CN106924013B - Exoskeleton type upper limb rehabilitation training robot - Google Patents
Exoskeleton type upper limb rehabilitation training robot Download PDFInfo
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- CN106924013B CN106924013B CN201710246459.3A CN201710246459A CN106924013B CN 106924013 B CN106924013 B CN 106924013B CN 201710246459 A CN201710246459 A CN 201710246459A CN 106924013 B CN106924013 B CN 106924013B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 62
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 210000000245 forearm Anatomy 0.000 claims abstract description 30
- 238000005452 bending Methods 0.000 claims description 65
- 239000003638 chemical reducing agent Substances 0.000 claims description 46
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 210000003857 wrist joint Anatomy 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000001447 compensatory effect Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an exoskeleton type upper limb rehabilitation training robot which comprises a base part, a shoulder blade belt part, a shoulder joint part, an upper arm part and a forearm part, wherein the base part is provided with a shoulder blade; the shoulder blade belt component can be completely matched with the motion rule of the human glenohumeral joint, and meets the degree of freedom requirement of rehabilitation training of the upper limb of the human body in a three-dimensional space. The freedom degree configuration mode can fix the trunk of the patient and the seat to a certain degree, and can tightly attach and wear the upper limbs of the patient and the mechanical arm, so that trunk compensation in the training process is reduced, and the upper limbs of the patient can be accurately trained. The mechanical part is far away from the head of a patient by utilizing a rotating shaft shifting mechanism, so that the pressing sense of the patient is relieved; the quick switching of the initial wearing positions of the training modes of the left and right upper limbs of the exoskeleton type upper limb rehabilitation training robot can be realized by controlling the movement of the shoulder blade belt component, the shoulder joint component, the upper arm component and the forearm component, so that the complicated adjusting program of the existing robot is avoided.
Description
Technical Field
The invention relates to the fields of robot technology, biomechanics, rehabilitation medicine and rehabilitation engineering, in particular to an exoskeleton type upper limb rehabilitation training robot.
Background
The exoskeleton robot can be used for assisting or expanding the exercise capacity and limb rehabilitation training of a human body, and a plurality of robots for limb rehabilitation training of cerebral apoplexy patients exist in the world at present. The exoskeleton robot is used for limb rehabilitation training, and has the advantages of being fast in recovery time, good in effect, low in cost and the like.
Most of the existing exoskeleton type upper limb rehabilitation training robots do not have mechanisms matched with movement of shoulder blade bands on the aspect of movement of shoulder joints, and mismatch of human-machine joint shafts is necessarily existed in the training process. Under the training condition, a therapist can not tightly attach and wear the upper limbs of the patient and the mechanical arm of the robot, and can not fix the trunk of the patient, and the mismatch of the human-computer joint shaft is compensated by the compensatory movement of the upper limbs or the trunk of the patient. Such compensatory movements may result in some joints not being trained or not reaching the training range and intensity set by the therapist, and the training effect may obviously be affected to some extent. However, if the upper limb of the patient is worn tightly or the trunk is fixed and then trained, the secondary injury of the upper limb of the patient is easily caused by the mismatch of the human-machine joint axis. In addition, most of the mechanical parts of the existing exoskeleton type upper limb rehabilitation training robot for controlling the movement of the shoulder are concentrated at the positions close to the two sides of the head of the patient, so that the patient can generate strong pressing feeling. Most patients can deviate from head or lean on one's side to keep away from mechanical parts in the training process, can make the patient deviate from correctly wearing position or seat, lead to the further mismatch of man-machine joint axle, influence training effect, also can cause patient's upper limbs secondary damage when serious. In addition, the existing exoskeleton type upper limb rehabilitation training robot is complicated and tedious in steps and long in time consumption when switching the left upper limb training mode and the right upper limb training mode.
Disclosure of Invention
The purpose of the invention is that: the exoskeleton type upper limb rehabilitation training robot can be used for assisting the upper limb on any side of a human body to move in a three-dimensional space so as to perform rehabilitation training.
In order to achieve the above object, the technical scheme of the present invention is as follows:
an exoskeleton type upper limb rehabilitation training robot comprises a base component, a shoulder blade belt component, a shoulder joint component, an upper arm component and a forearm component; the base part comprises lockable casters, a base bottom plate and an electric lifting column; the base bottom plate supports the whole exoskeleton type upper limb rehabilitation training robot, the lockable casters are arranged on the bottom surface of the base bottom plate, and the lifting columns are arranged on the base bottom plate; the shoulder blade belt component is fixedly connected with the electric lifting column and is a rectangular coordinate system moving component, and comprises a Z-direction moving component, an X-direction moving component and a Y-direction moving component which jointly move; the shoulder joint component is fixedly connected with the Y-direction sliding plate and comprises a shoulder joint inward-folding and outward-unfolding assembly and a shoulder joint bending and stretching assembly which are connected with each other; the upper arm part is connected with the shoulder joint part and comprises an internal rotation and external rotation assembly of the shoulder joint and an elbow joint flexion and extension assembly which are connected with each other; the forearm component is connected with the upper arm component, and the forearm component comprises a forearm supination and supination component and a handle component which are connected with each other.
