CN109288616B - Exoskeleton upper limb rehabilitation robot - Google Patents
Exoskeleton upper limb rehabilitation robot Download PDFInfo
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- CN109288616B CN109288616B CN201811188968.6A CN201811188968A CN109288616B CN 109288616 B CN109288616 B CN 109288616B CN 201811188968 A CN201811188968 A CN 201811188968A CN 109288616 B CN109288616 B CN 109288616B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body
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Abstract
The invention discloses an exoskeleton upper limb rehabilitation robot, which comprises an execution mechanism and a driving mechanism, wherein the execution mechanism comprises a first upper limb and a second upper limb; the executing mechanism comprises a back plate, shoulders and an upper limb mechanical arm; the back plate is hinged with the shoulder part; the shoulder comprises a shoulder frame and a shoulder adjusting and fixing mechanism; the upper limb mechanical arm is mounted on the shoulder; the upper limb mechanical arm comprises an upper arm mechanism, a forearm mechanism and a hand mechanism, wherein the upper arm mechanism comprises an upper arm top plate, an upper arm adjusting and fixing mechanism and an upper arm rotating mechanism; the small arm mechanism comprises a small arm adjusting and fixing mechanism and a small arm rotating mechanism, and the hand mechanism is a cylindrical handle capable of being grabbed; the drive mechanism includes: a shoulder rotating motor, an upper arm swinging motor, an upper arm rotating motor, a lower arm swinging motor and a lower arm rotating motor. The invention has compact structure, convenient use, stable work and strong applicability and can effectively reduce the treatment cost of patients.
Description
Technical Field
The invention belongs to the technical field of medical robots, and particularly relates to an exoskeleton upper limb rehabilitation robot.
Background
The development of human beings can not be separated from the functions of two hands, and the two hands have important significance for the development of human beings. However, some diseases such as hemiplegia caused by cerebrovascular diseases or nervous system diseases seriously threaten the life safety of our lives. Research shows that the regular rehabilitation training of patients after clinical treatment is the most effective treatment means at present for the hemiplegia symptoms. The traditional treatment method for hemiplegia patients is generally that a rehabilitation therapist carries out one-to-one treatment on the patients, but the treatment method has low efficiency and high cost and is not suitable for being operated at home. Therefore, the rehabilitation robot can be used as a basis.
At present, most of the existing upper limb rehabilitation robots are inconvenient to wear and adjust shoulder width or arm length, or have low freedom of movement, or have complex structures and high cost, so that the upper limb rehabilitation robots are narrow in application range, inconvenient to use, low in efficiency or poor in mechanism movement anti-interference performance.
Chinese patent CN105726260B discloses an interchangeable upper limb rehabilitation robot, which comprises a movable bottom plate, a control cabinet, an upright lifting column, an interchangeable upper limb rehabilitation mechanism and an adjustable height seat, wherein the control cabinet and the upright lifting column are fixedly arranged at the upper part of the rear end of the movable bottom plate, the lower part of the upright lifting column is fixedly arranged in the control cabinet, the interchangeable upper limb rehabilitation mechanism is movably fixed at the top end of the upright lifting column, and the interchangeable upper limb rehabilitation mechanism sequentially comprises a shoulder joint adduction and abduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and eversion mechanism, an elbow joint flexion and extension mechanism, a forearm internal rotation and eversion mechanism and a wrist finger joint extension mechanism according to the connection sequence. The interchangeable upper limb rehabilitation robot in the patent has comprehensive functions, adjustable component length and strong adaptability, but has a complex structure and is inconvenient to adjust the length of an upper arm and a lower arm; and can not be used for both hands rehabilitation training simultaneously, also do not possess the function of wearing, and the user can not wear the use with oneself.
Disclosure of Invention
The invention aims to solve at least one of the problems in the prior art, and provides an exoskeleton upper limb rehabilitation robot which can replace the traditional rehabilitation therapist, ensures the efficiency and has the advantages of wide application range, strong anti-interference performance, convenience in use, low cost and the like.
