CN111281741B - Reconfigurable exoskeleton upper limb rehabilitation robot for different body types - Google Patents

Abstract

The invention discloses a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, including a shoulder joint internal and external rotation component, a shoulder humerus adjustment component, a shoulder joint flexion, extension and retraction component, an upper arm length adjustment component, an upper arm rotational motion component, an elbow joint The joint flexion and extension component, the forearm rotation movement component, the forearm length adjustment component and the wrist joint flexion and extension component are connected in sequence; the robot has 6 degrees of freedom, corresponding to 6 active actuators, which can realize the 6 degrees of freedom of the upper limbs. Compound movement; the liftable base is suitable for people of different heights; the shoulder and humerus adjustment components are suitable for the raising and sitting postures of different patients; the forearm and upper arm length adjustment components are suitable for patients with different lengths of the forearm and the upper arm. The present invention has reconfigurability, multiple passive adjustment mechanisms, interchangeable use of left and right hands, and a lightweight exoskeleton structure, which can satisfy patients with different conditions and reduce treatment costs.

Description

Reconfigurable exoskeleton upper limb rehabilitation robot for different body types

technical field

The invention relates to a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, belonging to the technical field of medical robots.

Background technique

In today's society, aging is accelerating, and diseases of the elderly are gradually increasing, such as stroke caused by cerebral arteriosclerosis, senile osteoporosis and muscle atrophy. The limb movement disorder caused by stroke is also called hemiplegia. Patients with hemiplegia often need to undergo rehabilitation medical training for a long period of time in order to restore the physical ability of the body.

Clinical practice shows that by enhancing the exercise of the affected limb, the affected limb can be restored to a certain function. Therefore, in recent years, upper limb rehabilitation robots have become more and more popular to assist patients in rehabilitation exercises. They replace the rehabilitation physicians with their hands to directly drive the patient's limbs for rehabilitation training. They have repeatability, time flexibility, rehabilitation trajectory planability, rehabilitation trajectory diversity and Reduce labor costs and other advantages.

So far, most of the upper limb rehabilitation robots can realize the rehabilitation movement of the upper limbs with 6 degrees of freedom, but they are not suitable for patients with different upper limb paralysis positions, which makes the rehabilitation institutions corresponding to the healthy joints of the patients idle, increases the treatment cost, and is not conducive to Targeted treatment makes recovery less effective.

SUMMARY OF THE INVENTION

Objective: In order to overcome the deficiencies in the prior art, the present invention provides a reconfigurable exoskeleton upper limb rehabilitation robot for different body types.

Technical scheme: in order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A reconfigurable exoskeleton upper limb rehabilitation robot for different body types, including: shoulder joint internal and external rotation components, shoulder joint flexion and extension components, upper arm rotation movement components, elbow joint flexion and extension components, forearm rotation movement components, wrist joint flexion and extension components Components, Shoulder External Rotation Components, Shoulder Humeral Adjustment Components, Shoulder Flexion and Extension Components, Upper Arm Length Adjustment Components, Upper Arm Rotation Motion Components, Elbow Flexion and Extension Components, Forearm Rotation Motion Components, Forearm Length Adjustment Components, and Wrist Flexion and Extension Components connected in sequence.

As a preferred solution, the shoulder joint internal and external rotation assembly includes a horizontal bracket, a first motor fixing member, a first motor assembly, a first harmonic reducer, a horizontal connecting rod and a first crossed roller bearing; the first motor is fixed One end of the component is fixedly connected to the vertical end face of the end of the horizontal support, the motor in the first motor assembly is connected to the first harmonic reducer through the first motor fixing component, and the harmonic reducer is connected to the horizontal through the first cross roller bearing. a connecting rod, so that the horizontal connecting rod can rotate around the first motor fixing part under the action of the motor; the other end of the horizontal connecting rod is connected to the shoulder-humeral adjusting assembly;

