CN108144264A

CN108144264A - Mechanical arm for rehabilitation training and healing robot

Info

Publication number: CN108144264A
Application number: CN201810133388.0A
Authority: CN
Inventors: 涂细凯; 何际平; 李建
Original assignee: Wuhan Watson Tuo Technology Co Ltd
Current assignee: Wuhan Watson Tuo Technology Co Ltd
Priority date: 2018-02-09
Filing date: 2018-02-09
Publication date: 2018-06-12
Anticipated expiration: 2038-02-09
Also published as: CN108144264B

Abstract

Mechanical arm for rehabilitation training and healing robot of the present invention are related to medical instruments field.Its purpose is to provide a kind of mechanical arm for rehabilitation training simple in structure, at low cost, easy to operate and healing robot.Mechanical arm for rehabilitation training of the present invention, the mechanical arm being connected in series including six rotary motion joint assemblies, mechanical arm includes sequentially connected shoulder joint component, wrist assembly, forearm rotary components and wrist joints moving component, shoulder joint component includes the first joint assembly, second joint component and third joint assembly, three rotation axis of the first joint assembly, second joint component and third joint assembly are met at a bit, which is located at the rotary middle point of user's shoulder joint.Healing robot of the present invention, including backrest, cantilever beam and mechanical arm for rehabilitation training, mechanical arm for rehabilitation training is arranged on by overarm arm in backrest, mechanical arm for rehabilitation training set in overarm arm there are one or it is a pair of, the first joint assembly is slidably connected in overarm arm.

Description

Mechanical arm for rehabilitation training and healing robot

Technical field

The present invention relates to medical rehabilitation machinery correlative technology field, more particularly to a kind of mechanical arm for rehabilitation training and health Multiple robot.

Background technology

According to statistics, China has every year up to gives birth to cerebral apoplexy up to 2,000,000 human hairs, and cerebral apoplexy user remains 700 now Ten thousand people, wherein 4,500,000 user's hemiplegias or paralysis, the different degrees of loss of activity of limbs, can't take care of oneself, disability rate Up to 75%.Human upper limb carries very important responsibility in daily life, completes the activity of various elaborates, upper limb Dyskinesia will seriously affect daily life；Therefore, the upper extremity exercise reconstruction of hemiplegia user is rehabilitation The important topic of medical research field.It is clinical medical research shows that, most of cerebral apoplexy user pass through extensively and repeat Task practice can restore limb motion ability to a certain extent.

Recovery exercising robot be by robotic technology field and rehabilitation medical domain with reference to and generate, be a kind of Supplement substitutes the new technology that specialist completes human upper limb rehabilitation training, rehabilitation of its appearance for upper limb hemiplegia user Treatment opens new road, compensates for the deficiency of hemiplegia user's clinical treatment；The therapy of recovery exercising robot is Suffering limb is connected with robot, user's limbs complete various actions under the drive of robot, stimulate human upper limb joint and The Neural control system of muscle, so as to achieve the purpose that restore user's limb motion function；This mode is alleviated to treatment The dependence of doctor, it can help medical teacher to complete rehabilitation training task heavy, repeatedly, and user is helped preferably to restore limbs Motion function.

But existing recovery exercising robot faces that of high cost, volume is big, complex structure and other problems, causes to use model It encloses and is limited to training effect.

Invention content

The technical problem to be solved in the present invention is to provide a kind of rehabilitation trainers simple in structure, at low cost, easy to operate Tool arm and healing robot.

Mechanical arm for rehabilitation training of the present invention, including the mechanical arm that six rotary motion joint assemblies are connected in series, the machine Tool arm includes sequentially connected shoulder joint component, wrist assembly, forearm rotary components and wrist joints moving component, the shoulder joint It saves component and includes the first joint assembly, second joint component and third joint assembly, first joint assembly, second joint group Three rotation axis of part and third joint assembly are met at a bit, which is located at the rotary middle point of user's shoulder joint.

Mechanical arm for rehabilitation training of the present invention, wherein each joint assembly of the mechanical arm includes driver, pressure is examined It surveys component and connecting crank, the output shaft of the connecting crank and the driver is relatively fixed, the pressure detecting assembly is set It puts between the output shaft and the connecting crank of the driver.

Mechanical arm for rehabilitation training of the present invention, wherein the pressure detecting assembly includes pressure sensor, pressure sensor stops Block, output crank is connected on the output shaft of the driver, and the pressure sensor stops and output crank clamping are solid The fixed pressure sensor, the both ends of the pressure sensor stops connect the output crank and the connecting crank respectively.

Mechanical arm for rehabilitation training of the present invention, wherein each joint of the shoulder joint component and wrist assembly includes driving Dynamic device, output crank and engine base connecting rod, the output crank are connected on the output shaft of the driver, the engine base connecting rod with The shell of the driver is relatively fixed, and pressure detecting assembly is connected on the output crank, the pressure detecting assembly Both ends connect the output crank and the connecting crank respectively.

Mechanical arm for rehabilitation training of the present invention, wherein the first connecting crank of first joint assembly is closed as described second Second engine base connecting rod of section component is connected on the second driver, and the second connecting crank of the second joint component is as third The third engine base connecting rod of joint assembly is connected on third driver, and the third connecting crank of the third joint assembly is as institute The 4th engine base connecting rod for stating wrist assembly is connected in fourth drive, the 4th connecting crank connection of the wrist assembly The forearm rotary components.

Mechanical arm for rehabilitation training of the present invention, wherein the forearm rotary components include the 5th driver, flat turn mechanism, forearm Sliding block, the forearm sliding block are rotatablely connected the flat turn mechanism, and the flat turn mechanism connects the 5th driver, the flat turn Mechanism includes upper link, lower link and swivel link, and the upper link is relatively fixed with the 5th driver and connect, The output shaft of the lower link and the 5th driver is relatively fixed, and the lower link is defeated with the 5th driver It is connected with pressure detecting assembly between shaft, the upper link and the upper link are articulated and connected the swivel link.

Mechanical arm for rehabilitation training of the present invention, wherein the wrist joints moving component includes the 6th driver, connecting substrate, pendulum Motivation structure and pressure detecting assembly, the swing mechanism articulated connection connecting substrate, the pressure detecting assembly are connected to Between the output shaft and swing mechanism of 6th driver.

Mechanical arm for rehabilitation training of the present invention, wherein the swing mechanism includes long connecting rod, short connecting rod and centering block, the length is even The both ends of bar and the short connecting rod are hinged the connecting substrate and the centering block, and sliding slot is offered on the centering block, and hand handle is slided It is dynamic to be connected in the sliding slot.

Healing robot of the present invention, including backrest, cantilever beam and the mechanical arm for rehabilitation training, mechanical arm for rehabilitation training Be arranged in the backrest by the overarm arm, the mechanical arm for rehabilitation training set on the cantilever beam there are one or one Right, first joint assembly is slidably connected on the cantilever beam.