The exoskeleton type upper limb rehabilitation training robot comprises a Z-direction bottom plate, a Z-direction motor frame, a Z-direction coupler, a Z-direction rotating motor, a Z-direction ball screw pair, a Z-direction linear guide rail pair and a ZX-direction shared plate, wherein the Z-direction motor frame is arranged on the Z-direction motor frame; the Z-direction bottom plate is fixedly connected with the electric lifting column; the Z-direction motor frame is fixedly connected with the Z-direction bottom plate; the Z-direction rotating motor is fixedly connected with the Z-direction motor frame; the ZX-direction shared plate is in sliding connection with the Z-direction bottom plate through the Z-direction linear guide rail pair; the Z-direction bottom plate and the ZX-direction shared plate are respectively connected with the Z-direction ball screw pair; the Z-direction rotating motor is connected with the Z-direction ball screw pair through the Z-direction coupler.
The exoskeleton type upper limb rehabilitation training robot comprises an X-direction movement assembly, a Y-direction movement assembly and a Y-direction movement assembly, wherein the X-direction movement assembly comprises a ZX-direction shared plate, an X-direction motor frame, an X-direction coupler, an X-direction rotating motor, an X-direction ball screw pair, an X-direction linear guide rail pair, an X-direction connecting plate and an XY-direction shared plate; the X-direction rotating motor is arranged on the X-direction motor frame and is coaxially connected with the X-direction ball screw pair through the X-direction coupler; the X-direction shared plate is arranged on the ZX-direction shared plate through the X-direction linear guide rail pair, and the X-direction connecting plate is connected with the X-direction ball screw pair.
The exoskeleton type upper limb rehabilitation training robot comprises a Y-direction motion assembly, a Y-direction motion assembly and a robot body, wherein the Y-direction motion assembly comprises an XY-direction shared plate, a Y-direction motor frame, a Y-direction coupler, a Y-direction rotating motor, a Y-direction ball screw pair, a Y-direction linear guide rail pair and a Y-direction sliding plate; the Y-direction rotating motor is arranged on the XY-direction shared plate through the Y-direction motor frame, and the Y-direction ball screw pair is coaxially connected with the Y-direction rotating motor through the Y-direction coupler; the Y-direction sliding plate is arranged on the XY-direction shared plate through the Y-direction linear guide rail pair; the Y-direction sliding plate is the output end of the shoulder blade belt component.
The exoskeleton type upper limb rehabilitation training robot comprises a shoulder joint adduction and abduction assembly, a shoulder joint adduction and abduction assembly and a shoulder joint abduction assembly, wherein the shoulder joint adduction and abduction assembly comprises an adduction and abduction fixing arm, an adduction and abduction first rotating arm, an adduction and abduction second rotating arm, an adduction and abduction first Y-shaped connecting rod, an adduction and abduction second Y-shaped connecting rod, an adduction and abduction rotating arm, an adduction and abduction speed reducer and an adduction and abduction rotating motor; the inward-folding and outward-unfolding fixing arm is fixedly connected with the Y-direction sliding plate; the inward-folding and outward-unfolding speed reducer is fixedly arranged on the inward-folding and outward-unfolding fixing arm; the output end of the adduction and abduction speed reducer is fixedly connected with the adduction and abduction first rotating arm; the inward-folding and outward-unfolding rotating motor is fixedly connected with the inward-folding and outward-unfolding first rotating arm; the adduction and abduction rotating motor is connected with the adduction and abduction speed reducer in a direct connection mode for transmission; the inner-folding and outer-unfolding first rotating arm and the inner-folding and outer-unfolding second rotating arm are respectively hinged with the inner-folding and outer-unfolding fixed arm to form an inner-folding and outer-unfolding first rotating shaft and an inner-folding and outer-unfolding second rotating shaft; the inward-folding and outward-unfolding first Y-shaped connecting rod is hinged with the inward-folding and outward-unfolding first rotating arm and the inward-folding and outward-unfolding second rotating arm respectively to form an inward-folding and outward-unfolding third rotating shaft and an inward-folding and outward-unfolding fourth rotating shaft; the inward-folding and outward-unfolding second Y-shaped connecting rod is hinged with the inward-folding and outward-unfolding first rotating arm and the inward-folding and outward-unfolding second rotating arm respectively to form an inward-folding and outward-unfolding fifth rotating shaft and an inward-folding and outward-unfolding sixth rotating shaft; the inward-folding and outward-unfolding rotating arm is hinged with the inward-folding and outward-unfolding first Y-shaped connecting rod to form an inward-folding and outward-unfolding seventh rotating shaft; the inward-folding and outward-unfolding rotating arm is hinged with the inward-folding and outward-unfolding second Y-shaped connecting rod to form an inward-folding and outward-unfolding eighth rotating shaft; the adduction and abduction first rotating shaft, the adduction and abduction second rotating shaft, the adduction and abduction third rotating shaft and the adduction and abduction fourth rotating shaft form four rotating shafts of an adduction and abduction first parallelogram together; the adduction and abduction third rotating shaft, the adduction and abduction fourth rotating shaft, the adduction and abduction fifth rotating shaft and the adduction and abduction sixth rotating shaft form four rotating shafts of an adduction and abduction second parallelogram together; controlling the adduction and abduction rotating motor to drive the adduction and abduction speed reducer to drive any side of the adduction and abduction first parallelogram and the adduction and abduction second parallelogram to rotate around a rotating shaft, wherein the adduction and abduction rotating arm rotates around a rotating shaft, and the rotating shaft is a shoulder adduction and abduction rotating shaft for driving the adduction and abduction movement of a shoulder joint of a human body; the shoulder adduction and abduction rotating shaft and the shoulder flexion and extension rotating shaft intersect at a point in space; the intersection point keeps coincident with the center of the human glenohumeral joint in the whole rehabilitation training process through the compound movement of the scapular belt component; the intersection point is the center of the glenohumeral joint of the robot.