The shoulder-humeral adjustment assembly includes a square baffle plate, a baffle plate 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 the horizontal connecting rod through bolts. on the vertical surface of the end, so that one end of the circular groove of the vertical connecting rod is connected with the end of the horizontal connecting rod through the second cross roller bearing, and the square baffle plate is placed horizontally on the horizontal surface of the end of the horizontal connecting rod, The baffle with arc groove is vertically connected with the end of the square baffle, the vertical connecting rod is provided with a threaded hole in the arc groove corresponding to the baffle with arc groove, and the elastic handle is threaded into the belt The arc groove baffle is screwed into the vertical link, and the elastic handle can press the baffle with arc groove to fix the position of the vertical link in the screwed state; the other end of the vertical link is connected to the shoulder joint flexion and extension and Expansion components.

As a preferred solution, the shoulder joint flexion and extension assembly includes a second harmonic reducer, a second motor assembly, and a rotating disk; the end of the vertical link passes through the second harmonic reducer and the rotating disk. The end face of the disc is connected; one end of the second harmonic reducer is connected to the second motor assembly; the rectangular end face of the end of the rotating disc has a hole for connecting the upper arm length adjustment assembly;

The upper arm length adjustment assembly includes a lead screw bearing, a lead screw shaft, a connecting rod, a first upper arm fixed slider, a flanged linear bearing, a square stopper and a lead screw handwheel; The holes are inserted into the connecting rod, and the screw shaft is inserted into the middle hole through the screw bearing; the first upper arm fixed slider passes through the screw shaft and the connecting rod through the through hole, and the end of the first upper arm fixed slider is vertical The upper and lower holes of the straight end face are provided with circular grooves for inserting the flanged linear bearing, and the connecting rod passes through the flanged linear bearing; The first upper arm fixed slider slides horizontally on the lead screw shaft and the connecting rod; the side of the first upper arm fixed slider is connected with the upper arm rotary motion assembly.

As a preferred solution, the upper arm rotary motion assembly includes a third motor assembly, a third harmonic reducer, a synchronous pulley, a second upper arm fixing block, a pressing roller, a slider base, a roller fixing block, a bearing roller, a C type Ring slider, timing belt, upper arm fixing block, C-ring and strap; two bosses protruding from one side of the second upper arm fixing slider are inserted and connected to two end face grooves on one side of the first upper arm fixing slider; The output shaft of the motor in the third motor assembly is connected to one end of the third harmonic reducer, and the shaft with a key protruding from the other end of the third harmonic reducer is inserted into the synchronous pulley, and the synchronous pulley is set. It is located at the beginning position of the middle of the first upper arm fixing slider and the second upper arm fixing block; the pressing roller is installed at the middle end position of the first upper arm fixing slider and the second upper arm fixing block; the end of the second upper arm fixing block is One end of the slider base is vertically connected; the beginning end of the roller fixing block is set in the middle of the slider base, and bearing rollers are installed on both sides of the end of the roller fixing block to be rolling tangent to the groove of the outer ring of the C-type ring. Both sides of the inner ring of the ring are connected with the two sides of the end of the slider base through the C-ring slider, and the C-ring slider is provided with bearing rollers, and the bearing rollers slide on the inner side of the C-ring; the The synchronous belt is wound on the synchronous pulley, the two ends of the synchronous belt are fixed at the upper and lower positions of the outer ring of the C-shaped ring, and the two ends of the synchronous belt are fixed by pressing rollers; the upper arm fixing block and the belt are arranged inside the C-shaped ring; The upper and lower positions of one side of the C-ring are provided with through holes for connecting the elbow joint flexion and extension components.

As a preferred solution, the elbow joint flexion and extension assembly includes a connecting shaft, a fourth motor assembly, a fourth harmonic reducer, a first support block, a semi-circular ring and a second support block; the two connecting shafts pass through the C-shaped The two through holes on the side of the ring are inserted into the first support block and the second support block; the fourth motor assembly is connected to the fourth harmonic reducer and the upper end of the first support block; the semi-circular ring is arranged on the first support block between the block and the second support block; the side arc groove and the external gear of the semi-circular ring are connected with the forearm rotary motion assembly.

