CN110960395B - Exoskeleton type upper limb rehabilitation robot - Google Patents

Abstract

Translated fromChinese

本发明属于医疗器械技术领域，具体涉及一种外骨骼式上肢康复机器人，旨在解决现有技术中上肢康复机器人使用有安全风险，舒适性差，不方便同时施加其他治疗手段的问题。本发明提供一种外骨骼式上肢康复机器人，其包括依次连接的肩关节训练模块、肘关节训练模块、腕关节训练模块，功能全面，能够主动康复训练和被动康复训练，适合各类上肢运动功能障碍的患者使用。本发明基于人体生理学的结构设计，多个关节固定部均可自由调节，能够满足不同上肢长度的患者需求。在使用过程中本发明始终设置于人体下方，对周边环境无干涉，保证安全性的同时提升使用舒适度，本发明在使用过程中同时可以施加手法、电、磁等物理治疗进行辅助康复训练，实用性强。

The invention belongs to the technical field of medical devices, and in particular relates to an exoskeleton type upper limb rehabilitation robot, which aims to solve the problems in the prior art that the use of the upper limb rehabilitation robot has safety risks, poor comfort, and inconvenience to apply other treatment means at the same time. The present invention provides an exoskeleton type upper limb rehabilitation robot, which includes a shoulder joint training module, an elbow joint training module and a wrist joint training module which are connected in sequence. use by disabled patients. The invention is based on the structural design of human physiology, and multiple joint fixation parts can be freely adjusted, which can meet the needs of patients with different upper limb lengths. In the process of use, the present invention is always arranged under the human body, does not interfere with the surrounding environment, and improves the use comfort while ensuring safety. The present invention can also apply physical therapy such as manipulation, electricity, and magnetism during the use process to assist rehabilitation training. Strong practicality.

Description

Exoskeleton type upper limb rehabilitation robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to an exoskeleton type upper limb rehabilitation robot.

Background

The rehabilitation robot is important equipment for assisting patients with cerebral apoplexy and the like in rehabilitation training, the exoskeleton type rehabilitation robot imitates the structural design of bones and joints of a human, can perform single-joint training and accord with the training, and is wide in application. But the current ectoskeleton type rehabilitation robot has a complex structure, wraps the whole upper limb of a human body or is arranged outside the upper limb of the human body, and has the disadvantages of heavy burden of a user, poor comfort, inconvenient use, high requirement on the use environment and insufficient safety. For example: chinese patent 201610147488.X provides an interchangeable upper limb rehabilitation robot, whose shoulder joint training module is suspended on the upper part of the human shoulder joint through a beam, close to the human head, and has a sense of pressure and a danger of head bump to the human in use. At the same time, the suspended design results in a robot that is bulky and heavy, and inconvenient to use and move. The robot wraps the whole upper limb of the human body, when the robot moves, the robot has the danger of colliding with a person close to the robot, and is inconvenient to apply physical therapy such as manipulation, electricity, magnetism and the like at the same time.

Disclosure of Invention

In order to solve the problems in the prior art, namely to solve the problems that the upper limb rehabilitation robot in the prior art has safety risk, poor comfort and is inconvenient to use and apply other treatment means, the invention provides an exoskeleton-type upper limb rehabilitation robot, which comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected; the shoulder joint training module comprises a first joint component and a second joint component, the first joint component comprises a first power device and a support frame, the lower end part of the support frame is fixed with the output end of the first power device, the support frame can rotate along the axis of the support frame under the driving of the first power device, the second joint component comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part, the upper arm mechanism can be fixed below the upper arm of a human body through the first fixing part, the upper arm mechanism is hinged with the upper end part of the support frame, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device;

the elbow joint training module comprises a third joint component and a fourth joint component, the third joint component comprises a third power device and a first connecting piece, the fourth joint component comprises a fourth power device, the third power device is fixedly arranged at one end of the upper arm mechanism, an output shaft of the third power device is tangent to a motion track of the upper arm mechanism, an output end of the third power device is connected with the fourth power device through the first connecting piece, the first connecting piece is an L-shaped connecting piece, an output shaft of the third power device is orthogonal to an output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device under the driving of the third power device; the output end of the fourth power device is connected with the wrist joint training module, and the wrist joint training module can rotate along the output shaft of the fourth power device under the driving of the fourth power device;

wrist joint training module, including fifth joint subassembly and sixth joint subassembly, the fifth joint subassembly includes fifth power device and arc track, arc track top is provided with the second fixed part, the second fixed part is used for fixed human forearm, the second fixed part with fifth power device connects, fifth power device's output activity set up in the arc track, the second fixed part can drive human forearm under fifth power device's the drive and follow arc orbital motion, the sixth joint subassembly includes sixth power device and gripping handle, the gripping handle is in rotationally install in a mounting around the axis that is vertical direction roughly under sixth power device's the drive, mounting slidable mounting in fifth power device.

In some preferred embodiments, the upper arm mechanism includes a first link and a second link arranged in parallel with the first link, the first fixing portion is disposed on the first link, and the first link is disposed above the second link and slidably mounted with respect to the second link;

the second connecting rod is rotatably arranged on the supporting frame, and the second connecting rod can drive the first connecting rod to rotate around an axis which is in the horizontal direction under the driving of the second power device.

In some preferred technical solutions, second connecting pieces are symmetrically arranged on two sides of the second connecting rod, one end of each second connecting piece is slidably arranged on the second connecting rod, the other end of each second connecting piece is connected with the corresponding first connecting rod, and the second connecting pieces can drive the corresponding first connecting rods to slide or be locked along the length direction of the corresponding second connecting rods.

