CN108144264B

CN108144264B - Rehabilitation training mechanical arm and rehabilitation robot

Info

Publication number: CN108144264B
Application number: CN201810133388.0A
Authority: CN
Inventors: 涂细凯; 何际平; 李建
Original assignee: Wuhan Watson Tookeen Technology Co ltd
Current assignee: Wuhan Watson Tookeen Technology Co ltd
Priority date: 2018-02-09
Filing date: 2018-02-09
Publication date: 2023-11-14
Anticipated expiration: 2038-02-09
Also published as: CN108144264A

Abstract

The invention discloses a rehabilitation training mechanical arm and a rehabilitation robot, and relates to the field of medical appliances. The purpose is in order to provide a rehabilitation training mechanical arm and rehabilitation robot that simple structure, with low costs, easy and simple to handle. The invention relates to a rehabilitation training mechanical arm, which comprises a mechanical arm formed by serially connecting six rotary motion joint assemblies, wherein the mechanical arm comprises a shoulder joint assembly, an elbow joint assembly, a forearm rotary assembly and a wrist joint moving assembly which are sequentially connected, the shoulder joint assembly comprises a first joint assembly, a second joint assembly and a third joint assembly, and three rotary axes of the first joint assembly, the second joint assembly and the third joint assembly are intersected at a point, and the point is positioned at the rotary center point of a shoulder joint of a user. The invention relates to a rehabilitation robot which comprises a back frame, a cantilever beam arm and a rehabilitation training mechanical arm, wherein the rehabilitation training mechanical arm is arranged on the back frame through the cantilever beam arm, one or a pair of rehabilitation training mechanical arms are arranged on the cantilever beam arm, and a first joint assembly is connected to the cantilever beam arm in a sliding manner.

Description

Rehabilitation training mechanical arm and rehabilitation robot

Technical Field

The invention relates to the technical field related to medical rehabilitation machines, in particular to a rehabilitation training mechanical arm and a rehabilitation robot.

Background

According to statistics, up to 200 thousands of people develop cerebral apoplexy diseases in China every year, 700 thousands of people exist for cerebral apoplexy users, 450 thousands of users are hemiplegia or paralysis, the limbs are not inactivated to different degrees, life cannot be self-managed, and disability rate is up to 75%. The upper limbs of the human body bear very important responsibility in daily life, and complete various fine and complex activities, and the movement dysfunction of the upper limbs seriously affects the daily life of people; therefore, the reconstruction of the upper limb movement function of the hemiplegic user is an important subject in the research field of rehabilitation medicine. Clinical studies have shown that most stroke users can recover limb locomotion to some extent through extensive and repeated task exercises.

The rehabilitation training robot is produced by combining the technical field of robots and the medical field of rehabilitation therapy, is a new technology for supplementing or replacing a professional doctor to finish the rehabilitation training of the upper limbs of the human body, opens up a new way for the rehabilitation therapy of the users with the hemiplegia of the upper limbs, and makes up the defect of clinical therapy of the users with the hemiplegia; the treatment method of the rehabilitation training robot is that the affected limb is connected with the robot, and the limb of the user is driven by the robot to complete various actions, and the nerve control system of the joints and muscles of the upper limb of the human body is stimulated, so that the aim of recovering the limb movement function of the user is achieved; the way reduces the dependence on the therapist, can help the therapist to complete heavy and repeated rehabilitation training tasks, and helps the user to better recover the limb movement function.

However, the existing rehabilitation training robots face the problems of high cost, large volume, complex structure and the like, so that the application range and the training effect are limited.

Disclosure of Invention

The invention aims to solve the technical problem of providing a rehabilitation training mechanical arm and a rehabilitation robot which are simple in structure, low in cost and convenient to operate.

The invention discloses a rehabilitation training mechanical arm, which comprises a mechanical arm formed by serially connecting six rotary motion joint assemblies, wherein the mechanical arm comprises a shoulder joint assembly, an elbow joint assembly, a forearm rotary assembly and a wrist joint moving assembly which are sequentially connected, the shoulder joint assembly comprises a first joint assembly, a second joint assembly and a third joint assembly, and three rotary axes of the first joint assembly, the second joint assembly and the third joint assembly intersect at a point which is positioned at the rotary center point of a shoulder joint of a user.

The invention discloses a rehabilitation training mechanical arm, wherein each joint assembly of the mechanical arm comprises a driver, a pressure detection assembly and a connecting crank, the connecting crank is relatively fixed with an output shaft of the driver, and the pressure detection assembly is arranged between the output shaft of the driver and the connecting crank.

The invention discloses a rehabilitation training mechanical arm, wherein a pressure detection assembly comprises a pressure sensor and a pressure sensor stop block, an output crank is connected to an output shaft of a driver, the pressure sensor stop block and the output crank are clamped and fixed with the pressure sensor, and two ends of the pressure sensor stop block are respectively connected with the output crank and a connecting crank.

The invention discloses a rehabilitation training mechanical arm, wherein each joint of a shoulder joint assembly and an elbow joint assembly comprises a driver, an output crank and a base connecting rod, wherein the output crank is connected to an output shaft of the driver, the base connecting rod is relatively fixed with a shell of the driver, a pressure detection assembly is connected to the output crank, and two ends of the pressure detection assembly are respectively connected with the output crank and the connecting crank.

The first connecting crank of the first joint assembly is used as a second base connecting rod of the second joint assembly to be connected to a second driver, the second connecting crank of the second joint assembly is used as a third base connecting rod of a third joint assembly to be connected to a third driver, the third connecting crank of the third joint assembly is used as a fourth base connecting rod of the elbow joint assembly to be connected to a fourth driver, and the fourth connecting crank of the elbow joint assembly is connected to the forearm rotating assembly.

The invention discloses a rehabilitation training mechanical arm, which comprises a fifth driver, a panning mechanism and a forearm sliding block, wherein the forearm sliding block is rotationally connected with the panning mechanism, the panning mechanism is connected with the fifth driver and comprises an upper connecting frame, a lower connecting frame and a rotary connecting rod, the upper connecting frame is relatively and fixedly connected with the fifth driver, the lower connecting frame is relatively and fixedly connected with an output shaft of the fifth driver, a pressure detection assembly is connected between the lower connecting frame and the output shaft of the fifth driver, and the upper connecting frame are both hinged with the rotary connecting rod.

The invention discloses a rehabilitation training mechanical arm, wherein a wrist joint moving assembly comprises a sixth driver, a connecting substrate, a swinging mechanism and a pressure detection assembly, wherein the swinging mechanism is hinged with the connecting substrate, and the pressure detection assembly is connected between an output shaft of the sixth driver and the swinging mechanism.

The invention discloses a rehabilitation training mechanical arm, wherein the swinging mechanism comprises a long connecting rod, a short connecting rod and a swinging block, both ends of the long connecting rod and the short connecting rod are hinged with a connecting substrate and the swinging block, a sliding groove is formed in the swinging block, and a handle is connected in the sliding groove in a sliding manner.

