CN111281741B - Reconfigurable exoskeleton upper limb rehabilitation robot for different body types - Google Patents
Reconfigurable exoskeleton upper limb rehabilitation robot for different body types Download PDFInfo
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- CN111281741B CN111281741B CN202010119393.3A CN202010119393A CN111281741B CN 111281741 B CN111281741 B CN 111281741B CN 202010119393 A CN202010119393 A CN 202010119393A CN 111281741 B CN111281741 B CN 111281741B
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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
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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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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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
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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
- A61H1/0285—Hand
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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
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, which comprises a shoulder joint internal and external rotation assembly, a shoulder and humerus adjusting assembly, a shoulder joint flexion and extension and unfolding assembly, an upper arm length adjusting assembly, an upper arm rotary motion assembly and an elbow joint flexion and extension assembly, wherein the forearm rotary motion assembly, the forearm length adjusting assembly and the wrist joint flexion and extension assembly are sequentially connected; the robot has 6 degrees of freedom, and can realize rehabilitation movement and compound movement of 6 degrees of freedom of the upper limb corresponding to 6 active executing mechanisms; the liftable base is suitable for people with different heights; the shoulder-humerus adjusting component is suitable for rising and sitting postures of different patients; the forearm and upper arm length adjustment assembly is suitable for patients with different forearm and upper arm lengths. The invention has the advantages of reconfigurability, various passive adjusting mechanisms, capability of being used by the left hand and the right hand alternately and light exoskeleton structure, capability of meeting the requirements of patients with different disease conditions and reduction of treatment cost.
Description
Technical Field
The invention relates to a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, and belongs to the technical field of medical robots.
Background
Aging is accelerated in the current society, and diseases of the elderly are gradually increased, such as cerebral apoplexy, senile osteoporosis, muscular atrophy and the like caused by cerebral arteriosclerosis. The limb movement disorder caused by the stroke is also called hemiplegia, and patients with hemiplegia often need rehabilitation medical training for a long time to recover the physical movement ability.
Clinical practice shows that the affected limb can recover certain functions by enhancing exercise of the affected limb. Therefore, in recent years, the upper limb rehabilitation robot has become more and more popular to assist patients to perform rehabilitation exercises, replaces rehabilitation doctors to directly drive the limbs of the patients to perform rehabilitation exercises by hands, and has the advantages of repeatability, time flexibility, rehabilitation track programmability, rehabilitation track diversity, reduction of labor cost and the like.
Up to now, most upper limb rehabilitation robots can realize rehabilitation movement of 6 degrees of freedom of upper limbs, but the upper limb rehabilitation robots are not suitable for patients with different paralyzed upper limb positions, so that rehabilitation mechanisms corresponding to healthy joints of the patients are idle, treatment cost is increased, targeted treatment is not facilitated, and the rehabilitation effect is not high.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a reconfigurable exoskeleton upper limb rehabilitation robot for different body types.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, comprising: the shoulder joint internal and external rotation assembly, the shoulder joint flexion and extension assembly, the upper arm rotation assembly, the elbow joint flexion and extension assembly, the forearm rotation assembly, the wrist joint flexion and extension assembly, the shoulder joint internal and external rotation assembly, the shoulder-brachium adjustment assembly, the shoulder joint flexion and extension assembly, the upper arm length adjustment assembly, the upper arm rotation assembly and the elbow joint flexion and extension assembly are sequentially connected with one another.
Preferably, the shoulder joint internal and external rotation assembly comprises a horizontal bracket, a first motor fixing piece, a first motor assembly, a first harmonic reducer, a horizontal connecting rod and a first crossed roller bearing; one end of the first motor fixing piece is fixedly connected with the vertical end face of the tail end of the horizontal support, a motor in the first motor assembly penetrates through the first motor fixing piece to be connected with a first harmonic reducer, and the harmonic reducer is connected with a horizontal connecting rod through a first crossed roller bearing, so that the horizontal connecting rod can rotate around the first motor fixing piece under the action of the motor; the other end of the horizontal connecting rod is connected with a shoulder-humerus adjusting component;
the shoulder humerus adjusting assembly comprises a square baffle, a baffle with an arc groove, an elastic handle, a vertical connecting rod and a second crossed roller bearing; the second crossed roller bearing is vertically fixed on a vertical surface at the tail end of the horizontal connecting rod through a bolt, one end of a circular groove of the vertical connecting rod is connected with the tail end of the horizontal connecting rod through the second crossed roller bearing, the square baffle is horizontally placed on a horizontal plane at the tail end of the horizontal connecting rod, the baffle with the arc groove is vertically connected with the tail end of the square baffle, a threaded hole is formed in the arc groove corresponding to the baffle with the arc groove of the vertical connecting rod, the elastic handle penetrates the baffle with the arc groove through threaded fit and is screwed into the vertical connecting rod, and the elastic handle can press the baffle with the arc groove to fix the position of the vertical connecting rod in a screwed state; the other end of the vertical connecting rod is connected with the shoulder joint flexion and extension and expansion assembly.