In some preferred technical solutions, the number of the second connecting rods is multiple, the second connecting rods are sequentially arranged in parallel along the vertical direction of the supporting frame and are hinged to the supporting frame, the second connecting rods are provided with rails, the rails are arranged along the length direction of the rails, the second connecting piece is provided with a combining part, and the second connecting piece is slidably mounted on the rails through the combining part.

In some preferred embodiments, the fifth joint component includes an arc rail component, the arc rail component is provided with a first assembling portion, the fifth power device is provided with a second assembling portion, the fifth power device is mounted on the first assembling portion through the second assembling portion,

the arc-shaped track is arranged above the arc-shaped guide rail assembly, a rack is arranged on the arc-shaped track, and a gear meshed with the rack is arranged at the output end of the fifth power device.

In some preferred technical solutions, the sixth joint component further includes a bevel gear set, the bevel gear set includes a sun bevel gear and a planet bevel gear, which are engaged with each other, the sun bevel gear is fixedly disposed on the fixing member, the planet bevel gear is fixedly disposed at an output end of the sixth power device, and the sixth power device drives the planet bevel gear to rotate around the sun bevel gear to drive the grip handle to move.

In some preferred technical solutions, the shoulder joint training module is further provided with a weight reduction mechanism, one end of the weight reduction mechanism is connected with the support frame, the other end of the weight reduction mechanism is connected with the upper arm mechanism, and the weight reduction mechanism can provide passive tension to the upper arm mechanism when the upper arm mechanism rotates relative to the support frame.

In some preferred technical solutions, the weight reduction mechanism includes an elastic member and a traction connecting member, the elastic member is fixedly disposed on the support frame, one end of the traction connecting member is connected to the upper arm mechanism, the other end of the traction connecting member is connected to the elastic member, the traction connecting member is in a tensioned state or a relaxed state according to a position of the upper arm mechanism relative to the support frame, and when the traction connecting member is in the tensioned state, the elastic member provides a tensile force for the upper arm mechanism.

In some preferred technical solutions, a sliding groove is provided on the sixth joint component, a length direction of the sliding groove is consistent with a length direction of the forearm, and the grip handle can slide along the length direction of the sliding groove.

In some preferred technical solutions, the first fixing portion and the second fixing portion are provided with a strap.

The invention has the beneficial effects that:

the exoskeleton type upper limb rehabilitation robot comprises a shoulder joint training module, an elbow joint training module, a wrist joint training module and a weight reduction mechanism, can realize rehabilitation exercise training of shoulder joints, elbow joints and wrist joints of patients under the driving of a motor, has comprehensive functions, can realize active rehabilitation training and passive rehabilitation training, and is suitable for patients with various upper limb movement dysfunctions.

According to the exoskeleton type upper limb rehabilitation robot, the upper arm, the forearm and the palm are provided with the length adjusting assemblies, so that the requirements of patients with different upper limb lengths can be met, and the comfort experience of the patients when the exoskeleton type upper limb rehabilitation robot is used by the patients is enhanced.

According to the exoskeleton-type upper limb rehabilitation robot, the shoulder joint training module is designed through the virtual center point, so that the shoulder joint rotation center of a patient is coincided with the virtual center point, the inward rotation, outward turning, buckling and stretching operations of a shoulder joint are realized, the shoulder joint training module is positioned below the upper arm of the human body in use, the requirement on the external use environment is not high, the peripheral environment cannot be interfered, physical treatments such as manipulation, electricity and magnetism can be applied to perform auxiliary rehabilitation training, and the exoskeleton-type upper limb rehabilitation robot is high in practicability. The invention has no interference on the head and the body of the human body, has compact structure and conforms to the physiological structure of the shoulder joint of the human body, improves the use safety and ensures the comfort level.

The exoskeleton type upper limb rehabilitation robot can counteract the gravity of part of the upper arm mechanism, the elbow joint training module, the wrist joint training module and the upper limb of a human body through the weight reduction mechanism design, thereby reducing the requirement on the power of a motor, consuming less energy and enhancing the flexibility of the exoskeleton type upper limb rehabilitation robot.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a schematic view of the overall structure of an upper limb rehabilitation robot according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of a first joint assembly of the shoulder training module in accordance with one embodiment of the present invention;

FIG. 3 is a schematic diagram of a second joint assembly of the shoulder training module in accordance with one embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an upper arm mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an elbow training module according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a fifth joint assembly of the wrist training module in accordance with one embodiment of the present invention;

FIG. 7 is a schematic diagram of a sixth joint assembly of the wrist training module in accordance with one embodiment of the present invention;

fig. 8 is a schematic structural view of a weight-reducing mechanism according to an embodiment of the present invention.

List of reference numerals:

i-base, II-shoulder joint training module, III-elbow joint training mechanism, IV-wrist joint training mechanism, V-weight reduction mechanism, 200-first output shaft, 201-first motor, 202-first reducer, 203-first synchronous pulley, 204-synchronous belt, 205-first angle sensor, 206-second synchronous pulley, 207-connecting flange, 208-second motor, 209-second reducer, 210-second angle sensor, 211-first rotating shaft, 212-second output shaft, 213-support frame, 214-first connecting rod, 215-second connecting rod, 216-first screw rod slide block, 217-first screw rod, 218-sliding guide rail, 219-guide rail slide block, 220-third connecting rod, 221-upper end through hole, 222-middle through hole, 223-lower end through hole, 224-fourth link, 225-fifth link, 226-sixth link, 227-first lever arm, 228-first fixed part, 301-third motor, 302-third reducer, 303-third angle sensor, 304-third output shaft, 305-first connecting piece, 306-fourth reducer, 307-fourth motor, 308-fourth angle sensor, 309-fourth output shaft, 401-forearm link, 402-fifth motor, 403-fifth motor housing, 404-fifth angle sensor, 405-arc track, 406-rack, 407-gear, 408-second fixed part, 409-lace hole, 410-sixth motor, 411-sixth reducer, 412-a sixth angle sensor, 413-a bevel gear set, 414-a sliding groove, 415-a gripping handle, 416-a linear guide rail, 417-a linear slider, 501-an elastic member, 502-a pulley block, 503-a second screw, 504-a second screw slider and 505-a traction connecting piece.

