CN110960395B - Exoskeleton type upper limb rehabilitation robot - Google Patents
Exoskeleton type upper limb rehabilitation robot Download PDFInfo
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- CN110960395B CN110960395B CN201911276720.XA CN201911276720A CN110960395B CN 110960395 B CN110960395 B CN 110960395B CN 201911276720 A CN201911276720 A CN 201911276720A CN 110960395 B CN110960395 B CN 110960395B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 50
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 34
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 30
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 92
- 210000000245 forearm Anatomy 0.000 claims description 24
- 239000013585 weight reducing agent Substances 0.000 claims description 22
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000011282 treatment Methods 0.000 abstract description 5
- 230000005611 electricity Effects 0.000 abstract description 4
- 230000005389 magnetism Effects 0.000 abstract description 4
- 230000004064 dysfunction Effects 0.000 abstract description 3
- 230000035479 physiological effects, processes and functions Effects 0.000 abstract 1
- 239000003638 chemical reducing agent Substances 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 8
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006358 Hand Deformities Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1281—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles primarily by articulating the elbow joint
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of medical instruments, and particularly relates to an exoskeleton type upper limb rehabilitation robot, aiming at solving the problems that in the prior art, the upper limb rehabilitation robot has safety risk, poor comfort and inconvenience in applying other treatment means at the same time. The invention provides an exoskeleton type upper limb rehabilitation robot which comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected, has comprehensive functions, can perform active rehabilitation training and passive rehabilitation training, and is suitable for patients with various upper limb movement dysfunctions. The invention is based on the structural design of human physiology, a plurality of joint fixing parts can be freely adjusted, and the requirements of patients with different upper limb lengths can be met. The multifunctional rehabilitation training aid is always arranged below a human body in the using process, has no interference to the surrounding environment, ensures the safety and simultaneously improves the using comfort level, can apply physical treatments such as manipulation, electricity, magnetism and the like to perform auxiliary rehabilitation training in the using process, and has strong practicability.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an exoskeleton type upper limb rehabilitation robot.
Background
The rehabilitation robot is important equipment for assisting patients with cerebral apoplexy and the like in rehabilitation training, the exoskeleton type rehabilitation robot imitates the structural design of bones and joints of a human, can perform single-joint training and accord with the training, and is wide in application. But the current ectoskeleton type rehabilitation robot has a complex structure, wraps the whole upper limb of a human body or is arranged outside the upper limb of the human body, and has the disadvantages of heavy burden of a user, poor comfort, inconvenient use, high requirement on the use environment and insufficient safety. For example: chinese patent 201610147488.X provides an interchangeable upper limb rehabilitation robot, whose shoulder joint training module is suspended on the upper part of the human shoulder joint through a beam, close to the human head, and has a sense of pressure and a danger of head bump to the human in use. At the same time, the suspended design results in a robot that is bulky and heavy, and inconvenient to use and move. The robot wraps the whole upper limb of the human body, when the robot moves, the robot has the danger of colliding with a person close to the robot, and is inconvenient to apply physical therapy such as manipulation, electricity, magnetism and the like at the same time.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems that the upper limb rehabilitation robot in the prior art has safety risk, poor comfort and is inconvenient to use and apply other treatment means, the invention provides an exoskeleton-type upper limb rehabilitation robot, which comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected; the shoulder joint training module comprises a first joint component and a second joint component, the first joint component comprises a first power device and a support frame, the lower end part of the support frame is fixed with the output end of the first power device, the support frame can rotate along the axis of the support frame under the driving of the first power device, the second joint component comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part, the upper arm mechanism can be fixed below the upper arm of a human body through the first fixing part, the upper arm mechanism is hinged with the upper end part of the support frame, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device;
the elbow joint training module comprises a third joint component and a fourth joint component, the third joint component comprises a third power device and a first connecting piece, the fourth joint component comprises a fourth power device, the third power device is fixedly arranged at one end of the upper arm mechanism, an output shaft of the third power device is tangent to a motion track of the upper arm mechanism, an output end of the third power device is connected with the fourth power device through the first connecting piece, the first connecting piece is an L-shaped connecting piece, an output shaft of the third power device is orthogonal to an output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device under the driving of the third power device; the output end of the fourth power device is connected with the wrist joint training module, and the wrist joint training module can rotate along the output shaft of the fourth power device under the driving of the fourth power device;
wrist joint training module, including fifth joint subassembly and sixth joint subassembly, the fifth joint subassembly includes fifth power device and arc track, arc track top is provided with the second fixed part, the second fixed part is used for fixed human forearm, the second fixed part with fifth power device connects, fifth power device's output activity set up in the arc track, the second fixed part can drive human forearm under fifth power device's the drive and follow arc orbital motion, the sixth joint subassembly includes sixth power device and gripping handle, the gripping handle is in rotationally install in a mounting around the axis that is vertical direction roughly under sixth power device's the drive, mounting slidable mounting in fifth power device.
In some preferred embodiments, the upper arm mechanism includes a first link and a second link arranged in parallel with the first link, the first fixing portion is disposed on the first link, and the first link is disposed above the second link and slidably mounted with respect to the second link;
the second connecting rod is rotatably arranged on the supporting frame, and the second connecting rod can drive the first connecting rod to rotate around an axis which is in the horizontal direction under the driving of the second power device.