The purpose of the invention is realized by the following steps: an exoskeleton upper limb rehabilitation robot comprises a back plate, a shoulder and an upper limb mechanical arm, wherein the back plate is hinged with the shoulder, and the upper limb mechanical arm is installed on the shoulder; the upper limb mechanical arm comprises an upper arm mechanism, a lower arm mechanism, a hand mechanism and a driving mechanism;
the shoulder comprises a shoulder frame, a shoulder top plate and a shoulder adjusting and fixing mechanism, the shoulder adjusting and fixing mechanism is installed in the shoulder frame, and the shoulder top plate is fixedly connected with the shoulder adjusting and fixing mechanism;
the upper arm mechanism comprises an upper arm top plate, an upper arm adjusting and fixing mechanism and an upper arm rotating mechanism, the upper arm top plate is connected with the upper arm adjusting and fixing mechanism, and the upper arm adjusting and fixing mechanism is connected with the upper arm rotating mechanism;
the small arm mechanism comprises a small arm adjusting and fixing mechanism and a small arm rotating mechanism, the small arm rotating mechanism is connected with the upper arm rotating mechanism, and the small arm adjusting and fixing mechanism is connected with the small arm rotating mechanism;
the hand mechanism is a gripe which can be grabbed;
the driving mechanism comprises a shoulder rotating motor, an upper arm swinging motor, an upper arm rotating motor, a small arm swinging motor and a small arm rotating motor.
As an improvement of the invention, the shoulder rack comprises an upper box body and a lower box body, the shoulder adjusting and fixing mechanism comprises a knob, a sliding block, a knob bottom rod, a knob connecting rod, a swinging rod, a knob bottom rod cover, a T-shaped stop block and a screw, one end of the swinging rod is hinged with the inside of the upper box body of the shoulder rack, the other end of the swinging rod is hinged with the knob connecting rod, a T-shaped groove is formed in the bottom end of the swinging rod, the T-shaped stop block is installed in the T-shaped groove, the T-shaped stop block can slide along the T-shaped groove under the action of gravity, and when the swinging rod swings upwards, the knob connecting rod presses the T-shaped stop block into the T-shaped groove without affecting the movement of; when the swing rod and the knob connecting rod are collinear, the T-shaped stop block can prevent the knob connecting rod from swinging downwards due to external disturbance, the other end of the knob connecting rod is hinged with the knob bottom rod, the slide block is arranged in a slide channel of the shoulder frame lower box body and can move left and right along the slide channel, the top end of the slide block is provided with a thread through hole from top to bottom, the knob is arranged in the thread through hole of the slide block, the middle section of the knob is provided with an external thread corresponding to a thread hole of the slide block, the knob bottom rod is provided with a knob mounting hole corresponding to the thread through hole of the slide block, the bottom end of the knob is arranged in the knob bottom rod mounting hole, the knob bottom rod cover is fixedly connected with the knob bottom rod through a bolt to seal the knob bottom rod mounting hole, the knob bottom section is locked in the knob bottom rod, and the knob is rotated, the knob can move up and down in the threaded hole of the sliding block, so that the bottom rod of the knob is driven to move up and down, the swing rod and the connecting rod of the knob are collinear to generate self-locking, and the sliding block can be successfully fixed at any position.
As a further improvement of the invention, the upper box body is provided with a slide way groove corresponding to the slide block and a through hole matched with the connecting rod for movement; the lower box body is provided with an upper slideway groove, a side slideway groove and a through hole which is matched with the connecting rod to move; the lower end of the lower box body is provided with a rectangular hole, so that the knob bottom rod cover is convenient to install, the upper box body is fixedly connected with the lower box body through bolts, and the shoulder top plate is fixedly connected with the sliding block of the lower box body through bolts.