Healing robot of the present invention, wherein being equipped with controller, each pass of the mechanical arm for rehabilitation training in the backrest Section component is connected with controller.

Mechanical arm for rehabilitation training and healing robot difference from prior art of the present invention is：Rehabilitation instruction of the present invention Practice mechanical arm, including the mechanical arm that six rotary motion joint assemblies are connected in series, mechanical arm includes sequentially connected shoulder joint Component, wrist assembly, forearm rotary components and wrist joints moving component, shoulder joint component include the first joint assembly, second Joint assembly and third joint assembly, three rotation axis of the first joint assembly, second joint component and third joint assembly It meets at a bit, which is located at the rotary middle point of user's shoulder joint；

Healing robot of the present invention, including backrest, cantilever beam and mechanical arm for rehabilitation training, mechanical arm for rehabilitation training passes through outstanding Beam arm is arranged in backrest, mechanical arm for rehabilitation training set on a cantilever beam there are one or it is a pair of, the first joint assembly, which slides, to be connected It connects on a cantilever beam；

The exoskeleton-type driven by a kind of wearable bilateral designs, and realizes user in sitting posture, stance or freely moves Rehabilitation training is carried out in the state of dynamic, the rehabilitation training of user unilateral side arm is applicable not only to, applies also for user's bilateral The rehabilitation training of arm simultaneously；

In mechanical arm for rehabilitation training and healing robot of the present invention each joint sensors and connector using it is small, The pull pressure sensor and self-lubricating bearing of light weight so that structure is compacter, improves service life, while each joint uses The compact servo motor of lightweight can not only assist user to carry out passive rehabilitation training, but also can have been passed by corresponding pressure The dynamic force feedback of sensor is converted to the auxiliary that user provides active training force compensating；

Spacing (shoulder breadth), third are closed between two first joint assemblies in mechanical arm for rehabilitation training and healing robot of the present invention Save component and the 4th joint assembly spacing (big arm lengths) and the 4th joint assembly and the 5th joint assembly spacing (small brachium Degree) using the manual adjusting for the formula that is slidably connected, and be locked with knurled nut, have to the user of different shoulder breadth brachiums Good adaptability, while the too fat to move driving mechanism of the structure that avoids is adjusted, overall structure is compacter, substantially alleviates weight Amount；

The 5th joint assembly of user's forearm rotation is realized in mechanical arm for rehabilitation training and healing robot of the present invention, The movement that the 5th joint assembly is realized by the upper tripod and lower tripod structure of two eccentric settings is to revolve round the sun around arm, and It is not simply to do rotation around itself joint；

The 6th joint group of user's wrist joints moving is realized in mechanical arm for rehabilitation training and healing robot of the present invention Part, hand handle can be with the rotation automatic centerings in joint, and what is avoided generates constriction in swing process to user's wrist joint；

Mechanical arm for rehabilitation training and healing robot of the present invention, compact overall structure, each firmware that connects use matter substantially Amount is light, and the good aluminum alloy of mechanical property with reference to the type selecting of each function element, greatly reduces the weight of this upper limb rehabilitation robot Different users are also had good adaptability, substantially increase the effect of upper limb healing by amount, while rehabilitation training mode diversification Rate.

The mechanical arm for rehabilitation training and healing robot of the present invention are described further below in conjunction with the accompanying drawings.

Description of the drawings

Fig. 1 is the dimensional structure diagram of a preferred embodiment of healing robot of the present invention, wherein, each joint assembly position In first position；

Fig. 2 is the dimensional structure diagram of a preferred embodiment of healing robot of the present invention, wherein, each joint assembly position In the second position；

Fig. 3 is the assembling dimensional structure diagram of the first joint assembly in Fig. 1；

Fig. 4 is the configuration schematic diagram of the first joint assembly in Fig. 1；

Fig. 5 is the configuration schematic diagram of second joint component in Fig. 1；

Fig. 6 is the assembling dimensional structure diagram of third joint assembly in Fig. 1；

Fig. 7 is the configuration schematic diagram of third joint assembly in Fig. 1；

Fig. 8 is the configuration schematic diagram of the 4th joint assembly in Fig. 1；

Fig. 9 is the assembling dimensional structure diagram of the 5th joint assembly in Fig. 1；

Figure 10 is the configuration schematic diagram of the 5th joint assembly in Fig. 1；

Figure 11 is the assembling dimensional structure diagram of the 6th joint assembly in Fig. 1

Attached drawing marks：1st, backrest；11st, overarm arm；12nd, backrest guide groove；2nd, mechanical arm for rehabilitation training；

3rd, the first joint assembly；31st, shoulder joint pedestal；311st, the first transfer panel；32nd, the first motor；33rd, first slows down Machine；34th, the first output crank；341st, the first baffle ring；342nd, the first locking shaft；343rd, the first self-lubricating bearing；344th, first turn Dynamic seam allowance；345th, the first rotary spacing block；35th, the first connecting crank；361st, first sensor reducing sleeve；362nd, the first stops turns Female connector；37th, the first pull pressure sensor；38th, first sensor stops；

4th, second joint component；41st, the second transfer panel；42nd, the second motor；43rd, the second speed reducer；44th, the second output is bent Handle；441st, the second baffle ring；442nd, the second locking shaft；443rd, the second self-lubricating bearing；444th, the second rotation seam allowance；445th, second turn Dynamic limited block；45th, the second connecting crank；461st, second sensor reducing sleeve；462nd, the second stops reducing sleeve；47th, the second tension and compression Force snesor；48th, second sensor stops；

5th, third joint assembly；51st, third transfer panel；52nd, third motor；53rd, third speed reducer；54th, third output is bent Handle；541st, third baffle ring；542nd, third locking shaft；543rd, third self-lubricating bearing；544th, third rotation seam allowance；545th, third turns Dynamic limited block；55th, third connecting crank；551st, upper armlet；552nd, large arm guide groove；553rd, large arm positioning bolt；561st, third passes Sensor reducing sleeve；562nd, third stops reducing sleeve；57th, third pull pressure sensor；58th, 3rd sensor stops；

6th, wrist assembly；60th, large arm adjustment hole；61st, large arm sliding block；611st, the 4th transfer panel；62nd, the 4th motor；63、 4th speed reducer；64th, the 4th output crank；641st, fourth gear circle；642nd, the 4th locking shaft；643rd, the 4th self-lubricating bearing； 644th, the 4th rotation seam allowance；645th, the 4th rotary spacing block；65th, the 4th connecting crank；651st, lower armlet；652nd, forearm guide groove； 653rd, forearm positioning bolt；661st, the 4th sensor reducing sleeve；662nd, the 4th stops reducing sleeve；67th, the 4th pull pressure sensor； 68th, the 4th sensor stops；

7th, forearm rotary components；70th, forearm adjustment hole；71st, forearm sliding block；711st, support shaft；72nd, flat turn mechanism；721、 Long pin shaft；73rd, lower tripod；731st, dump bolt shaft；74th, swivel link；75th, the 5th motor；76th, the 5th speed reducer； 77th, the 5th output crank；771st, the 5th self-lubricating bearing；772nd, the 5th locking shaft；78th, the 5th pull pressure sensor；79th, upper three Corner bracket；

8th, wrist joints moving component；80th, swing mechanism；81st, connecting substrate；82nd, parallelogram lindage；821st, rack bar； 822nd, long connecting rod；823rd, short connecting rod；8231st, shank is driven；824th, centering block；825th, sliding slot；83rd, hand handle；84th, the 6th motor；85th, Six speed reducers；86th, the 6th output crank；861st, the 6th sensor reducing sleeve；862nd, the 6th stops reducing sleeve；87th, the 6th tension and compression Force snesor；88th, the 6th sensor stops.