The exoskeleton type upper limb rehabilitation training robot comprises a shoulder joint bending and stretching assembly, a shoulder joint bending and stretching assembly and a robot body, wherein the shoulder joint bending and stretching assembly comprises a shoulder bending and stretching rotating motor, a shoulder bending and stretching speed reducer, a shoulder bending and stretching synchronous belt transmission group, a shoulder bending and stretching fixing seat and a shoulder bending and stretching swing arm; the shoulder bending and stretching fixing seat is fixedly connected with the adduction and abduction rotating arm; the shoulder bending and stretching rotating motor is fixedly connected with the shoulder bending and stretching fixing seat; the shoulder flexion and extension speed reducer is fixedly connected with the shoulder flexion and extension fixing seat; the shoulder bending and stretching rotating motor and the shoulder bending and stretching speed reducer are driven by the shoulder bending and stretching synchronous belt driving group; the shoulder bending and stretching swing arm is fixedly connected with the output end of the shoulder bending and stretching speed reducer; the shoulder bending and stretching rotating motor is controlled to operate, the shoulder bending and stretching speed reducer is driven, the shoulder bending and stretching swing arm is driven to rotate around a rotating shaft, and the rotating shaft is a shoulder bending and stretching rotating shaft for driving the shoulder joint of a human body to bend and stretch.
The exoskeleton type upper limb rehabilitation training robot comprises a shoulder joint internal rotation and external rotation assembly, wherein the shoulder joint internal rotation and external rotation assembly comprises an internal rotation and external rotation first rotating arm, an internal rotation and external rotation second rotating arm, an internal rotation and external rotation first Y-shaped connecting rod, an internal rotation and external rotation second Y-shaped connecting rod, an internal rotation and external rotation fixing arm, an internal rotation and external rotation rotating arm, an internal rotation and external rotation speed reducer, an internal rotation and external rotation rotating motor, an upper arm support and an internal rotation and external rotation driving connecting rod; the inner rotation and outer rotation motor is arranged on the inner rotation and outer rotation second Y-shaped connecting rod through the inner rotation and outer rotation speed reducer; one end of the inner rotation and outer rotation rotating arm is respectively connected with the other ends of the inner rotation and outer rotation first Y-shaped connecting rod and the inner rotation and outer rotation second Y-shaped connecting rod, and the upper arm support is arranged at the other end of the inner rotation and outer rotation rotating arm and is in fit and sleeve joint with the shoulder inner retraction and outer extension rotating shaft; the internal rotation and external rotation driving connecting rod is connected between the internal rotation and external rotation first Y-shaped connecting rod and the internal rotation and external rotation second Y-shaped connecting rod; controlling the internal rotation and external rotation motor to drive the internal rotation and external rotation speed reducer, driving the internal rotation and external rotation assembly of the shoulder joint through the internal rotation and external rotation driving connecting rod, and enabling the internal rotation and external rotation arm to rotate around a rotating shaft, wherein the rotating shaft is the internal rotation and external rotation shaft of the shoulder for driving the internal rotation and external rotation of the shoulder joint of a human body; the internal rotation and external rotation fixing arm is connected with the shoulder bending and stretching swing arm in a sliding way.
The exoskeleton type upper limb rehabilitation training robot comprises an elbow bending and stretching assembly, a lower limb bending and stretching assembly and a lower limb bending and stretching assembly, wherein the elbow bending and stretching assembly comprises an elbow bending and stretching base frame, an elbow bending and stretching rotating motor, an elbow bending and stretching speed reducer and an elbow bending and stretching swing arm; the elbow bending and stretching base frame is fixedly connected with the internal rotation and external rotation arm; the elbow bending and stretching rotating motor is fixedly connected with the elbow bending and stretching base frame; the elbow bending and stretching speed reducer is fixedly connected with the elbow bending and stretching base frame; the elbow bending and stretching rotating motor is connected with the elbow bending and stretching speed reducer in a direct connection mode for transmission; the elbow bending and stretching rotating motor is controlled to drive the elbow bending and stretching speed reducer to drive the elbow bending and stretching swing arm to rotate around a rotating shaft, and the rotating shaft is an elbow bending and stretching rotating shaft for driving bending and stretching movement of the elbow joint of a human body.