As another improvement of the invention, the upper arm adjusting and fixing mechanism comprises an upper arm upper side plate, an upper arm lower side plate and a lock groove sheet; the rectangular groove is arranged on one side of the upper arm upper side plate, the rectangular hole corresponding to the upper arm lower side plate is arranged at the bottom of the upper arm upper side plate, the upper arm lower side plate is arranged in the rectangular hole of the upper arm upper side plate and can slide along the rectangular hole, the rectangular through groove corresponding to the upper arm lower side plate is arranged at intervals between the upper arm lower side plate and the upper arm lower side plate, the locking groove piece consists of a rectangular block corresponding to the rectangular groove, a rectangular sheet with good elasticity and a handle, the rectangular block and the rectangular sheet are welded and fixed, the handle is fixed on the outer side of the rectangular block through welding, after the length of the upper arm is adjusted, the rectangular sheet of the locking groove piece is inserted into the gap between the upper arm upper side plate and the upper arm lower side plate, the rectangular block of the locking groove piece is ensured to be placed in the rectangular groove matched with the upper and lower side plates, so that the locking groove piece cannot fall off due to disturbance in the movement process, resulting in the failure of the locking of the upper arm adjustment fixture, and the handle facilitates the installation and removal of the lockslot block.
As a further improvement of the invention, the upper arm rotating mechanism comprises an upper arm rotating motor, an upper arm harmonic reducer, an upper arm rotating mechanism protecting frame, a bottom plate, a pair of cylindrical gears, a first upper arm rotating piece, a second upper arm rotating piece and a transmission connecting shaft; the upper arm rotating motor is arranged in a motor mounting hole of the rotating mechanism protection frame, the output shaft of the motor is in transmission connection with a wave generator of the harmonic reducer, a flexible gear of the harmonic reducer is in transmission connection with the transmission connecting shaft, the transmission connecting shaft is in transmission connection with the driving gear through a key, an arc-shaped hole corresponding to the cylindrical gear is formed in the bottom end of the first upper arm rotating part, and the cylindrical gear and the harmonic reducer are arranged in the rotating mechanism protection frame; the rotary mechanism protection frame is welded and fixed with the bottom plate to protect the rotary mechanism, an arc-shaped rack corresponding to the cylindrical gear is arranged on the outer side of the second upper arm rotary piece, the arc-shaped rack is installed in the arc-shaped hole, and rotation of the second upper arm rotary piece is achieved.
As a further improvement of the invention, the mechanical mechanism and the connection mode of the small arm rotating mechanism and the upper arm rotating mechanism are the same.
As a further improvement of the invention, the mechanical mechanism and the connection mode of the small arm adjusting and fixing mechanism and the upper arm adjusting and fixing mechanism are the same.
As an improvement of the invention, the upper limb mechanical arm comprises an upper limb left mechanical arm and an upper limb right mechanical arm which have the same structure and are symmetrically arranged on the shoulder.
As an improvement of the invention, the back plate is of a hollow structure, so that heat dissipation is facilitated, the self weight of the back plate is reduced, the back plate is fixedly connected with the bottom end of the lower box body of the shoulder part through a hinge, the angle between the back plate and the shoulder part is adjustable, and a pair of belts with good elasticity is arranged on two sides of the back plate from top to bottom.
As an improvement of the invention, the upper arm swing motor is arranged outside the upper side plate of the upper arm and drives the upper arm to swing; and the small arm swinging motor is arranged on the outer side of the side plate on the small arm and drives the small arm to swing.
As an improvement of the invention, all the arm rotating pieces of the robot are welded and fixed with the arm side plates.
As an improvement of the invention, the hand mechanism adopts a cylindrical grip which can be grabbed and is fixed at the bottom of the lower side plate of the small arm by welding.