In some preferred technical solutions, second connecting pieces are symmetrically arranged on two sides of the second connecting rod, one end of each second connecting piece is slidably arranged on the second connecting rod, the other end of each second connecting piece is connected with the corresponding first connecting rod, and the second connecting pieces can drive the corresponding first connecting rods to slide or be locked along the length direction of the corresponding second connecting rods.
In some preferred technical solutions, the number of the second connecting rods is multiple, the second connecting rods are sequentially arranged in parallel along the vertical direction of the supporting frame and are hinged to the supporting frame, the second connecting rods are provided with rails, the rails are arranged along the length direction of the rails, the second connecting piece is provided with a combining part, and the second connecting piece is slidably mounted on the rails through the combining part.
In some preferred embodiments, the fifth joint component includes an arc rail component, the arc rail component is provided with a first assembling portion, the fifth power device is provided with a second assembling portion, the fifth power device is mounted on the first assembling portion through the second assembling portion,
the arc-shaped track is arranged above the arc-shaped guide rail assembly, a rack is arranged on the arc-shaped track, and a gear meshed with the rack is arranged at the output end of the fifth power device.
In some preferred technical solutions, the sixth joint component further includes a bevel gear set, the bevel gear set includes a sun bevel gear and a planet bevel gear, which are engaged with each other, the sun bevel gear is fixedly disposed on the fixing member, the planet bevel gear is fixedly disposed at an output end of the sixth power device, and the sixth power device drives the planet bevel gear to rotate around the sun bevel gear to drive the grip handle to move.
In some preferred technical solutions, the shoulder joint training module is further provided with a weight reduction mechanism, one end of the weight reduction mechanism is connected with the support frame, the other end of the weight reduction mechanism is connected with the upper arm mechanism, and the weight reduction mechanism can provide passive tension to the upper arm mechanism when the upper arm mechanism rotates relative to the support frame.
In some preferred technical solutions, the weight reduction mechanism includes an elastic member and a traction connecting member, the elastic member is fixedly disposed on the support frame, one end of the traction connecting member is connected to the upper arm mechanism, the other end of the traction connecting member is connected to the elastic member, the traction connecting member is in a tensioned state or a relaxed state according to a position of the upper arm mechanism relative to the support frame, and when the traction connecting member is in the tensioned state, the elastic member provides a tensile force for the upper arm mechanism.
In some preferred technical solutions, a sliding groove is provided on the sixth joint component, a length direction of the sliding groove is consistent with a length direction of the forearm, and the grip handle can slide along the length direction of the sliding groove.
In some preferred technical solutions, the first fixing portion and the second fixing portion are provided with a strap.
The invention has the beneficial effects that:
the exoskeleton type upper limb rehabilitation robot comprises a shoulder joint training module, an elbow joint training module, a wrist joint training module and a weight reduction mechanism, can realize rehabilitation exercise training of shoulder joints, elbow joints and wrist joints of patients under the driving of a motor, has comprehensive functions, can realize active rehabilitation training and passive rehabilitation training, and is suitable for patients with various upper limb movement dysfunctions.
According to the exoskeleton type upper limb rehabilitation robot, the upper arm, the forearm and the palm are provided with the length adjusting assemblies, so that the requirements of patients with different upper limb lengths can be met, and the comfort experience of the patients when the exoskeleton type upper limb rehabilitation robot is used by the patients is enhanced.
According to the exoskeleton-type upper limb rehabilitation robot, the shoulder joint training module is designed through the virtual center point, so that the shoulder joint rotation center of a patient is coincided with the virtual center point, the inward rotation, outward turning, buckling and stretching operations of a shoulder joint are realized, the shoulder joint training module is positioned below the upper arm of the human body in use, the requirement on the external use environment is not high, the peripheral environment cannot be interfered, physical treatments such as manipulation, electricity and magnetism can be applied to perform auxiliary rehabilitation training, and the exoskeleton-type upper limb rehabilitation robot is high in practicability. The invention has no interference on the head and the body of the human body, has compact structure and conforms to the physiological structure of the shoulder joint of the human body, improves the use safety and ensures the comfort level.
The exoskeleton type upper limb rehabilitation robot can counteract the gravity of part of the upper arm mechanism, the elbow joint training module, the wrist joint training module and the upper limb of a human body through the weight reduction mechanism design, thereby reducing the requirement on the power of a motor, consuming less energy and enhancing the flexibility of the exoskeleton type upper limb rehabilitation robot.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic view of the overall structure of an upper limb rehabilitation robot according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a first joint assembly of the shoulder training module in accordance with one embodiment of the present invention;
FIG. 3 is a schematic diagram of a second joint assembly of the shoulder training module in accordance with one embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an upper arm mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an elbow training module according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a fifth joint assembly of the wrist training module in accordance with one embodiment of the present invention;
FIG. 7 is a schematic diagram of a sixth joint assembly of the wrist training module in accordance with one embodiment of the present invention;
fig. 8 is a schematic structural view of a weight-reducing mechanism according to an embodiment of the present invention.
