CN111700775A

CN111700775A - Exoskeleton rehabilitation robot

Info

Publication number: CN111700775A
Application number: CN202010731868.4A
Authority: CN
Inventors: 辛玉桥; 付璀瑶; 胡凌燕; 吴承哲; 顾明睿
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2020-09-25

Abstract

The invention relates to an exoskeleton rehabilitation robot, comprising: the device comprises a shoulder joint structure, a big arm structure, a small arm structure, an elbow joint structure, a first transmission device and a second transmission device; the shoulder joint structure is driven by a motor; one end of the large arm structure is connected with the shoulder joint structure through the first transmission device, and the other end of the large arm is movably connected with the small arm; the elbow joint structure is driven by a motor, and the elbow joint structure is connected with the forearm structure through the second transmission device. The invention has small and exquisite occupied space, improves the space utilization rate, has a plurality of joints which can drive a patient to carry out rehabilitation training, supports the multidimensional movement of the plurality of joints, can be carried out independently or can be coordinated and matched with each joint to finish movement, and realizes the coordinated rehabilitation training of each joint of the whole upper limb.

Description

Exoskeleton rehabilitation robot

Technical Field

The invention relates to the field of medical robots, in particular to an exoskeleton rehabilitation robot.

Background

With the continuous and rapid development of economy and the reduction of population birth rate, the trend of the global population aging is more and more obvious. The elderly population has a large number of patients with cerebrovascular diseases and shows a trend towards younger and younger patients. According to statistics, 200 million stroke patients are newly added in China every year, about 600 to 700 million stroke patients exist at present, and 450 million patients cannot take care of themselves. Most patients with cerebral apoplexy have sequelae with different degrees after prognosis, which seriously affects the life quality of the patients. Clinical medicine proves that in addition to early surgical treatment and necessary medical treatment, early rehabilitation training can not only maintain the basic mobility of limbs, but also remarkably improve the final recovery of the motor function of a stroke patient, so that the rehabilitation of the stroke patient is more and more important. At present, the main rehabilitation training method for the stroke patient is that a rehabilitation doctor carries out physiotherapy one to one, and the rehabilitation training efficiency of the patient is low and the economic burden is large.

The exoskeleton is a man-machine highly integrated mechanical device which can be attached to or worn on the body of a user to help the user to perform rehabilitation training, and currently, an exoskeleton rehabilitation robot is mainly used for performing rehabilitation training on injured people, disabled people and aged people. As for rehabilitation equipment, products on the market in China have single functions, the application range of the products is limited to local joints, and the coordination rehabilitation training of all joints of the whole upper limb cannot be realized.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide an exoskeleton rehabilitation robot which can fill the blank in the field of constant-speed muscle strength training of exoskeleton upper limb rehabilitation robots in the market, reduce the use space, improve the space utilization rate and comprehensively train upper limb joints.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides an exoskeleton rehabilitation robot, comprising: the device comprises a shoulder joint structure, a big arm structure, a small arm structure, an elbow joint structure, a first transmission device and a second transmission device;

the shoulder joint structure is driven by a motor;

one end of the large arm structure is connected with the shoulder joint structure through the first transmission device, and the other end of the large arm is movably connected with the small arm;

the elbow joint structure is driven by a motor, and the elbow joint structure is connected with the forearm structure through the second transmission device.

Preferably, the shoulder joint structure comprises a shoulder joint motor box, a harmonic reduction box and a shoulder joint motor;

the shoulder joint motor is connected with the harmonic reducer, the shoulder joint motor and the harmonic reducer are jointly placed in the shoulder joint motor box, and the shoulder joint structure drives the large arm structure to carry out inward rotation and outward rotation movement of a shoulder joint through the first transmission device.

Preferably, the shoulder joint motor is further connected with a first encoder and a first driver;

the first encoder is connected with a computer and used for measuring and positioning the internal rotation and external rotation of the shoulder joint to obtain first speed information and first position information and sending the first speed information and the first position information to the computer;

the computer generates the first driving information according to the first speed information and the first position information and sends the first driving information to the first driver;

the first driver is connected with the computer and used for receiving first driving information sent by the computer and driving the shoulder joint motor to move.

Preferably, the elbow joint structure comprises an elbow joint motor, a planetary reduction gearbox and an elbow joint motor frame;

the elbow joint motor is connected with the planetary reduction gearbox, the elbow joint motor is fixed on the forearm structure by means of the elbow joint motor frame, and the elbow joint structure drives the forearm structure to carry out flexion and extension movement of an elbow joint through the second transmission device.

Preferably, the elbow joint motor is also connected with a second encoder and a second driver;

the second encoder is connected with the computer and is used for measuring and positioning the speed and the position of the flexion and extension movement of the elbow joint to obtain second speed information and second position information and sending the second speed information and the second position information to the computer;

the computer generates second driving information according to the second speed information and the second position information and sends the second driving information to the second driver;

the second driver is connected with the computer, and the second driver is used for receiving the second driving information sent by the computer, receiving the second driving information sent by the computer and driving the elbow joint motor to move.

Preferably, the first transfer means includes: the shoulder joint motor shaft bevel gear, the shoulder joint output shaft bevel gear and the transmission bracket;

the shoulder joint motor shaft bevel gear is in meshed connection with the shoulder joint output shaft bevel gear, and the transmission support fixes the shoulder joint motor shaft bevel gear and the shoulder joint output shaft bevel gear on the motor shaft.