Detailed Description

In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

The invention relates to an exoskeleton type upper limb rehabilitation robot which comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected;

the shoulder joint training module comprises a first joint component and a second joint component, the first joint component comprises a first power device and a support frame, the lower end part of the support frame is fixed with the output end of the first power device, the support frame can rotate along the axis of the support frame under the driving of the first power device,

the second joint assembly comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part, the upper arm mechanism can be fixed below the upper arm of the human body through the first fixing part, the upper arm mechanism is hinged with the upper end part of the support frame, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device;

the elbow joint training module comprises a third joint component and a fourth joint component, the third joint component comprises a third power device and a first connectingpiece 305, the fourth joint component comprises a fourth power device, the third power device is fixedly arranged at one end of the upper arm mechanism, the output shaft of the third power device is tangent to the motion track of the upper arm mechanism, the output end of the third power device is connected with the fourth power device through the first connecting piece, the first connecting piece is an L-shaped connecting piece, the output shaft of the third power device is orthogonal to the output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device under the driving of the third power device;

the output end of the fourth power device is connected with the wrist joint training module, and the wrist joint training module can rotate along the output shaft of the fourth power device under the driving of the fourth power device;

the wrist joint training module comprises a fifth joint component and a sixth joint component, the fifth joint component comprises a fifth power device and an arc-shaped track, a second fixing part is arranged above the arc-shaped track and used for fixing a human forearm, the second fixing part is connected with the fifth power device, the output end of the fifth power device is movably arranged on the arc-shaped track, the second fixing part can drive the human forearm to move along the arc-shaped track under the driving of the fifth power device,

the sixth joint assembly comprises a sixth power device and a gripping handle, the gripping handle is driven by the sixth power device to be rotatably mounted on a fixed member around a substantially vertical axis, and the fixed member is slidably mounted on the fifth power device.

In order to more clearly explain the exoskeleton-type upper limb rehabilitation robot, a preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.

As a preferred embodiment of the present invention, the exoskeleton-type upper limb rehabilitation robot of the present invention is shown in fig. 1, and the present invention includes a shoulder joint training module II, an elbow joint training module iii, and a wrist joint training module iv, wherein the shoulder joint training module II, the elbow joint training module iii, and the wrist joint training module iv are sequentially connected, and the shoulder joint training module II is fixed on the base i.

The shoulder joint training module II comprises a first joint component and a second joint component, the first joint component mainly comprises a first power device and asupport frame 213, the first power device comprises afirst motor 201 and afirst speed reducer 202, the lower end part of thesupport frame 213 is fixed with the output end of the first power device, and thesupport frame 213 can rotate along the axis of the support frame under the driving of the first power device. Specifically, referring to fig. 2, the first joint assembly further includes a first transmission device and afirst angle sensor 205, the first transmission device includes asynchronous belt 204, a firstsynchronous pulley 203 and a secondsynchronous pulley 206, thefirst speed reducer 202 is installed on an output shaft of thefirst motor 201, the firstsynchronous pulley 203 is installed at an output end of thefirst speed reducer 202, the secondsynchronous pulley 206 is installed on anoutput shaft 200 of the first joint assembly, and thefirst angle sensor 205 is installed on thefirst output shaft 200 of the first joint assembly and is used for detecting a rotation angle of the output shaft of the first joint assembly. The supportingframe 213 is perpendicular to the ground and fixed on theoutput shaft 200 of the first joint through the connectingflange 207, the connectingflange 207 can drive the supportingframe 213 to rotate along the axis of the supportingframe 213 under the driving of thefirst motor 201, and the second joint component is fixed on the supportingframe 213 and can rotate synchronously along with the supportingframe 213. Thereby realizing the adduction and abduction exercise training of the shoulder joint. It can be understood that, a person skilled in the art can flexibly set the specific structure of the first transmission device according to actual conditions, and the transmission device is preferably used for transmission of a transmission belt, and has the advantages of simple structure, low cost, convenient maintenance, stable transmission, low noise and enhanced stability.

The second joint component mainly comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with afirst fixing part 228, thefirst fixing part 228 is provided with a bandage, the upper arm mechanism can be fixed below the upper arm of the human body through thefirst fixing part 228, the upper arm mechanism is hinged with the upper end part of thesupport frame 213, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device. Preferably, referring to fig. 3 and 4, the second power device includes asecond motor 208 and asecond reducer 209, an output shaft of thesecond motor 208 is perpendicular to the mounting surface, and is driven by a bevel gear assembly to convert vertical rotation of the second motor into horizontal rotation, that is, thesecond motor 208 can drive thesecond output shaft 212 to rotate, the second joint assembly further includes asecond angle sensor 210, and thesecond reducer 209 is mounted on the output shaft of thesecond motor 208 and is used for detecting a rotation angle of the output shaft of the second joint assembly.

Further, the upper arm mechanism comprises afirst lever arm 227 and a second lever arm arranged in parallel with thefirst lever arm 227, thefirst fixing portion 228 is arranged on thefirst lever arm 227, and thefirst lever arm 227 is arranged above the second lever arm and is slidably mounted relative to the second lever arm; the second lever arm is rotatably mounted on the supportingframe 213, and the second lever arm can drive thefirst lever arm 227 to rotate around an axis in a substantially horizontal direction under the driving of the second power device.