List of reference numerals:
i-base, II-shoulder joint training module, III-elbow joint training mechanism, IV-wrist joint training mechanism, V-weight reduction mechanism, 200-first output shaft, 201-first motor, 202-first reducer, 203-first synchronous pulley, 204-synchronous belt, 205-first angle sensor, 206-second synchronous pulley, 207-connecting flange, 208-second motor, 209-second reducer, 210-second angle sensor, 211-first rotating shaft, 212-second output shaft, 213-support frame, 214-first connecting rod, 215-second connecting rod, 216-first screw rod slide block, 217-first screw rod, 218-sliding guide rail, 219-guide rail slide block, 220-third connecting rod, 221-upper end through hole, 222-middle through hole, 223-lower end through hole, 224-fourth link, 225-fifth link, 226-sixth link, 227-first lever arm, 228-first fixed part, 301-third motor, 302-third reducer, 303-third angle sensor, 304-third output shaft, 305-first connecting piece, 306-fourth reducer, 307-fourth motor, 308-fourth angle sensor, 309-fourth output shaft, 401-forearm link, 402-fifth motor, 403-fifth motor housing, 404-fifth angle sensor, 405-arc track, 406-rack, 407-gear, 408-second fixed part, 409-lace hole, 410-sixth motor, 411-sixth reducer, 412-a sixth angle sensor, 413-a bevel gear set, 414-a sliding groove, 415-a gripping handle, 416-a linear guide rail, 417-a linear slider, 501-an elastic member, 502-a pulley block, 503-a second screw, 504-a second screw slider and 505-a traction connecting piece.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention relates to an exoskeleton type upper limb rehabilitation robot which comprises a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected;
the shoulder joint training module comprises a first joint component and a second joint component, the first joint component comprises a first power device and a support frame, the lower end part of the support frame is fixed with the output end of the first power device, the support frame can rotate along the axis of the support frame under the driving of the first power device,
the second joint assembly comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part, the upper arm mechanism can be fixed below the upper arm of the human body through the first fixing part, the upper arm mechanism is hinged with the upper end part of the support frame, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device;
the elbow joint training module comprises a third joint component and a fourth joint component, the third joint component comprises a third power device and a first connecting piece 305, the fourth joint component comprises a fourth power device, the third power device is fixedly arranged at one end of the upper arm mechanism, the output shaft of the third power device is tangent to the motion track of the upper arm mechanism, the output end of the third power device is connected with the fourth power device through the first connecting piece, the first connecting piece is an L-shaped connecting piece, the output shaft of the third power device is orthogonal to the output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device under the driving of the third power device;
the output end of the fourth power device is connected with the wrist joint training module, and the wrist joint training module can rotate along the output shaft of the fourth power device under the driving of the fourth power device;
the wrist joint training module comprises a fifth joint component and a sixth joint component, the fifth joint component comprises a fifth power device and an arc-shaped track, a second fixing part is arranged above the arc-shaped track and used for fixing a human forearm, the second fixing part is connected with the fifth power device, the output end of the fifth power device is movably arranged on the arc-shaped track, the second fixing part can drive the human forearm to move along the arc-shaped track under the driving of the fifth power device,
the sixth joint assembly comprises a sixth power device and a gripping handle, the gripping handle is driven by the sixth power device to be rotatably mounted on a fixed member around a substantially vertical axis, and the fixed member is slidably mounted on the fifth power device.
In order to more clearly explain the exoskeleton-type upper limb rehabilitation robot, a preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.
As a preferred embodiment of the present invention, the exoskeleton-type upper limb rehabilitation robot of the present invention is shown in fig. 1, and the present invention includes a shoulder joint training module II, an elbow joint training module iii, and a wrist joint training module iv, wherein the shoulder joint training module II, the elbow joint training module iii, and the wrist joint training module iv are sequentially connected, and the shoulder joint training module II is fixed on the base i.
The shoulder joint training module II comprises a first joint component and a second joint component, the first joint component mainly comprises a first power device and a support frame 213, the first power device comprises a first motor 201 and a first speed reducer 202, the lower end part of the support frame 213 is fixed with the output end of the first power device, and the support frame 213 can rotate along the axis of the support frame under the driving of the first power device. Specifically, referring to fig. 2, the first joint assembly further includes a first transmission device and a first angle sensor 205, the first transmission device includes a synchronous belt 204, a first synchronous pulley 203 and a second synchronous pulley 206, the first speed reducer 202 is installed on an output shaft of the first motor 201, the first synchronous pulley 203 is installed at an output end of the first speed reducer 202, the second synchronous pulley 206 is installed on an output shaft 200 of the first joint assembly, and the first angle sensor 205 is installed on the first output shaft 200 of the first joint assembly and is used for detecting a rotation angle of the output shaft of the first joint assembly. The supporting frame 213 is perpendicular to the ground and fixed on the output shaft 200 of the first joint through the connecting flange 207, the connecting flange 207 can drive the supporting frame 213 to rotate along the axis of the supporting frame 213 under the driving of the first motor 201, and the second joint component is fixed on the supporting frame 213 and can rotate synchronously along with the supporting frame 213. Thereby realizing the adduction and abduction exercise training of the shoulder joint. It can be understood that, a person skilled in the art can flexibly set the specific structure of the first transmission device according to actual conditions, and the transmission device is preferably used for transmission of a transmission belt, and has the advantages of simple structure, low cost, convenient maintenance, stable transmission, low noise and enhanced stability.