The exoskeleton type upper limb rehabilitation training robot comprises a forearm pronation supination first rotating arm, a pronation supination second rotating arm, a pronation supination first Y-shaped connecting rod, a pronation supination second Y-shaped connecting rod, a pronation supination fixed arm, a pronation supination rotating arm, a pronation supination speed reducer, a pronation supination rotating motor and a pronation supination driving connecting rod, wherein the forearm pronation supination assembly comprises a pronation supination first rotating arm, a pronation supination second rotating arm, a pronation supination first Y-shaped connecting rod, a pronation supination second Y-shaped connecting rod, a pronation supination fixed arm, a pronation supination rotating arm, a pronation supination speed reducer, a pronation supination rotating motor and a pronation supination driving connecting rod; one end of the front rotating back first rotating arm and one end of the front rotating back second rotating arm are respectively connected with the front rotating back first Y-shaped connecting rod and the front rotating back second Y-shaped connecting rod, and the front rotating back driving connecting rod is connected between the front rotating back first Y-shaped connecting rod and the front rotating back second Y-shaped connecting rod; the front rotating and back rotating motor is arranged on the front rotating and back rotating second Y-shaped connecting rod through the front rotating and back rotating speed reducer, and the front rotating and back rotating fixed arm is connected to the other ends of the front rotating and back rotating first rotating arm and the front rotating and back rotating second rotating arm; the front rotating and rear rotating arm is arranged on the front rotating and rear rotating first Y-shaped connecting rod; controlling the pronation and supination rotating motor to drive the pronation and supination speed reducer, driving the forearm pronation and supination assembly through the pronation and supination driving connecting rod, and rotating the pronation and supination rotating arm around a rotating shaft, wherein the rotating shaft is a forearm pronation and supination rotating shaft for driving the forearm of a human body to pronate and supinate; the front rotating and rear rotating fixing arm is connected with the elbow bending and extending swing arm in a sliding way.
The exoskeleton type upper limb rehabilitation training robot comprises a handle assembly, a handle assembly and a control assembly, wherein the handle assembly comprises a handle base frame, a handle swing arm and a handle rod; the handle base frame is fixedly connected with the front rotating and rear rotating arm; the handle swing arms are divided into two and are respectively hinged with the handle base frame to form a rotating shaft, the rotating shaft is a wrist joint rotating shaft matched with a wrist joint of a human body, and the handle rod is fixedly connected with the two handle swing arms.
The invention can assist the human body to finish the rehabilitation training of shoulder joint flexion and extension, shoulder joint inward contraction and outward extension, shoulder joint inward rotation and outward rotation, elbow joint flexion and extension, forearm rotation and forward rotation and backward rotation. The shoulder blade belt component designed by the invention can be completely matched with the motion rule of the human glenohumeral joint, and meets the degree of freedom requirement of rehabilitation training of the human upper limb in a three-dimensional space. The freedom degree configuration mode can fix the trunk of the patient and the seat to a certain extent, can tightly attach and wear the upper limbs of the patient and the mechanical arm, reduces trunk compensation in the training process, and enables the upper limbs of the patient to obtain correct training actions. The invention utilizes the rotating shaft shifting mechanism to lead the mechanical part to be far away from the head of a patient, thereby reducing the pressing feeling of the patient; the invention can also realize the quick switching of the initial wearing positions of the training modes of the left and right upper limbs of the exoskeleton type upper limb rehabilitation training robot by controlling the movement of the shoulder blade belt component, the shoulder joint component, the upper arm component and the forearm component, thereby avoiding the complicated adjusting program of the traditional robot.
Drawings
Fig. 1 is a schematic structural view of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Fig. 2 is a schematic structural view of a base member of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Fig. 3 is a schematic structural view of a scapular belt member of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Fig. 4 is a schematic structural view of a shoulder joint part of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Fig. 5 is a schematic view of an angle of an upper arm part of an exoskeleton type upper limb rehabilitation training robot according to the present invention.
FIG. 6 is a schematic view of an exoskeleton upper limb rehabilitation training robot according to another embodiment of the present invention.
FIG. 7 is a schematic view of an angle of a forearm section of an exoskeleton type upper limb rehabilitation training robot of the invention.
FIG. 8 is a schematic view of another angle of a forearm component of an exoskeleton type upper limb rehabilitation training robot of the invention.
Fig. 9 is a schematic diagram of the use of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Fig. 10 is a right arm training diagram of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Fig. 11 is a left arm training diagram of an exoskeleton type upper limb rehabilitation training robot of the present invention.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
Referring to fig. 1, 9 to 11, an exoskeleton-type upper limb rehabilitation training robot includes a base member 1000, a shoulder blade belt member 2000, a shoulder joint member 3000, an upper arm member 4000 and a forearm member 5000; the base member 1000 includes lockable casters 1001, a base floor 1002, and an electric lifting column 1003; the base bottom plate 1002 is used for supporting the whole exoskeleton type upper limb rehabilitation training robot, and the lockable casters 1002 are arranged on the bottom surface of the base bottom plate 1002 and used for moving and placing the exoskeleton type upper limb rehabilitation training robot; the lifting column 1003 is arranged on the base plate 1002 and used for adjusting the height of the exoskeleton type upper limb rehabilitation training robot so as to adapt to patients with different heights.