The second lever arm bilateral symmetry is provided with the second connecting piece, second connecting piece one end slide set up in the second lever arm, the other end withfirst lever arm 227 is connected, the second connecting piece can drivefirst lever arm 227 follows second lever arm length direction slides or locks.

The second lever arms are arranged in parallel in sequence along the vertical direction of the supportingframe 213 and are hinged to the supportingframe 213, each second lever arm is provided with a track which is arranged along the length direction of the track, a combining part is arranged on the second connecting piece, and the second connecting piece is slidably arranged on the track through the combining part.

Specifically, in some preferred embodiments, the upper arm mechanism is as shown in fig. 4, and the second lever arm includes two first connectingrods 214 and twosecond connecting rods 215, which are sequentially arranged in parallel along the vertical direction of the supportingframe 213, and are both hinged to the supportingframe 213; the second connecting piece comprises a third connectingrod 220, a fourth connectingrod 224, a fifth connectingrod 225 and a sixth connectingrod 226, the third connectingrod 220 and the fourth connectingrod 224 are arranged in parallel, and the fifth connectingrod 225 and the sixth connectingrod 226 are arranged in a mirror symmetry mode relative to the axis of thefirst lever arm 227.

Thefirst link 214 and thesecond link 215 are each provided with a rail provided along a length direction thereof. Referring to fig. 4, the track of thefirst link 214 is afirst screw 217, and the track of thesecond link 215 is a slidingguide 218. Specifically, one end of a first connectingrod 214 is mounted on a firstrotating shaft 211 of the supportingframe 213, one end of a second connectingrod 215 is mounted on a secondrotating shaft 212 of the supportingframe 213, afirst screw 217 and afirst screw slider 216 are mounted on the first connectingrod 214, thefirst screw slider 216 is mounted on thescrew 217, a slidingguide 218 and aguide slider 219 are mounted on the second connecting rod, theguide slider 219 can slide and lock on the slidingguide 218, and a user can adjust the position of thefirst screw slider 216 on thefirst screw 217 by manually rotating thefirst screw 217. Causing thefirst screw slide 216 to move or lock on thefirst screw 217. Thefirst screw slider 216 and theguide rail slider 219 are respectively provided with two mounting holes, namely a first mounting hole and a second mounting hole, and the distance between the two mounting holes is equal. The thirdconnecting rod 220 has three through holes, which are distributed in a straight line and are sequentially called as an upper throughhole 221, a middle throughhole 222, a lower throughhole 223, a fourth connectingrod 224, a fifth connectingrod 225, a sixth connectingrod 226, and the third connectingrod 220, and the distance between the middle throughhole 222 and the lower throughhole 223 is equal to the distance between the firstrotating shaft 211 and the secondrotating shaft 212 of thesupport frame 213. The upper end through hole, the middle through hole and the lower end through hole of the third link 220, the fourth link 224, the fifth link 225 and the sixth link 226 are respectively connected with the mounting holes on the first lever arm 227, the first screw slider 216 and the first guide rail slider 219, the third link 220 and the fourth link 224 are mounted on the same side of the first lever arm 227, the fifth link 225 and the sixth link 226 are mounted on the other side of the first lever arm 227, the third link 220 and the fourth link 224 are parallel, the fifth link 225 and the sixth link 226 are parallel, the first lever arm 227 is parallel with the first link 214 and the second link 215, so that the third link 220, the fifth link 225, the guide rail slider 219 and the first screw slider 216 form a parallelogram, by rotating the first screw 217, the position of the first screw slider 216 on the first screw 217 can be adjusted according to the length of the upper arm of a user, and the distance from the first screw slider 216 to the support frame 213 is equal to the distance from the first guide rail slider 219 to the support frame 213, thus, the first link 214, the second link 215, the fourth link 224 and the support frame 213 form a parallelogram, and the first lever arm 227, the third link 220, the fourth link 224 and the first link 214 form a parallelogram. Through the design, thefirst link 214 is hinged with the upper end of thesupport frame 213, the extension line of thefirst lever arm 227 and the extension line of thesupport frame 213 intersect at one point in space, which is called as a virtual center point, the virtual center point coincides with the shoulder joint rotation center of the user, thesecond motor 208 drives thefirst lever arm 227 to rotate around the virtual center point through the upper arm mechanism, so as to realize the flexion and extension exercise training of the shoulder joint, and thefirst motor 201 drives thefirst lever arm 227 to rotate around the virtual center point through thesupport frame 213 and the upper arm mechanism, so as to realize the adduction and abduction exercise training of the shoulder joint. Afirst fixing portion 228 is mounted on thefirst lever arm 227, and thefirst fixing portion 228 is provided with a bandage by which the upper arm of the patient can be fixed. The technical personnel in the field can also set up the structural style of upper arm mechanism according to actual conditions in a flexible way, as long as can guarantee that upper arm mechanism can articulate withsupport frame 213 to can support patient's upper arm, should not have interference between each part in the upper arm mechanism.

Referring to fig. 5, the elbow joint training module iii includes a third joint component and a fourth joint component, the third joint component includes a third power device and a first connectingmember 305, the third power device includes athird motor 301 and athird speed reducer 302, thethird speed reducer 302 is installed on an output shaft of thethird motor 301, the third joint component further includes athird angle sensor 303, thethird angle sensor 303 is installed on the output shaft of the third joint component to detect a rotation angle of the output shaft of the third joint component, and the output shaft of the third joint component is thethird output shaft 304 as shown in the figure.