The rehabilitation robot comprises a back frame, a cantilever arm and the rehabilitation training mechanical arm, wherein the rehabilitation training mechanical arm is arranged on the back frame through the cantilever arm, one or a pair of the rehabilitation training mechanical arms are arranged on the cantilever arm, and the first joint assembly is connected to the cantilever arm in a sliding manner.

The invention discloses a rehabilitation robot, wherein a controller is arranged in a back frame, and each joint component of a rehabilitation training mechanical arm is communicated with the controller.

The rehabilitation training mechanical arm and the rehabilitation robot are different from the prior art in that: the invention relates to a rehabilitation training mechanical arm, which comprises a mechanical arm formed by serially connecting six rotary motion joint assemblies, wherein the mechanical arm comprises a shoulder joint assembly, an elbow joint assembly, a forearm rotary assembly and a wrist joint movable assembly which are sequentially connected, the shoulder joint assembly comprises a first joint assembly, a second joint assembly and a third joint assembly, and three rotary axes of the first joint assembly, the second joint assembly and the third joint assembly are intersected at a point which is positioned at the rotary center point of a shoulder joint of a user;

the invention relates to a rehabilitation robot, which comprises a back frame, a cantilever beam arm and a rehabilitation training mechanical arm, wherein the rehabilitation training mechanical arm is arranged on the back frame through the cantilever beam arm;

Through the wearable double-side driven exoskeleton type design, the rehabilitation training of a user in a sitting posture, standing posture or free movement state is realized, and the wearable double-side driven exoskeleton type rehabilitation training device is not only suitable for the rehabilitation training of the single-side arms of the user, but also suitable for the rehabilitation training of the double-side arms of the user at the same time;

according to the rehabilitation training mechanical arm and the rehabilitation robot, the tension pressure sensor and the self-lubricating bearing which are small in size and light in weight are adopted for each joint sensor and each connecting piece, so that the structure is more compact, the service life is prolonged, meanwhile, each joint adopts the light and compact servo motor, a user can be assisted in carrying out passive rehabilitation training, and the dynamic force feedback of the corresponding tension pressure sensor can be converted into the assistance of providing active training force compensation for the user;

according to the rehabilitation training mechanical arm and the rehabilitation robot, the interval (shoulder width) between the two first joint assemblies, the interval (big arm length) between the third joint assembly and the fourth joint assembly and the interval (small arm length) between the fourth joint assembly and the fifth joint assembly are manually adjusted in a sliding connection mode, and are locked and fixed through knurled bolts, so that the rehabilitation training mechanical arm has good adaptability to users with different shoulder widths and arm lengths, meanwhile, the adjustment of driving mechanisms with bulky structures is avoided, the overall structure is more compact, and the weight is greatly reduced;

According to the rehabilitation training mechanical arm and the fifth joint assembly for realizing the rotation of the forearm of the user in the rehabilitation robot, the movement of the fifth joint assembly is revolution around the arm instead of simple autorotation around the joint of the user is realized through the upper tripod and the lower tripod which are eccentrically arranged;

according to the rehabilitation training mechanical arm and the sixth joint assembly for realizing the movement of the wrist joint of the user in the rehabilitation robot, the handle can automatically center along with the rotation of the joint, so that the wrist joint of the user is prevented from being pressed in the swinging process;

the rehabilitation training mechanical arm and the rehabilitation robot are compact in overall structure, the connecting firmware is basically made of aluminum alloy with light weight and good mechanical property, the weight of the upper limb rehabilitation robot is greatly reduced by combining the selection of the functional elements, meanwhile, the rehabilitation training mode is diversified, the rehabilitation training mechanical arm and the rehabilitation robot have good adaptability to different users, and the upper limb rehabilitation efficiency is greatly improved.

The rehabilitation training mechanical arm and the rehabilitation robot of the invention are further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic perspective view of a rehabilitation robot according to a preferred embodiment of the present invention, wherein each joint assembly is located at a first position;

FIG. 2 is a schematic perspective view of a rehabilitation robot according to a preferred embodiment of the present invention, wherein each joint assembly is located at a second position;

FIG. 3 is a schematic view of an assembled perspective view of the first joint assembly of FIG. 1;

FIG. 4 is a schematic view of an exploded view of the first joint assembly of FIG. 1;

FIG. 5 is a schematic view of an exploded view of the second joint assembly of FIG. 1;

FIG. 6 is a schematic view of an assembled perspective view of the third joint assembly of FIG. 1;

FIG. 7 is a schematic view of an exploded view of the third joint assembly of FIG. 1;

FIG. 8 is a schematic view of an exploded view of the fourth joint assembly of FIG. 1;

FIG. 9 is a schematic view of an assembled perspective view of the fifth joint assembly of FIG. 1;

FIG. 10 is a schematic view of an exploded view of the fifth joint assembly of FIG. 1;

FIG. 11 is a schematic view of an assembled perspective view of the sixth joint assembly of FIG. 1

The drawings are marked: 1. a back frame; 11. a cantilever beam arm; 12. a back frame guide slot; 2. a rehabilitation training mechanical arm;

3. a first joint assembly; 31. a shoulder joint base; 311. a first transfer plate; 32. a first motor; 33. a first speed reducer; 34. a first output crank; 341. a first retainer ring; 342. a first locking shaft; 343. a first self-lubricating bearing; 344. a first rotational spigot; 345. a first rotational stopper; 35. a first connecting crank; 361. the first sensor adapter sleeve; 362. the first stop block adapter sleeve; 37. a first pull pressure sensor; 38. a first sensor stop;

4. A second joint assembly; 41. a second transfer plate; 42. a second motor; 43. a second speed reducer; 44. a second output crank; 441. the second check ring; 442. the second locking rotating shaft; 443. a second self-lubricating bearing; 444. a second rotational spigot; 445. a second rotation limiting block; 45. a second connecting crank; 461. the second sensor adapter sleeve; 462. the second stop block adapter sleeve; 47. a second pull pressure sensor; 48. a second sensor stop;

5. a third joint assembly; 51. a third switching disc; 52. a third motor; 53. a third speed reducer; 54. a third output crank; 541. a third retainer ring; 542. a third locking rotating shaft; 543. a third self-lubricating bearing; 544. a third rotational spigot; 545. a third rotation limiting block; 55. a third connecting crank; 551. an upper arm guard; 552. a large arm guide slot; 553. a large arm positioning bolt; 561. a third sensor adapter sleeve; 562. a third stop adapter sleeve; 57. a third pull pressure sensor; 58. a third sensor stop;

6. an elbow joint assembly; 60. a large arm adjusting hole; 61. a large arm slider; 611. a fourth switching disc; 62. a fourth motor; 63. a fourth speed reducer; 64. a fourth output crank; 641. a fourth retainer ring; 642. a fourth locking shaft; 643. a fourth self-lubricating bearing; 644. a fourth rotational spigot; 645. a fourth rotational stopper; 65. a fourth connecting crank; 651. a lower arm guard; 652. a forearm guide slot; 653. a forearm positioning bolt; 661. a fourth sensor adapter sleeve; 662. a fourth stop adapter sleeve; 67. a fourth pull pressure sensor; 68. a fourth sensor stop;