Specific embodiment

Healing robot can be divided into two class of tail end traction type and exoskeleton-type by mechanical structure at present；Tail end traction type rehabilitation In rehabilitation exercise, end usually connects firmly together with user's wrist, passes through healing robot end effector for robot Movement drive suffering limb movement, be difficult to make independent actively or passively rehabilitation exercise to certain single joint in user's upper limb； Exoskeletal rehabilitation robot can directly be worn on human body, and each joint space and human synovial space are almost consistent, peace Quan Xinggao, and the calculating of space conversion need not be carried out in TRAJECTORY CONTROL.In addition, in rehabilitation exercise, robot is to user Single joint or multiple joints on limbs make active, passive rehabilitation movement simultaneously；Therefore, compared to tail end traction type rehabilitation machines Device people, exoskeletal rehabilitation robot can provide more flexible, safer, more rich rehabilitation exercise.

From healing robot overall design, the design of overwhelming majority healing robot is single-sided design at present, Main reason is that hemiplegia patient only needs to carry out the rehabilitation of unilateral upper limb；But do not occur the wearable healing robot of bilateral also Design, main reason is that, the weight of current bilateral healing robot design is also overweight for rehabilitation user, user Rehabilitation training is carried out under sitting posture state, therefore, two-sided design and wearable design have on rehabilitation modality and rehabilitation efficacy Some superiority, there is also problems.It is big, inconvenient to solve healing robot quality using exoskeleton-type rehabilitation mode by the present invention Wearing the problem of.

With reference to shown in Fig. 1-Figure 11, mechanical arm for rehabilitation training of the present invention, including six rotary motion joint assembly series windings Into mechanical arm, mechanical arm includes sequentially connected shoulder joint component, wrist assembly 6, forearm rotary components 7 and wrist joint are lived Dynamic component 8, shoulder joint component include the first joint assembly 3, second joint component 4 and third joint assembly 5, the first joint assembly 3rd, three rotation axis of second joint component 4 and third joint assembly 5 are met at a bit, which is located at the rotation of user's shoulder joint Turn central point.

Shoulder joint component, wrist assembly 6, forearm rotary components 7 and wrist joints moving component 8 are sequentially connected, shoulder joint Component can drive the rotation of wrist assembly 6 to adjust, and wrist assembly 6 can drive the rotation of forearm rotary components 7 to adjust, forearm Rotary components 7 can drive the rotation of wrist joints moving component 8 to adjust, and realize comprehensive, the multi-angle regulation of mechanical arm, make machinery The flexibility ratio of arm improves.Meanwhile shoulder joint component includes the first joint assembly 3 of rotatable connection, second joint component 4 and third and closes Component 5 is saved, the jante et perpendiculaire of the first joint assembly 3, second joint component 4 and third joint assembly 5 makes shoulder joint in a bit Saving component can be more accurate with the cooperation of the shoulder joint of user, contributes to the rehabilitation of shoulder joint.

Further, each joint assembly on mechanical arm is all connected on controller, and controller can be with each joint Component is by wiring connection or wireless connection, and the mode of wiring connection is small by external interference, stable connection, the mode of wireless connection Wiring is reduced, mitigates weight of equipment and volume.

Mechanical arm for rehabilitation training of the present invention can not have to according to the combination of the linkage of each joint assembly, and selection is different Training mode, including auxiliary user carry out passive rehabilitation training, and can be user's initiative rehabilitation training provide it is various Force compensating auxiliary of form etc.；Realize different training actions, the rehabilitation instruction of both hands synchronization or alternately collaboration including upper limb Experienced, upper limb one hand vertical-horizontal rehabilitation training etc.；User is assisted to complete various rehabilitation trainings, greatly improves rehabilitation Efficiency.

The driving of each joint assembly and detecting system：

Further, each joint assembly of mechanical arm includes driver, pressure detecting assembly and connecting crank, connection The output shaft of crank and driver is relatively fixed, and pressure detecting assembly is arranged between the output shaft of driver and connecting crank. Driver plays the role of being drivingly connected crank rotation, driver pressure detecting group while to connecting crank transmitting forces Part is detected active force, and the active force that pressure detecting assembly detects passes to controller.Driver and pressure detecting group Part is all connected on controller.

Patient in rehabilitation early stage, user in itself can not autokinetic movement, using passive rehabilitation pattern, driver is connected to On controller, controller can regulate and control the active force of driver, and driver is drivingly connected crank rotation, pressure detecting group Part is detected the output shaft of driver and the intermolecular forces of connecting crank, pressure detecting assembly by force transfer to control Device, controller records the setting driving force of driver with the active force that pressure detecting assembly detects, convenient for medical care people Member understands the rehabilitation state of user, also achieves the monitoring to driver, and the operation shape of driver is understood convenient for staff State.

For patient in the rehabilitation middle and later periods, patient has some locomitivities, but limited strength in itself, using initiative rehabilitation pattern, User is drivingly connected crank-operated, and activation force is passed to the output of driver by pressure detecting assembly by connecting crank Axis, while the active role power of user is transferred to controller by pressure detecting assembly, controller can record the master of user Dynamic deformation from motion understands the rehabilitation state of user convenient for medical staff；Controller can also be anti-according to pressure detecting assembly simultaneously The active force of feedback adjusts the action of driver, and adjust rotating speed, the rotation direction of driver is needed with adapting to the rehabilitation training of user It asks, realizes to auxiliary compensation in initiative rehabilitation training process, realize different training actions, it is applied widely.

Further, pressure detecting assembly includes pressure sensor, pressure sensor stops, connects on the output shaft of driver Output crank is connected to, pressure sensor stops grips pressure sensor with output crank, and pressure sensor stops plays company The effect of output crank and connecting crank is connect, when output crank and the trend of connecting crank generation relative motion, pressure sensing Device stops generates pulling force or pressure under the drive of output crank or connecting crank relative to pressure sensor, convenient for detecting torque Variation, realize the function to the status monitoring of user, convenient for medical staff understand user rehabilitation state.

