)

1. A flexible modular joint rehabilitation mechanism, characterized in that: it comprises a flange (1), a flexible clamping unit (2) and a flexible driving unit (3); the flexible clamping units (2) are arranged in pairs, and They are respectively installed on one flange (1), and N flexible drive units (3) connected to the two flanges (1) are evenly distributed between the two flanges (1); the flange (1), the flexible clamping unit (2) and the flexible drive unit (3) has a positioning channel for moving the limb in and out, and the flexible clamping unit (2) performs clamping on the limb in the positioning channel; wherein N≥3, and N is a positive integer; Each of the flexible driving units (3) includes a ball socket (31), a hollow joint bolt (32) and a plurality of hollow flexible bodies (33); the plurality of hollow flexible bodies (33) are connected in series to form a flexible driving body, the flexible The hollow flexible bodies (33) at both ends of the driving body are placed in the ball socket (31) to form a spherical hinge, and the hollow flexible body (33) of the spherical hinge is connected with the ball socket (31) through hollow joint bolts (32), and a plurality of hollow flexible bodies (33) are connected with the ball socket (31). The body (33) is provided with a central channel (34) that communicates with each other, the hole of the hollow joint bolt (32) is communicated with the central channel, and each flange (1) is composed of a ball socket (31) and a flange (31). 1) on the hollow joint bolts (32) together to limit and fix. 2 . The flexible modular joint rehabilitation mechanism according to claim 1 , wherein the actuator ( 21 ) comprises an annular casing ( 211 ), a flexible membrane ( 212 ) and a rigid pressing head ( 213 ); the annular casing (211) A plurality of rigid pressing heads (213) are formed on the inner wall along the circumferential direction, each rigid pressing head (213) is a hollow structure, and the end of each pressing head (213) is fixed with a flexible film (213). 212), the flexible membrane (212), the rigid pressing head (213) and the annular casing (211) form an air storage chamber (214), and the annular casing (211) is processed with an interface (2111) that communicates with the air storage chamber (214) , the annular housing (211) is connected with the flange (1). 3. The flexible modular joint rehabilitation mechanism according to claim 2, characterized in that: a plurality of the rigid pressing heads (213) are evenly arranged along the circumferential direction. 4. The flexible modular joint rehabilitation mechanism according to claim 2 or 3, wherein the flexible membrane (212) is made of rubber. 5 . The flexible modular joint rehabilitation mechanism according to claim 4 , wherein the annular casing ( 211 ) is a circular casing. 6 . 6. A flexible modular joint rehabilitation mechanism according to claim 1, 2, 3 or 5, characterized in that: the material of the hollow flexible body (33) is rubber. 7. A flexible modular joint rehabilitation mechanism according to claim 6, characterized in that: the number of the flexible drive units (3) is six, and every two is arranged in a group, and two flanges (1) and three groups of flexible drive units (2) are arranged to form a delta mechanism.

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