7. A forearm rotation assembly; 70. a forearm adjusting hole; 71. a forearm slider; 711. a support shaft; 72. a panning mechanism; 721. a long pin rotating shaft; 73. a lower tripod; 731. a short pin rotating shaft; 74. a rotary connecting rod; 75. a fifth motor; 76. a fifth speed reducer; 77. a fifth output crank; 771. a fifth self-lubricating bearing; 772. a fifth locking shaft; 78. a fifth pull pressure sensor; 79. an upper tripod;

8. a wrist joint movement assembly; 80. a swinging mechanism; 81. a connection substrate; 82. a parallel four bar mechanism; 821. a frame rod; 822. a long connecting rod; 823. a short connecting rod; 8231. a driving handle; 824. a swinging block; 825. a chute; 83. a handle; 84. a sixth motor; 85. a sixth speed reducer; 86. a sixth output crank; 861. a sixth sensor adapter sleeve; 862. a sixth stop adapter sleeve; 87. a sixth pull pressure sensor; 88. and a sixth sensor stop.

Detailed Description

At present, rehabilitation robots can be divided into two types of tail end traction type and exoskeleton type according to mechanical structures; in the rehabilitation exercise, the tail end of the tail end traction type rehabilitation robot is usually fixedly connected with the wrist of a user, and the movement of an end effector of the rehabilitation robot drives the affected limb to move, so that the single joint in the upper limb of the user is difficult to perform independent active or passive rehabilitation exercise; the exoskeleton type rehabilitation robot can be directly worn on a human body, the joint space is almost consistent with the joint space of the human body, the safety is high, and space conversion calculation is not needed in track control. In addition, in rehabilitation exercises, the robot performs active and passive rehabilitation exercises on a single joint or multiple joints on the limb of a user at the same time; therefore, the exoskeleton type rehabilitation robot can provide more flexible, safer and richer rehabilitation motions than the end traction type rehabilitation robot.

From the whole machine design of the rehabilitation robot, most of the current rehabilitation robots are designed on one side, and the main reason is that hemiplegic patients only need to rehabilitation of upper limbs on one side; however, the design of the double-sided wearable rehabilitation robot has not yet appeared, and the main reason is that the weight of the current double-sided rehabilitation robot design is too heavy for a rehabilitation user, and the rehabilitation training is performed by the user in a sitting posture state, so that the double-sided design and the wearable design have certain advantages in a rehabilitation mode and a rehabilitation effect, and also have problems. The exoskeleton type rehabilitation robot solves the problems that the rehabilitation robot is high in quality and inconvenient to wear by adopting an exoskeleton type rehabilitation mode.

Referring to fig. 1-11, the rehabilitation training mechanical arm comprises a mechanical arm formed by serially connecting six rotary motion joint assemblies, wherein the mechanical arm comprises a shoulder joint assembly, an elbow joint assembly 6, a forearm rotary assembly 7 and a wrist joint movable assembly 8 which are sequentially connected, the shoulder joint assembly comprises a first joint assembly 3, a second joint assembly 4 and a third joint assembly 5, and three rotary axes of the first joint assembly 3, the second joint assembly 4 and the third joint assembly 5 intersect at a point which is positioned at the rotation center point of a shoulder joint of a user.

Shoulder joint subassembly, elbow joint subassembly 6, forearm rotating assembly 7 and wrist joint movable assembly 8 connect gradually, and shoulder joint subassembly can drive elbow joint subassembly 6 rotary adjustment, and elbow joint subassembly 6 can drive forearm rotating assembly 7 rotary adjustment, and forearm rotating assembly 7 can drive wrist joint movable assembly 8 rotary adjustment, realizes the omnidirectional of arm, multi-angle regulation, makes the flexibility ratio of arm improve. Meanwhile, the shoulder joint assembly comprises a first joint assembly 3, a second joint assembly 4 and a third joint assembly 5 which are connected in a rotating mode, and the rotation axes of the first joint assembly 3, the second joint assembly 4 and the third joint assembly 5 are intersected at one point, so that the shoulder joint assembly can be matched with a shoulder joint of a user more accurately, and rehabilitation treatment of the shoulder joint is facilitated.

Further, each joint assembly on the mechanical arm is connected to the controller, the controller can be connected with each joint assembly through wiring or in a wireless connection mode, the wiring connection mode is little in external interference, the connection is stable, the wiring is reduced in the wireless connection mode, and the weight and the volume of equipment are reduced.

The rehabilitation training mechanical arm can select different training modes according to the linkage combination mode of each joint assembly, comprises the functions of assisting a user to perform passive rehabilitation training, providing various forms of force compensation assistance for active rehabilitation training of the user and the like; different training actions are realized, including rehabilitation training of synchronous or alternate coordination of both hands of the upper limb, vertical and horizontal rehabilitation training of one hand of the upper limb, and the like; the rehabilitation training device assists the user to finish various rehabilitation training, and greatly improves the rehabilitation efficiency.

Drive and detection system for each joint assembly:

further, each joint assembly of the mechanical arm comprises a driver, a pressure detection assembly and a connecting crank, wherein the connecting crank is relatively fixed with an output shaft of the driver, and the pressure detection assembly is arranged between the output shaft of the driver and the connecting crank. The driver plays drive connection crank pivoted effect, and the driver detects the effort to connecting the effort in the crank transmission effort, and the effort that pressure detection subassembly detected is transmitted to the controller. The driver and the pressure detection assembly are both connected to the controller.

When the patient is at early stage of rehabilitation, the user can't independently move by himself, adopt passive rehabilitation mode, the driver is connected to the controller, the controller can regulate and control the effort of driver, the crank rotates is connected in the driver drive, the effort between the output shaft of driver and the connection crank is detected to pressure detection subassembly, pressure detection subassembly transmits the effort to the controller, the controller is to setting for the driving force of driver and the effort that pressure detection subassembly detected record, the medical personnel of being convenient for knows the recovered state of user, the monitoring to the driver has also been realized, the staff of being convenient for knows the running state of driver.

The patient has some movement capacity in the middle and later stages of rehabilitation, but has limited strength, and adopts an active rehabilitation mode, so that a user drives a connecting crank to act, the connecting crank transmits driving acting force to an output shaft of a driver through a pressure detection assembly, and meanwhile, the pressure detection assembly transmits the active acting force of the user to a controller, and the controller can record the active acting force of the user, thereby facilitating medical staff to know the rehabilitation state of the user; meanwhile, the controller can also adjust the action of the driver according to the acting force fed back by the pressure detection component, and adjust the rotating speed and the rotating direction of the driver to adapt to the rehabilitation training requirement of a user, so as to realize auxiliary compensation in the active rehabilitation training process, realize different training actions and have wide application range.