The second joint component mainly comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part 228, the first fixing part 228 is provided with a bandage, the upper arm mechanism can be fixed below the upper arm of the human body through the first fixing part 228, the upper arm mechanism is hinged with the upper end part of the support frame 213, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device. Preferably, referring to fig. 3 and 4, the second power device includes a second motor 208 and a second reducer 209, an output shaft of the second motor 208 is perpendicular to the mounting surface, and is driven by a bevel gear assembly to convert vertical rotation of the second motor into horizontal rotation, that is, the second motor 208 can drive the second output shaft 212 to rotate, the second joint assembly further includes a second angle sensor 210, and the second reducer 209 is mounted on the output shaft of the second motor 208 and is used for detecting a rotation angle of the output shaft of the second joint assembly.
Further, the upper arm mechanism comprises a first lever arm 227 and a second lever arm arranged in parallel with the first lever arm 227, the first fixing portion 228 is arranged on the first lever arm 227, and the first lever arm 227 is arranged above the second lever arm and is slidably mounted relative to the second lever arm; the second lever arm is rotatably mounted on the supporting frame 213, and the second lever arm can drive the first lever arm 227 to rotate around an axis in a substantially horizontal direction under the driving of the second power device.
The second lever arm bilateral symmetry is provided with the second connecting piece, second connecting piece one end slide set up in the second lever arm, the other end with first lever arm 227 is connected, the second connecting piece can drive first lever arm 227 follows second lever arm length direction slides or locks.
The second lever arms are arranged in parallel in sequence along the vertical direction of the supporting frame 213 and are hinged to the supporting frame 213, each second lever arm is provided with a track which is arranged along the length direction of the track, a combining part is arranged on the second connecting piece, and the second connecting piece is slidably arranged on the track through the combining part.
Specifically, in some preferred embodiments, the upper arm mechanism is as shown in fig. 4, and the second lever arm includes two first connecting rods 214 and two second connecting rods 215, which are sequentially arranged in parallel along the vertical direction of the supporting frame 213, and are both hinged to the supporting frame 213; the second connecting piece comprises a third connecting rod 220, a fourth connecting rod 224, a fifth connecting rod 225 and a sixth connecting rod 226, the third connecting rod 220 and the fourth connecting rod 224 are arranged in parallel, and the fifth connecting rod 225 and the sixth connecting rod 226 are arranged in a mirror symmetry mode relative to the axis of the first lever arm 227.
The first link 214 and the second link 215 are each provided with a rail provided along a length direction thereof. Referring to fig. 4, the track of the first link 214 is a first screw 217, and the track of the second link 215 is a sliding guide 218. Specifically, one end of a first connecting rod 214 is mounted on a first rotating shaft 211 of the supporting frame 213, one end of a second connecting rod 215 is mounted on a second rotating shaft 212 of the supporting frame 213, a first screw 217 and a first screw slider 216 are mounted on the first connecting rod 214, the first screw slider 216 is mounted on the screw 217, a sliding guide 218 and a guide slider 219 are mounted on the second connecting rod, the guide slider 219 can slide and lock on the sliding guide 218, and a user can adjust the position of the first screw slider 216 on the first screw 217 by manually rotating the first screw 217. Causing the first screw slide 216 to move or lock on the first screw 217. The first screw slider 216 and the guide rail slider 219 are respectively provided with two mounting holes, namely a first mounting hole and a second mounting hole, and the distance between the two mounting holes is equal. The third connecting rod 220 has three through holes, which are distributed in a straight line and are sequentially called as an upper through hole 221, a middle through hole 222, a lower through hole 223, a fourth connecting rod 224, a fifth connecting rod 225, a sixth connecting rod 226, and the third connecting rod 220, and the distance between the middle through hole 222 and the lower through hole 223 is equal to the distance between the first rotating shaft 211 and the second rotating shaft 212 of the support frame 213. The upper end through hole, the middle through hole and the lower end through hole of the third link 220, the fourth link 224, the fifth link 225 and the sixth link 226 are respectively connected with the mounting holes on the first lever arm 227, the first screw slider 216 and the first guide rail slider 219, the third link 220 and the fourth link 224 are mounted on the same side of the first lever arm 227, the fifth link 225 and the sixth link 226 are mounted on the other side of the first lever arm 227, the third link 220 and the fourth link 224 are parallel, the fifth link 225 and the sixth link 226 are parallel, the first lever arm 227 is parallel with the first link 214 and the second link 215, so that the third link 220, the fifth link 225, the guide rail slider 219 and the first screw slider 216 form a parallelogram, by rotating the first screw 217, the position of the first screw slider 216 on the first screw 217 can be adjusted according to the length of the upper arm of a user, and the distance from the first screw slider 216 to the support frame 213 is equal to the distance from the first guide rail slider 219 to the support frame 213, thus, the first link 214, the second link 215, the fourth link 224 and the support frame 213 form a parallelogram, and the first lever arm 227, the third link 220, the fourth link 224 and the first link 214 form a parallelogram. Through the design, the first link 214 is hinged with the upper end of the support frame 213, the extension line of the first lever arm 227 and the extension line of the support frame 213 intersect at one point in space, which is called as a virtual center point, the virtual center point coincides with the shoulder joint rotation center of the user, the second motor 208 drives the first lever arm 227 to rotate around the virtual center point through the upper arm mechanism, so as to realize the flexion and extension exercise training of the shoulder joint, and the first motor 201 drives the first lever arm 227 to rotate around the virtual center point through the support frame 213 and the upper arm mechanism, so as to realize the adduction and abduction exercise training of the shoulder joint. A first fixing portion 228 is mounted on the first lever arm 227, and the first fixing portion 228 is provided with a bandage by which the upper arm of the patient can be fixed. The technical personnel in the field can also set up the structural style of upper arm mechanism according to actual conditions in a flexible way, as long as can guarantee that upper arm mechanism can articulate with support frame 213 to can support patient's upper arm, should not have interference between each part in the upper arm mechanism.