Preferably, the shoulder joint flexion and extension and contraction assembly comprises a second harmonic reducer, a second motor assembly and a rotating disc; the tail end of the vertical connecting rod is connected with the disc end face of the rotating disc through a second harmonic reducer; one end of the second harmonic reducer is connected with the second motor assembly; a hole is formed in the rectangular end face at the tail end of the rotating disc and used for connecting an upper arm length adjusting assembly;
the upper arm length adjusting assembly comprises a lead screw bearing, a lead screw shaft, a connecting rod, a first upper arm fixing slide block, a flange linear bearing, a square stop block and a lead screw hand wheel; the upper hole and the lower hole on the end face of the rotating disc are plugged into the connecting rod, and the screw shaft is plugged into the middle hole through the screw bearing; the first upper arm fixing sliding block penetrates through the screw shaft and the connecting rod through a through hole, two holes in the upper and lower parts of the vertical end face of the tail end of the first upper arm fixing sliding block are provided with circular grooves for plugging a flange linear bearing, and the connecting rod penetrates through the flange linear bearing; a screw rod hand wheel is installed at the tail end of the screw rod shaft, and the first upper arm fixing slide block horizontally slides on the screw rod shaft and the connecting rod by swinging the screw rod hand wheel; the side edge of the first upper arm fixing sliding block is connected with the upper arm rotating motion assembly.
As a preferred scheme, the upper arm rotary motion assembly comprises a third motor assembly, a third harmonic reducer, a synchronous belt pulley, a second upper arm fixing block, a pressing roller, a slider base, a roller fixing block, a bearing roller, a C-shaped ring slider, a synchronous belt, an upper arm fixing block, a C-shaped ring and a binding belt; two bosses extending out of one side of the second upper arm fixing sliding block are inserted into and connected with two end face grooves of one side of the first upper arm fixing sliding block; an output shaft of a motor in the third motor assembly is connected with one end of a third harmonic reducer, a shaft with a key, which extends out of the other end of the third harmonic reducer, is inserted into a synchronous belt wheel, and the synchronous belt wheel is arranged at the starting end position between the first upper arm fixing slide block and the second upper arm fixing block; the pressing roller is arranged at the tail end position between the first upper arm fixing sliding block and the second upper arm fixing block; the tail end of the second upper arm fixing block is vertically connected with one end of the sliding block base; the starting end of the roller fixing block is arranged in the middle of the sliding block base, bearing rollers are arranged on two sides of the tail end of the roller fixing block and are tangent to the outer circular groove of the C-shaped ring in a rolling manner, two sides of the inner circular ring of the C-shaped ring are connected with two sides of the tail end of the sliding block base through C-shaped ring sliding blocks, bearing roller rollers are arranged on the C-shaped ring sliding blocks, and the bearing rollers slide on the inner sides of the C-shaped rings; the synchronous belt is wound on the synchronous belt wheel, two ends of the synchronous belt are fixed at the upper and lower positions of the outer ring of the C-shaped ring, and two ends of the synchronous belt are fixed through the pressing roller; an upper arm fixing block and a binding belt are arranged inside the C-shaped ring; and through holes are formed in the upper position and the lower position of one side surface of the C-shaped ring and are used for connecting the elbow joint flexion and extension assembly.
Preferably, the elbow joint flexion and extension assembly comprises a connecting shaft, a fourth motor assembly, a fourth harmonic reducer, a first supporting block, a semicircular ring and a second supporting block; the two connecting shafts penetrate through two through holes in the side surface of the C-shaped ring and are plugged into the first supporting block and the second supporting block; the fourth motor assembly is connected with a fourth harmonic reducer and connected with the upper end of the first supporting block; the semicircular ring is arranged between the first supporting block and the second supporting block; the side arc groove of the semicircular ring and the outer gear are connected with the forearm rotating motion assembly.
Preferably, the forearm rotating motion assembly comprises a first sliding block, a miniature bearing, a second sliding block, a gear shaft, a fifth harmonic reducer, a fifth motor fixing part and a fifth motor assembly; one end of a gear of the gear shaft is connected and matched with the outer gear of the semicircular ring, and the other side of the gear shaft is connected with a fifth motor component through a fifth harmonic reducer which penetrates through a fifth motor fixing piece; the side end of the fifth motor fixing piece is connected with the rear end of the sliding block fixing block, and the sliding block fixing block is connected with a first sliding block and a second sliding block; the two sides of the first sliding block and the second sliding block are respectively provided with a hole for placing a miniature bearing, the first sliding block slides along the inner side of the arc groove of the semicircular ring, and the second sliding block slides along the outer side of the arc groove of the semicircular ring; the tail end of the sliding block fixing block is provided with a through hole which is connected with the forearm length adjusting component;
preferably, the forearm length adjustment assembly comprises: the device comprises an optical axis slide rail, a first belt locking slide block, a second belt locking slide block, a forearm fixing block, a binding belt and a circular stop block; the optical axis slide rail penetrates through a tail end through hole of the slide block fixing block, and the first belt locking slide block and the second belt locking slide block penetrate through the optical axis slide rail; the forearm fixing block is connected with the first belt locking slide block, and the bridle is wound on the forearm fixing block and used for fixing the forearm of a person; the second slide block with the lock is connected with the wrist joint bending and stretching assembly.
Preferably, the wrist joint flexion and extension assembly comprises: the sixth motor assembly, the sixth motor fixing piece, the sixth harmonic reducer and the handle; one end of the sixth motor fixing piece is connected with the second sliding block with the lock, and the sixth motor assembly is connected with the other end of the sixth motor fixing piece through a sixth harmonic reducer; one end of the handle is connected with the output shaft end of the sixth harmonic speed reducer, and the other end of the handle is used for being held by a palm of a person.
As a preferred scheme, the lifting type base is further included, and one end of the horizontal support is flatly placed at the top end of the lifting type base.