Further, the pressure detection assembly comprises a pressure sensor and a pressure sensor stop block, an output crank is connected to an output shaft of the driver, the pressure sensor stop block and the output crank are clamped and fixed to the pressure sensor, the pressure sensor stop block plays a role in connecting the output crank and connecting the crank, when the output crank and the connecting crank generate relative motion trend, the pressure sensor stop block generates tension or pressure relative to the pressure sensor under the driving of the output crank or the connecting crank, the change of moment is convenient to detect, the function of monitoring the state of a user is achieved, and medical staff can know the rehabilitation state of the user conveniently.

Specifically, the pressure sensor can be selected from a tension pressure sensor, the central axis of the tension pressure sensor is vertical to the rotation central axis of the output crank, the tension pressure sensor is not influenced by other directional forces, and the technical indexes such as dynamic moment of a joint are fed back more accurately. The tension and pressure sensor has the characteristics of high precision, wide measuring range, long service life, simple structure and the like.

Preferably, an adapter sleeve is arranged between the pressure sensor and the pressure sensor stop block and between the pressure sensor and the output crank, and two ends of the pressure sensor stop block are respectively connected with the output crank and the connecting crank. The adapter sleeve is matched with the output crank to ensure the perpendicularity between the central shaft of the pressure sensor and the rotation center of the output crank, so that the pressure sensor is not influenced by other directional forces, and the technical indexes such as dynamic moment of a joint are fed back more accurately.

Specifically, the driver comprises a motor and a speed reducer, wherein the motor can be a servo motor, and the servo motor has the characteristics of small volume, quick response, large overload capacity and convenience in automatic adjustment; the speed reducer can be a harmonic speed reducer, and the output end of the harmonic speed reducer adopted by the speed reducer has enough axial, radial and torsional strength, can be directly connected with an output crank, and omits parts such as a supporting end, a bearing and the like which are in a large size; the complexity of the structure is reduced, and the quality of the joint device is lightened.

Further, the output crank is connected with the connecting crank through a locking rotating shaft, the locking rotating shaft penetrates through the connecting crank, and the locking rotating shaft is fixedly connected to the output crank. The locking rotating shaft is screwed and connected to the output crank through a screw, and the connecting crank is hinged with the output crank through the locking rotating shaft; the locking rotating shaft is provided with the limiting ring, the limiting ring is clamped on the end face of the connecting crank, the limiting ring plays a role in limiting the connecting crank, the structure is simple, the hinging of the connecting crank and the output crank is realized, the structure is simple, and the connection is stable.

Further, the locking rotating shaft is sleeved with the self-lubricating bearing, the self-lubricating bearing is abutted to the connecting crank, namely, the self-lubricating bearing is connected between the locking rotating shaft and the connecting crank, friction between the locking rotating shaft and the connecting crank is reduced, friction in the rotating and adjusting process of the connecting crank is also reduced, external force interference is reduced, the detection precision of the pressure detection assembly in the active rehabilitation training and the passive rehabilitation training process is improved, and medical staff can accurately judge the state of a user. Preferably, the connecting crank is further provided with a self-lubricating check ring, and the self-lubricating check ring is arranged between the output crank and the connecting crank in a cushioning mode to play a role in isolating pad protection. The connecting end for connecting the crank and the output crank is a self-lubricating bearing and a self-lubricating check ring which are small in size and light in weight.

Preferred embodiments of the shoulder and elbow assemblies 6:

further, as shown in fig. 3 to 8, each joint of the shoulder joint assembly and the elbow joint assembly 6 includes a driver, an output crank and a base connecting rod, the output crank is connected to the output shaft of the driver, the base connecting rod is relatively fixed to the housing of the driver, the output crank is connected with a connecting crank, the output crank is connected with a pressure detecting assembly, and two ends of the pressure detecting assembly are respectively connected with the output crank and the connecting crank.

The working principle of the shoulder joint component and the elbow joint component 6 is the same, the structure forms of connecting cranks and base connecting rods are matched and connected on the driver, the base connecting rods are relatively and fixedly connected with the shell of the driver, the connecting cranks are relatively fixed with the output shaft of the driver, but the structure of the base connecting rods of the shoulder joint component and the elbow joint component 6 and the structure of the connecting cranks are not completely the same, the structure forms of specific components of the shoulder joint component and the elbow joint component 6 are designed according to actual structural requirements, the auxiliary support in the active rehabilitation process of a user can be realized, the passive rehabilitation training of the user can be realized by means of the driver, the structure is simple, and the matching precision is high.

The frame connecting rod is fixed with the casing of driver relatively, and the one end that the frame connecting rod kept away from the driver is connected on last joint subassembly, and the output shaft drive of driver is connected the crank and is rotated, connects the crank and connects next joint subassembly, makes the connection angle of two adjacent joint subassemblies can automatically regulated.

Further, the base connecting rod is connected with the switching disc, the switching disc is fixedly connected to the shell of the driver, the base connecting rod is fixedly connected with the switching disc, the setting of the switching disc is convenient for the installation of the driver and the base connecting rod, and the loss of the driver and the base connecting rod in the using process is reduced.

Further, a rotation limiting opening is formed in the output crank, a rotation limiting block is connected to the rotation limiting opening, and the rotation limiting block is detachably connected with the base connecting rod. The rotation limiting opening is arranged to be of a semi-annular structure, the rotation limiting opening is used for limiting the rotation of the rotation limiting opening, the rotation angle of the output shaft of the driver is limited through the cooperation of the rotation limiting opening and the rotation limiting opening, the rotation angle of the output shaft of the driver is prevented from exceeding a safe exercise range, the safety of a user in the rehabilitation exercise process is guaranteed, the damage caused by excessive joint rotation in the rehabilitation exercise of the user is avoided, and the requirements of different rotation angles of different joints can be met by adjusting the size of the rotation limiting opening of the processing output crank and/or adjusting the size of the rotation limiting opening.

Further, the first connecting crank 35 of the first joint assembly 3 is connected to the second driver as a second base link of the second joint assembly 4, the second connecting crank 45 of the second joint assembly 4 is connected to the third driver as a third base link of the third joint assembly 5, the third connecting crank 55 of the third joint assembly 5 is connected to the fourth driver as a fourth base link of the elbow joint assembly 6, and the fourth connecting crank 65 of the elbow joint assembly 6 is connected to the forearm rotation assembly 7.

As shown in fig. 3-7, the rehabilitation training of the shoulder joint of the user is realized by the linkage of the first joint component 3, the second joint component 4 and the third joint component 5, the first connecting crank 35 for connecting the first joint component 3 and the second joint component 4, the second connecting crank 45 for connecting the second joint component 4 and the third joint component 5 are both in a bilateral symmetry V-shaped structure, the distances from the centers of the cranks to the rotation centers of the joint components connected respectively are equal, the rotation center shafts of the three joint components are always kept to be intersected with the rotation center point of the shoulder joint of the user in the movement process, and good dynamic adaptability in the rehabilitation training process is achieved.