Specifically, pressure sensor can select pull pressure sensor, the central shaft and output crank of pull pressure sensor Rotary middle spindle it is vertical, ensure that pull pressure sensor is not influenced by other points to power, more accurate feedback joint The technical indicators such as dynamic force moment.Pull pressure sensor has the characteristics that precision height, wide range of measurement, long lifespan, simple in structure.

Preferably, it is equipped between pressure sensor and pressure sensor stops, between pressure sensor and output crank Reducing sleeve, the both ends of pressure sensor stops connect output crank and connecting crank respectively.Reducing sleeve is protected with output crank cooperation Demonstrate,prove pressure sensor central shaft and output crank the centre of gyration verticality, ensure that pressure sensor not by other points to The technical indicators such as the dynamic force moment in joint are more accurately fed back in the influence of power.

Specifically, driver includes motor and speed reducer, motor can select servo motor, and servo motor has volume The characteristics of small, reaction is soon, overload capacity is big, convenient for automatic adjustment；Speed reducer can select harmonic wave speed reducing machine, what speed reducer used Harmonic wave speed reducing machine output terminal has enough axial directions, radial direction and anti-torsional strength, can be eliminated too fat to move with direct-connected output crank The parts such as support end and bearing；The complexity of structure is reduced, mitigates the quality of joint arrangement.

Further, output crank is connected with connecting crank by locking shaft, and locking shaft is locked through connecting crank Tight shaft is fixedly connected on output crank.Locking shaft be connected on output crank by screw-driving, connecting crank with it is defeated Go out crank and be hinged by locking shaft；It locks shaft and is equipped with spacing ring, spacing ring is connected on the end face of connecting crank, is limited Ring plays the role of limiting connecting crank, simple in structure, realizes and connecting crank and output crank are hinged, simple in structure, Stable connection.

Further, it locks and self-lubricating bearing is socketed in shaft, self-lubricating bearing abuts connecting crank, that is, locks shaft and company It connects and self-lubricating bearing is connected between crank, reduce the friction between locking shaft and connecting crank, also reduce connecting crank rotation Rubbing action during adjusting reduces External force interference, and pressure is examined during improving initiative rehabilitation training and passive rehabilitation training The accuracy of detection of component is surveyed, makes the state of medical staff more accurate judgement user.Preferably, it is also equipped on connecting crank It from profit baffle ring, is located between output crank and connecting crank from baffle ring pad is moistened, plays the role of isolating pad shield.Connecting crank with it is defeated Small, light weight self-lubricating bearing and certainly profit baffle ring are selected in the connecting pin for going out crank.

The preferred embodiment of shoulder joint component and wrist assembly 6：

Further, with reference to shown in Fig. 3-Fig. 8, each joint of shoulder joint component and wrist assembly 6 includes driving Device, output crank and engine base connecting rod, output crank are connected on the output shaft of driver, the outer shell phase of engine base connecting rod and driver To fixation, connecting crank is connected on output crank, is connected with pressure detecting assembly on output crank, the two of pressure detecting assembly End connects output crank and connecting crank respectively.

Shoulder joint component is identical with the operation principle of wrist assembly 6, bent using connection is connected on driver The housing of the structure type of handle and engine base connecting rod, engine base connecting rod and driver is relatively fixed connection, connecting crank and driver Output shaft is relatively fixed, but the incomplete phase of structure of the engine base connecting rod of shoulder joint component and wrist assembly 6, connecting crank Together, the structure type of the specific component of design shoulder joint component and wrist assembly 6 is needed according to practical structure, can be realized Auxiliary support during user's initiative rehabilitation, and can realize and assist user's passive rehabilitation training, structure by driver Simply, fit precision is high.

The housing of engine base connecting rod and driver is relatively fixed, and the one end of engine base connecting rod far from driver is connected to a upper joint On component, the output shaft of driver drives connecting crank rotation, and connecting crank connects next joint assembly, makes two neighboring joint The connection angle of component can automatically adjust.

Further, transfer panel is connected on engine base connecting rod, transfer panel is fixedly connected on the housing of driver, and engine base connects Bar is fixedly connected with transfer panel, and the setting of transfer panel facilitates driver and engine base connecting rod to install, reduces driver and engine base connecting rod exists Use the loss of process.

Further, rotary spacing mouth is offered on output crank, rotary spacing block is connected on rotary spacing mouth, is rotated Limited block is connect with engine base link detachable.Rotary spacing mouth is set as semicircular configuration, and rotary spacing mouth is to rotary spacing block Rotation is limited, and is realized by the cooperation of rotary spacing block and rotary spacing mouth to the rotational angle of the output shaft of driver Limiting prevents the rotational angle of output shaft of driver during safe exercise zone, guarantee user's reconditioning Safety is avoided damaging caused by articulation is excessive in user's rehabilitation training, also, can also be exported by adjusting processing The size of the rotary spacing mouth of crank and or the size of adjustment rotary spacing block adapt to the different rotational angles in different joints Demand.

Further, second engine base connecting rod of the first connecting crank 35 of the first joint assembly 3 as second joint component 4 It is connected on the second driver, the second connecting crank 45 of second joint component 4 connects as the third engine base of third joint assembly 5 Bar is connected on third driver, and the third connecting crank 55 of third joint assembly 5 connects as the 4th engine base of wrist assembly 6 Bar is connected in fourth drive, the 4th connecting crank 65 connection forearm rotary components 7 of wrist assembly 6.

As shown in fig. 3 to 7, by 5 three the first joint assembly 3, second joint component 4 and third joint assembly joint assemblies Linkage realize rehabilitation training to user's shoulder joint, the first joint assembly of connection 3 connects with the first of second joint component 4 Crank 35, the second connecting crank 45 of connection second joint component 4 and third joint assembly 5 are connect, two connecting cranks are left and right Symmetrical V-structure, crank center are equal to the joint assembly center of rotation distance respectively connected, during the motion always The rotary middle spindle of three joint assemblies of holding meets at the rotary middle point of the shoulder joint of user, has reached rehabilitation training In good dynamic adaptable.

First joint assembly 3 is connected in overarm arm 11, i.e., mechanical arm is connected to overarm arm 11, and overarm arm 11 plays support With the effect of connection mechanical arm.Preferably, the first joint assembly 3 is slidably connected in overarm arm 11, can be in overarm arm 11 The position of adjusting mechanical arm especially when being set in overarm arm 11 there are two during mechanical arm, facilitates the spacing for adjusting two mechanical arms, Suitable for the user of different building shape, different shoulder breadths.