As a preferred solution, the forearm rotary motion assembly includes a first slider, a miniature bearing, a second slider, a gear shaft, a fifth harmonic reducer, a fifth motor fixing member and a fifth motor assembly; One end of the gear is connected and matched with the external gear of the semi-circular ring, and the other side of the gear shaft is connected through the fifth motor fixing piece and the fifth motor assembly through the fifth harmonic reducer; the side end of the fifth motor fixing piece is connected with the sliding The rear ends of the block fixing blocks are connected to each other, and a first sliding block and a second sliding block are connected to the sliding block fixing block; holes are respectively provided on both sides of the first sliding block and the second sliding block for placing the miniature bearings, and the first sliding block and the second sliding block are respectively provided with holes. The sliding block slides along the inner side of the arc groove of the semi-circular ring, and the second sliding block slides along the outer side of the circular arc groove of the semi-circular ring; the end of the sliding block fixing block is provided with a through hole to connect with the forearm length adjusting component;

As a preferred solution, the forearm length adjustment assembly includes: an optical axis slide rail, a first belt locking slider, a second belt locking slider and a forearm fixing block, a belt and a circular block; the optical axis slide The rail passes through the end through hole of the slider fixing block, the first belt locking slider and the second belt locking slider pass through the optical axis sliding rail; the forearm fixing block is connected with the first belt locking slider, and the bundle The belt is wound on the forearm fixing block for fixing the forearm of a person; the second belt locking slider is connected with the wrist joint flexion and extension assembly.

As a preferred solution, the wrist joint flexion and extension assembly includes: a sixth motor assembly, a sixth motor fixing part, a sixth harmonic reducer and a handshake; one end of the sixth motor fixing part is connected to the second sliding block with locking , the sixth motor assembly is connected with the other end of the sixth motor fixing member through the sixth harmonic reducer; one end of the handshake is connected with the output shaft end of the sixth harmonic reducer, and the other end is used for hand holding.

As a preferred solution, a liftable base is also included, and one end of the horizontal support is placed flat on the top of the liftable base.

As a preferred solution, a gravity compensation component group is also included, and the gravity compensation component group includes a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece, a fifth connecting piece, a sixth connecting piece, and a U-shaped connecting piece. grooved roller, tension spring, pull ring, wire rope and set screw; the gravity compensation component group is installed on the vertical connecting rod, and is connected to the rotating disc through the wire rope; one end of the tension spring is connected to the circular notch of the pull ring, The other end of the pull ring is connected to one end of the sixth connector; the side end of the sixth connector is connected to the vertical surface of one end of the third connector; the horizontal end of the third connector is connected to the second connector; The vertical surface of the end of the three connecting pieces is connected to 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 link; the fourth connecting piece is vertically fixed on the vertical surface of the first connecting piece In the lower part of the straight face, one end of the fifth connecting piece is connected to the fourth connecting piece, and the other end is connected to the U-shaped groove roller; the inner side of the second connecting piece is provided with a U-shaped groove roller; the back of the rotating disc is provided with A set screw; the end of the tension spring is connected with a wire rope, and the wire rope passes through the U-groove roller from top to bottom in sequence, and finally is connected to the set screw.

Beneficial effects: The reconfigurable exoskeleton upper limb rehabilitation robot for different body types provided by the present invention can realize six degrees of freedom movement of the upper limb: shoulder joint flexion and extension movement, shoulder joint extension movement, shoulder joint internal and external rotation movement, and elbow joint movement. Flexion and extension, forearm pronation and supination, and wrist flexion and extension, as well as compound movements composed of these movements. The mechanism design of the present invention is reconfigurable, and corresponding active actuators can be used according to patients with different conditions, and the unnecessary mechanisms can be disassembled. The invention is provided with 4 passive adjustment mechanisms, which can be applied to patients with different heights, sitting postures, upper arm lengths and forearm lengths, and ensures the recovery effect and the wearing comfort of the patients.