The first joint assembly 3 is connected to the cantilever arm 11, i.e. the mechanical arm is connected to the cantilever arm 11, and the cantilever arm 11 functions as a support and a connection for the mechanical arm. Preferably, the first joint assembly 3 is slidably connected to the cantilever arm 11, so that the position of the mechanical arm can be adjusted on the cantilever arm 11, especially when two mechanical arms are arranged on the cantilever arm 11, the distance between the two mechanical arms can be conveniently adjusted, and the cantilever arm is suitable for users with different sizes and shoulder widths.

Preferred embodiment of the first joint assembly 3:

specifically, the first joint assembly 3 includes a shoulder joint base 31 and a first adapter plate 311 fixed on the shoulder joint base 31, where the shoulder joint base 31 is a first stand link, the shoulder joint base 31 is slidably connected to the cantilever arm 11, the shoulder joint base 31 is fixed to the cantilever arm 11 by bolting, and the relative position of the shoulder joint base 31 on the cantilever arm 11 can be slidably adjusted by dismantling the bolts. The first rotating disc 311 is connected to the first motor 32 and the first speed reducer 33 connected with the output shaft of the first motor 32, the output end of the first speed reducer 33 is in driving connection with a first output crank 34, a first check ring 341 fixedly connected with the first output crank 34 and a first locking rotating shaft 342 fixedly connected with the first check ring 341, the first locking rotating shaft 342 is in rotating connection with a first connecting crank 35 through a first self-lubricating bearing 343, one side of the first output crank 34 is provided with a first rotating spigot 344, a first rotating limit block 345 detachably connected with the shoulder joint base 31 is arranged in the first rotating spigot 344, the other side of the first output crank 34 is connected with a first pull pressure sensor 37 through a first sensor adapter sleeve 361, a first sensor stop 38 is connected to the opposite side of the first pull pressure sensor 37, which is positioned on the opposite side of the first sensor adapter sleeve 361, through the first stop adapter sleeve 362, and the first sensor stop 38 is fixedly connected with the first connecting crank 35 through bolts; through the sliding connection of the shoulder joint bases 31 and the cantilever beam arms 11, the distance between the two shoulder joint bases 31 in the pair of rehabilitation training mechanical arms 2 is convenient to adjust, and the adaptability to users with different shoulder widths is improved.

Preferred embodiment of the second joint assembly 4:

in this embodiment, as shown in fig. 5, the second joint assembly 4 is connected to the first joint assembly 3 through a first connecting crank 35, the second joint assembly 4 includes a second adapter plate 41 fixed on the first connecting crank 35, the second adapter plate 41 is connected to a second motor 42 and a second speed reducer 43 connected to an output shaft of the second motor 42, an output end of the second speed reducer 43 is in driving connection with a second output crank 44, a second retainer ring 441 fixedly connected to the second output crank 44, and a second locking rotating shaft 442 fixedly connected to the second retainer ring 441, the second locking rotating shaft 442 is rotatably connected to the second connecting crank 45 through a second self-lubricating bearing 443, a second rotation spigot 444 is provided on one side of the second output crank 44, a second rotation stopper 445 detachably connected to the first connecting crank 35 is provided in the second rotation spigot 444, a second tension sensor 47 is connected to the other side of the second output crank 44 through a second sensor sleeve, and a second stopper 48 is fixedly connected to the second stopper 48 through a second sensor sleeve 462 on the second tension sensor sleeve 461 on the opposite side of the second sensor sleeve 461.

Preferred embodiment of the third joint assembly 5:

in this embodiment, as shown in fig. 6-7, the third joint assembly 5 is connected with the second joint assembly 4 through the second connecting crank 45, the third joint assembly 5 includes a third adapter plate 51 fixed on the second connecting crank 45, a third motor 52 and a third speed reducer 53 connected with an output shaft of the third motor 52 are disposed on the third adapter plate 51, an output end of the third speed reducer 53 is in driving connection with a third output crank 54, a third retainer 541 fixedly connected with the third output crank 54 and a third locking rotating shaft 542 fixedly connected with the third retainer 541, the third locking rotating shaft 542 is in rotating connection with a third connecting crank 55 through a third self-lubricating bearing 543, the third connecting crank 55 is fixedly connected with an upper protecting arm 551 through a bolt, a third rotating stop 545 detachably connected with the second connecting crank 45 is disposed on one side of the third output crank 54, a third tension-compression force 57 is connected with the other side of the third output crank 54 through a third sensor adapter sleeve of the third speed reducer sensor, the third tension-compression force 57 is located on the third tension-compression-ring 57 and is fixedly connected with a third sensor 562 through a third sensor sleeve of the third tension-compression-ring sensor 58, and the third tension-compression-ring sensor is fixedly connected with the third sensor sleeve of the third tension-compression-ring 55 through the third sensor sleeve of the third tension-compression-ring sensor 55.

Preferred embodiment of elbow joint assembly 6:

in this embodiment, as shown in fig. 8, the elbow joint assembly 6 includes a large arm slider 61 and a fourth adapter plate 611 fixed on the large arm slider 61, the large arm slider 61 is equivalent to a stand connecting rod, the large arm slider 61 is slidably connected in a large arm guide slot 552 on the third connecting crank 55, a plurality of large arm adjusting holes 60 are provided on the large arm slider 61, a large arm positioning bolt 553 matched with the large arm adjusting holes 60 is provided on the third connecting crank 55, a fourth motor 62 and a fourth speed reducer 63 connected with an output shaft of the fourth motor 62 are provided on the fourth adapter plate 611, an output end of the fourth speed reducer 63 is driven and connected with a fourth output crank 64, a fourth retaining ring 641 fixedly connected with the fourth output crank 64 and a fourth locking rotating shaft 642 fixedly connected with the fourth retaining ring 641 through a fourth self-lubricating bearing 643, the fourth connecting crank 65 is fixedly connected with a lower protecting arm 651 through a bolt, a fourth rotating port 644 is provided on one side of the fourth output crank 64, a fourth pressure stop 661 is provided in the fourth rotating port 644 and is connected with a fourth pressure sensor 661 through a fourth pressure sensor sleeve 67 and a fourth pressure sensor 661 fixedly connected with a fourth pressure sensor sleeve 645 through a fourth pressure sensor 67, and a fourth pressure sensor 67 is connected with a fourth pressure sensor sleeve 67 through a fourth pressure sensor 67.

Preferred embodiment of the forearm rotation assembly 7:

as shown in fig. 9 and 10, the forearm rotating assembly 7 includes a fifth driver, a panning mechanism 72, and a forearm slider 71, the forearm slider 71 is rotationally connected with the panning mechanism 72, the panning mechanism 72 is connected with the fifth driver, the panning mechanism 72 includes an upper connecting frame, a lower connecting frame and a rotating connecting rod 74, the upper connecting frame is relatively fixedly connected with the fifth driver, the lower connecting frame is relatively fixedly connected with an output shaft of the fifth driver, a pressure detecting assembly is connected between the lower connecting frame and the output shaft of the fifth driver, and the upper connecting frame and the lower connecting frame are both hinged with the rotating connecting rod 74. The arm slider 71 is connected to the fourth joint unit 6 by a base link, and the panning mechanism 72 is connected to the wrist joint unit 8 by a connecting crank.