The preferred embodiment of first joint assembly 3：

Specifically, the first switching that the first joint assembly 3 includes shoulder joint pedestal 31 and is fixed on shoulder joint pedestal 31 Disk 311, shoulder joint pedestal 31 are the first engine base connecting rod, and shoulder joint pedestal 31 is slidably connected in overarm arm 11, shoulder joint pedestal 31 are bolted fixation with overarm arm 11, and demounting bolt can slidable adjustment shoulder joint 31 phase in overarm arm 11 of pedestal To position.First transfer panel 311 is connected to the first motor 32 and the first speed reducer being connected with the output shaft of the first motor 32 33, the output terminal drive connection of the first speed reducer 33 has the first output crank 34, the first gear connected firmly with the first output crank 34 Circle 341 and the first locking shaft 342 connected firmly with the first baffle ring 341, the first locking shaft 342 pass through the first self-lubricating bearing 343 The first connecting crank 35 is rotatably connected to, 34 side of the first output crank is equipped with the first rotation seam allowance 344, the first rotation seam allowance The first rotary spacing block 345 being detachably connected with shoulder joint pedestal 31 is equipped in 344,34 opposite side of the first output crank passes through First sensor reducing sleeve 361 is connected with the first pull pressure sensor 37, and the first sensing is located in the first pull pressure sensor 37 361 offside of device reducing sleeve is connected with first sensor stops 38 by the first stops reducing sleeve 362, first sensor stops 38 with First connecting crank 35 is bolted to connection；Pass through being slidably connected for shoulder joint pedestal 31 and overarm arm 11 so that a pair of Two shoulder joint pedestals, 31 spacing in mechanical arm for rehabilitation training 2 improves the adaptation of the user different to shoulder breadth convenient for adjusting Property.

The preferred embodiment of second joint component 4：

In the present embodiment, as shown in figure 5, second joint component 4 is connected by the first connecting crank 35 and the first joint assembly 3 It connects, second joint component 4 includes being fixed on the second transfer panel 41 on the first connecting crank 35, and the second transfer panel 41 is connected to the Two motors 42 and the second speed reducer 43 being connected with the output shaft of the second motor 42, the output terminal driving of the second speed reducer 43 connect It is connected to the second output crank 44 and the second output crank 44 the second baffle ring 441 connected firmly and connected firmly with the second baffle ring 441 second Shaft 442 is locked, the second locking shaft 442 is rotatably connected to the second connecting crank 45 by the second self-lubricating bearing 443, and second is defeated Go out 44 side of crank equipped with the second rotation seam allowance 444, the second interior be equipped with of rotation seam allowance 444 detachably connects with the first connecting crank 35 The the second rotary spacing block 445 connect, 44 opposite side of the second output crank are connected with the second drawing by second sensor reducing sleeve 461 Pressure sensor 47 is transferred positioned at 461 offside of second sensor reducing sleeve by the second stops in second pull pressure sensor 47 Set 462 is connected with second sensor stops 48, and second sensor stops 48 is bolted to connection with the second connecting crank 45.

The preferred embodiment of third joint assembly 5：

In the present embodiment, as shown in fig. 6-7, third joint assembly 5 passes through the second connecting crank 45 and second joint component 4 Connection, third joint assembly 5 include the third transfer panel 51 being fixed on the second connecting crank 45, and third transfer panel 51 is equipped with Third motor 52 and the third speed reducer 53 being connected with the output shaft of third motor 52, the output terminal driving of third speed reducer 53 It is connected with third output crank 54, the third baffle ring 541 connected firmly with third output crank 54 and connected firmly with third baffle ring 541 the Three locking shafts 542, third locking shaft 542 are rotatably connected to third connecting crank 55, third by third self-lubricating bearing 543 Connecting crank 55 has been bolted to connection armlet 551, and 54 side of third output crank is equipped with third and rotates seam allowance 544, The third rotary spacing block 545 being detachably connected with the second connecting crank 45 is equipped in third rotation seam allowance 544, third output is bent 54 opposite side of handle is connected with third pull pressure sensor 57, third pull pressure sensor 57 by 3rd sensor reducing sleeve 561 It is upper that 3rd sensor stops 58, third are connected with by third stops reducing sleeve 562 positioned at 561 offside of 3rd sensor reducing sleeve Sensor stops 58 is bolted to connection with third connecting crank 55.

The preferred embodiment of wrist assembly 6：

In the present embodiment, as shown in figure 8, wrist assembly 6 includes large arm sliding block 61 and is fixed on large arm sliding block 61 4th transfer panel 611, large arm sliding block 61 are equivalent to engine base connecting rod, and large arm sliding block 61 is slidably connected on third connecting crank 55 In large arm guide groove 552, large arm sliding block 61 is equipped with several large arm adjustment holes 60, and third connecting crank 55 is equipped with and several large arm 60 matched large arm positioning bolt 553 of adjustment hole, the 4th transfer panel 611 be equipped with the 4th motor 62 and with the 4th motor 62 The 4th speed reducer 63 that output shaft is connected, the output terminal drive connection of the 4th speed reducer 63 have the 4th output crank 64, with the The fourth gear circle 641 and the 4th locking shaft 642 connected firmly with fourth gear circle 641, the 4th locking that four output cranks 64 connect firmly turn Axis 642 is rotatably connected to the 4th connecting crank 65,65 company of being bolted of the 4th connecting crank by the 4th self-lubricating bearing 643 It is connected to lower armlet 651,64 side of the 4th output crank is equipped with the 4th rotation seam allowance 644, is equipped in the 4th rotation seam allowance 644 and the The 4th rotary spacing block 645 that three connecting cranks 55 are detachably connected, 64 opposite side of the 4th output crank pass through the 4th sensor Reducing sleeve 661 is connected with the 4th pull pressure sensor 67, is located at the 4th sensor reducing sleeve 661 in the 4th pull pressure sensor 67 Offside is connected with the 4th sensor stops 68 by the 4th stops reducing sleeve 662, and the 4th sensor stops 68 connect song with the 4th Handle 65 is bolted to connection.

The preferred embodiment of forearm rotary components 7：

With reference to shown in Fig. 9 and Figure 10, forearm rotary components 7 include the 5th driver, flat turn mechanism 72, forearm sliding block 71, Forearm sliding block 71 is rotatablely connected flat turn mechanism 72, and flat turn mechanism 72 connects the 5th driver, flat turn mechanism 72 include upper link, Lower link and swivel link 74, upper link are relatively fixed with the 5th driver and connect, lower link and the 5th driver Output shaft is relatively fixed, and is connected with pressure detecting assembly between lower link and the output shaft of the 5th driver, upper link and Lower link is articulated and connected swivel link 74.Forearm sliding block 71 is equivalent to engine base connecting rod and is connect with the 4th joint assembly 6, flat turn Mechanism 72 is equivalent to connecting crank and is connect with wrist joints moving component 8.