As a preferred scheme, the device also comprises a gravity compensation component group, wherein the gravity compensation component group comprises a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece, a fifth connecting piece, a sixth connecting piece, a U-shaped groove roller, a tension spring, a pull ring, a steel wire rope and a set screw; the gravity compensation component group is arranged on the vertical connecting rod and is connected with the rotating disc through a steel wire rope; one end of the tension spring is connected with the circular notch of the pull ring, and the other end of the pull ring is connected with one end of the sixth connecting piece; the side end of the sixth connecting piece is connected with the vertical surface of one end of the third connecting piece; the horizontal plane of the tail end of the third connecting piece is connected with a second connecting piece; the vertical surface at the tail end of the third connecting piece is connected with the upper part of the vertical surface of the first connecting piece; the first connecting piece is arranged on the side surface of the vertical connecting rod; the fourth connecting piece is vertically fixed at the lower part of the vertical surface of the first connecting piece, one end of the fifth connecting piece is connected with the fourth connecting piece, and the other end of the fifth connecting piece is connected with the U-shaped groove roller; a U-shaped groove roller is arranged on the inner side surface of the second connecting piece; the back of the rotating disc is provided with a set screw; the tail end of the tension spring is connected with a steel wire rope, and the steel wire rope sequentially penetrates through the U-shaped groove roller from top to bottom and is finally connected with a set screw.
Has the advantages that: the reconfigurable exoskeleton upper limb rehabilitation robot for different body types, provided by the invention, can realize six-degree-of-freedom motion of an upper limb: flexion and extension of the shoulder joint, extension and contraction of the shoulder joint, internal and external rotation of the shoulder joint, flexion and extension of the elbow joint, pronation and supination of the forearm, flexion and extension of the wrist joint and compound movement consisting of the movements. The mechanism design of the invention has reconfigurability, and can use the corresponding active actuating mechanism according to patients with different disease conditions and disassemble mechanisms which are not needed. The invention is provided with 4 passive adjusting mechanisms, is suitable for patients with different heights, sitting postures, upper arm lengths and forearm lengths, and ensures the rehabilitation effect and the wearing comfort of the patients.
Compared with the prior art, the invention has the beneficial effects that:
1. the upper limb rehabilitation robot has reconfigurability. The joint which is not used can be removed according to the condition of the patient, so that the damaged joint can be recovered and treated in a targeted manner, and the treatment cost is reduced;
2. the upper limb rehabilitation robot is provided with six active joints and four passive adjusting mechanisms; can realize the internal and external rotation movement of the shoulder joint, the flexion and extension movement of the shoulder joint, the adduction and the abduction movement of the shoulder joint, the flexion and extension movement of the elbow joint, the pronation and supination movement of the forearm, the flexion and extension movement of the wrist joint and the compound movement; the shoulder-humerus adjusting component adjusts the position of the vertical connecting rod by rotating the elastic handle, so as to meet the height and sitting posture of different patients, and make the rehabilitation exercise of the patients more comfortable; the upper arm length adjusting assembly enables the whole upper arm rotary motion assembly to slide on the lead screw shaft and the connecting rod by shaking the lead screw hand wheel, so that the device is suitable for people with different upper arm lengths, and the elbow joint rotation center of a patient is ensured to be positioned on the rotation axis of the fourth motor; the forearm length adjusting assembly slides on the optical axis slide rail through the belt locking slide block, so that the wrist joint adjusting device is suitable for people with different lengths of forearms, and ensures that the hands of a patient can hold the holding hands to do wrist joint flexion and extension movement.
3. According to the upper limb rehabilitation robot, the left arm and the right arm of the patient can be switched according to different requirements of the patient, the mechanical structure does not need to be reassembled, and the operation is simple and convenient. When the left arm and the right arm are switched, the horizontal connecting rod only needs to rotate 180 degrees around the rotating shaft of the first motor, and then the rotating circle rotates 180 degrees around the third motor.
Drawings
Fig. 1 is a schematic structural diagram of an exoskeleton-upper limb rehabilitation robot according to an embodiment of the invention;
fig. 2 is another schematic structural diagram of the skeletal upper limb rehabilitation robot according to the embodiment of the invention;
fig. 3 is a schematic structural diagram of a gravity compensation mechanism of the skeletal upper limb rehabilitation robot according to the embodiment of the invention;
fig. 4 is a schematic structural diagram of an upper arm rotary motion assembly of the skeletal upper limb rehabilitation robot according to the embodiment of the invention;
fig. 5 is a schematic structural diagram of an elbow flexion-extension assembly of the skeletal upper limb rehabilitation robot according to the embodiment of the invention;
fig. 6 is a schematic structural diagram of a forearm rotary motion assembly of an exoskeletal upper extremity rehabilitation robot in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of the assembly structure of the first slider and the micro bearing of the forearm rotational movement assembly in an embodiment;
fig. 8 is a schematic structural diagram of a forearm length adjusting assembly and an elbow joint flexion and extension assembly of the skeletal upper limb rehabilitation robot in the embodiment of the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention provides a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, which comprises 6 active actuating mechanisms, 4 passive adjusting mechanisms and 1 gravity compensation mechanism as shown in figure 1; the active executing mechanism comprises a shoulder joint internal and external rotation component 2, a shoulder joint flexion and extension and contraction component 4, an upper arm rotary motion component 7, an elbow joint flexion and extension component 8, a forearm rotary motion component 9 and a wrist joint flexion and extension component 11; the passive adjusting mechanism comprises a lifting type base 1, a shoulder-humerus adjusting component 3, an upper arm length adjusting component 6 and a forearm length adjusting component 10; the gravity compensation mechanism is a gravity compensation component group 5; the lifting type base 1, the shoulder joint internal and external rotation assembly 2, the shoulder and humerus adjusting assembly 3, the shoulder joint flexion and extension assembly 4, the upper arm length adjusting assembly 6, the upper arm rotary motion assembly 7, the elbow joint flexion and extension assembly 8, the forearm rotary motion assembly 9, the forearm length adjusting assembly 10 and the wrist joint flexion and extension assembly 11 are sequentially connected, wherein the gravity compensation component group 5 is arranged on the shoulder and humerus adjusting assembly 3 and is connected with the shoulder joint flexion and extension assembly 4 through a steel wire rope 5010; all be equipped with motor element (including direct current motor and the encoder that corresponds) among the 6 initiative actuating mechanism, and 6 motors are furnished with the harmonic speed reducer ware of corresponding model.