Compared with the prior art, the beneficial effects of the present invention are:

1. The upper limb rehabilitation robot of the present invention is reconfigurable. According to the patient's condition, the unused joints can be removed, so as to carry out rehabilitation treatment for the damaged joints, thus reducing the cost of treatment;

2. The upper limb rehabilitation robot of the present invention has six active joints and four passive adjustment mechanisms; it can realize internal and external rotation of the shoulder joint, flexion and extension of the shoulder joint, adduction and abduction of the shoulder joint, flexion and extension of the elbow joint, and pronation and supination of the forearm. Exercise, wrist flexion and extension and compound movement; its shoulder-humeral adjustment component adjusts the position of the vertical link by rotating the elastic handle to meet the height and sitting posture of different patients, making the patient's rehabilitation more comfortable; its upper arm length adjustment component Shake the lead screw handwheel to make the entire upper arm rotary motion assembly slide on the lead screw shaft and connecting rod, so that it is suitable for people with different upper arm lengths, and also ensures that the rotation center of the patient's elbow joint is on the rotation axis of the fourth motor; its forearm length adjustment The assembly slides on the optical axis slide rail through the locking slider, which is suitable for people with different lengths of forearms, and also ensures that the patient's hand can hold the handshake to perform wrist flexion and extension movements.

3. The upper limb rehabilitation robot of the present invention can realize the switching of the left arm and the right arm of the patient according to the different needs of the patient, without the need to reassemble the mechanical structure, and the operation is simple and convenient. When switching the left and right arms, it is only necessary to rotate the horizontal link 180 degrees around the rotation axis of the first motor, and then rotate the rotating disk 180 degrees around the third motor.

Description of drawings

1 is a schematic structural diagram of an exception skeleton upper limb rehabilitation robot according to an embodiment of the present invention;

Fig. 2 is another structural schematic diagram of an exception skeletal upper limb rehabilitation robot according to an embodiment of the present invention;

Fig. 3 is the structural representation of the gravity compensation mechanism of the extra-skeletal upper limb rehabilitation robot according to the embodiment of the present invention;

4 is a schematic structural diagram of an upper arm rotational motion assembly of an extra-skeletal upper limb rehabilitation robot according to an embodiment of the present invention;

Fig. 5 is the structural schematic diagram of the elbow joint flexion and extension assembly of the extra-skeletal upper limb rehabilitation robot according to the embodiment of the present invention;

Fig. 6 is the structural schematic diagram of the forearm rotary motion assembly of the extra-skeletal upper limb rehabilitation robot according to the embodiment of the present invention;

7 is a schematic diagram of the assembly structure of the first slider and the miniature bearing of the forearm rotary motion assembly in the embodiment;

FIG. 8 is a schematic structural diagram of the forearm length adjustment assembly and the elbow joint flexion and extension assembly of the extra-skeletal upper limb rehabilitation robot according to an embodiment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The present invention provides a reconfigurable exoskeleton upper limb rehabilitation robot for different body types. As shown in FIG. 1 , there are 6 active actuators, 4 passive adjustment mechanisms and 1 gravity compensation mechanism; the active actuators include Shoulder joint internal and external rotation assembly 2, shoulder joint flexion and extension assembly 4, upper arm rotation movement assembly 7, elbow joint flexion and extension assembly 8, forearm rotation movement assembly 9, wrist joint flexion and extension assembly 11; The passive adjustment mechanism includes a liftable base 1. Shoulder-humeral adjustment assembly 3, upper arm length adjustment assembly 6, forearm length adjustment assembly 10; the gravity compensation mechanism is the gravity compensation component group 5; the liftable base 1, the shoulder joint internal and external rotation assembly 2, the shoulder-humeral adjustment Component 3, shoulder flexion and extension component 4, upper arm length adjustment component 6, upper arm rotational motion component 7, elbow joint flexion and extension component 8, forearm rotational motion component 9, forearm length adjustment component 10 and wrist flexion and extension component 11 in sequence connection, wherein the gravity compensation component group 5 is arranged on the shoulder-humeral adjustment assembly 3, which is connected with the shoulder joint flexion and extension and extension and retraction assembly 4 through the wire rope 5010; the 6 active actuators are all provided with motor assemblies (including DC motors and Corresponding encoder), and the 6 motors are equipped with the corresponding type of harmonic reducer.