Referring to fig. 5, the elbow joint training module iii includes a third joint component and a fourth joint component, the third joint component includes a third power device and a first connecting member 305, the third power device includes a third motor 301 and a third speed reducer 302, the third speed reducer 302 is installed on an output shaft of the third motor 301, the third joint component further includes a third angle sensor 303, the third angle sensor 303 is installed on the output shaft of the third joint component to detect a rotation angle of the output shaft of the third joint component, and the output shaft of the third joint component is the third output shaft 304 as shown in the figure.
The fourth joint assembly comprises a fourth power device, and the fourth power device comprises a fourth motor 307 and a fourth speed reducer 306; the fourth speed reducer 306 is installed on an output shaft of a fourth motor 307, the fourth joint assembly further includes a fourth angle sensor 308 and a front arm connecting rod 401, the fourth angle sensor 308 and the front arm connecting rod 401 are both installed on the output shaft of the fourth joint assembly, the fourth angle sensor 308 is used for detecting a rotation angle of the output shaft of the fourth joint assembly, the front arm connecting rod 401 can be driven by the fourth motor to rotate around the output shaft of the fourth joint assembly in the axial direction, and the output shaft of the fourth joint assembly is a fourth output shaft 309 as shown in the figure. The third motor 301 is fixedly disposed at one end of the first lever arm 227 of the upper arm mechanism, and the third output shaft 304 is tangent to the motion trajectory of the upper arm mechanism, that is, when the upper arm mechanism rotates relative to the virtual center point, the linear velocity direction of the motion trajectory of the third output shaft 304 is parallel to that of the upper arm mechanism. The output end of the third power device is connected with a fourth output shaft 309 of the output end of the fourth power device through the first connecting piece 305, the first connecting piece 305 is an L-shaped connecting piece, one end of the first connecting piece 305 is connected with the third output shaft 304, the other end of the first connecting piece 305 is connected with the fourth output shaft 307, the output shaft of the third power device is orthogonal to the output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device in the circumferential direction under the driving of the third power device. It can be understood that, a person skilled in the art may also flexibly set the position relationship and the connection relationship of the third power device and the fourth power device, and the structure of the first connecting element according to actual conditions, as long as the output shafts of the third joint assembly and the fourth joint assembly are perpendicular to each other.
Further, a wrist joint training module iv is fixed to an output shaft 309 of a fourth joint assembly, and the wrist joint training module iv can rotate along the output shaft of the fourth power device under the driving of the fourth power device. The wrist joint training module IV comprises a second fixing part, and the second fixing part is used for fixing the forearm of the human body. Under the drive of the third motor 301 and the fourth motor 307, the two-degree-of-freedom motion and any posture of the forearm can be realized, the flexion and extension motion training of the elbow joint is completed, and the internal rotation and the external rotation motion training of the upper arm can also be driven. Specifically, when the third motor 301 works, the fourth motor 307 can rotate axially along the third output shaft under the driving of the third motor 301, and drives the forearm to perform inward rotation and outward rotation; when the fourth motor 401 works, the fourth motor 401 can drive the wrist joint training module iv to rotate, and further drive the forearm of the human body to rotate relative to the fourth output shaft 309, so as to complete the flexion and extension action training of the elbow joint. The third motor and the fourth motor can work simultaneously, the degrees of freedom of the forearm in motion in a horizontal plane and a vertical plane are respectively realized, and the flexion, extension, internal rotation and eversion motion training of the elbow joint is realized.
Wrist joint training module IV includes fifth joint subassembly, sixth joint subassembly, the fifth joint subassembly includes fifth power device, arc track 405, forearm connecting rod 401, arc track 405 top is provided with second fixed part 408, second fixed part 408 is provided with the bandage, second fixed part 408 is used for fixed human forearm, second fixed part 408 with fifth power device connects, fifth power device's output activity set up in arc track 405, second fixed part 408 can drive human forearm edge under fifth power device's the drive arc track 405 motion.
The sixth joint assembly comprises a sixth power device and a grip handle 415, wherein the grip handle 415 is rotatably mounted on a fixed member around a substantially vertical axis by the sixth power device, and the fixed member is slidably mounted on the fifth power device.