The exoskeleton upper limb rehabilitation robot has the following advantages:
(1) the structure design is compact and reasonable, the cost is low, and the installation and the disassembly are convenient;
(2) the shoulder position adjusting and locking functions, the arm length adjusting and locking functions can be realized, the applicability is strong, and the operation is convenient;
(3) the freedom of motion is high: the rotation of the shoulder, the swing and the rotation of the upper arm and the swing and the rotation of the lower arm can be realized;
(4) the anti-interference capability is strong, and the work is stable;
(5) the back plate can be well attached to the back and the neck, so that the back plate is more comfortable to use; can be used for the simultaneous rehabilitation of both arms and improves the rehabilitation efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an exoskeleton upper limb rehabilitation robot according to an embodiment of the present invention;
fig. 2 is an enlarged structural schematic view of a shoulder adjusting and fixing mechanism in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 3 is an enlarged structural schematic view of a swing rod of a shoulder adjusting and fixing mechanism in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 4 is an enlarged structural schematic view of a knob in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 5 is an enlarged structural schematic view of a lower box body of a shoulder rack in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 6 is an enlarged structural schematic view of an upper arm adjusting and fixing mechanism in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 7 is an enlarged structural schematic view of a slot locking piece in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 8 is an enlarged structural schematic view of an upper arm rotating mechanism in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
fig. 9 is an enlarged schematic structural view of a harmonic reducer in the exoskeleton upper limb rehabilitation robot according to the embodiment of the present invention;
the meaning of the main reference symbols in the figures is: 1. a shoulder portion; 2. a shoulder rotating motor; 3. an upper limb mechanical arm; 4. an upper arm mechanism; 5. a small arm rotating motor; 6. a rotating mechanism protection frame; 7. a small arm mechanism; 8. a hand mechanism; 9. a belt; 10. a back plate; 11. a small arm adjusting and fixing mechanism; 12. a small arm rotating mechanism; 13. a forearm swing motor; 14. an upper arm rotating mechanism; 15. an upper arm rotating motor; 16. an upper arm adjusting and fixing mechanism; 17. an upper arm swing motor; 18. a shoulder adjusting and fixing mechanism; 19. a shoulder top plate; 20. a shoulder rest; 21. an upper box body; 22. an upper arm top plate; 23. a swing rod; 231. a T-shaped slot; 24. a knob connecting rod; 25. a knob; 26. a slider; 27. a knob bottom rod cover; 28. a knob bottom bar; 29. a T-shaped stop block; 30. a chute; 31. a lower box body; 32. a rectangular hole; 33. an upper arm upper side plate; 34. a keyway locking piece; 35. an upper arm lower side plate; 36. a rectangular through groove; 37. a rectangular groove; 38. a rectangular sheet; 39. a rectangular block; 40. a handle; 41. a harmonic reducer; 42. a transmission connecting shaft; 43. a driving gear; 44. a base plate; 45. a cylindrical gear; 46. a second upper arm rotating member; 47. a first upper arm rotating member; 49. a flexible gear; 50. a wave generator.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific drawings described herein are merely illustrative of the invention and are not intended to limit the invention. All other technical solutions obtained by a person skilled in the art without creative efforts based on the specific embodiments of the present invention belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Examples
As shown in fig. 1, the exoskeleton upper limb rehabilitation robot of the present embodiment includes: the back plate 10 is hinged with the shoulder 1, and the upper limb mechanical arm 3 comprises an upper arm mechanism 4, a lower arm mechanism 7, a hand mechanism 8 and a driving mechanism; the upper limb mechanical arm 3 comprises an upper limb left mechanical arm and an upper limb right mechanical arm which have the same structure and are symmetrically arranged on the shoulder part 1; the shoulder 1 comprises a shoulder frame 20, a shoulder top plate 19 and a shoulder adjusting and fixing mechanism 18, the shoulder adjusting and fixing mechanism 18 is installed in the shoulder frame 20, and the shoulder top plate 19 is fixedly connected with the shoulder adjusting and fixing mechanism 18; the upper arm mechanism 4 comprises an upper arm top plate 22, an upper arm adjusting and fixing mechanism 16 and an upper arm rotating mechanism 14, the upper arm top plate 22 is connected with the upper arm adjusting and fixing mechanism 16, and the upper arm adjusting and fixing mechanism 16 is connected with the upper arm rotating mechanism 14; the small arm mechanism 7 comprises a small arm adjusting and fixing mechanism 11 and a small arm rotating mechanism 12, the small arm rotating mechanism 12 is connected with an upper arm rotating mechanism 14, and the small arm adjusting and fixing mechanism 11 is connected with the small arm rotating mechanism 12; the hand mechanism 8 adopts a cylindrical handle which can be grabbed; the drive mechanism includes: a shoulder rotating motor 2, an upper arm swinging motor 17, an upper arm rotating motor 15, a small arm swinging motor 13 and a small arm rotating motor 5.