The shoulder blade belt part 2000 is fixedly connected with the electric lifting column 1003, is a rectangular coordinate system moving part, comprises a Z-direction moving component, an X-direction moving component and a Y-direction moving component, and can realize the spatial movement of the output end of the shoulder blade belt part 2000 by the combined movement of the Z-direction moving component, the X-direction moving component and the Y-direction moving component, and is used for matching the movement of the shoulder blade belt of a patient.
The shoulder joint part 3000 is fixedly connected with the Y-directional sliding plate 2306, and is used for realizing inward and outward extension of the shoulder joint and flexion and extension of the shoulder joint of a human body. The shoulder joint part 3000 includes a shoulder joint adduction and abduction assembly and a shoulder joint flexion and extension assembly connected to each other.
The upper arm part 4000 is connected with the shoulder joint part 3000, and the upper arm part 4000 comprises an internal rotation and external rotation assembly of the shoulder joint and an elbow joint flexion and extension assembly which are connected with each other.
The forearm part 5000 is connected to the upper arm part 4000, and the forearm part 5000 includes a forearm supination and pronation assembly and a handle assembly connected to each other.
The Z-direction movement assembly comprises a Z-direction bottom plate 2101, a Z-direction motor frame 2102, a Z-direction coupler 2103, a Z-direction rotating motor 2104, a Z-direction ball screw pair 2105, a Z-direction linear guide rail pair 2106 and a ZX-direction shared plate 2107; the Z-direction bottom plate 2101 is fixedly connected with the electric lifting column 1003; the Z-direction motor frame 2102 is fixedly connected with the Z-direction bottom plate 2101; the Z-direction rotating motor 2104 is fixedly connected with the Z-direction motor frame 2102; the ZX-direction shared board 2107 is slidably connected with the Z-direction bottom board 2101 through the Z-direction linear guide rail pair 2106; the Z-direction bottom plate 2101 and the ZX-direction common plate 2107 are respectively connected with the Z-direction ball screw pair 2105; the Z-direction rotating motor 2104 is connected with the Z-direction ball screw assembly 2105 through the Z-direction coupler 2103; the Z-direction rotating motor 2104 is controlled to operate to drive the Z-direction ball screw pair 2105 to drive the ZX-direction shared plate 2107 to reciprocate relative to the Z-direction bottom plate 2101, so that the movement function of the output end of the shoulder blade belt part 2000 in the Z direction 2000A can be realized.
The X-direction moving assembly comprises a ZX-direction common plate 2107, an X-direction motor frame 2201, an X-direction coupling 2202, an X-direction rotating motor 2203, an X-direction ball screw assembly 2204, an X-direction linear guide rail assembly 2205, an X-direction connecting plate 2206 and an XY-direction common plate 2207; the X-direction rotating motor 2203 is mounted on the X-direction motor frame 2201 and is coaxially connected with the X-direction ball screw assembly 2204 through the X-direction coupling 2202; the XY-direction shared plate 2207 is mounted on the ZX-direction shared plate 2107 through the X-direction linear guide rail pair 2205, and the X-direction connecting plate 2206 is connected with the X-direction ball screw pair 2204; the X-direction movement assembly is consistent with the movement principle of the Z-direction movement assembly; the X-direction rotating motor 2203 is controlled to operate, the X-direction ball screw assembly 2204 is driven to drive the XY-direction shared plate 2207 to reciprocate relative to the ZX-direction shared plate 2107, and the movement function of the output end of the scapular belt component 2000 in the X direction 2000B can be realized.
The Y-direction moving assembly comprises an XY-direction common plate 2207, a Y-direction motor frame 2301, a Y-direction coupler 2302, a Y-direction rotating motor 2303, a Y-direction ball screw pair 2304, a Y-direction linear guide pair 2305 and a Y-direction slide plate 2306; the Y-direction rotating motor 2303 is mounted on the XY-direction common plate 2207 through the Y-direction motor frame 2301, and the Y-direction ball screw pair 2304 is coaxially connected to the Y-direction rotating motor 2303 through the Y-direction coupling 2302; the Y-direction slide 2306 is disposed on the XY-direction common plate 2207 through the Y-direction linear guide pair 2305; the Y-direction movement assembly is consistent with the Z-direction movement assembly in the movement principle of the X-direction movement assembly; the Y-direction rotating motor 2303 is controlled to operate so as to drive the Y-direction ball screw pair 2304 and drive the Y-direction sliding plate 2306 to reciprocate relative to the XY-direction shared plate 2207, so that the movement function of the output end of the scapular belt component 2000 in the Y direction can be realized; the Y-direction sled 2306 is the output end of the scapular member 2000.