Specifically, the fourth joint component, the fifth joint component and the sixth joint component are sequentially connected, one end of a forearm connecting rod 401 is fixed on a fourth output shaft 309, the other end of the forearm connecting rod is connected with the fifth joint component, the fifth power device includes a fifth motor 402, a fifth speed reducer and a fifth motor housing 403, the fifth speed reducer is fixedly arranged on an output shaft of the fifth motor 402, the fifth motor 402 is arranged on the fifth motor housing 403, a second fixing part 408 is arranged on the fifth motor housing 403, a bandage hole 409 is arranged on the second fixing part 408, the forearm of the patient can be fixed through a bandage, a linear guide 416 is arranged on the fifth motor housing 403, the length direction of the linear guide 416 is consistent with the length direction of the forearm, the sixth joint component is rotatably arranged on a fixing part, and a linear slider 417 capable of being matched with the linear guide 416 is arranged on the fixing part, the sixth joint assembly can be slidably connected with the fifth joint assembly through a linear slider 417 on the fixing member, the linear slider 417 can be manually controlled, and the sixth joint assembly can be slid or manually locked relative to the fifth joint assembly by controlling the position of the linear slider 417 relative to the linear guide 416, so as to adjust the position of the wrist of the user.
Preferably, the fifth joint component includes an arc guide rail component, the arc guide rail component is provided with a first assembling portion, the fifth power device is provided with a second assembling portion, the fifth power device is assembled on the first assembling portion through the second assembling portion, referring to fig. 6, the fifth motor 402 is fixed with the first assembling portion of the arc guide rail component through the second assembling portion on the fifth motor housing 403, and the first assembling portion is used for preventing the fifth motor from separating from the arc guide rail component during the working process. The arc-shaped track 405 is arranged above the arc-shaped guide rail assembly, a rack 406 is arranged on the upper surface of the arc-shaped track 405, and a gear 407 meshed with the rack 406 is arranged at the output end of the fifth power device. The gear 407 can move along the arc-shaped track 405 under the driving of the fifth motor 402, thereby playing the role of training the internal rotation and the external rotation of the wrist joint. Further, a fifth angle sensor 404 is mounted on the shaft of the fifth motor 402 for detecting the rotation angle of the fifth motor 402. The amplification and the transmission of motor moment of torsion are realized through the rack cooperation on gear and the arc track, and the guide rail structure of circular arc type is fit for realizing the rotation training of wrist simultaneously, and structural design is succinct simultaneously for wrist joint rehabilitation training device can operate in less space, facilitates the use.
Further, the sixth joint assembly further includes a sixth angle sensor 412 and a bevel gear set 413, and the sixth joint assembly is rotatably mounted on the fixing member through the bevel gear set 413. The sixth power device comprises a sixth motor 410 and a sixth speed reducer 411, the sixth speed reducer 411 is mounted on an output shaft of the sixth motor 410, the bevel gear set 413 comprises a sun bevel gear and a planet bevel gear which are meshed with each other and vertically mounted, the fixing member comprises a shaft parallel to the gripping handle 415, the sun bevel gear penetrates through the shaft, the planet bevel gear is fixedly arranged at the output end of the sixth power device, and the sixth motor 410 can drive the gripping handle to rotate around the shaft in the axial direction by driving the planet bevel gear to rotate around the sun bevel gear. Therefore, the wrist joint radial deviation and ulnar deviation training function is achieved, and the second bevel gear set 413 output shaft is provided with the sixth angle sensor 412 for detecting the rotating angle of the second bevel gear set 413 output shaft. Through the design of above-mentioned structure, realize the location in the motion process, reduce frictional force as far as possible for eliminate the mechanism clearance when moving more laborsavingly, make the motion more level and smooth.
The grip handle 415 is arranged perpendicular to the forearm connecting rod 401, the sixth joint component is provided with a sliding groove 414, the length direction of the sliding groove is consistent with the length direction of the forearm, and the grip handle 415 can slide and be locked along the length direction of the sliding groove so as to adjust the position of the palm of the user and enhance the comfort of the user in using the invention.
The shoulder joint training module II is further provided with a weight reduction mechanism V, one end of the weight reduction mechanism V is connected with the support frame 213, the other end of the weight reduction mechanism V is connected with the upper arm mechanism, and when the upper arm mechanism rotates relative to the support frame 213, the weight reduction mechanism V can provide passive tension for the upper arm mechanism.
Specifically, the weight reduction mechanism includes an elastic member 501 and a traction connecting member 505, the elastic member 501 is fixedly disposed on the supporting frame 213, one end of the traction connecting member 505 is connected to the upper arm mechanism, the other end of the traction connecting member is connected to the elastic member 501, the traction connecting member 505 is in a tensioned state or a relaxed state according to the position of the upper arm mechanism relative to the supporting frame 213, and when the traction connecting member 505 is in the tensioned state, the elastic member 501 provides a pulling force for the upper arm mechanism. In some preferred embodiments of the present invention, the elastic member 501 is a spring and the traction link 505 is a wire rope. The weight reduction mechanism further comprises a pulley block 502, a second screw 503 and a second screw slider 504, one end of a traction connecting piece 505 is fixed on the first lever arm, the other end of a steel wire rope bypasses the pulley block 502 to be connected with one end of an elastic component 501, the other end of the elastic component 501 is connected with the second screw slider 504, the second screw slider 504 is matched with the second screw 503, the position of the second screw slider 504 on the second screw 503 can be adjusted by rotating the second screw 503, and further the pretightening force of the elastic component is adjusted. When the upper arm mechanism rotates around the first rotation axis 211 and the second rotation axis 212, the elastic member is tensioned in a tensioned state, and can counteract the weight of a part of the upper arm mechanism, the elbow joint training module iii, the wrist joint training module iv and the upper limbs of the human body. Through the design of the weight reduction mechanism, the weight sense of a user can be reduced, the use experience of the invention is improved, and the rehabilitation training is facilitated.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. For example: the invention also comprises a control circuit, and the power device is used for realizing the rotation training of each upper limb joint during training. The motor can be controlled to drive each joint of the upper limb to move, so that passive rehabilitation training is realized, the patient can also actively apply force, and the power device applies certain assistance or resistance to actively perform rehabilitation training.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
the exoskeleton type upper limb rehabilitation robot comprises a shoulder joint training module, an elbow joint training module, a wrist joint training module and a weight reduction mechanism, can realize rehabilitation exercise training of shoulder joints, elbow joints and wrist joints of patients under the driving of a motor, has comprehensive functions, can realize active rehabilitation training and passive rehabilitation training, and is suitable for patients with various upper limb movement dysfunctions.