As shown in fig. 1-5, the shoulder adjusting and fixing mechanism 18 includes a knob 25, a slider 26, a knob bottom rod 28, a knob connecting rod 24, a swing rod 23, a knob bottom rod cover 27, and a T-shaped stopper 29, wherein one end of the swing rod 23 is hinged to the inside of the shoulder frame upper case 21, the other end of the swing rod 23 is hinged to the knob connecting rod 24, a T-shaped groove 231 is formed at the bottom end of the swing rod 23, the T-shaped stopper 29 is installed in the T-shaped groove 231, the T-shaped stopper 29 can slide along the T-shaped groove 231 under the action of gravity, and when the slider 26 is pushed to move, and the swing rod 23 swings upward, the knob connecting rod 24 presses the T-shaped stopper 29 into the T-shaped groove 231 without affecting the movement of the slider 26; the other end of the knob connecting rod 24 is hinged with the knob bottom rod 28, the sliding block 26 is installed in a sliding channel groove 30 of a shoulder frame lower box body 31, the sliding block 26 can move left and right along the sliding channel groove 30, a thread through hole from top to bottom is formed in the top end of the sliding block 26, the knob 25 is installed in the thread through hole of the sliding block 26, an external thread corresponding to a thread hole of the sliding block 26 is arranged in the middle section of the knob 25, a knob installation hole is formed in the knob bottom rod 28 corresponding to the thread through hole of the sliding block 26, the bottom end of the knob 25 is placed in the knob bottom rod 28 installation hole, the knob bottom rod cover 27 is fixedly connected with the knob bottom rod 28 through bolts to seal the knob bottom rod 28 installation hole, the bottom section of the knob 25 is locked in the knob bottom rod 28, and after the sliding block 26 is adjusted to a designated position, in order to ensure that the sliding block 26 does not move, the knob 25 is required to be rotated to move the knob 25 downwards, the bottom end of the knob 25 is locked in the mounting hole of the knob bottom rod 28, the mounting hole does not influence the rotation of the knob 25, when the knob 25 moves downwards, the knob bottom rod 28 is pressed to move downwards so as to drive the swing rod 23 to swing downwards, when the swing rod 23 and the knob connecting rod 24 are collinear, the swing rod 23 swings downwards and is blocked by the T-shaped stop block 29, at the moment, the swing rod 23 cannot swing downwards continuously, the knob 25 cannot move downwards, the bottom end position of the knob connecting rod 24 is fixed, so that the swing rod 23 cannot swing upwards, the slide block 26 cannot move left and right in the chute, and at the moment, the mechanism completes the locking function, and ensures the safety of the training process.
As shown in fig. 1, 2 and 5, the shoulder frame 20 includes an upper box 21 and a lower box 31, the upper box 21 is provided with a chute corresponding to the slide block 26 and a through hole matching the movement of the connecting rod; the lower box body 31 is provided with an upper slideway 30, a side slideway and a through hole which is matched with the connecting rod to move; the lower end of the lower box body is provided with a rectangular hole 32, so that the knob bottom rod cover 27 can be conveniently installed, the upper box body 21 and the lower box body 31 are fixedly connected through bolts, and the shoulder top plate 19 is fixedly connected with the sliding block 26 of the lower box body through bolts.
As shown in fig. 1 and 5, the back plate 10 is of a hollow structure, so that heat dissipation is facilitated, the weight of the back plate 10 is reduced, the back plate 10 is fixedly connected with the bottom end of the shoulder frame lower box body 31 through a hinge, the angle between the back plate 10 and the shoulder 1 is adjustable, and a pair of belts 9 with good elasticity is installed on two sides of the back plate 10 from top to bottom.