The fourth joint assembly comprises a fourth power device, and the fourth power device comprises afourth motor 307 and afourth speed reducer 306; thefourth speed reducer 306 is installed on an output shaft of afourth motor 307, the fourth joint assembly further includes afourth angle sensor 308 and a frontarm connecting rod 401, thefourth angle sensor 308 and the frontarm connecting rod 401 are both installed on the output shaft of the fourth joint assembly, thefourth angle sensor 308 is used for detecting a rotation angle of the output shaft of the fourth joint assembly, the frontarm connecting rod 401 can be driven by the fourth motor to rotate around the output shaft of the fourth joint assembly in the axial direction, and the output shaft of the fourth joint assembly is afourth output shaft 309 as shown in the figure. Thethird motor 301 is fixedly disposed at one end of thefirst lever arm 227 of the upper arm mechanism, and thethird output shaft 304 is tangent to the motion trajectory of the upper arm mechanism, that is, when the upper arm mechanism rotates relative to the virtual center point, the linear velocity direction of the motion trajectory of thethird output shaft 304 is parallel to that of the upper arm mechanism. The output end of the third power device is connected with afourth output shaft 309 of the output end of the fourth power device through the first connectingpiece 305, the first connectingpiece 305 is an L-shaped connecting piece, one end of the first connectingpiece 305 is connected with thethird output shaft 304, the other end of the first connectingpiece 305 is connected with thefourth output shaft 307, the output shaft of the third power device is orthogonal to the output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device in the circumferential direction under the driving of the third power device. It can be understood that, a person skilled in the art may also flexibly set the position relationship and the connection relationship of the third power device and the fourth power device, and the structure of the first connecting element according to actual conditions, as long as the output shafts of the third joint assembly and the fourth joint assembly are perpendicular to each other.

Further, a wrist joint training module iv is fixed to anoutput shaft 309 of a fourth joint assembly, and the wrist joint training module iv can rotate along the output shaft of the fourth power device under the driving of the fourth power device. The wrist joint training module IV comprises a second fixing part, and the second fixing part is used for fixing the forearm of the human body. Under the drive of thethird motor 301 and thefourth motor 307, the two-degree-of-freedom motion and any posture of the forearm can be realized, the flexion and extension motion training of the elbow joint is completed, and the internal rotation and the external rotation motion training of the upper arm can also be driven. Specifically, when thethird motor 301 works, thefourth motor 307 can rotate axially along the third output shaft under the driving of thethird motor 301, and drives the forearm to perform inward rotation and outward rotation; when thefourth motor 401 works, thefourth motor 401 can drive the wrist joint training module iv to rotate, and further drive the forearm of the human body to rotate relative to thefourth output shaft 309, so as to complete the flexion and extension action training of the elbow joint. The third motor and the fourth motor can work simultaneously, the degrees of freedom of the forearm in motion in a horizontal plane and a vertical plane are respectively realized, and the flexion, extension, internal rotation and eversion motion training of the elbow joint is realized.

Wrist joint training module IV includes fifth joint subassembly, sixth joint subassembly, the fifth joint subassembly includes fifth power device,arc track 405,forearm connecting rod 401,arc track 405 top is provided with secondfixed part 408, secondfixed part 408 is provided with the bandage, secondfixed part 408 is used for fixed human forearm, secondfixed part 408 with fifth power device connects, fifth power device's output activity set up inarc track 405, secondfixed part 408 can drive human forearm edge under fifth power device's thedrive arc track 405 motion.

The sixth joint assembly comprises a sixth power device and agrip handle 415, wherein the grip handle 415 is rotatably mounted on a fixed member around a substantially vertical axis by the sixth power device, and the fixed member is slidably mounted on the fifth power device.

Specifically, the fourth joint component, the fifth joint component and the sixth joint component are sequentially connected, one end of a forearm connecting rod 401 is fixed on a fourth output shaft 309, the other end of the forearm connecting rod is connected with the fifth joint component, the fifth power device includes a fifth motor 402, a fifth speed reducer and a fifth motor housing 403, the fifth speed reducer is fixedly arranged on an output shaft of the fifth motor 402, the fifth motor 402 is arranged on the fifth motor housing 403, a second fixing part 408 is arranged on the fifth motor housing 403, a bandage hole 409 is arranged on the second fixing part 408, the forearm of the patient can be fixed through a bandage, a linear guide 416 is arranged on the fifth motor housing 403, the length direction of the linear guide 416 is consistent with the length direction of the forearm, the sixth joint component is rotatably arranged on a fixing part, and a linear slider 417 capable of being matched with the linear guide 416 is arranged on the fixing part, the sixth joint assembly can be slidably connected with the fifth joint assembly through a linear slider 417 on the fixing member, the linear slider 417 can be manually controlled, and the sixth joint assembly can be slid or manually locked relative to the fifth joint assembly by controlling the position of the linear slider 417 relative to the linear guide 416, so as to adjust the position of the wrist of the user.

Preferably, the fifth joint component includes an arc guide rail component, the arc guide rail component is provided with a first assembling portion, the fifth power device is provided with a second assembling portion, the fifth power device is assembled on the first assembling portion through the second assembling portion, referring to fig. 6, thefifth motor 402 is fixed with the first assembling portion of the arc guide rail component through the second assembling portion on thefifth motor housing 403, and the first assembling portion is used for preventing the fifth motor from separating from the arc guide rail component during the working process. The arc-shapedtrack 405 is arranged above the arc-shaped guide rail assembly, arack 406 is arranged on the upper surface of the arc-shapedtrack 405, and agear 407 meshed with therack 406 is arranged at the output end of the fifth power device. Thegear 407 can move along the arc-shapedtrack 405 under the driving of thefifth motor 402, thereby playing the role of training the internal rotation and the external rotation of the wrist joint. Further, afifth angle sensor 404 is mounted on the shaft of thefifth motor 402 for detecting the rotation angle of thefifth motor 402. The amplification and the transmission of motor moment of torsion are realized through the rack cooperation on gear and the arc track, and the guide rail structure of circular arc type is fit for realizing the rotation training of wrist simultaneously, and structural design is succinct simultaneously for wrist joint rehabilitation training device can operate in less space, facilitates the use.