As shown in fig. 2, the liftable base 1 is connected with the shoulder joint internal and external rotation assembly 2 and is used for supporting the whole rehabilitation robot, and the height of the robot can be changed by the liftable base 1 to adapt to the heights of different people;
the shoulder joint internal and external rotation assembly 2 comprises a horizontal bracket 201, a first motor fixing piece 202, a first motor assembly 203, a first harmonic speed reducer 204, a horizontal connecting rod 205 and a first crossed roller bearing; one end of the horizontal support 201 is flatly placed at the top end of the liftable base 1, one end of the first motor fixing piece 202 is fixedly connected with the vertical end face of the tail end of the horizontal support 201, a motor in the first motor assembly 203 penetrates through the first motor fixing piece 202 to be connected with the first harmonic reducer 204, and the harmonic reducer is connected with the horizontal connecting rod 205 through the first crossed roller bearing 206, so that the horizontal connecting rod 205 can rotate around the first motor fixing piece 203 under the action of the motor; the other end of the horizontal connecting rod 205 is connected with a shoulder humerus adjusting component 3;
the shoulder humerus adjusting assembly 3 comprises a square baffle 301, a baffle 302 with an arc groove, an elastic handle 303, a vertical connecting rod 304 and a second crossed roller bearing; the second crossed roller bearing 305 is vertically fixed on a vertical surface at the tail end of the horizontal connecting rod 205 through a bolt, so that one end of a circular groove of the vertical connecting rod 304 is connected with the tail end of the horizontal connecting rod 205 through the second crossed roller bearing 305, the square baffle 301 is horizontally placed on a horizontal plane at the tail end of the horizontal connecting rod 205, the baffle 302 with the arc groove is tightly attached to the vertical connecting rod 304 through vertical connection with the tail end of the square baffle 301, the vertical connecting rod 304 is provided with a threaded hole in the arc groove corresponding to the baffle 302 with the arc groove, the elastic handle 303 penetrates the baffle 302 with the arc groove through threaded fit and is screwed into the vertical connecting rod 304, and the elastic handle 303 can press the baffle 302 with the arc groove to fix the position of the vertical connecting rod 304 in a screwed state; this allows the vertical link 304 to rotate along the circular arc groove of the baffle by means of the second cross roller bearing 305 and the vertical link 304 to be fixed by tightening the dancer handle 303; therefore, by means of firstly rotating and then fixing the vertical connecting rod 304, the equivalent shoulder joint rotation center of the robot can be changed, and the change of the shoulder joint rotation center when a human body does abduction and adduction motion of the shoulder joint is compensated; the rotating track of the vertical connecting rod 304 is an arc, and the sitting posture of different people can be met by rotating in the arc groove with the arc groove baffle 302; the other end of the vertical connecting rod 304 is connected with the shoulder joint flexion and extension and expansion component 4;
the shoulder flexion and extension assembly 4 comprises a second harmonic reducer 401, a second motor assembly 402 and a rotating disc 403; the tail end of the vertical connecting rod 304 is connected with the disc end face of the rotating disc 403 through a second harmonic reducer 401; one end of the second harmonic reducer 401 is connected with a second motor assembly 402, so that the rotating disc 403 can rotate along with the second motor; 3 holes are respectively formed in the rectangular end face at the tail end of the rotating disc 403 and used for connecting an upper arm length adjusting assembly 6;
as shown in fig. 3, the gravity compensation component set 5 includes a first connector 501, a second connector 502, a third connector 504, a fourth connector 505, a fifth connector 506, a sixth connector 508, a U-shaped groove roller 503, a tension spring 507, a pull ring 509, a wire rope 5010 and a set screw 5011; the gravity compensation component group 5 is arranged on the vertical connecting rod 304 and is connected with the rotating disc 403 through a steel wire rope 5010; one end of the tension spring 507 is connected with the circular notch of the pull ring 509, and the other end of the pull ring 509 is connected with one end of the sixth connecting piece 508; the side end of the sixth connecting member 508 is connected to the vertical surface of one end of the third connecting member 504; the horizontal plane of the end of the third connecting piece 504 is connected with a second connecting piece 502; the vertical surface at the end of the third connecting piece 504 is connected with the upper part of the vertical surface of the first connecting piece 501; the first connecting piece 501 is arranged on the side surface of the vertical connecting rod 304; the fourth connecting piece 505 is vertically fixed at the lower part of the vertical surface of the first connecting piece 501, one end of the fifth connecting piece 506 is connected with the fourth connecting piece 505, the other end is connected with 2U-shaped groove rollers 503, and the side edge near the end is connected with one U-shaped groove roller 503; a U-shaped groove roller 503 is arranged on the inner side surface of the second connecting piece 502; the back of the rotating disc is provided with a set screw; the tail end of the tension spring 509 is connected with a steel wire rope 5010, the steel wire rope 5010 sequentially penetrates through 4U-shaped groove rollers 503 (the steel wire rope 5010 is arranged in the U-shaped groove) from top to bottom, and is finally connected with a set screw 5011; the 4U-shaped groove rollers 503 are used for adjusting the trend of the steel wire rope 5010, and the U-shaped grooves of the rollers play a certain role in positioning the steel wire rope 5010. The gravity compensation component group 5 is connected with a steel wire rope 5010 and a steel wire rope 5010 through a tension spring 509, and is finally connected with a rotating disc 403 through the guidance of 4 groups of U-shaped groove rollers 503. In this way, the gravity of the mechanical arm and the patient can be compensated by the tension of the tension spring 509, so that the load of the second motor is reduced; and the second motor is suddenly powered off to cause the mechanical arm to fall down, so that a supporting and buffering effect is provided, and the damage to a patient is prevented.