As shown in fig. 1, 6 and 7, the upper arm adjusting and fixing mechanism 16 includes an upper arm upper side plate 33, an upper arm lower side plate 35 and a locking slot piece 34; the upper arm upper side plate 33 one side be equipped with rectangular channel 37, upper arm upper side plate 33 bottom be equipped with the rectangular hole that upper arm lower side plate 35 corresponds, upper arm lower side plate 35 install in the rectangular hole of upper arm upper side plate 33, can follow the rectangular hole slides, upper arm lower side plate 35 interval be equipped with the rectangular through groove 36 that the upper arm corresponds, the locked groove piece 34 constitute by a rectangular block 39 and a good rectangle thin slice 38 of elasticity and handle 40 with the rectangular block 39 with the rectangle thin slice 38 welded fastening, handle 40 through welded fastening in the outside of rectangular block 39, after upper arm length was set up, insert the rectangle thin slice 38 of locked groove piece 34 in the gap of upper arm upper side plate 33 with upper arm lower side plate 35, guarantee that the rectangular block 39 of locked groove piece 34 is placed on the upper arm, The lower side plate is matched with the rectangular groove, so that the locking slot piece 34 cannot fall off due to disturbance in the movement process, the locking failure of the upper arm adjusting and fixing mechanism 16 is caused, and the handle 40 of the locking slot piece 34 is beneficial to the installation and the disassembly of the locking slot piece 34.
As shown in fig. 1, 8 and 9, the upper arm rotation mechanism 14 includes an upper arm rotation motor 15, an upper arm harmonic reducer 41, an upper arm rotation mechanism protection frame 6, a pair of cylindrical gears 45, a first upper arm rotation member 47, a second upper arm rotation member 46 and a transmission connection shaft 42; the upper arm rotating motor 15 is installed in a motor installation hole of the rotating mechanism protection frame 6, the output shaft of the motor is in transmission connection with a wave generator 50 of the harmonic reducer 41, a flexible gear 49 of the harmonic reducer 41 is in transmission connection with the transmission connecting shaft 42, the transmission connecting shaft 42 is in transmission connection with the driving gear 43 through a key, the bottom end of the first upper arm rotating piece 47 is provided with an arc-shaped hole corresponding to the cylindrical gear 45, the cylindrical gear 45 and the harmonic reducer 41 are arranged in the rotating mechanism protection frame 6, the rotating mechanism protection frame 6 is welded and fixed with the bottom plate 44 to protect the rotating mechanism, an arc-shaped rack corresponding to the cylindrical gear 45 is arranged on the outer side of the second upper arm rotating piece 46, the arc-shaped rack is installed in the arc-shaped hole, and the rotation of the upper arm is realized by the rotation of the second upper arm rotating member 46.
The mechanical mechanisms and connection modes of the small arm rotating mechanism 12 and the upper arm rotating mechanism 14 are the same; the mechanical mechanisms and connection modes of the small arm adjusting and fixing mechanism 11 and the upper arm adjusting and fixing mechanism 16 are the same; the upper arm swing motor 17 is arranged on the outer side of the upper arm upper side plate and drives the upper arm to swing; the small arm swinging motor 13 is arranged on the outer side of the side plate on the small arm and drives the small arm to swing; all the arm rotating pieces of the robot are welded and fixed with the arm side plates; the hand mechanism 8 adopts a cylindrical handle which can be grabbed and is fixed at the bottom of the lower side plate of the small arm by welding.