The shoulder joint adduction and abduction assembly comprises an adduction and abduction fixing arm 3101, an adduction and abduction first rotating arm 3102, an adduction and abduction second rotating arm 3103, an adduction and abduction first Y-shaped connecting rod 3104, an adduction and abduction second Y-shaped connecting rod 3105, an adduction and abduction rotating arm 3106, an adduction and abduction speed reducer 3107 and an adduction and abduction rotating motor 3108; the adduction and abduction fixing arm 3101 is fixedly connected with the Y-directional sliding plate 2306; the adduction and abduction speed reducer 3107 is fixedly installed on the adduction and abduction fixing arm 3101; the output end of the adduction and abduction speed reducer 3107 is fixedly connected with the adduction and abduction first rotating arm 3102; the adduction and abduction rotating motor 3108 is fixedly connected with the adduction and abduction first rotating arm 3102; the adduction and abduction rotating motor 3108 and the adduction and abduction speed reducer 3107 are connected and driven in a direct connection mode; the first rotating arm 3102 and the second rotating arm 3103 are hinged to the fixed arm 3101 to form a first rotating shaft 3000A and a second rotating shaft 3000B; the first Y-shaped connecting rod 3104 is hinged to the first rotating arm 3102 and the second rotating arm 3103 to form a third rotating shaft 3000C and a fourth rotating shaft 3000D; the second Y-shaped connecting rod 3105 is hinged to the first rotating arm 3102 and the second rotating arm 3103 respectively, so as to form a fifth rotating shaft 3000E and a sixth rotating shaft 3000F; the adduction and abduction rotating arm 3106 is hinged with the adduction and abduction first Y-shaped connecting rod 3104 to form an adduction and abduction seventh rotating shaft 3000G; the adduction and abduction rotating arm 3106 is hinged with the adduction and abduction second Y-shaped connecting rod 3105 to form an adduction and abduction eighth rotating shaft 3000H; the first rotating shaft 3000A, the second rotating shaft 3000B, the third rotating shaft 3000C and the fourth rotating shaft 3000D form four rotating shafts of the first parallelogram; the third rotating shaft 3000C, the fourth rotating shaft 3000D, the fifth rotating shaft 3000E and the sixth rotating shaft 3000F form four rotating shafts of the second parallelogram; the adduction and abduction rotating motor 3108 is controlled to drive the adduction and abduction speed reducer 3107 to drive any side of the adduction and abduction first parallelogram and the adduction and abduction second parallelogram to rotate around a rotating shaft, and the adduction and abduction rotating arm 3106 rotates around a rotating shaft, namely a shoulder adduction and abduction rotating shaft 3000I for driving the adduction and abduction movement of the shoulder joint of the human body.
The shoulder joint flexion and extension assembly comprises a shoulder flexion and extension rotating motor 3201, a shoulder flexion and extension speed reducer 3202, a shoulder flexion and extension synchronous belt transmission assembly 3203, a shoulder flexion and extension fixing seat 3204 and a shoulder flexion and extension swing arm 3205; the shoulder flexion and extension fixing seat 3204 is fixedly connected with the adduction and abduction rotating arm 3106; the shoulder flexion and extension rotating motor 3201 is fixedly connected with the shoulder flexion and extension fixing seat 3204; the shoulder flexion and extension speed reducer 3202 is fixedly connected with the shoulder flexion and extension fixing seat 3204; the shoulder bending and stretching rotating motor 3201 and the shoulder bending and stretching speed reducer 3202 are driven by the shoulder bending and stretching synchronous belt driving group 3203; the shoulder flexion and extension swing arm 3205 is fixedly connected with the output end of the shoulder flexion and extension speed reducer 3202; the shoulder flexion and extension rotating motor 3201 is controlled to operate to drive the shoulder flexion and extension speed reducer 3202, the shoulder flexion and extension swing arm 3205 is driven to rotate around a rotating shaft, and the rotating shaft is a shoulder flexion and extension rotating shaft 3000J for driving the shoulder joint of a human body to flex and extend.
The shoulder adduction and abduction shaft 3000I and the shoulder flexion and extension shaft 3000J intersect at a point in space; the intersection point can keep coincident with the center of the human glenohumeral joint in the whole rehabilitation training process through the compound movement of the scapular belt component 2000; the intersection point is the center 3000P of the robotic glenohumeral joint.
The shoulder joint inner and outer rotation assembly comprises an inner and outer rotation first rotation arm 4101, an inner and outer rotation second rotation arm 4102, an inner and outer rotation first Y-shaped connecting rod 4103, an inner and outer rotation second Y-shaped connecting rod 4104, an inner and outer rotation fixing arm 4105, an inner and outer rotation arm 4106, an inner and outer rotation speed reducer 4107, an inner and outer rotation motor 4108, an upper arm support 4109 and an inner and outer rotation driving connecting rod 4110; the first rotating arm 4101 and the second rotating arm 4102 are respectively connected to two sides of one end of the second Y-shaped link 4104, and the motor 4108 is disposed on the second Y-shaped link 4104 via the speed reducer 4107; one end of the inner rotation and outer rotation arm 4106 is respectively connected with the other ends of the inner rotation and outer rotation first Y-shaped connecting rod 4103 and the inner rotation and outer rotation second Y-shaped connecting rod 4104, and the upper arm support 4109 is arranged at the other end of the inner rotation and outer rotation arm 4106 and is in fit connection with the shoulder inner contraction and outer expansion shaft 3000I; the inner and outer rotation driving link 4110 is connected between the inner and outer rotation first Y-shaped link 4103 and the inner and outer rotation second Y-shaped link 4104. The internal rotation and external rotation component of the shoulder joint is consistent with the structural principle of the internal retraction and external extension component of the shoulder joint; the motor 4108 is controlled to drive the reducer 4107, the assembly is driven by the driving link 4110, and the arm will rotate around a shaft 4000A.