Specifically, be welded and connected with support shaft 711 on forearm sliding block 71, flat turn mechanism 72 around 711 axial-rotation of support shaft, Forearm sliding block 71 is slidably connected in the forearm guide groove 652 on the 4th connecting crank 65, and forearm sliding block 71 is equipped with several forearm tune Knothole 70, the 4th connecting crank 65 are equipped with and several 70 matched forearm positioning bolts 653 of forearm adjustment hole.Forearm rotates Component 7 is connect by forearm sliding block 71 with rotary motion arthrodesis, rotary motion joint fitting forearm.

Further, forearm rotary components 7 further include pressure detecting assembly, and pressure detecting assembly is connected to the 5th driver Output shaft and lower link between.

Preferably, upper link and lower link are set as triangle frame, i.e., upper tripod 79 and lower tripod 73, and upper three Corner bracket 79 and lower tripod 73 are equilateral triangle, and the length of side of upper tripod 79 is equal with the length of side of lower tripod 73, on Parallel and eccentric setting up and down between tripod 79 and lower tripod 73, the both ends of support shaft 711 respectively with upper tripod 79 and The end angle of wherein the same side is hinged on lower tripod 73, and the lower part of lower tripod 73 is equipped with two swivel links 74 being mutually parallel, The end angle of other both sides is hinged with corresponding swivel link 74 by long pin shaft 721 respectively on upper tripod 79, lower triangle The end angle of other both sides is hinged with corresponding swivel link 74 by dump bolt shaft 731 respectively on frame 73, dump bolt shaft 731 Side parallel with long pin shaft 721 and positioned at long pin shaft 721.Far from 721 He of long pin shaft on swivel link 74 The end of dump bolt shaft 731 is fixedly connected with wrist joints moving component 8.

The 5th speed reducer 76 is equipped at the center of upper tripod 79, the input shaft of the 5th speed reducer 76 is connected with the 5th motor 75, the 5th motor 75 uses servo motor, and the output shaft of the 5th speed reducer 76 is connected with the 5th output crank 77, the 5th speed reducer It is key connection between 76 output shaft and the 5th output crank 77, the 5th output crank 77 is located at upper tripod 79 and lower triangle Between frame 73, the 5th locking shaft 772 is equipped at the center of lower tripod 73, the lower end of the 5th locking shaft 772 is connected with 5th self-lubricating bearing 771, the 5th self-lubricating bearing 771 are located at the lower part of lower tripod 73, and it is defeated that the 5th locking shaft 772 is located at the 5th Go out the side of crank 77 and be connected thereto.5th motor 75 has been directly connected to the 5th output crank 77 by the 5th speed reducer 76, The connection structures such as support end and bearing are saved, reduce the complexity of structure, meanwhile, 771 small, quality of the 5th self-lubricating bearing Gently, the 5th locking selection of shaft 772 is used cooperatively with the 5th self-lubricating bearing 771, makes whole forearm joint structure compact, quality Gently.

Eccentric structure setting between upper tripod 79 and lower tripod 73, in realizations tripod 79 by motor driving around 5th output crank 77 rotates, while lower tripod 73 is driven by the 5th motor 75 around the 5th locking rotation of shaft 772, energy It is enough to realize upper relative rotation between tripod 79 and lower tripod 73, forearm rotary joint is achieved in around the small arm axle of user The heart rotates, and then user is assisted to realize the action that forearm rotates.

For 5th output crank 77 for transmitting the power that the 5th motor 75 drives the 5th speed reducer 76, the 5th locks shaft 772 Upper tripod 79 is driven to rotate, by under the drive of dump bolt shaft 731 by long pin shaft 721 for transmitting swivel link 74 Tripod 73 rotates, power when upper tripod 79 relatively rotates simultaneously with lower tripod 73 under the action of support shaft 711, and the 5th The 5th pull pressure sensor 78 is equipped between locking 772 and the 5th output crank 77 of shaft, the 5th pull pressure sensor 78 is used for 5th output crank 77 and the axial force of the 5th locking shaft 772 when measuring initiative rehabilitation pattern in real time, so as to supervise in real time It surveys and changes with the dynamic force moment of feedback user's forearm joint motions.

Further, hanging down between the central axis of the 5th locking shaft 772 and the central axis of the 5th output crank 77 In straight distance and same swivel link 74 between the central axis of long pin shaft 721 and the central axis of dump bolt shaft 731 Vertical range it is identical.

Further, the gyration central axis of the central axis and the 5th output crank 77 of the 5th pull pressure sensor 78 is hung down Directly, which makes the 5th pull pressure sensor 78 only be influenced by axial force, is not influenced by other points to power, so as to more The dynamic force moment of accurate monitoring and feedback forearm joint motions is added to change.

Further, the 5th speed reducer 76 uses planetary reducer.

Further, the 5th motor 75 and the 5th pull pressure sensor 78 are connect respectively with controller, and the 5th pressure passes For sensor 78 by the torque-feedback monitored in real time to controller, controller controls turning for the 5th motor 75 according to dynamic force moment variation Speed so as to which user be assisted to complete rehabilitation action, improves rehabilitation efficiency.

Further, support shaft 711, swivel link 74, upper tripod 79 and lower tripod 73 use aluminum alloy material, Mechanical property is good, mitigates the weight of total joint.

Specifically, user is in rehabilitation early stage, user in itself can not autokinetic movement, using passive rehabilitation pattern, this When, power is passed to the 5th output crank the 77, the 5th by the 5th speed reducer 76 and locks shaft 772 by the 5th motor 75 successively, 5th locking shaft 772 drives lower tripod 73 to rotate, and lower tripod 73 drives 74 turns of swivel link by dump bolt shaft 731 Dynamic, swivel link 74 drives upper tripod 79 to rotate by long pin shaft 721, upper tripod 79 and lower 73 the two of tripod Between realize it is synchronous relatively rotate, support shaft 711 drives rotary motion articulation by forearm sliding block 71, and swivel link 74 drives Wrist joint rotates, and then user is driven to complete rehabilitation action, plays guiding function.

User is in the rehabilitation middle and later periods, and user has some locomitivities, but limited strength in itself, using initiative rehabilitation mould Formula, the state at this point, user has the initiative, user drive 74 turns of the swivel link of forearm rotary components 7 by displacement It is dynamic, under swivel link 74 is driven upper tripod 79 to rotate, is driven by dump bolt shaft 731 by long pin shaft 721 respectively Tripod 73 rotates, and upper tripod 79 with lower tripod 73 is realized and relatively rotated simultaneously between the two, and then passes through forearm sliding block 71 drive rotary motion articulation, and are aided with the rotation that the 5th motor 75 is used cooperatively the small shoulder joint of person as auxiliary power, And then assisting user completes rehabilitation action, improves rehabilitation efficiency.