During the use, the patient utilizes belt 9 will ectoskeleton upper limbs rehabilitation robot carries on one's body, backplate 10 with the hinged joint mechanism of shoulder 1 can angle regulation, makes backplate 10 and shoulder 1 laminate with the back and the neck of patient with the most comfortable mode, shoulder adjusting fixing mechanism 18 can adjust the shoulder width that corresponds the patient, upper arm adjusting fixing mechanism 16 can adjust the length that corresponds patient's upper arm, forearm adjusting fixing mechanism 11 can adjust the length that corresponds patient's forearm, and help patient through shoulder rotation mechanism, upper arm swing mechanism, upper arm rotation mechanism, forearm swing mechanism, forearm rotation mechanism can multi freedom realizes upper limbs rehabilitation training.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. An exoskeleton upper limb rehabilitation robot is characterized by comprising a back plate, a shoulder and an upper limb mechanical arm, wherein the back plate is hinged with the shoulder, and the upper limb mechanical arm is installed on the shoulder; the upper limb mechanical arm comprises an upper arm mechanism, a lower arm mechanism, a hand mechanism and a driving mechanism; the shoulder comprises a shoulder frame, a shoulder top plate and a shoulder adjusting and fixing mechanism, the shoulder adjusting and fixing mechanism is installed in the shoulder frame, and the shoulder top plate is fixedly connected with the shoulder adjusting and fixing mechanism; the upper arm mechanism comprises an upper arm top plate, an upper arm adjusting and fixing mechanism and an upper arm rotating mechanism, the upper arm top plate is connected with the upper arm adjusting and fixing mechanism, and the upper arm adjusting and fixing mechanism is connected with the upper arm rotating mechanism; the small arm mechanism comprises a small arm adjusting and fixing mechanism and a small arm rotating mechanism, the small arm rotating mechanism is connected with the upper arm rotating mechanism, and the small arm adjusting and fixing mechanism is connected with the small arm rotating mechanism; the hand mechanism is a gripe which can be grabbed; the driving mechanism comprises a shoulder rotating motor, an upper arm swinging motor, an upper arm rotating motor, a small arm swinging motor and a small arm rotating motor; the shoulder adjusting and fixing mechanism comprises a knob, a sliding block, a knob bottom rod, a knob connecting rod, a swinging rod, a knob bottom rod cover, a T-shaped stop block and a screw, wherein one end of the swinging rod is hinged with the inside of the shoulder upper box body, the other end of the swinging rod is hinged with the knob connecting rod, a T-shaped groove is formed in the bottom end of the swinging rod, the T-shaped stop block is installed in the T-shaped groove and can slide along the T-shaped groove, the other end of the knob connecting rod is hinged with the knob bottom rod, the sliding block is installed in a slide groove of the shoulder lower box body, a thread through hole from top to bottom is formed in the top end of the sliding block, the knob is installed in the thread through hole of the sliding block, an external thread corresponding to the thread through hole of the sliding block is arranged in the middle section of the knob, and a knob mounting hole is formed in the position, the bottom end of the knob is placed in the mounting hole of the knob bottom rod, the knob bottom rod cover is fixedly connected with the knob bottom rod through a bolt to seal the mounting hole of the knob bottom rod, and the bottom end of the knob is locked in the knob bottom rod;
the upper box body is provided with a slide way groove corresponding to the slide block and a through hole matched with the knob connecting rod to move; the lower box body is provided with an upper slideway groove, a side slideway groove and a through hole which is matched with the knob connecting rod to move; the lower end of the lower box body is provided with a rectangular hole, so that the knob bottom rod cover is convenient to install, the upper box body is fixedly connected with the lower box body through bolts, and the shoulder top plate is fixedly connected with the sliding block of the lower box body through bolts.
2. The exoskeleton upper limb rehabilitation robot as claimed in claim 1, wherein the upper arm adjusting and fixing mechanism comprises an upper arm upper side plate, an upper arm lower side plate and a locking slot piece; a rectangular groove is arranged on one side of the upper arm upper side plate, a rectangular hole corresponding to the upper arm lower side plate is arranged at the bottom of the upper arm upper side plate, the upper arm lower side plate is arranged in the rectangular hole of the upper arm upper side plate, can slide along the rectangular hole, rectangular through grooves corresponding to the upper side plate are arranged at intervals between the lower side plate of the upper arm, the locking groove sheet consists of a rectangular block corresponding to the rectangular groove, a rectangular thin sheet with good elasticity and a handle, the rectangular block is welded and fixed with the rectangular thin sheet, the handle is fixed on the outer side of the rectangular block through welding, after the length of the upper arm is set, the rectangular thin sheet of the slot locking piece is inserted into a gap between the upper arm upper side plate and the upper arm lower side plate, and the rectangular block of the slot locking piece is ensured to be placed in a rectangular groove formed by matching the rectangular groove of the upper arm upper side plate with the rectangular through groove of the upper arm lower side plate.