The inner rotation and outer rotation fixing arm 4105 is slidably connected with the shoulder flexion and extension swing arm 3205, and the distance between the elbow flexion and extension rotating shaft 4000B and the center 3000P of the glenohumeral joint of the robot is changed by adjusting the sliding size, so as to adapt to patients with different arm lengths of the upper arm.
The elbow joint flexion and extension assembly comprises an elbow flexion and extension pedestal 4201, an elbow flexion and extension rotating motor 4202, an elbow flexion and extension speed reducer 4203, and an elbow flexion and extension swing arm 4204; the elbow flexion and extension pedestal 4201 is fixedly connected to the inner and outer rotating arm 4106; the elbow flexion and extension rotating motor 4202 is fixedly connected to the elbow flexion and extension pedestal 4201; the elbow flexion and extension speed reducer 4203 is fixedly connected with the elbow flexion and extension pedestal 4201; the elbow flexion and extension rotating motor 4202 is connected with the elbow flexion and extension speed reducer 4203 in a direct connection manner for transmission; the elbow flexion and extension rotating motor 4202 is controlled to drive the elbow flexion and extension speed reducer 4203 to drive the elbow flexion and extension swing arm 4204 to rotate around a rotation axis, which is the elbow flexion and extension rotation axis 4000B for driving the flexion and extension motion of the elbow joint of the human body.
The forearm supination assembly comprises a supination first rotating arm 5101, a supination second rotating arm 5102, a supination first Y-shaped connecting rod 5103, a supination second Y-shaped connecting rod 5104, a supination fixed arm 5105, a supination rotating arm 5106, a supination speed reducer 5107, a supination rotating motor 5108 and a supination driving connecting rod 5109; one end of the first rotating arm 5101 and the second rotating arm 5102 are respectively connected with the first Y-shaped connecting rod 5103 and the second Y-shaped connecting rod 5104, and the driving connecting rod 5109 is connected between the first Y-shaped connecting rod 5103 and the second Y-shaped connecting rod 5104; the front-rotation and back-rotation motor 5108 is arranged on the front-rotation and back-rotation second Y-shaped connecting rod 5104 through the front-rotation and back-rotation speed reducer 5107, and the front-rotation and back-rotation fixing arm 5105 is connected with the other ends of the front-rotation and back-rotation first rotating arm 5101 and the front-rotation and back-rotation second rotating arm 5102; the rotating arm 5106 is disposed on the first Y-shaped link 5103. The forearm pronation and supination assembly is consistent with the shoulder joint adduction and abduction assembly in the structure principle of the shoulder joint adduction and supination assembly; the rotating motor 5108 is controlled to drive the rotating post-rotating speed reducer 5107, the forearm rotating post-rotating assembly is driven by the rotating post-rotating driving connecting rod 5109, and the rotating arm rotates around a rotating shaft, namely a forearm rotating post-rotating shaft 5000A for driving the forearm of a human body to rotate forward and backward.
The supination and pronation posterior fixation arm 5105 is slidably connected with the elbow flexion and extension swing arm 4204, and the distance between the wrist rotation shaft 5000B and the elbow flexion and extension rotation shaft 4000B is changed by adjusting the sliding size, so as to adapt to patients with different forearm lengths.
The handle assembly comprises a handle base frame 5201, a handle swing arm 5202 and a handle rod 5203; the handle base frame 5201 is fixedly connected with the front rotating and rear rotating arm 5106; the two handle swing arms 5202 are respectively hinged with the handle base frame 5201 to form a rotating shaft, and the rotating shaft is a wrist joint rotating shaft 5000B matched with the wrist joint of a human body and can be manually adjusted to a proper position and then locked; the handle bar 5203 is fixedly connected with the two handle swing arms 5202.
In conclusion, the invention can assist the human body to finish the rehabilitation training of shoulder joint flexion and extension, shoulder joint adduction and abduction, shoulder joint internal rotation and external rotation, elbow joint flexion and extension and forearm rotation and anterior-posterior rotation. The shoulder blade belt component designed by the invention can be completely matched with the motion rule of the human glenohumeral joint, and meets the degree of freedom requirement of rehabilitation training of the human upper limb in a three-dimensional space. The freedom degree configuration mode can fix the trunk of the patient and the seat to a certain extent, can tightly attach and wear the upper limbs of the patient and the mechanical arm, reduces trunk compensation in the training process, and enables the upper limbs of the patient to obtain correct training actions. The invention utilizes the rotating shaft shifting mechanism to lead the mechanical part to be far away from the head of a patient, thereby reducing the pressing feeling of the patient; the invention can also realize the quick switching of the initial wearing positions of the training modes of the left and right upper limbs of the exoskeleton type upper limb rehabilitation training robot by controlling the movement of the shoulder blade belt component, the shoulder joint component, the upper arm component and the forearm component, thereby avoiding the complicated adjusting program of the traditional robot.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the content of the present invention or technical fields directly or indirectly attached to other related products are included in the scope of the present invention.