Further, the sixth joint assembly further includes asixth angle sensor 412 and a bevel gear set 413, and the sixth joint assembly is rotatably mounted on the fixing member through the bevel gear set 413. The sixth power device comprises asixth motor 410 and asixth speed reducer 411, thesixth speed reducer 411 is mounted on an output shaft of thesixth motor 410, the bevel gear set 413 comprises a sun bevel gear and a planet bevel gear which are meshed with each other and vertically mounted, the fixing member comprises a shaft parallel to thegripping handle 415, the sun bevel gear penetrates through the shaft, the planet bevel gear is fixedly arranged at the output end of the sixth power device, and thesixth motor 410 can drive the gripping handle to rotate around the shaft in the axial direction by driving the planet bevel gear to rotate around the sun bevel gear. Therefore, the wrist joint radial deviation and ulnar deviation training function is achieved, and the second bevel gear set 413 output shaft is provided with thesixth angle sensor 412 for detecting the rotating angle of the second bevel gear set 413 output shaft. Through the design of above-mentioned structure, realize the location in the motion process, reduce frictional force as far as possible for eliminate the mechanism clearance when moving more laborsavingly, make the motion more level and smooth.

The grip handle 415 is arranged perpendicular to theforearm connecting rod 401, the sixth joint component is provided with a slidinggroove 414, the length direction of the sliding groove is consistent with the length direction of the forearm, and the grip handle 415 can slide and be locked along the length direction of the sliding groove so as to adjust the position of the palm of the user and enhance the comfort of the user in using the invention.

The shoulder joint training module II is further provided with a weight reduction mechanism V, one end of the weight reduction mechanism V is connected with thesupport frame 213, the other end of the weight reduction mechanism V is connected with the upper arm mechanism, and when the upper arm mechanism rotates relative to thesupport frame 213, the weight reduction mechanism V can provide passive tension for the upper arm mechanism.

Specifically, the weight reduction mechanism includes anelastic member 501 and atraction connecting member 505, theelastic member 501 is fixedly disposed on the supportingframe 213, one end of thetraction connecting member 505 is connected to the upper arm mechanism, the other end of the traction connecting member is connected to theelastic member 501, thetraction connecting member 505 is in a tensioned state or a relaxed state according to the position of the upper arm mechanism relative to the supportingframe 213, and when thetraction connecting member 505 is in the tensioned state, theelastic member 501 provides a pulling force for the upper arm mechanism. In some preferred embodiments of the present invention, theelastic member 501 is a spring and thetraction link 505 is a wire rope. The weight reduction mechanism further comprises apulley block 502, asecond screw 503 and asecond screw slider 504, one end of atraction connecting piece 505 is fixed on the first lever arm, the other end of a steel wire rope bypasses thepulley block 502 to be connected with one end of anelastic component 501, the other end of theelastic component 501 is connected with thesecond screw slider 504, thesecond screw slider 504 is matched with thesecond screw 503, the position of thesecond screw slider 504 on thesecond screw 503 can be adjusted by rotating thesecond screw 503, and further the pretightening force of the elastic component is adjusted. When the upper arm mechanism rotates around thefirst rotation axis 211 and thesecond rotation axis 212, the elastic member is tensioned in a tensioned state, and can counteract the weight of a part of the upper arm mechanism, the elbow joint training module iii, the wrist joint training module iv and the upper limbs of the human body. Through the design of the weight reduction mechanism, the weight sense of a user can be reduced, the use experience of the invention is improved, and the rehabilitation training is facilitated.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. For example: the invention also comprises a control circuit, and the power device is used for realizing the rotation training of each upper limb joint during training. The motor can be controlled to drive each joint of the upper limb to move, so that passive rehabilitation training is realized, the patient can also actively apply force, and the power device applies certain assistance or resistance to actively perform rehabilitation training.

In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:

the exoskeleton type upper limb rehabilitation robot comprises a shoulder joint training module, an elbow joint training module, a wrist joint training module and a weight reduction mechanism, can realize rehabilitation exercise training of shoulder joints, elbow joints and wrist joints of patients under the driving of a motor, has comprehensive functions, can realize active rehabilitation training and passive rehabilitation training, and is suitable for patients with various upper limb movement dysfunctions.

According to the exoskeleton type upper limb rehabilitation robot, the upper arm, the forearm and the palm are provided with the length adjusting assemblies, so that the requirements of patients with different upper limb lengths can be met, and the comfort experience of the patients when the exoskeleton type upper limb rehabilitation robot is used by the patients is enhanced.

According to the exoskeleton-type upper limb rehabilitation robot, the shoulder joint training module is designed through the virtual center point, so that the shoulder joint rotation center of a patient is coincided with the virtual center point, the inward rotation, outward turning, buckling and stretching operations of a shoulder joint are realized, the shoulder joint training module is positioned below the upper arm of the human body in use, the requirement on the external use environment is not high, the peripheral environment cannot be interfered, physical treatments such as manipulation, electricity and magnetism can be applied to perform auxiliary rehabilitation training, and the exoskeleton-type upper limb rehabilitation robot is high in practicability. The invention has no interference on the head and the body of the human body, has compact structure and conforms to the physiological structure of the shoulder joint of the human body, improves the use safety and ensures the comfort level.