As shown in fig. 4, the upper arm length adjusting assembly 6 includes a lead screw bearing 601, a lead screw shaft 602, a connecting rod 603, a first upper arm fixing slider 604, a flange linear bearing 605, a square stopper 606 and a lead screw hand wheel 607; an upper hole and a lower hole on the rectangular end surface of the rotating disc 403 are plugged into a connecting rod 603, and a screw shaft 602 is plugged into a middle hole through a screw bearing 601; the first upper arm fixing slide block 604 penetrates through the screw shaft 602 and the connecting rod 603 through 3 through holes thereof, and two holes at the upper and lower ends of the vertical end surface of the tail end of the first upper arm fixing slide block are provided with circular grooves for plugging in the flange linear bearing 605 (meanwhile, 2 connecting rods 603 penetrate through the flange linear bearing 605); the tail end of the screw shaft 602 is provided with a screw hand wheel 607, the first upper arm fixing slide block 604 can horizontally slide on the screw shaft 602 and the connecting rod 603 by swinging the screw hand wheel 607, and the rear three joints can move back and forth in such a way to adapt to people with different lengths of the upper arms and ensure that the rotation center of the elbow joint of the people is on the rotation axis of the second motor assembly 402; the square block 606 is arranged between the first upper arm fixing slide block 604 and the lead screw hand wheel 607, and 3 through holes are arranged on the front and back sides of the square block and pass through the connecting rod 603 and the lead screw shaft 602 to limit the moving position of the tail end of the first upper arm fixing slide block 604; the side edge of the first upper arm fixing slide block 604 is connected with an upper arm rotating motion assembly 7;
the upper arm rotation motion assembly 7 comprises a third motor assembly 701, a third harmonic reducer 702, a synchronous belt pulley 703, a second upper arm fixing block 704, a pressing roller 705, a sliding block base 706, a roller fixing block 707, a bearing roller 708, a C-shaped ring sliding block 709, a synchronous belt 710, an upper arm fixing block 711, a C-shaped ring 712 and a belt 713; the second upper arm fixing slider 704 is inserted into and connected with the two end face grooves on one side of the first upper arm fixing slider 604 through two bosses extending from one side of the second upper arm fixing slider; an output shaft of a motor in the third motor assembly 701 is connected with one end of a third harmonic reducer 702, a shaft with a key, which extends out of the other end of the third harmonic reducer 702, is inserted into a synchronous belt pulley 703, and the synchronous belt pulley 703 is arranged at the starting end position between the first upper arm fixing slider 604 and the second upper arm fixing block 704; the two pressing rollers 705 are arranged at the tail end positions between the first upper arm fixing sliding block 604 and the second upper arm fixing block 704; the tail end of the second upper arm fixing block 704 is vertically connected with one end of a sliding block base 706; the starting end of the roller fixing block 707 is arranged in the middle of the slider base 706, bearing rollers 708 (which are tangent to the rolling of the outer circular groove of the C-shaped ring 712) are arranged on two sides of the tail end of the roller fixing block, two sides of the inner circular ring of the C-shaped ring 712 are connected with two sides of the tail end of the slider base 706 through the C-shaped ring slider 709, and the bearing roller rollers 708 are arranged on the C-shaped ring slider 709 so that the bearing rollers can slide on the inner side of the C-shaped ring 712; the synchronous belt 710 is wound on the synchronous pulley 703, two ends of the synchronous belt 710 are fixed at the upper and lower positions of the outer ring of the C-shaped ring 712, and two ends of the synchronous belt 710 are fixed by the pressing roller 705, so that the synchronous belt 710 can pull the C-shaped ring 712 to reciprocate through the synchronous pulley 703; an upper arm fixing block 711 and a strap 713 are arranged inside the C-shaped ring 712 to fix the upper arm of the human body; when the synchronous belt 710 pulls the C-shaped ring 712, the upper arm of the person also rotates; the upper and lower positions of one side surface of the C-shaped ring 712 are provided with through holes for connecting the elbow joint flexion-extension component 8.