Claims (4)
1. An exoskeleton type upper limb rehabilitation training robot is characterized in that: comprises a base component, a shoulder blade component, a shoulder joint component, an upper arm component and a forearm component; the base part comprises lockable casters, a base bottom plate and an electric lifting column;
the base bottom plate supports the whole exoskeleton type upper limb rehabilitation training robot, the lockable casters are arranged on the bottom surface of the base bottom plate, and the lifting columns are arranged on the base bottom plate; the shoulder blade belt component is fixedly connected with the electric lifting column and is a rectangular coordinate system moving component, and comprises a Z-direction moving component, an X-direction moving component and a Y-direction moving component which jointly move; the shoulder joint component is fixedly connected with the Y-direction sliding plate and comprises a shoulder joint inward-folding and outward-unfolding assembly and a shoulder joint bending and stretching assembly which are connected with each other; the upper arm part is connected with the shoulder joint part and comprises an internal rotation and external rotation assembly of the shoulder joint and an elbow joint flexion and extension assembly which are connected with each other; the forearm component is connected with the upper arm component, and comprises a forearm supination and supination component and a handle component which are connected with each other;
the shoulder joint bending and stretching assembly comprises a shoulder bending and stretching rotating motor, a shoulder bending and stretching speed reducer, a shoulder bending and stretching synchronous belt transmission group, a shoulder bending and stretching fixing seat and a shoulder bending and stretching swing arm; the shoulder bending and stretching fixing seat is fixedly connected with the adduction and abduction rotating arm; the shoulder bending and stretching rotating motor is fixedly connected with the shoulder bending and stretching fixing seat; the shoulder flexion and extension speed reducer is fixedly connected with the shoulder flexion and extension fixing seat; the shoulder bending and stretching rotating motor and the shoulder bending and stretching speed reducer are driven by the shoulder bending and stretching synchronous belt driving group; the shoulder bending and stretching swing arm is fixedly connected with the output end of the shoulder bending and stretching speed reducer; the shoulder bending and stretching rotating motor is controlled to operate, the shoulder bending and stretching speed reducer is driven, the shoulder bending and stretching swing arm is driven to rotate around a rotating shaft, and the rotating shaft is a shoulder bending and stretching rotating shaft for driving the shoulder joint of a human body to bend and stretch.
2. The exoskeleton type upper limb rehabilitation training robot of claim 1, wherein: the Z-direction movement assembly comprises a Z-direction bottom plate, a Z-direction motor frame, a Z-direction coupler, a Z-direction rotating motor, a Z-direction ball screw pair, a Z-direction linear guide rail pair and a ZX-direction shared plate; the Z-direction bottom plate is fixedly connected with the electric lifting column; the Z-direction motor frame is fixedly connected with the Z-direction bottom plate; the Z-direction rotating motor is fixedly connected with the Z-direction motor frame; the ZX-direction shared plate is in sliding connection with the Z-direction bottom plate through the Z-direction linear guide rail pair; the Z-direction bottom plate and the ZX-direction shared plate are respectively connected with the Z-direction ball screw pair; the Z-direction rotating motor is connected with the Z-direction ball screw pair through the Z-direction coupler.
3. The exoskeleton type upper limb rehabilitation training robot of claim 2, wherein: the X-direction movement assembly comprises a ZX-direction shared plate, an X-direction motor frame, an X-direction coupler, an X-direction rotating motor, an X-direction ball screw pair, an X-direction linear guide rail pair, an X-direction connecting plate and an XY-direction shared plate; the X-direction rotating motor is arranged on the X-direction motor frame and is coaxially connected with the X-direction ball screw pair through the X-direction coupler; the X-direction shared plate is arranged on the ZX-direction shared plate through the X-direction linear guide rail pair, and the X-direction connecting plate is connected with the X-direction ball screw pair.
4. The exoskeleton type upper limb rehabilitation training robot of claim 3, wherein: the Y-direction movement assembly comprises an XY-direction shared plate, a Y-direction motor frame, a Y-direction coupler, a Y-direction rotating motor, a Y-direction ball screw pair, a Y-direction linear guide rail pair and a Y-direction sliding plate; the Y-direction rotating motor is arranged on the XY-direction shared plate through the Y-direction motor frame, and the Y-direction ball screw pair is coaxially connected with the Y-direction rotating motor through the Y-direction coupler; the Y-direction sliding plate is arranged on the XY-direction shared plate through the Y-direction linear guide rail pair; the Y-direction sliding plate is the output end of the shoulder blade belt component.
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