The exoskeleton type upper limb rehabilitation robot can counteract the gravity of part of the upper arm mechanism, the elbow joint training module, the wrist joint training module and the upper limb of a human body through the weight reduction mechanism design, thereby reducing the requirement on the power of a motor, consuming less energy and enhancing the flexibility of the exoskeleton type upper limb rehabilitation robot.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (9)

Translated fromChinese

1.一种外骨骼式上肢康复机器人，其特征在于，包括依次连接的肩关节训练模块、肘关节训练模块、腕关节训练模块；1. an exoskeleton type upper limb rehabilitation robot, is characterized in that, comprises shoulder joint training module, elbow joint training module, wrist joint training module connected successively;所述肩关节训练模块，包括第一关节组件、第二关节组件，The shoulder joint training module includes a first joint assembly and a second joint assembly,所述第一关节组件包括第一动力装置和支撑架，所述支撑架下端部与所述第一动力装置输出端固定，所述支撑架能够在所述第一动力装置的驱动下沿自身轴线旋转，The first joint assembly includes a first power device and a support frame, the lower end of the support frame is fixed with the output end of the first power device, and the support frame can be driven along its own axis by the first power device rotate,所述第二关节组件包括第二动力装置和上臂机构，所述上臂机构设置有第一固定部，所述上臂机构可以通过所述第一固定部固定于人体上臂下方，所述上臂机构与所述支撑架上端部铰接，所述上臂机构在所述第二动力装置的驱动下能够绕其与所述支撑架的铰接部旋转；所述上臂机构包括第一杆臂以及与所述第一杆臂平行设置的第二杆臂，所述第一固定部设置于所述第一杆臂上，所述第一杆臂设置于所述第二杆臂上方相对于所述第二杆臂可滑动安装；所述第二杆臂可转动的安装于所述支撑架，所述第二杆臂能够在所述第二动力装置的驱动下带动所述第一杆臂绕大体为水平方向的轴线转动；The second joint assembly includes a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing portion, and the upper arm mechanism can be fixed under the upper arm of the human body through the first fixing portion, and the upper arm mechanism is connected with the rest. The upper end of the support frame is hinged, and the upper arm mechanism can rotate around its hinged portion with the support frame under the driving of the second power device; the upper arm mechanism includes a first lever arm and a first lever A second lever arm whose arms are arranged in parallel, the first fixing part is arranged on the first lever arm, and the first lever arm is arranged above the second lever arm and is slidable relative to the second lever arm installation; the second lever arm is rotatably mounted on the support frame, and the second lever arm can drive the first lever arm to rotate around a generally horizontal axis under the driving of the second power device ;所述肘关节训练模块，包括第三关节组件和第四关节组件，The elbow joint training module includes a third joint component and a fourth joint component,所述第三关节组件包括第三动力装置和第一连接件，所述第四关节组件包括第四动力装置，所述第三动力装置固设于所述上臂机构一端，所述第三动力装置输出轴与所述上臂机构运动轨迹相切，所述第三动力装置输出端通过所述第一连接件与所述第四动力装置连接，所述第一连接件为L形连接件，所述第三动力装置输出轴与所述第四动力装置输出轴正交，所述第四动力装置能够在所述第三动力装置的驱动下绕所述第三动力装置输出轴转动；The third joint assembly includes a third power device and a first connector, the fourth joint assembly includes a fourth power device, the third power device is fixed on one end of the upper arm mechanism, and the third power device The output shaft is tangent to the motion trajectory of the upper arm mechanism, and the output end of the third power device is connected to the fourth power device through the first connecting piece, and the first connecting piece is an L-shaped connecting piece. The output shaft of the third power device is orthogonal to the output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device under the driving of the third power device;所述第四动力装置输出端与所述腕关节训练模块连接，所述腕关节训练模块能够在所述第四动力装置的驱动下沿所述第四动力装置输出轴转动；The output end of the fourth power device is connected to the wrist joint training module, and the wrist joint training module can rotate along the output shaft of the fourth power device under the driving of the fourth power device;所述腕关节训练模块，包括第五关节组件和第六关节组件，The wrist joint training module includes a fifth joint assembly and a sixth joint assembly,所述第五关节组件包括第五动力装置和弧形轨道，所述弧形轨道上方设置有第二固定部，所述第二固定部用于固定人体前臂，所述第二固定部与所述第五动力装置连接，所述第五动力装置的输出端活动设置于所述弧形轨道，所述第二固定部能够在所述第五动力装置的驱动下带动人体前臂沿所述弧形轨道运动，The fifth joint assembly includes a fifth power device and an arc-shaped track, a second fixing part is arranged above the arc-shaped track, the second fixing part is used to fix the human forearm, and the second fixing part is connected to the A fifth power device is connected, the output end of the fifth power device is movably arranged on the arc-shaped track, and the second fixing part can drive the human forearm along the arc-shaped track under the driving of the fifth power device sports,所述第六关节组件包括第六动力装置和抓握手柄，所述抓握手柄在所述第六动力装置的驱动下绕大体为竖直方向的轴线可转动地安装于一个固定件，所述固定件滑动安装于所述第五动力装置。The sixth joint assembly includes a sixth power device and a grasping handle, the grasping handle is rotatably mounted on a fixed member around a substantially vertical axis under the driving of the sixth power device, and the The fixing piece is slidably mounted on the fifth power device.2.