The preferred embodiment of wrist joints moving component 8：

With reference to shown in Figure 11, wrist joints moving component 8 includes the 6th driver, connecting substrate 81, swing mechanism 80 and pressure Power detection components, the articulated connection substrate 81 of swing mechanism 80, pressure detecting assembly are connected to the output shaft and pendulum of the 6th driver Between motivation structure 80.Wrist joints moving component 8 is by the rotation parallel with two of connecting substrate 81 with the connection of forearm rotary components 7 Turn what the articulated connection of connecting rod 74 was realized.

Further, swing mechanism 80 includes long connecting rod 822, short connecting rod 823 and centering block 824, long connecting rod 822 and short connecting rod 823 both ends are articulated and connected substrate 81 and centering block 824, sliding slot 825 are offered on centering block 824, hand handle 83 is slidably connected at cunning In slot 825.

Swing mechanism 80 is around the rotation direction swing perpendicular to flat turn mechanism 72, the hinged connecting substrate of swivel link 74 81, swing mechanism 80 includes the first transmission component, the second transmission component, and the first transmission component and the second transmission component are parallel Four-bar mechanism 82, parallelogram lindage 82 include the rack bar 821 extended 81 side of connecting substrate, are hingedly connected to rack bar The long connecting rod 822 and short connecting rod 823 and centering block 824 hinged with long connecting rod 822 and short connecting rod 823 respectively at 821 both ends, centering block It offers sliding slot 825 on 824, hand handle is slidably connected by sliding slot 825 between two parallel centering blocks 824 in two parallelogram lindages 82 83,81 opposite side of connecting substrate is fixedly connected with the 6th driver, the 6th driver include the 6th motor 84 and with the 6th motor 84 The 6th speed reducer 85 that output shaft is connected, the output terminal of the 6th speed reducer 85, which is drivingly connected, the 6th output crank 86, and the 6th Output crank 86 connect pressure detecting assembly, pressure detecting assembly the other end connection swing mechanism 80 the first transmission component or Second transmission component.

Pressure detecting assembly includes the 6th pull pressure sensor 87, the 6th sensor stops 88, the 6th pull pressure sensor 87 the 6th output cranks 86 of connection, 87 stops of the 6th pull pressure sensor connect the short connecting rod 823 or long connecting rod of swing mechanism 80 822.The central shaft of 6th pull pressure sensor 87 is vertical with the rotary middle spindle of the 6th output crank 86, which makes the 6th drawing Pressure sensor 87 is only influenced by axial push-pull power, is not influenced by other points to power, so as to more accurate monitoring and instead Present the dynamic force moment variation of wrist joints sporting.

Further, the 6th sensor reducing sleeve is equipped between the 6th pull pressure sensor 87 and the 6th output crank 86 861, the 6th stops reducing sleeve 862 is equipped between 87 stops of the 6th pull pressure sensor and swing mechanism 80.

Parallelogram lindage 82 is for the activation force of the 6th motor 84 of transmission and the 6th speed reducer 85, the 6th speed reducer 85 drive the rotation of the 6th output crank 86, and the 6th output crank 86 drives parallelogram lindage 82 to act, parallelogram lindage 82 are additionally operable to the active force of hand handle 83 returning to the 6th pull pressure sensor 87, and the 6th pull pressure sensor 87 is for survey in real time Pressure axial when initiative rehabilitation pattern, passive rehabilitation pattern is measured, so as to monitoring in real time and feedback user's wrist joints sporting Dynamic force moment variation.

Wherein, the first transmission component is identical with the structure of the second transmission component, including rack bar 821, long connecting rod 822, Short connecting rod 823 and centering block 824, rack bar 821 are transversely mounted in connecting substrate 81, the both ends of long connecting rod 822 respectively with rack Bar 821 and centering block 824 are hinged, and the both ends of short connecting rod 823 are hinged with rack bar 821 and centering block 824 respectively, and short connecting rod 823 is placed in The top of long connecting rod 822 and arranged in a crossed manner between short connecting rod 823 and long connecting rod 822.Centering block 824 is equipped with sliding slot 825, hand handle 83 Both ends can respectively along 825 extending direction of sliding slot of two centering blocks 824 slide.

When carrying out passive rehabilitation pattern, drive shank 8231 and drive short connecting rod 823 is driven to rotate by the 6th motor 84, it is short Connecting rod 823 drives centering block 824, centering block 824 to drive long connecting rod 822, and makes short connecting rod 823, drives 822 edge of shank 8231 and long connecting rod Rack bar 821 rotates, and is slided so as to the both ends of hand handle 83 along sliding slot 825, and pass through centering block 824 while drive 823 He of short connecting rod Long connecting rod 822 is rotated along rack bar 821, and then realizes that the wrist joint that power drive user is provided by the 6th motor 84 rotates Rehabilitation course.

When carrying out initiative rehabilitation pattern, user holds hand handle 83, the both ends of hand handle 83 is made to be slid along sliding slot 825, hand 83 while sliding, centering block 824 rotates, and be aided under the action of short connecting rod 823 and long connecting rod 822 along rack bar 821 6th motor 84 provides auxiliary power and hand handle 83 is driven to be slid respectively along sliding slot 825 by driving shank 8231.

Wrist joint rotating function is realized by using multi link drive mechanism, overall structure simple and compact, intensity is high, this Outside, motor via reducer has been directly connected to output crank, saves the connection structures such as support end and bearing, reduces the complexity of structure Property.

Reach the automatic adjusument that 83 position of hand handle is swung to different users' wrist joint by multi link drive mechanism, no Constriction can be caused to user's wrist joint, be more advantageous to resuming training for user, improve the recovery efficiency of user.

Further, the torque that the 6th motor 84, the 6th speed reducer 85 and the 6th pull pressure sensor 87 will monitor in real time Controller is fed back to, controller controls the rotating speed of the 6th motor 84 according to dynamic force moment variation, so as to which user be assisted to complete Rehabilitation acts, and improves rehabilitation efficiency.

Further, the 6th speed reducer 85 uses planetary reducer.

Further, using aluminum alloy material, mechanical property is good for connecting substrate 81 and swing mechanism 80, mitigates whole close The weight of section.

With reference to shown in Fig. 1-Figure 11, healing robot of the present invention, including backrest 1, cantilever beam and mechanical arm for rehabilitation training 2, Mechanical arm for rehabilitation training 2 is arranged on by overarm arm 11 in backrest 1, and mechanical arm for rehabilitation training 2 is provided with one in overarm arm 11 A or a pair of, the first joint assembly 3 is slidably connected in overarm arm 11.

Mechanical arm for rehabilitation training 2 includes aforementioned shoulder joint component, wrist assembly 6, forearm rotary components 7 and wrist joint and lives The technical solution of all combinations of dynamic component 8.

Shoulder joint pedestal 31 is slidably connected in the backrest guide groove 12 of overarm arm 11, and backrest guide groove 12 is to shoulder joint pedestal 31 It is oriented to and is limited, ensure the connective stability of shoulder joint pedestal 31, be also convenient for adjusting shoulder joint pedestal 31.