As shown in Figure 2, the liftable base 1 is connected to the shoulder joint internal and external rotation assembly 2, which is used to support the entire rehabilitation robot, and the height of the robot can be changed through the liftable base 1 to adapt to the height of different people;

The shoulder joint internal and external rotation assembly 2 includes a horizontal support 201, a first motor fixing member 202, a first motor assembly 203, a first harmonic reducer 204, a horizontal connecting rod 205 and a first crossed roller bearing; the horizontal support One end of 201 is flat on the top of the liftable base 1, one end of the first motor fixing member 202 is fixedly connected to the vertical end face of the end of the horizontal bracket 201, and the motor in the first motor assembly 203 passes through the first motor fixing member 202 The first harmonic reducer 204 is connected, and the harmonic reducer is connected to 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 member 203 under the action of the motor; The other end of the horizontal connecting rod 205 is connected to the shoulder-humeral adjustment assembly 3;

The shoulder-humeral adjustment assembly 3 includes a square baffle plate 301, a baffle plate with an arc groove 302, an elastic handle 303, a vertical connecting rod 304 and a second crossed roller bearing; the second crossed roller bearing 305 is erected by bolts. It is directly fixed on the vertical surface of the end of the horizontal connecting rod 205, so that one end of the circular groove of the vertical connecting rod 304 is connected with the end of the horizontal connecting rod 205 through the second cross roller bearing 305, and the square baffle 301 Horizontally placed on the horizontal plane at the end of the horizontal link 205, the baffle 302 with arc groove is vertically connected with the end of the square baffle 301 to make it close to the vertical link 304, and the vertical link 304 is in the belt. The arc groove corresponding to the arc groove baffle 302 is provided with a threaded hole, and the elastic handle 303 is screwed into the vertical connecting rod 304 through the thread fit into the baffle 302 with the arc groove, and the elastic handle 303 can be screwed. Press the baffle plate 302 with the arc groove to fix the position of the vertical link 304; this allows the vertical link 304 to rotate along the arc groove of the baffle by means of the second crossed roller bearing 305, and can be rotated by rotating Tighten and tighten the handle 303 to fix the vertical link 304; in this way, by rotating the vertical link 304 first and then fixing the vertical link 304, the equivalent rotation center of the shoulder joint of the robot can be changed to compensate for the shoulder joint abduction and adduction movement of the human body. The change of the joint rotation center; the rotation trajectory of the vertical link 304 is an arc, and by rotating in the arc groove with the arc groove baffle 302, the sitting posture of different people can also be satisfied; The other end is connected to the shoulder joint flexion, extension and extension component 4;

The shoulder joint flexion and extension assembly 4 includes a second harmonic reducer 401, a second motor assembly 402, and a rotating disk 403; the end of the vertical link 304 is connected to the rotating circle through the second harmonic reducer 401. The end face of the disc 403 is connected; and one end of the second harmonic reducer 401 is connected to the second motor assembly 402, which makes the rotating disc 403 rotate with the second motor; the rectangular end face of the end of the rotating disc 403 There are 3 holes respectively for connecting the upper arm length adjusting assembly 6;