根据权利要求1所述的外骨骼式上肢康复机器人，其特征在于，所述第二杆臂两侧对称设置有第二连接件，所述第二连接件一端滑动设置于所述第二杆臂，另一端与所述第一杆臂连接，所述第二连接件能够带动所述第一杆臂沿所述第二杆臂长度方向滑动或锁定。2 . The exoskeleton type upper limb rehabilitation robot according to claim 1 , wherein a second connecting piece is symmetrically arranged on both sides of the second lever arm, and one end of the second connecting piece is slidably arranged on the second link. 3 . The other end of the lever arm is connected with the first lever arm, and the second connecting piece can drive the first lever arm to slide or lock along the length direction of the second lever arm.3.根据权利要求2所述的外骨骼式上肢康复机器人，其特征在于，所述第二杆臂为多个，多个所述第二杆臂沿所述支撑架竖直方向依次平行设置，且均与所述支撑架铰接，多个所述第二杆臂均设置有轨道，所述轨道沿其长度方向设置，所述第二连接件上设置有结合部，所述第二连接件通过所述结合部滑动装设于所述轨道。3 . The exoskeleton-type upper limb rehabilitation robot according to claim 2 , wherein there are multiple second lever arms, and a plurality of second lever arms are arranged in parallel along the vertical direction of the support frame. 4 . And they are all hinged with the support frame, a plurality of the second lever arms are provided with rails, the rails are arranged along the length direction thereof, the second connecting piece is provided with a joint portion, and the second connecting piece passes through The joint portion is slidably installed on the rail.4.根据权利要求1所述的外骨骼式上肢康复机器人，其特征在于，所述第五关节组件包括圆弧轨道组件，所述圆弧轨道组件设置有第一装配部，所述第五动力装置设置有第二装配部，所述第五动力装置通过所述第二装配部装设于所述第一装配部；4 . The exoskeleton type upper limb rehabilitation robot according to claim 1 , wherein the fifth joint assembly comprises an arc track assembly, and the arc track assembly is provided with a first assembly part, and the fifth power The device is provided with a second assembling part, and the fifth power device is installed on the first assembling part through the second assembling part;所述弧形轨道设置于所述圆弧轨道组件上方，所述弧形轨道上设置有齿条，所述第五动力装置输出端设置有与所述齿条啮合的齿轮。The arc track is arranged above the arc track assembly, a rack is arranged on the arc track, and a gear meshing with the rack is arranged at the output end of the fifth power device.5.根据权利要求1所述的外骨骼式上肢康复机器人，其特征在于，所述第六关节组件还包括锥齿轮组，所述锥齿轮组包括相互啮合的太阳锥齿轮和行星锥齿轮，所述太阳锥齿轮固设于所述固定件，所述行星锥齿轮固设于所述第六动力装置输出端，所述第六动力装置通过驱动所述行星锥齿轮绕所述太阳锥齿轮转动，带动所述抓握手柄运动。5 . The exoskeleton type upper limb rehabilitation robot according to claim 1 , wherein the sixth joint assembly further comprises a bevel gear set, and the bevel gear set comprises a sun bevel gear and a planetary bevel gear that mesh with each other. 6 . The sun bevel gear is fixed on the fixing member, the planetary bevel gear is fixed on the output end of the sixth power device, and the sixth power device drives the planetary bevel gear to rotate around the sun bevel gear, The grip handle is driven to move.6.根据权利要求1所述的外骨骼式上肢康复机器人，其特征在于，所述肩关节训练模块还设置有减重机构，所述减重机构一端与所述支撑架连接，另一端与所述上臂机构连接，所述上臂机构相对于所述支撑架转动时，所述减重机构能够对所述上臂机构提供被动的拉力。6 . The exoskeleton type upper limb rehabilitation robot according to claim 1 , wherein the shoulder joint training module is further provided with a weight reduction mechanism, one end of the weight reduction mechanism is connected to the support frame, and the other end is connected to the support frame. 7 . The upper arm mechanism is connected, and when the upper arm mechanism rotates relative to the support frame, the weight reduction mechanism can provide passive pulling force to the upper arm mechanism.7.根据权利要求6所述的外骨骼式上肢康复机器人，其特征在于，所述减重机构包括弹性构件、牵引连接件，所述弹性构件固设于所述支撑架，所述牵引连接件一端与所述上臂机构连接，另一端与所述弹性构件连接，所述牵引连接件依据所述上臂机构相对于所述支撑架的位置处于张紧状态或松弛状态，当所述牵引连接件处于张紧状态时，所述弹性构件为所述上臂机构提供拉力。7 . The exoskeleton type upper limb rehabilitation robot according to claim 6 , wherein the weight reduction mechanism comprises an elastic member and a traction connector, the elastic member is fixed on the support frame, and the traction connector One end is connected with the upper arm mechanism, and the other end is connected with the elastic member. In a tensioned state, the elastic member provides tension for the upper arm mechanism.8.根据权利要求1所述的外骨骼式上肢康复机器人，其特征在于，所述第六关节组件上设置有滑动槽，所述滑动槽长度方向与前臂长度方向一致，所述抓握手柄能够沿所述滑动槽长度方向滑动。8 . The exoskeleton type upper limb rehabilitation robot according to claim 1 , wherein a sliding groove is provided on the sixth joint assembly, the length direction of the sliding groove is consistent with the length direction of the forearm, and the grasping handle can 8 . Slide along the length of the sliding slot.9.根据权利要求1-8中任一项所述的外骨骼式上肢康复机器人，其特征在于，所述第一固定部和所述第二固定部均设置有绑带。9 . The exoskeleton type upper limb rehabilitation robot according to claim 1 , wherein the first fixing part and the second fixing part are both provided with straps. 10 .

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