Specifically, the arm slider 71 is welded to a support shaft 711, the panning mechanism 72 axially rotates around the support shaft 711, the arm slider 71 is slidably connected in an arm guide groove 652 on the fourth connecting crank 65, the arm slider 71 is provided with a plurality of arm adjusting holes 70, and the fourth connecting crank 65 is provided with an arm positioning bolt 653 matched with the plurality of arm adjusting holes 70. The forearm rotating assembly 7 is fixedly connected with a rotary motion joint through a forearm sliding block 71, and the rotary motion joint is attached to the forearm.

Further, the forearm rotation assembly 7 also includes a pressure detection assembly connected between the output shaft of the fifth drive and the lower link.

Preferably, the upper connection frame and the lower connection frame are both triangular frames, namely an upper tripod 79 and a lower tripod 73, the upper tripod 79 and the lower tripod 73 are equilateral triangles, the side length of the upper tripod 79 is equal to that of the lower tripod 73, the upper tripod 79 and the lower tripod 73 are vertically parallel and eccentrically arranged, two ends of a supporting shaft 711 are respectively hinged with end angles of the same side of the upper tripod 79 and the lower tripod 73, two mutually parallel rotating connecting rods 74 are arranged at the lower part of the lower tripod 73, the end angles of the other two sides of the upper tripod 79 are respectively hinged with the corresponding rotating connecting rods 74 through long pin rotating shafts 721, and the end angles of the other two sides of the lower tripod 73 are respectively hinged with the corresponding rotating connecting rods 74 through short pin rotating shafts 731 which are parallel to the long pin rotating shafts 721 and are positioned on one side of the long pin rotating shafts 721. The end of the rotation link 74 remote from the long pin shaft 721 and the short pin shaft 731 is fixedly coupled to the wrist joint movement assembly 8.

The center of the upper tripod 79 is provided with a fifth speed reducer 76, an input shaft of the fifth speed reducer 76 is connected with a fifth motor 75, the fifth motor 75 adopts a servo motor, an output shaft of the fifth speed reducer 76 is connected with a fifth output crank 77, a key is connected between the output shaft of the fifth speed reducer 76 and the fifth output crank 77, the fifth output crank 77 is positioned between the upper tripod 79 and the lower tripod 73, a fifth locking rotating shaft 772 is arranged in the center of the lower tripod 73 in a penetrating manner, the lower end of the fifth locking rotating shaft 772 is connected with a fifth self-lubricating bearing 771, the fifth self-lubricating bearing 771 is positioned at the lower part of the lower tripod 73, and the fifth locking rotating shaft 772 is positioned at one side of the fifth output crank 77 and connected with the fifth output crank 77. The fifth motor 75 is directly connected with a fifth output crank 77 through a fifth speed reducer 76, so that connection structures such as a supporting end and a bearing are omitted, the complexity of the structure is reduced, meanwhile, the fifth self-lubricating bearing 771 is small in size and light in weight, and the fifth locking rotating shaft 772 is matched with the fifth self-lubricating bearing 771 for use, so that the whole forearm joint is compact in structure and light in weight.

The eccentric structure between the upper tripod 79 and the lower tripod 73 realizes that the upper tripod 79 rotates around the fifth output crank 77 through motor driving, and the lower tripod 73 rotates around the fifth locking rotating shaft 772 through the fifth motor 75 driving, and simultaneously, the relative rotation between the upper tripod 79 and the lower tripod 73 can be realized, so that the rotation of the forearm rotary joint around the arm axis of a user is realized, and the user is assisted to realize the rotation action of the forearm.

The fifth output crank 77 is used for transmitting the force of the fifth motor 75 to drive the fifth speed reducer 76, the fifth locking rotating shaft 772 is used for transmitting the force of the rotating connecting rod 74 when the long pin rotating shaft 721 drives the upper tripod 79 to rotate and the short pin rotating shaft 731 drives the lower tripod 73 to rotate, the force generated when the upper tripod 79 and the lower tripod 73 simultaneously rotate relatively under the action of the supporting shaft 711 is provided with a fifth pulling pressure sensor 78, and the fifth pulling pressure sensor 78 is used for measuring the axial acting force of the fifth output crank 77 and the fifth locking rotating shaft 772 in real time when the active rehabilitation mode is performed, so that the dynamic moment change of the arm joint motion of a user is monitored and fed back in real time.

Further, the vertical distance between the center axis of the fifth locking rotation shaft 772 and the center axis of the fifth output crank 77 is the same as the vertical distance between the center axis of the long pin rotation shaft 721 and the center axis of the short pin rotation shaft 731 on the same rotation link 74.

Further, the central axis of the fifth pulling pressure sensor 78 is perpendicular to the rotation central axis of the fifth output crank 77, and the structure enables the fifth pulling pressure sensor 78 to be influenced by axial acting force only and not influenced by other directional forces, so that dynamic moment changes of the forearm joint movement can be monitored and fed back more accurately.

Further, the fifth speed reducer 76 is a planetary speed reducer.

Further, the fifth motor 75 and the fifth pull pressure sensor 78 are respectively connected with the controller, the fifth pull pressure sensor 78 feeds back the torque monitored in real time to the controller, and the controller controls the rotating speed of the fifth motor 75 according to the dynamic torque change, so that a user is assisted to complete rehabilitation actions, and rehabilitation efficiency is improved.

Further, the supporting shaft 711, the rotary connecting rod 74, the upper tripod 79 and the lower tripod 73 are all made of aluminum alloy, so that the mechanical property is good, and the weight of the whole joint is reduced.

Specifically, when the user is in early rehabilitation, the user cannot autonomously move, and a passive rehabilitation mode is adopted, at this time, the fifth motor 75 sequentially transmits power to the fifth output crank 77 and the fifth locking rotating shaft 772 through the fifth speed reducer 76, the fifth locking rotating shaft 772 drives the lower tripod 73 to rotate, the lower tripod 73 drives the rotating connecting rod 74 to rotate through the short pin rotating shaft 731, the rotating connecting rod 74 drives the upper tripod 79 to rotate through the long pin rotating shaft 721, synchronous relative rotation is realized between the upper tripod 79 and the lower tripod 73, the supporting shaft 711 drives the rotating motion joint to rotate through the forearm slider 71, the rotating connecting rod 74 drives the wrist joint to rotate, and further the user is driven to finish rehabilitation, and a guiding effect is achieved.