As shown in FIG. 3 , the gravity compensation component group 5 includes a first connector 501 , a second connector 502 , a third connector 504 , a fourth connector 505 , a fifth connector 506 , and a sixth connector 508 . The U-shaped groove roller 503, the tension spring 507, the pull ring 509, the wire rope 5010 and the set screw 5011; the gravity compensation component group 5 is installed on the vertical link 304, which is connected to the rotating disc 403 through the wire rope 5010; the One end of the tension spring 507 is connected to the circular notch of the pull ring 509, and the other end of the pull ring 509 is connected to one end of the sixth connector 508; the side end of the sixth connector 508 is connected to the vertical surface of one end of the third connector 504; The horizontal surface of the end of the third connecting piece 504 is connected to the second connecting piece 502; and the vertical surface of the end of the third connecting piece 504 is connected to the upper part of the vertical surface of the first connecting piece 501; the first connecting piece 501 is provided with on the side of the vertical link 304; the fourth connecting piece 505 is vertically fixed on the lower part of the vertical surface of the first connecting piece 501, one end of the fifth connecting piece 506 is connected to the fourth connecting piece 505, and the other end is connected to 2 A U-groove roller 503 is connected with a U-groove roller 503 on the side near this end; a U-groove roller 503 is provided on the inner side of the second connecting piece 502; set screw; the end of the tension spring 509 is connected to the wire rope 5010, and the wire rope 5010 passes through four U-groove rollers 503 from top to bottom (the wire rope 5010 is placed in the U-shaped groove), and finally connects to the set screw 5011; the The four U-groove rollers 503 are used to adjust the direction of the wire rope 5010 , and its U-shaped grooves play a certain role in positioning the wire rope 5010 . The gravity compensation component group 5 is connected to the wire rope 5010 and the wire rope 5010 through the tension spring 509 , and then guided by the four sets of U-shaped groove rollers 503 , and finally connected to the rotating disc 403 . In this way, the mechanical arm and the patient's own gravity can be compensated by the tension of the tension spring 509, which reduces the load of the second motor; it also provides support and buffering for the falling of the mechanical arm caused by the sudden power failure of the second motor, preventing the Injury to the patient.

As shown in FIG. 4 , the upper arm length adjustment assembly 6 includes a lead screw bearing 601, a lead screw shaft 602, a connecting rod 603, a first upper arm fixed slider 604, a flange linear bearing 605, a square block 606 and a lead screw handle Wheel 607; the upper and lower holes on the rectangular end surface of the rotating disc 403 are inserted into the connecting rod 603, and the screw shaft 602 is inserted into the middle hole through the screw bearing 601; the first upper arm fixing slider 604 passes through Its three through holes pass through the screw shaft 602 and the connecting rod 603, and the upper and lower holes on the vertical end face of the end are provided with circular grooves for inserting the flange linear bearing 605 (at the same time, the two connecting rods 603 pass through Flange linear bearing 605); a screw hand wheel 607 is installed at the end of the screw shaft 602, and the first upper arm fixed slider 604 can slide horizontally on the screw shaft 602 and the connecting rod 603 by shaking the screw hand wheel 607 , in this way, the last three joints can be moved back and forth to accommodate people with different upper arm lengths, and it can be ensured that the rotation center of the elbow joint is on the rotation axis of the second motor assembly 402; the square block 606 is provided on the first Between the upper arm fixing slider 604 and the lead screw handwheel 607, there are three through holes on its front and rear sides that also pass through the connecting rod 603 and the lead screw shaft 602, which are used to limit the moving position of the end of the first upper arm fixing slider 604 ; The side of the first upper arm fixed slider 604 is connected with the upper arm rotary motion assembly 7;