As shown in fig. 5, the elbow flexion-extension assembly 8 includes a coupling shaft (with a bushing in the middle) 801, a fourth motor assembly 802, a fourth harmonic reducer 803, a first support block 804, a semicircular ring 805, and a second support block 806; the two connecting shafts 801 penetrate through two through holes in the side surface of the C-shaped ring 712 and are plugged into the first supporting block 804 and the second supporting block 806; the shaft sleeve penetrates into the connecting shaft 801, and two ends of the shaft sleeve are tightly attached to the supporting block and the C-shaped ring 712; the fourth motor assembly 802 is connected with a fourth harmonic reducer 803 and is connected with the upper end of a first support block 804; the semicircular ring 805 is arranged between the first supporting block 804 and the second supporting block 806, a protruding shaft at the lower end of the semicircular ring is connected with the second supporting block 806, and the upper end of the semicircular ring is connected with the fourth motor through the first supporting block 804; so that the semicircular ring 805 can rotate by the fourth motor to drive the elbow of the person to do flexion and extension movements; the side arc groove and the external gear of the semicircular ring 805 are connected with a forearm rotating motion assembly 9;
as shown in fig. 6-7, the forearm rotational movement assembly 9 includes a first slider 901, a micro-bearing 902, a second slider 903, a gear shaft 904, a fifth harmonic reducer 905, a fifth motor mount 906, and a fifth motor assembly 907; one end of a gear of the gear shaft 904 is connected and matched with an outer gear of the semicircular ring 805, and the other side of the gear shaft 904 penetrates through a fifth motor fixing part 906 and a fifth motor assembly 907 through a fifth harmonic reducer 905 to be connected; the side end of the fifth motor fixing piece 906 is connected with the rear end of a sliding block fixing block 908, and the sliding block fixing block 908 is connected with a first sliding block 901 and a second sliding block 902; two sides of the first slider 901 and the second slider 902 are respectively provided with a hole for placing the miniature bearing 902, the first slider 901 slides along the inner side of the arc groove of the semicircular ring 805, and the second slider 903 slides along the outer side of the arc groove of the semicircular ring 805; the tail end of the sliding block fixing block 908 is provided with a through hole which is connected with the forearm length adjusting component 10;
as shown in fig. 8, the forearm length adjustment assembly 10 includes: an optical axis slide rail 1001, a first belt locking slide block 1002, a second belt locking slide block 1003, a forearm fixing block 1004, a belt 1005 and a circular stop block 1006; the optical axis slide rail 1001 penetrates through a through hole at the tail end of the slide block fixing block 908, and the first and second locking slide blocks 1002 and 1003 penetrate through the optical axis slide rail 1001; the forearm fixing block 1004 is connected with the first belt locking slide block 1002, and a belt 1005 is wound on the forearm fixing block 1004 and is used for fixing the forearm of a person; the fifth motor drives the gear shaft 904 to roll on the outer gear of the semicircular ring 805, so as to drive the sliding block fixing block 908 to rotate in the arc groove of the semicircular ring 805, and drive the front arm tied to the front arm fixing block 1004 by the binding belt 1005 to move forwards and backwards; the circular stopper 1006 is arranged at the tail end of the optical axis slide rail 1001 and used for limiting the belt locking slide block; the second belt locking sliding block 1003 is connected with the wrist joint flexion and extension assembly 11;
the wrist joint flexion and extension assembly 11 comprises a sixth motor assembly 1101, a sixth motor fixing member 1102, a sixth harmonic reducer 1103 and a handshake 1104; one end of the sixth motor fixing member 1102 is connected with the second slider 1003 with a lock, and the sixth motor assembly 1101 is connected with the other end of the sixth motor fixing member 1102 through a sixth harmonic reducer 1103; one end of the handshake 1104 is connected with the output shaft end of the sixth harmonic reducer 1103, and the other end of the handshake 1104 is used for being held by the palm of a human hand; the palm holding grip 1104 of the person can do flexion and extension movement along with the rotation of the sixth motor; 2 belt locking sliding blocks moving on the optical axis sliding rail 1001 are adjusted, a hand holds the handle 1104 to adapt to people with different lengths of forearms, the belt 1005 binds the forearms of the people, and the rotating shaft of the sixth motor is coincident with the bending and stretching rotating shaft of the elbow joint.
The exoskeleton upper limb rehabilitation robot for different upper limb disease states has the working principle and the working process as follows:
(1) the patient wears: before the rehabilitation training of a patient, the height of the whole robot is adjusted by adjusting the liftable base 1 according to the sitting posture height of the patient; the upper arm of the patient is fixed on the upper arm fixing block 711 by shaking the lead screw hand wheel 607 and the tightening belt 713, and the rotating shaft of the fourth motor is ensured to be superposed with the flexion and extension movement center of the elbow joint; a first belt locking slide block 1002 and a second belt locking slide block 1003 which slide on the optical axis slide rail 1001, and the forearm of the patient is fixed on a forearm fixing block 1004 through a tightening belt 1005, and the rotating shaft of a sixth motor is ensured to be coincident with the flexion-extension rotating center of the wrist joint; according to the sitting posture of the patient, the vertical connecting rod 304 is rotated to a certain angle, the position is adjusted to be suitable for the patient to carry out rehabilitation movement, and then the tightening handle 303 is screwed down, so that the vertical connecting rod 304 is fixed;