The user has some motion ability in the middle and later stages of rehabilitation, but the strength is limited, and adopts the initiative rehabilitation mode, at this moment, the user is in initiative state, the user drives the rotatory connecting rod 74 rotation of forearm rotating assembly 7 through self motion, rotatory connecting rod 74 drives the tripod 79 rotation through long pin pivot 721 respectively, drive down tripod 73 rotation through short pin pivot 731, realize the relative rotation simultaneously between the two of tripod 79 and lower tripod 73, and then drive rotary motion joint rotation through forearm slider 71, and assist the rotation of fifth motor 75 as auxiliary power cooperation user forearm joint, and then help the user to accomplish the rehabilitation action, improve rehabilitation efficiency.

Preferred embodiment of wrist movement assembly 8:

referring to fig. 11, the wrist joint movement assembly 8 includes a sixth driver, a connection substrate 81, a swing mechanism 80, and a pressure detection assembly, the swing mechanism 80 being hinged to the connection substrate 81, the pressure detection assembly being connected between an output shaft of the sixth driver and the swing mechanism 80. The wrist articulation assembly 8 is connected to the forearm rotation assembly 7 by a connecting base 81 hingedly connected to two parallel rotation links 74.

Further, the swinging mechanism 80 includes a long connecting rod 822, a short connecting rod 823 and a swinging block 824, both ends of the long connecting rod 822 and the short connecting rod 823 are hinged to the base plate 81 and the swinging block 824, a sliding slot 825 is formed in the swinging block 824, and the handle 83 is slidably connected in the sliding slot 825.

The swinging mechanism 80 swings around a rotating direction perpendicular to the panning mechanism 72, the connecting base plate 81 hinged to the rotating connecting rod 74 is arranged, the swinging mechanism 80 comprises a first transmission component and a second transmission component, the first transmission component and the second transmission component are all parallel four-bar mechanisms 82, each parallel four-bar mechanism 82 comprises a frame bar 821 extending from one side of the connecting base plate 81, a long connecting rod 822 and a short connecting rod 823 hinged to two ends of the frame bar 821 respectively, and a swinging block 824 hinged to the long connecting rod 822 and the short connecting rod 823 respectively, a sliding groove 825 is formed in the swinging block 824, a handle 83 is connected between the two parallel swinging blocks 824 in the two parallel four-bar mechanisms 82 in a sliding mode through the sliding groove 825, the other side of the connecting base plate 81 is fixedly connected with a sixth driver, the sixth driver comprises a sixth motor 84 and a sixth speed reducer 85 connected with an output shaft of the sixth motor 84, an output end of the sixth speed reducer 85 is in a driving mode connected with a sixth output crank 86, the sixth output crank 86 is connected with a pressure detection component, and the other end of the pressure detection component is connected with the first transmission component or the second transmission component of the swinging mechanism 80.

The pressure detection assembly includes a sixth pull pressure sensor 87, a sixth sensor stop 88, the sixth pull pressure sensor 87 being connected to a sixth output crank 86, the sixth pull pressure sensor 87 stop being connected to either the short link 823 or the long link 822 of the swing mechanism 80. The center axis of the sixth pulling pressure sensor 87 is perpendicular to the rotation center axis of the sixth output crank 86, and the structure enables the sixth pulling pressure sensor 87 to be influenced only by axial pulling pressure and not influenced by other directional forces, so that dynamic moment changes of wrist joint motion can be monitored and fed back more accurately.

Further, a sixth sensor adapter sleeve 861 is provided between the sixth pull pressure sensor 87 and the sixth output crank 86, and a sixth stop adapter sleeve 862 is provided between the sixth pull pressure sensor 87 stop and the swing mechanism 80.

The parallel four-bar mechanism 82 is used for transmitting driving acting force of the sixth motor 84 and the sixth speed reducer 85, the sixth speed reducer 85 drives the sixth output crank 86 to rotate, the sixth output crank 86 drives the parallel four-bar mechanism 82 to act, the parallel four-bar mechanism 82 is also used for transmitting acting force of the handle 83 back to the sixth pull pressure sensor 87, and the sixth pull pressure sensor 87 is used for measuring axial pull pressure in an active recovery mode and a passive recovery mode in real time, so that dynamic moment change of wrist joint movement of a user is monitored and fed back in real time.

The first transmission assembly and the second transmission assembly have the same structure and comprise a frame rod 821, a long connecting rod 822, a short connecting rod 823 and a swinging block 824, wherein the frame rod 821 is transversely arranged on the connecting substrate 81, two ends of the long connecting rod 822 are respectively hinged with the frame rod 821 and the swinging block 824, two ends of the short connecting rod 823 are respectively hinged with the frame rod 821 and the swinging block 824, the short connecting rod 823 is arranged above the long connecting rod 822, and the short connecting rod 823 and the long connecting rod 822 are arranged in a crossing manner. The swing blocks 824 are provided with slide grooves 825, and both ends of the handle 83 can slide along the extending directions of the slide grooves 825 of the two swing blocks 824, respectively.

When the passive rehabilitation mode is performed, the driving handle bar 8231 is driven by the sixth motor 84 to drive the short connecting rod 823 to rotate, the short connecting rod 823 drives the swinging block 824, the swinging block 824 drives the long connecting rod 822, the short connecting rod 823, the driving handle bar 823 and the long connecting rod 822 are enabled to rotate along the frame bar 821, accordingly, two ends of the handle 83 slide along the sliding groove 825, the short connecting rod 823 and the long connecting rod 822 are simultaneously driven by the swinging block 824 to rotate along the frame bar 821, and the rehabilitation process that the wrist joint of a user is driven to rotate by power provided by the sixth motor 84 is achieved.

When the active rehabilitation mode is performed, a user holds the handle 83, so that two ends of the handle 83 slide along the sliding groove 825, the swinging block 824 rotates along the rack rod 821 under the action of the short connecting rod 823 and the long connecting rod 822 while the handle 83 slides, and the sixth motor 84 is used for providing auxiliary power to drive the handle 83 to slide along the sliding groove 825 through the driving handle 8231.

Through adopting many connecting rods transmission structure to realize wrist joint rotation function, overall structure is simple compact, and intensity is high, and in addition, the motor has output crank through speed reducer direct connection, saves connection structures such as supporting end and bearing, reduces the complexity of structure.

The self-adaptive adjustment of the positions of the swing handles 83 of the wrist joints of different users is achieved through the multi-connecting-rod transmission structure, the compression feeling of the wrist joints of the users is avoided, the recovery training of the users is facilitated, and the recovery efficiency of the users is improved.

Further, the sixth motor 84, the sixth speed reducer 85 and the sixth tension pressure sensor 87 feed back the torque monitored in real time to the controller, and the controller controls the rotation speed of the sixth motor 84 according to the dynamic torque change, thereby assisting the user to complete the rehabilitation action and improving the rehabilitation efficiency.

Further, the sixth speed reducer 85 is a planetary speed reducer.

Further, the connecting substrate 81 and the swinging mechanism 80 are made of aluminum alloy, so that the mechanical property is good, and the weight of the whole joint is reduced.