The upper arm rotating motion assembly 7 includes a third motor assembly 701, a third harmonic reducer 702, a synchronous pulley 703, a second upper arm fixing block 704, a pressing roller 705, a slider base 706, a roller fixing block 707, bearings Roller 708, C-ring slider 709, timing belt 710, upper arm fixing block 711, C-ring 712 and belt 713; the second upper arm fixing slider 704 is fixed to the first upper arm through two bosses protruding from one side thereof The two end face grooves on one side of the slider 604 are inserted and connected; the output shaft of the motor in the third motor assembly 701 is connected to one end of the third harmonic reducer 702, and the other end of the third harmonic reducer 702 protrudes The shaft with the key is inserted into the synchronous pulley 703, and the synchronous pulley 703 is set at the beginning position between the first upper arm fixing slider 604 and the second upper arm fixing block 704; the two pressing rollers 705 are installed on the The middle end position of the first upper arm fixing slider 604 and the second upper arm fixing block 704; the end of the second upper arm fixing block 704 is vertically connected with one end of the slider base 706; and the beginning end of the roller fixing block 707 is arranged on the slider base In the middle position of 706, bearing rollers 708 are installed on both sides of the end (rolling tangent to the groove of the outer ring of the C-ring 712), and the inner ring of the C-ring 712 passes through the C-ring slider 709 It is connected with both sides of the end of the slider base 706, and the C-ring slider 709 is provided with a bearing roller 708 so that it slides on the inner side of the C-ring 712; the synchronous belt 710 is wound on the synchronous pulley 703, which Both ends are fixed at the upper and lower positions of the outer ring of the C-shaped ring 712, and the two ends of the synchronous belt 710 are fixed by the pressing roller 705, which enables the synchronous belt 710 to pull the C-shaped ring 712 through the synchronous pulley 703 to reciprocate; The upper arm fixing block 711 and the strap 713 are arranged inside the ring 712 to fix the upper arm of the human body; while the synchronous belt 710 pulls the C-shaped ring 712, the upper arm of the person is also rotating; The upper and lower positions are provided with through holes for connecting the elbow joint flexion and extension assembly 8 .

As shown in FIG. 5 , the elbow joint flexion and extension assembly 8 includes a connecting shaft (including a shaft sleeve in the middle) 801, a fourth motor assembly 802, a fourth harmonic reducer 803, a first support block 804, a semi-circular ring 805, and a fourth harmonic reducer 803. Two support blocks 806; the two connecting shafts 801 are inserted into the first support block 804 and the second support block 806 through the two through holes on the side of the C-ring 712; The fourth motor assembly 802 is connected to the fourth harmonic reducer 803 and is connected to the upper end of the first support block 804; the semi-circular ring 805 is arranged on the first support block 804 and the second Between the two support blocks 806, the protruding shaft at the lower end is connected with the second support block 806, and the upper end thereof is connected with the fourth motor through the first support block 804; so that the semi-circle 805 can rotate through the fourth motor to drive the human body The elbow is flexed and stretched; the side arc groove and the external gear of the semicircular ring 805 are connected with the forearm rotary motion component 9;

As shown in FIGS. 6-7 , the forearm rotating motion assembly 9 includes a first sliding block 901 , a micro bearing 902 , a second sliding block 903 , a gear shaft 904 , a fifth harmonic reducer 905 , and a fifth motor fixing member 906 and the fifth motor assembly 907; one end of the gear of the gear shaft 904 is connected and matched with the external gear of the semi-circular ring 805, and the other side of the gear shaft 904 passes through the fifth motor fixing member 906 and The fifth motor assembly 907 is connected; the side end of the fifth motor fixing member 906 is connected to the rear end of the 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; the There are holes on both sides of the first sliding block 901 and the second sliding block 902 respectively for placing the miniature bearing 902. The first sliding block 901 slides along the inner side of the arc groove of the semi-circular ring 805, and the second sliding block 903 slides along the semi-circular ring 805. The outer side of the arc groove of 805 slides; the end of the slider fixing block 908 is provided with a through hole to connect with the forearm length adjustment assembly 10;

As shown in FIG. 8 , the forearm length adjusting assembly 10 includes: an optical axis slide rail 1001 , a first belt locking slider 1002 , a second belt locking slider 1003 , a forearm fixing block 1004 , a belt 1005 and a circular Block 1006; the optical axis slide rail 1001 passes through the end through hole of the slider fixing block 908, and the first belt locking slider 1002 and the second belt locking slider 1003 pass through the optical axis slide rail 1001; The forearm fixing block 1004 is connected with the first belt locking slider 1002, and the strap 1005 is wound on the forearm fixing block 1004 for fixing the person's forearm; Roll up, drive the slider fixing block 908 to rotate in the arc groove of the semi-circle 805, and drive the forearm bound by the belt 1005 to the forearm fixing block 1004 to do pronation and supination; the circular stop 1006 is set in the The end of the optical axis slide rail 1001 is used to limit the position of the belt locking slider; the second belt locking slider 1003 is connected to the wrist joint flexion and extension assembly 11;