According to the exoskeleton type upper limb rehabilitation robot, the upper arm, the forearm and the palm are provided with the length adjusting assemblies, so that the requirements of patients with different upper limb lengths can be met, and the comfort experience of the patients when the exoskeleton type upper limb rehabilitation robot is used by the patients is enhanced.
According to the exoskeleton-type upper limb rehabilitation robot, the shoulder joint training module is designed through the virtual center point, so that the shoulder joint rotation center of a patient is coincided with the virtual center point, the inward rotation, outward turning, buckling and stretching operations of a shoulder joint are realized, the shoulder joint training module is positioned below the upper arm of the human body in use, the requirement on the external use environment is not high, the peripheral environment cannot be interfered, physical treatments such as manipulation, electricity and magnetism can be applied to perform auxiliary rehabilitation training, and the exoskeleton-type upper limb rehabilitation robot is high in practicability. The invention has no interference on the head and the body of the human body, has compact structure and conforms to the physiological structure of the shoulder joint of the human body, improves the use safety and ensures the comfort level.
The exoskeleton type upper limb rehabilitation robot can counteract the gravity of part of the upper arm mechanism, the elbow joint training module, the wrist joint training module and the upper limb of a human body through the weight reduction mechanism design, thereby reducing the requirement on the power of a motor, consuming less energy and enhancing the flexibility of the exoskeleton type upper limb rehabilitation robot.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (9)
1. An exoskeleton-type upper limb rehabilitation robot is characterized by comprising a shoulder joint training module, an elbow joint training module and a wrist joint training module which are sequentially connected;
the shoulder joint training module comprises a first joint component and a second joint component,
the first joint component comprises a first power device and a support frame, the lower end part of the support frame is fixed with the output end of the first power device, the support frame can rotate along the axis of the support frame under the driving of the first power device,
the second joint assembly comprises a second power device and an upper arm mechanism, the upper arm mechanism is provided with a first fixing part, the upper arm mechanism can be fixed below the upper arm of the human body through the first fixing part, the upper arm mechanism is hinged with the upper end part of the support frame, and the upper arm mechanism can rotate around the hinged part of the upper arm mechanism and the support frame under the driving of the second power device; the upper arm mechanism comprises a first lever arm and a second lever arm arranged in parallel with the first lever arm, the first fixing part is arranged on the first lever arm, and the first lever arm is arranged above the second lever arm and can be installed relative to the second lever arm in a sliding mode; the second lever arm is rotatably arranged on the support frame and can drive the first lever arm to rotate around an axis in a substantially horizontal direction under the driving of the second power device;
the elbow joint training module comprises a third joint component and a fourth joint component,
the third joint assembly comprises a third power device and a first connecting piece, the fourth joint assembly comprises a fourth power device, the third power device is fixedly arranged at one end of the upper arm mechanism, the motion track of the output shaft of the third power device is tangent to the motion track of the upper arm mechanism, the output end of the third power device is connected with the fourth power device through the first connecting piece, the first connecting piece is an L-shaped connecting piece, the output shaft of the third power device is orthogonal to the output shaft of the fourth power device, and the fourth power device can rotate around the output shaft of the third power device under the driving of the third power device;
the output end of the fourth power device is connected with the wrist joint training module, and the wrist joint training module can rotate along the output shaft of the fourth power device under the driving of the fourth power device;
the wrist joint training module comprises a fifth joint component and a sixth joint component,
the fifth joint component comprises a fifth power device and an arc-shaped track, a second fixing part is arranged above the arc-shaped track and used for fixing the forearm of the human body, the second fixing part is connected with the fifth power device, the output end of the fifth power device is movably arranged on the arc-shaped track, the second fixing part can drive the forearm of the human body to move along the arc-shaped track under the driving of the fifth power device,
the sixth joint assembly comprises a sixth power device and a gripping handle, the gripping handle is driven by the sixth power device to be rotatably mounted on a fixed member around a substantially vertical axis, and the fixed member is slidably mounted on the fifth power device.