3. The exoskeleton upper limb rehabilitation robot as claimed in claim 2, wherein the upper arm rotation mechanism comprises an upper arm rotation motor, an upper arm harmonic reducer, an upper arm rotation mechanism protection bracket, a pair of cylindrical gears, a first upper arm rotation member, a second upper arm rotation member and a transmission connection shaft; the upper arm rotating motor is installed in the motor mounting hole of the upper arm rotating mechanism protection frame, the output shaft of the upper arm rotating motor is in transmission connection with the wave generator of the upper arm harmonic speed reducer, the flexible wheel of the upper arm harmonic speed reducer is in transmission connection with the transmission connecting shaft, the transmission connecting shaft is in transmission connection with the driving gear through a key, the bottom end of the first upper arm rotating part is provided with an arc-shaped hole corresponding to the cylindrical gear, the cylindrical gear and the upper arm harmonic speed reducer are installed in the upper arm rotating mechanism protection frame, the upper arm rotating mechanism protection frame is fixedly welded with the bottom plate, the outer side of the second upper arm rotating part is provided with an arc-shaped rack corresponding to the cylindrical gear, and the arc-shaped rack is installed.
4. The exoskeleton upper limb rehabilitation robot as claimed in any one of claims 1 to 3, wherein said upper limb mechanical arms comprise an upper limb left mechanical arm and an upper limb right mechanical arm which are identical in structure and symmetrically mounted on said shoulder.
5. The exoskeleton upper limb rehabilitation robot as claimed in any one of claims 1 to 3, wherein the back plate is of a hollow structure, the back plate is fixedly connected with the bottom end of the lower box body of the shoulder part through a hinge, and a pair of belts with good elasticity is installed on two sides of the back plate from top to bottom.
6. The exoskeleton upper limb rehabilitation robot as claimed in any one of claims 2 to 3, wherein said upper arm swing motor is mounted on the outer side of the upper arm upper side plate.
7. The exoskeleton upper limb rehabilitation robot as claimed in any one of claims 1 to 3, wherein said hand mechanism is a cylindrical handle fixed to the bottom of said lower side plate of said forearm by welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188968.6A CN109288616B (en) | 2018-10-12 | 2018-10-12 | Exoskeleton upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188968.6A CN109288616B (en) | 2018-10-12 | 2018-10-12 | Exoskeleton upper limb rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109288616A CN109288616A (en) | 2019-02-01 |
| CN109288616B true CN109288616B (en) | 2021-07-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811188968.6A Active CN109288616B (en) | 2018-10-12 | 2018-10-12 | Exoskeleton upper limb rehabilitation robot |
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| CN110074945B (en) * | 2019-06-10 | 2021-10-26 | 上海理工大学 | Forearm self-adaptive mechanism for central driving upper limb rehabilitation robot |
| CN112426323B (en) * | 2020-10-09 | 2023-08-01 | 重庆大学 | Multi-degree-of-freedom upper limb rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204997660U (en) * | 2015-08-14 | 2016-01-27 | 上海申磬产业有限公司 | Wearable helping hand ectoskeleton upper limbs mechanism |
| CN106109167A (en) * | 2016-06-22 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
| CN107822829A (en) * | 2017-10-26 | 2018-03-23 | 河海大学常州校区 | A kind of upper limb rehabilitation robot |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204997660U (en) * | 2015-08-14 | 2016-01-27 | 上海申磬产业有限公司 | Wearable helping hand ectoskeleton upper limbs mechanism |
| CN106109167A (en) * | 2016-06-22 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of portable wearable upper limb exoskeleton rehabilitation training aids |
| CN107822829A (en) * | 2017-10-26 | 2018-03-23 | 河海大学常州校区 | A kind of upper limb rehabilitation robot |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
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