Referring to fig. 1 to 11, the rehabilitation robot of the invention comprises a back frame 1, a cantilever arm and a rehabilitation training mechanical arm 2, wherein the rehabilitation training mechanical arm 2 is arranged on the back frame 1 through the cantilever arm 11, one or a pair of rehabilitation training mechanical arms 2 are arranged on the cantilever arm 11, and the first joint component 3 is connected on the cantilever arm 11 in a sliding manner.

The rehabilitation training mechanical arm 2 comprises all the technical schemes of the shoulder joint assembly, the elbow joint assembly 6, the forearm rotation assembly 7 and the wrist joint movement assembly 8.

The shoulder joint base 31 is slidably connected in the back frame guide groove 12 of the cantilever beam 11, the back frame guide groove 12 guides and limits the shoulder joint base 31, the connection stability of the shoulder joint base 31 is ensured, and the shoulder joint base 31 is convenient to adjust.

According to the rehabilitation training mechanical arm 2, the distance between the two first joint assemblies 3 in the pair of mechanical arms is adjusted according to the requirement, the adjustment of the shoulder width is realized, the distance between the third joint assembly 5 and the elbow joint assembly 6 and the distance between the elbow joint assembly 6 and the forearm rotation assembly 7 are manually adjusted in a sliding connection mode, the arm is locked and fixed through knurled bolts, the mechanical arm has good adaptability to users with different shoulder width arm lengths, meanwhile, the adjustment of the driving mechanism with a bulky structure is avoided, the overall structure is more compact, and the weight is greatly reduced.

Further, a controller is arranged in the back frame 1, and each joint component of the rehabilitation training mechanical arm 2 is communicated with the controller. And in the whole rehabilitation training process, each joint component feeds back the moment compensation quantity of each joint of a user through detecting dynamic moment feedback and adjusting the dynamic moment feedback in real time and high frequency.

The rehabilitation training mechanical arm provided by the invention realizes that a user can perform rehabilitation training in a sitting posture, standing posture or free movement state by using the wearable exoskeleton mechanical arm, and the user can wear a single arm or double arms simultaneously, so that the rehabilitation training mechanical arm is not only suitable for rehabilitation training of a single arm of the user, but also suitable for simultaneous rehabilitation training of double arms of the user.

The invention mainly aims to assist a paralyzed user to carry out rehabilitation training, so that the user can complete basic daily actions in the most period of time, and the rehabilitation training device mainly comprises a passive rehabilitation mode and an active rehabilitation mode when in work, and the user selects a corresponding rehabilitation mode according to the actual rehabilitation condition of the user when carrying out rehabilitation training, wherein the user is in a passive state when selecting the passive rehabilitation mode, completes the rehabilitation actions under the guidance of a rehabilitation robot, is in an active state when selecting the active rehabilitation mode, and assists the user to complete the rehabilitation actions when needing gravity compensation or carrying out force effect simulation when the user moves.

Specifically, when the user is at early stage of rehabilitation, the user can not independently move, and a passive rehabilitation mode is adopted, at the moment, the user is in a passive state, and the driver sequentially transmits power to the output crank and the connecting crank, so that the joint adjustment of the user is driven by the power provided by the driver, the rehabilitation action is completed, and the guiding effect is achieved.

The user has some motion ability in recovered middle and late stages, but the strength is limited, adopts initiative rehabilitation mode, and at this moment, the user is in initiative state, and the user drives and connects the crank action, and pressure detection subassembly detects the initiative effort of user, and pressure detection subassembly transmits the effort that detects to the controller, and the power that the controller regulation driver output is realized the joint rotation as auxiliary power cooperation user, accomplishes rehabilitation action, improves recovered efficiency.

The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a rehabilitation training arm which characterized in that: the mechanical arm comprises a shoulder joint assembly, an elbow joint assembly, a forearm rotating assembly and a wrist joint moving assembly which are sequentially connected, wherein the shoulder joint assembly comprises a first joint assembly, a second joint assembly and a third joint assembly, and three rotation axes of the first joint assembly, the second joint assembly and the third joint assembly intersect at a point which is positioned at the rotation center point of a shoulder joint of a user;

Each joint assembly of the mechanical arm comprises a driver, a pressure detection assembly and a connecting crank, wherein the connecting crank is relatively fixed with an output shaft of the driver, and the pressure detection assembly is arranged between the output shaft of the driver and the connecting crank;

the pressure detection assembly comprises a pressure sensor and a pressure sensor stop block, an output crank is connected to an output shaft of the driver, the pressure sensor stop block and the output crank are clamped and fixed with the pressure sensor, and two ends of the pressure sensor stop block are respectively connected with the output crank and the connecting crank;

each joint of the shoulder joint assembly and the elbow joint assembly comprises a driver, an output crank and a base connecting rod, wherein the output crank is connected to an output shaft of the driver, the base connecting rod is relatively fixed with a shell of the driver, the output crank is connected with a pressure detection assembly, and two ends of the pressure detection assembly are respectively connected with the output crank and the connecting crank;

the first connecting crank of the first joint assembly is used as a second base connecting rod of the second joint assembly to be connected to a second driver, the second connecting crank of the second joint assembly is used as a third base connecting rod of a third joint assembly to be connected to a third driver, the third connecting crank of the third joint assembly is used as a fourth base connecting rod of the elbow joint assembly to be connected to a fourth driver, and the fourth connecting crank of the elbow joint assembly is connected to the forearm rotating assembly;

The small arm rotating assembly comprises a fifth driver, a horizontal rotating mechanism and a small arm sliding block, the small arm sliding block is rotationally connected with the horizontal rotating mechanism, the horizontal rotating mechanism is connected with the fifth driver, the horizontal rotating mechanism comprises an upper connecting frame, a lower connecting frame and a rotating connecting rod, the upper connecting frame is relatively fixed with a shell of the fifth driver, the lower connecting frame is relatively fixed with an output shaft of the fifth driver, a pressure detecting assembly is connected between the lower connecting frame and the output shaft of the fifth driver, and the upper connecting frame are both hinged with the rotating connecting rod;

the wrist joint moving assembly comprises a sixth driver, a connecting substrate, a swinging mechanism and a pressure detecting assembly, wherein the swinging mechanism is hinged with the connecting substrate, and the pressure detecting assembly is connected between an output shaft of the sixth driver and the swinging mechanism;

the swinging mechanism comprises a long connecting rod, a short connecting rod and a swinging block, wherein the two ends of the long connecting rod and the two ends of the short connecting rod are hinged with the connecting substrate and the swinging block, a sliding groove is formed in the swinging block, and a handle is slidably connected in the sliding groove.

2. A rehabilitation robot, characterized in that: the rehabilitation training mechanical arm comprises a back frame, a cantilever arm and the rehabilitation training mechanical arm of claim 1, wherein the rehabilitation training mechanical arm is arranged on the back frame through the cantilever arm, one or a pair of the rehabilitation training mechanical arms are arranged on the cantilever arm, and the first joint assembly is slidably connected on the cantilever arm.

3. The rehabilitation robot of claim 2, wherein: the back frame is internally provided with a controller, and each joint component of the rehabilitation training mechanical arm is communicated with the controller.