The wrist flexion and extension assembly 11 includes 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 to a second sliding block with locking 1003 is connected, the sixth motor assembly 1101 is connected to the other end of the sixth motor fixing member 1102 through the sixth harmonic reducer 1103; one end of the handshake 1104 is connected to the output shaft end of the sixth harmonic reducer 1103, and the other end It is used to hold the handshake 1104 by the hand of the person; it can rotate with the sixth motor to perform flexion and extension movements; adjust the two sliders with locking that move on the optical axis slide rail 1001, and hold the handshake 1104 in order to Suitable for people with different forearm lengths, the belt 1005 binds the person's forearm, and the rotation axis of the sixth motor coincides with the elbow joint flexion and extension rotation axis.

The working principle and working process of the exoskeleton upper limb rehabilitation robot for different upper limb conditions of the present invention are:

(1) Patient wearing: Before the patient performs rehabilitation training, adjust the height of the liftable base 1 to adjust the height of the entire robot according to the height of the patient's sitting posture; fix the patient's upper arm on the on the upper arm fixing block 711, and ensure that the rotation axis of the fourth motor coincides with the elbow joint flexion and extension motion center; the first belt locking slider 1002 and the second belt locking slider 1003 sliding on the optical axis slide rail 1001, and Fix the patient's forearm on the forearm fixing block 1004 by tightening the strap 1005, and ensure that the rotation axis of the sixth motor coincides with the rotation center of the wrist joint flexion and extension; according to the patient's sitting posture, rotate the vertical link 304 to a certain angle, Adjust to a position suitable for the patient to perform rehabilitation exercises, and then tighten the elastic handle 303 to fix the vertical link 304;

(2) Patient training: when the motor of the first motor assembly 203 is started, it drives the first reducer 204 to move, so that the horizontal link 205 performs a rotational movement, which can realize the internal rotation and external rotation of the shoulder joint; when the horizontal link 205 is in the When vertical to the horizontal bracket 201, when the motor of the second motor assembly 402 starts, it drives the second reducer 401 to move, so that the rotating disc 403 rotates to realize the flexion and extension of the shoulder joint; when the horizontal link 205 is in the same When the horizontal support 201 is parallel, when the motor of the second motor assembly 402 is started, it drives the second reducer 401 to move, so that the rotating disc 403 rotates to realize the adduction and abduction movement of the shoulder joint; when the motor of the fourth motor assembly 802 During the movement, the fourth reducer 803 is driven to move, so that the semi-circle 805 rotates around the motor shaft to realize the flexion and extension of the elbow joint; when the fifth motor assembly 906 moves, the gear shaft 904 is driven in the semi-circle 805. The external gear rolls up, driving the first slider 804 and the second slider 806 to slide in the arc groove of the semi-circle, so that the forearm tied to the forearm fixing block performs the forearm pronation and supination; when the third motor When the motor of the assembly 701 moves, it drives the third reducer 702 and the synchronous pulley 703 fixed on the third reducer 702 to rotate, so that the synchronous belt 710 wound around the synchronous pulley 703 moves, so that the C-shaped ring 712 passes through the synchronous belt The pulling of the 710 makes a semi-circular rotating motion to realize the pronation and supination motion of the upper arm, and the rotation motion of the entire arm is realized with the forearm pronation and supination motion when the fifth motor moves; when the motor of the sixth motor assembly 1101 moves, the handshake is made 1104 rotates to achieve flexion and extension of the wrist joint; it can also use multiple motors to move at the same time to achieve multi-joint linkage rehabilitation.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present 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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