Mechanical arm for rehabilitation training 2 of the present invention, as needed the spacing between two first joint assemblies 3 in a pair of of mechanical arm into Row is adjusted, and realizes the adjusting to shoulder breadth, third joint assembly 5 and the big arm lengths of 6 spacing of wrist assembly and wrist assembly 6 It is right with 7 spacing forearm lengths of forearm rotary components using the manual adjusting for the formula that is slidably connected, and be locked with knurled nut The user of different shoulder breadth brachiums has good adaptability, while the driving mechanism adjusting that the structure avoided is too fat to move, whole to tie Structure is compacter, substantially alleviates weight.

Further, controller is equipped in backrest 1, each joint assembly of mechanical arm for rehabilitation training 2 connects with controller It is logical.User is respectively closed in the adjustment that each joint assembly of entire rehabilitation training feeds back real-time high frequency by detecting dynamic force moment The torque compensation amount of section.

Mechanical arm for rehabilitation training of the present invention, by a kind of wearable exoskeleton-type mechanical arm, realize user sitting posture, Stance carries out rehabilitation training in the state of moving freely, and user can be dressed with single armed or both arms be dressed simultaneously, is not only applicable in In the rehabilitation training of user unilateral side arm, the rehabilitation training simultaneously of user's bilateral arm is applied also for.

The main purpose that the present invention designs carries out rehabilitation training for auxiliary paralysis user, allows user can be in most section It is interior to complete basic everyday actions, at work, mainly include passive rehabilitation pattern and initiative rehabilitation pattern, user into During row rehabilitation training, corresponding rehabilitation modality is selected according to itself practical rehabilitation situation, wherein, when selecting passive rehabilitation pattern User is in passive state, under the guiding of healing robot complete rehabilitation action, select initiative rehabilitation pattern when user Have the initiative state, and when gravity compensation is needed when user moves or carrying out power effect emulation, healing robot assists to use Person completes rehabilitation action.

Specifically, user is in rehabilitation early stage, user in itself can not autokinetic movement, using passive rehabilitation pattern, this When, user is in passive state, and power is passed to output crank and connecting crank by driver successively, and then is realized and passed through drive Dynamic device provides the joint that power drives user and adjusts, and completes rehabilitation action, plays guiding function.

User is in the rehabilitation middle and later periods, and user has some locomitivities, but limited strength in itself, using initiative rehabilitation mould Formula, the state at this point, user has the initiative, user are drivingly connected crank-operated, and pressure detecting assembly detects user's Active role power, for pressure detecting assembly by the force transfer detected to controller, controller adjusts the dynamic of driver output Power realizes articulation with the use of person as auxiliary power, completes rehabilitation action, improve rehabilitation efficiency.

Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention It encloses and is defined, under the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to the technical side of the present invention The various modifications and improvement that case is made should all be fallen into the protection domain that claims of the present invention determines.

Claims

1. a kind of mechanical arm for rehabilitation training, it is characterised in that：Including the mechanical arm that six rotary motion joint assemblies are connected in series, The mechanical arm includes sequentially connected shoulder joint component, wrist assembly, forearm rotary components and wrist joints moving component, institute It states shoulder joint component and includes the first joint assembly, second joint component and third joint assembly, first joint assembly, second Three rotation axis of joint assembly and third joint assembly are met at a bit, which is located at the rotation center of user's shoulder joint Point.

2. mechanical arm for rehabilitation training according to claim 1, it is characterised in that：Each joint assembly of the mechanical arm is equal Including driver, pressure detecting assembly and connecting crank, the output shaft of the connecting crank and the driver is relatively fixed, institute Pressure detecting assembly is stated to be arranged between the output shaft of the driver and the connecting crank.

3. mechanical arm for rehabilitation training according to claim 2, it is characterised in that：The pressure detecting assembly is passed including pressure Sensor, pressure sensor stops are connected with output crank, the pressure sensor stops and institute on the output shaft of the driver It states output crank and grips the pressure sensor, the both ends of the pressure sensor stops connect the output crank respectively With the connecting crank.

4. the mechanical arm for rehabilitation training according to Claims 2 or 3, it is characterised in that：The shoulder joint component and elbow joint Each joint of component includes driver, output crank and engine base connecting rod, and the output crank is connected to the driver On output shaft, the shell of the engine base connecting rod and the driver is relatively fixed, and pressure detecting group is connected on the output crank Part, the both ends of the pressure detecting assembly connect the output crank and the connecting crank respectively.

5. mechanical arm for rehabilitation training according to claim 4, it is characterised in that：First connection of first joint assembly Crank is connected to as the second engine base connecting rod of the second joint component on the second driver, and the of the second joint component Two connecting cranks are connected to as the third engine base connecting rod of third joint assembly on third driver, the third joint assembly Third connecting crank is connected to as the 4th engine base connecting rod of the wrist assembly in fourth drive, the wrist assembly The 4th connecting crank connect the forearm rotary components.

6. the mechanical arm for rehabilitation training according to Claims 2 or 3, it is characterised in that：The forearm rotary components include the Five drivers, flat turn mechanism, forearm sliding block, the forearm sliding block are rotatablely connected the flat turn mechanism, the flat turn mechanism connection 5th driver, the flat turn mechanism include upper link, lower link and swivel link, the upper link with it is described The shell of 5th driver is relatively fixed, and the output shaft of the lower link and the 5th driver is relatively fixed, under described Pressure detecting assembly, the upper link and the upper connection are connected between the output shaft of link and the 5th driver Frame is articulated and connected the swivel link.

7. the mechanical arm for rehabilitation training according to Claims 2 or 3, it is characterised in that：The wrist joints moving component includes 6th driver, connecting substrate, swing mechanism and pressure detecting assembly, the swing mechanism articulated connection connecting substrate, The pressure detecting assembly is connected between the output shaft and swing mechanism of the 6th driver.

8. mechanical arm for rehabilitation training according to claim 7, it is characterised in that：The swing mechanism includes long connecting rod, short The hinged connecting substrate in the both ends of connecting rod and centering block, the long connecting rod and the short connecting rod and the centering block, the centering block On offer sliding slot, hand handle is slidably connected in the sliding slot.

9. a kind of healing robot, it is characterised in that：Including the health described in backrest, cantilever beam and claim 1-8 any one Mechanical arm is practiced in refreshment, and mechanical arm for rehabilitation training is arranged on by the overarm arm in the backrest, the mechanical arm for rehabilitation training There are one settings or a pair of in the overarm arm, first joint assembly is slidably connected in the overarm arm.

10. healing robot according to claim 9, it is characterised in that：Controller, the rehabilitation are equipped in the backrest Each joint assembly of training mechanical arm is connected with controller.