(2) training a patient: when the motor of the first motor assembly 203 is started, the first speed reducer 204 is driven to move, so that the horizontal connecting rod 205 performs rotary motion, and the inward-rotation and outward-rotation motion of the shoulder joint can be realized; when the horizontal connecting rod 205 is perpendicular to the horizontal support 201 and the motor of the second motor assembly 402 is started, the second reducer 401 is driven to move, so that the rotating disc 403 makes a rotating motion, and the shoulder joint is moved forward and backward; when the horizontal connecting rod 205 is parallel to the horizontal support 201 and the motor of the second motor component 402 is started, the second speed reducer 401 is driven to move, so that the rotating disc 403 rotates to realize the adduction-abduction movement of the shoulder joint; when the motor of the fourth motor assembly 802 moves, the fourth reducer 803 is driven to move, so that the semicircular ring 805 rotates around the motor shaft to realize flexion and extension of the elbow joint; when the fifth motor assembly 906 moves, the gear shaft 904 is driven to roll on the outer gear of the semicircular ring 805, and the first sliding block 804 and the second sliding block 806 are driven to slide in the arc groove of the semicircular ring, so that the forearm tied to the forearm fixing block moves forwards and backwards; when the motor of the third motor component 701 moves, the third speed reducer 702 and the synchronous pulley 703 fixed on the third speed reducer 702 are driven to rotate, so that the synchronous belt 710 wound on the synchronous pulley 703 moves, the C-shaped ring 712 is pulled by the synchronous pulley 710 to rotate in a semicircular ring shape, the upper arm pronation and supination movement is realized, and the forearm pronation and supination movement when the fifth motor moves is matched to realize the rotation movement of the whole arm; when the motor of the sixth motor assembly 1101 moves, the grip 1104 rotates to realize the flexion and extension movement of the wrist joint; and the multi-joint linkage rehabilitation movement can be realized by simultaneously moving a plurality of motors.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A reconfigurable exoskeleton upper limb rehabilitation robot for different body types, comprising: external rotation subassembly, shoulder joint are bent and are stretched and exhibition receipts subassembly, upper arm rotary motion subassembly, elbow joint are bent and are stretched subassembly in the shoulder joint, forearm rotary motion subassembly, wrist joint are bent and are stretched subassembly, its characterized in that: the shoulder joint internal and external rotation assembly, the shoulder-humerus adjusting assembly, the shoulder joint flexion and extension assembly, the upper arm length adjusting assembly, the upper arm rotating motion assembly and the elbow joint flexion and extension assembly are sequentially connected;
the elbow joint flexion and extension assembly comprises a connecting shaft, a fourth motor assembly, a fourth harmonic reducer, a first supporting block, a semicircular ring and a second supporting block; the two connecting shafts penetrate through two through holes in the side surface of the C-shaped ring and are plugged into the first supporting block and the second supporting block; the fourth motor assembly is connected with a fourth harmonic reducer and connected with the upper end of the first supporting block; the semicircular ring is arranged between the first supporting block and the second supporting block; the side arc groove of the semicircular ring and the outer gear are connected with the forearm rotating motion component;
the forearm rotating motion assembly comprises a first sliding block, a miniature bearing, a second sliding block, a gear shaft, a fifth harmonic reducer, a fifth motor fixing piece and a fifth motor assembly; one end of a gear of the gear shaft is connected and matched with the outer gear of the semicircular ring, and the other side of the gear shaft is connected with a fifth motor component through a fifth harmonic reducer which penetrates through a fifth motor fixing piece; the side end of the fifth motor fixing piece is connected with the rear end of the sliding block fixing block, and the sliding block fixing block is connected with a first sliding block and a second sliding block; the two sides of the first sliding block and the second sliding block are respectively provided with a hole for placing a miniature bearing, the first sliding block slides along the inner side of the arc groove of the semicircular ring, and the second sliding block slides along the outer side of the arc groove of the semicircular ring; the tail end of the sliding block fixing block is provided with a through hole which is connected with the forearm length adjusting component;
the forearm length adjustment assembly includes: the device comprises an optical axis slide rail, a first belt locking slide block, a second belt locking slide block, a forearm fixing block, a binding belt and a circular stop block; the optical axis slide rail penetrates through a tail end through hole of the slide block fixing block, and the first belt locking slide block and the second belt locking slide block penetrate through the optical axis slide rail; the forearm fixing block is connected with the first belt locking slide block, and the bridle is wound on the forearm fixing block and used for fixing the forearm of a person; the second slide block with the lock is connected with the wrist joint flexion and extension assembly;
the joint which is not used is removed according to the condition of the patient, and the rehabilitation therapy is used for pertinently treating the damaged joint, so that the treatment cost is reduced.
2. The different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot according to claim 1, wherein the different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot is characterized in that: the shoulder joint internal and external rotation assembly comprises a horizontal bracket, a first motor fixing piece, a first motor assembly, a first harmonic reducer, a horizontal connecting rod and a first crossed roller bearing; one end of the first motor fixing piece is fixedly connected with the vertical end face of the tail end of the horizontal support, a motor in the first motor assembly penetrates through the first motor fixing piece to be connected with a first harmonic reducer, and the harmonic reducer is connected with a horizontal connecting rod through a first crossed roller bearing, so that the horizontal connecting rod can rotate around the first motor fixing piece under the action of the motor; the other end of the horizontal connecting rod is connected with a shoulder-humerus adjusting component;
the shoulder humerus adjusting assembly comprises a square baffle, a baffle with an arc groove, an elastic handle, a vertical connecting rod and a second crossed roller bearing; the second crossed roller bearing is vertically fixed on a vertical surface at the tail end of the horizontal connecting rod through a bolt, one end of a circular groove of the vertical connecting rod is connected with the tail end of the horizontal connecting rod through the second crossed roller bearing, the square baffle is horizontally placed on a horizontal plane at the tail end of the horizontal connecting rod, the baffle with the arc groove is vertically connected with the tail end of the square baffle, a threaded hole is formed in the arc groove corresponding to the baffle with the arc groove of the vertical connecting rod, the elastic handle penetrates the baffle with the arc groove through threaded fit and is screwed into the vertical connecting rod, and the elastic handle can press the baffle with the arc groove to fix the position of the vertical connecting rod in a screwed state; the other end of the vertical connecting rod is connected with the shoulder joint flexion and extension and expansion assembly.