2. The exoskeleton upper limb rehabilitation robot as claimed in claim 1, wherein second connecting pieces are symmetrically arranged on two sides of the second lever arm, one end of each second connecting piece is slidably arranged on the second lever arm, the other end of each second connecting piece is connected with the first lever arm, and the second connecting pieces can drive the first lever arm to slide or lock along the length direction of the second lever arm.
3. The exoskeleton upper limb rehabilitation robot as claimed in claim 2, wherein the second lever arms are plural, the plural second lever arms are arranged in parallel in sequence along a vertical direction of the supporting frame and are hinged to the supporting frame, the plural second lever arms are provided with rails, the rails are arranged along a length direction of the rails, the second connecting member is provided with a joint portion, and the second connecting member is slidably mounted on the rails through the joint portion.
4. The exoskeleton-type upper limb rehabilitation robot as claimed in claim 1, wherein the fifth joint component comprises a circular arc rail component, the circular arc rail component is provided with a first assembling portion, the fifth power device is provided with a second assembling portion, and the fifth power device is mounted on the first assembling portion through the second assembling portion;
the arc track set up in arc track subassembly top, be provided with the rack on the arc track, the fifth power device output be provided with rack toothing's gear.
5. The exoskeleton-type upper limb rehabilitation robot as claimed in claim 1, wherein the sixth joint assembly further comprises a bevel gear set, the bevel gear set comprises a sun bevel gear and a planet bevel gear which are meshed with each other, the sun bevel gear is fixedly arranged on the fixed member, the planet bevel gear is fixedly arranged at the output end of the sixth power device, and the sixth power device drives the gripping handle to move by driving the planet bevel gear to rotate around the sun bevel gear.
6. The exoskeleton upper limb rehabilitation robot of claim 1, wherein the shoulder joint training module is further provided with a weight reduction mechanism, one end of the weight reduction mechanism is connected with the support frame, the other end of the weight reduction mechanism is connected with the upper arm mechanism, and the weight reduction mechanism can provide passive tension to the upper arm mechanism when the upper arm mechanism rotates relative to the support frame.
7. The exoskeleton upper limb rehabilitation robot of claim 6, wherein the weight reduction mechanism comprises an elastic member and a traction link, the elastic member is fixedly arranged on the support frame, one end of the traction link is connected with the upper arm mechanism, the other end of the traction link is connected with the elastic member, the traction link is in a tensioned state or a relaxed state according to the position of the upper arm mechanism relative to the support frame, and when the traction link is in the tensioned state, the elastic member provides tension for the upper arm mechanism.
8. The exoskeleton upper limb rehabilitation robot of claim 1, wherein the sixth joint assembly is provided with a sliding groove, the length direction of the sliding groove is consistent with the length direction of the forearm, and the gripping handle can slide along the length direction of the sliding groove.
9. The exoskeleton-style upper limb rehabilitation robot as claimed in any one of claims 1 to 8, wherein each of said first and second fixation portions is provided with a strap.
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| CN111888186B (en) * | 2020-07-21 | 2022-04-19 | 埃斯顿(南京)医疗科技有限公司 | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof |
| CN113018108A (en) * | 2021-04-16 | 2021-06-25 | 长春工业大学 | Five-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
| CN114734455A (en) * | 2022-03-23 | 2022-07-12 | 北京航空航天大学 | Four-degree-of-freedom mechanical arm for marine product fishing operation |
| CN114768196A (en) * | 2022-05-05 | 2022-07-22 | 济南市章丘区人民医院 | Rehabilitation and nursing training device for elderly patients |
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| CN105726260B (en) * | 2016-03-16 | 2017-10-27 | 安阳神方康复机器人有限公司 | Interchangeable upper limb rehabilitation robot |
| CN205459699U (en) * | 2016-03-21 | 2016-08-17 | 上海卓道医疗科技有限公司 | Ectoskeleton formula upper limbs rehabilitation training robot |
| CN105662783B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN205964401U (en) * | 2016-05-03 | 2017-02-22 | 广州一康医疗设备实业有限公司 | Robot used for upper limb rehabilitation |
| CN106420257B (en) * | 2016-09-05 | 2018-11-09 | 南京航空航天大学 | Based on the upper limb of series elastic driver rehabilitation exoskeleton robot |
| US20190201273A1 (en) * | 2016-09-09 | 2019-07-04 | Qatar Foundation For Education, Science, And Community Development | Robotic upper limb rehabilitation device |
| KR20180034036A (en) * | 2016-09-27 | 2018-04-04 | 주식회사 제이에스메디텍 | Upperlimb Rehabilitation Devices |
| KR101934269B1 (en) * | 2017-05-23 | 2019-01-02 | 대한민국 | Upper extremity rehabilitation apparatus |
| CN107362000B (en) * | 2017-09-11 | 2019-10-29 | 河北工业大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN109953867B (en) * | 2017-12-22 | 2023-06-27 | 中国科学院沈阳自动化研究所 | Light-weight multi-degree-of-freedom bionic flexible exoskeleton type upper limb power-assisted robot |
| CN109172282A (en) * | 2018-10-17 | 2019-01-11 | 苏州帝维达生物科技有限公司 | A kind of upper limb rehabilitation robot of seven freedom |
| CN109938965A (en) * | 2019-04-02 | 2019-06-28 | 上海电气集团股份有限公司 | Rehabilitation adjusts alignment device |
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