3. The different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot as claimed in claim 2, wherein: the shoulder joint flexion and extension and contraction assembly comprises a second harmonic reducer, a second motor assembly and a rotating disc; the tail end of the vertical connecting rod is connected with the disc end face of the rotating disc through a second harmonic reducer; one end of the second harmonic reducer is connected with the second motor assembly; a hole is formed in the rectangular end face at the tail end of the rotating disc and used for connecting an upper arm length adjusting assembly;
the upper arm length adjusting assembly comprises a lead screw bearing, a lead screw shaft, a connecting rod, a first upper arm fixing slide block, a flange linear bearing, a square stop block and a lead screw hand wheel; the upper hole and the lower hole on the end face of the rotating disc are plugged into the connecting rod, and the screw shaft is plugged into the middle hole through the screw bearing; the first upper arm fixing sliding block penetrates through the screw shaft and the connecting rod through a through hole, two holes in the upper and lower parts of the vertical end face of the tail end of the first upper arm fixing sliding block are provided with circular grooves for plugging a flange linear bearing, and the connecting rod penetrates through the flange linear bearing; a screw rod hand wheel is installed at the tail end of the screw rod shaft, and the first upper arm fixing slide block horizontally slides on the screw rod shaft and the connecting rod by swinging the screw rod hand wheel; the side edge of the first upper arm fixing sliding block is connected with the upper arm rotating motion assembly.
4. The different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot as claimed in claim 3, wherein: the upper arm rotary motion assembly comprises a third motor assembly, a third harmonic reducer, a synchronous belt pulley, a second upper arm fixing block, a pressing roller, a slider base, a roller fixing block, a bearing roller, a C-shaped ring slider, a synchronous belt, an upper arm fixing block, a C-shaped ring and a binding belt; two bosses extending out of one side of the second upper arm fixing sliding block are inserted into and connected with two end face grooves of one side of the first upper arm fixing sliding block; an output shaft of a motor in the third motor assembly is connected with one end of a third harmonic reducer, a shaft with a key, which extends out of the other end of the third harmonic reducer, is inserted into a synchronous belt wheel, and the synchronous belt wheel is arranged at the starting end position between the first upper arm fixing slide block and the second upper arm fixing block; the pressing roller is arranged at the tail end position between the first upper arm fixing sliding block and the second upper arm fixing block; the tail end of the second upper arm fixing block is vertically connected with one end of the sliding block base; the starting end of the roller fixing block is arranged in the middle of the sliding block base, bearing rollers are arranged on two sides of the tail end of the roller fixing block and are tangent to the outer circular groove of the C-shaped ring in a rolling manner, two sides of the inner circular ring of the C-shaped ring are connected with two sides of the tail end of the sliding block base through C-shaped ring sliding blocks, bearing roller rollers are arranged on the C-shaped ring sliding blocks, and the bearing rollers slide on the inner sides of the C-shaped rings; the synchronous belt is wound on the synchronous belt wheel, two ends of the synchronous belt are fixed at the upper and lower positions of the outer ring of the C-shaped ring, and two ends of the synchronous belt are fixed through the pressing roller; an upper arm fixing block and a binding belt are arranged inside the C-shaped ring; and through holes are formed in the upper position and the lower position of one side surface of the C-shaped ring and are used for connecting the elbow joint flexion and extension assembly.
5. The different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot as claimed in claim 4, wherein: the wrist joint flexion and extension assembly comprises: the sixth motor assembly, the sixth motor fixing piece, the sixth harmonic reducer and the handle; one end of the sixth motor fixing piece is connected with the second sliding block with the locking function, and the sixth motor assembly is connected with the other end of the sixth motor fixing piece through a sixth harmonic reducer; one end of the handle is connected with the output shaft end of the sixth harmonic speed reducer, and the other end of the handle is used for being held by a palm of a person.
6. The different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot as claimed in claim 2, wherein: still include liftable formula base, horizontal stand one end is kept flat on liftable formula base top.
7. The different-body-shape-oriented reconfigurable exoskeleton upper limb rehabilitation robot as claimed in claim 3, wherein: the gravity compensation component group comprises a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece, a fifth connecting piece, a sixth connecting piece, a U-shaped groove roller, a tension spring, a pull ring, a steel wire rope and a set screw; the gravity compensation component group is arranged on the vertical connecting rod and is connected with the rotating disc through a steel wire rope; one end of the tension spring is connected with the circular notch of the pull ring, and the other end of the pull ring is connected with one end of the sixth connecting piece; the side end of the sixth connecting piece is connected with the vertical surface of one end of the third connecting piece; the horizontal plane of the tail end of the third connecting piece is connected with a second connecting piece; the vertical surface at the tail end of the third connecting piece is connected with the upper part of the vertical surface of the first connecting piece; the first connecting piece is arranged on the side surface of the vertical connecting rod; the fourth connecting piece is vertically fixed at the lower part of the vertical surface of the first connecting piece, one end of the fifth connecting piece is connected with the fourth connecting piece, and the other end of the fifth connecting piece is connected with the U-shaped groove roller; a U-shaped groove roller is arranged on the inner side surface of the second connecting piece; the back of the rotating disc is provided with a set screw; the tail end of the tension spring is connected with a steel wire rope, and the steel wire rope sequentially penetrates through the U-shaped groove roller from top to bottom and is finally connected with a set screw.
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| CN113057854A (en) * | 2021-03-23 | 2021-07-02 | 常州机电职业技术学院 | Device for assisting upper limb rehabilitation training |
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