Preferably, the second transfer device includes: an elbow joint transmission shaft bevel gear and an elbow joint output shaft bevel gear;

the elbow joint transmission shaft bevel gear is connected with the elbow joint structure and is in meshed connection with the elbow joint output shaft bevel gear.

Preferably, an elbow joint anti-abrasion and shock-absorption plate and a flexible sponge cushion are further arranged between the large arm and the small arm.

Preferably, the exoskeleton robot further comprises a flexible connecting belt which connects the large arm structure and the small arm structure with the large arm and the small arm of the human upper limb respectively.

Preferably, the flexible connecting strip consists of a lightweight material and a self-adhesive strip.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

(1) the exoskeleton robot can help patients with myasthenia of upper limbs to accurately complete the passive training of internal rotation and external rotation of shoulder joints and flexion and extension of elbow joints. The constant-speed muscle strength training is completed by the aid of the patient with the muscle strength above the III level, the mobility of the patient in daily life is improved, effective training is achieved, the blank of the exoskeletal upper limb rehabilitation robot in the field of efficient training on the market is filled, the structure is exquisite, the space is small, the space utilization rate is improved, the utilization period is long, and the cost performance is high.

(2) The exoskeleton robot provided by the invention is provided with a plurality of joints which can drive a patient to carry out rehabilitation training, supports multi-dimensional movement of the plurality of joints, can carry out independent movement or can coordinate and cooperate with each joint to complete movement, and realizes the coordinated rehabilitation training of each joint of the whole upper limb.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a front view of the overall structure of the exoskeleton robot.

Fig. 2 is a side view of the overall structure of the exoskeleton robot of the present invention.

Fig. 3 is a schematic view of the elbow joint connection of the exoskeleton robot.

Fig. 4 is a schematic diagram of the shoulder joint connection mode of the exoskeleton robot.

Description of the symbols:

1-shoulder joint motor shaft bevel gear, 2-shoulder joint motor box, 3-second encoder, 4-planetary reduction box, 5-elbow joint motor, 6-elbow joint motor frame, 7-elbow joint transmission shaft bevel gear, 8-elbow joint output shaft bevel gear, 9-forearm structure, 10-elbow joint anti-abrasion damping plate, 11-flexible sponge cushion, 12-big arm structure, 13-fixing band, 14-flexible connecting band, 15-shoulder joint output shaft bevel gear, 16-transmission support, 201-harmonic reduction box, 202-shoulder joint motor and first encoder.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide an exoskeleton rehabilitation robot which can fill the blank in the field of constant-speed muscle strength training of exoskeleton upper limb rehabilitation robots in the market, reduce the use space, improve the space utilization rate and comprehensively train upper limb joints.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1, 3, and 4, the exoskeleton robot includes: a shoulder joint structure, a big arm structure 12, a small arm structure 9, an elbow joint structure, a first transmission device and a second transmission device.

Specifically, the shoulder joint structure comprises a shoulder joint motor box 2, a harmonic reduction box 201 and a shoulder joint motor, wherein the shoulder joint motor and an encoder are transmitted to a shoulder joint output shaft bevel gear 15 through a shoulder joint motor shaft bevel gear 1 to drive the large arm structure 12 to rotate inwards and outwards.

Optionally, the shoulder joint motor is further connected to a first encoder and a first driver, and the first encoder is configured to measure and position the internal rotation and external rotation of the shoulder joint, and send measurement data to a computer; the first driver is used for receiving data information of commands sent by a computer and driving the shoulder joint motor to act.

Preferably, the shoulder joint mechanism has freedom degrees of internal rotation and external rotation, wherein the shoulder joint is driven by a direct-current brushless disc type motor matched with a harmonic reducer and a bevel gear for speed reduction, and the two motors are symmetrically arranged, so that instability caused by output torque of a single motor is reduced, and stress is more balanced.

Optionally, the elbow joint structure includes 5 racks of elbow joint motor, planetary reduction box 4 and elbow joint motor 5, the elbow joint structure relies on elbow joint motor 5 fixes on forearm structure 9, through elbow joint transmission shaft bevel gear 7, elbow joint output shaft bevel gear 8 drives the motion of bending and stretching of forearm structure 9.

The elbow joint motor is also connected with a second encoder 3 and a second driver, the second encoder 3 is used for measuring the speed and positioning of the flexion and extension movement of the elbow joint and sending the measured data to a computer; the second driver is used for receiving data information of commands sent by the computer and driving the elbow joint motor to move.

Specifically, the joint of the large arm mechanism and the small arm mechanism is of an elbow joint structure, the elbow joint bending and stretching freedom degree is achieved, the direct-current brushless motor is used for carrying the planetary reduction gearbox 4 and the bevel gear for speed reduction driving, and the device has the advantages of being large in driving moment, simple and compact in structure, flexible and convenient to control and the like.

In order to improve the stability of the robot, reduce friction, reduce vibration in the transmission process and enable the transmission to be more stable, the invention adds an elbow joint anti-abrasion damping plate 10 and a flexible sponge cushion 11 at the contact part of an upper arm structure and a lower arm structure at the elbow joint rotation part.

Preferably, elbow joint abrasionproof shock attenuation board 10 material be the quartzy board, this kind of combined sheet wearability is good, and the shock attenuation performance is superior, can adjust in a flexible way slight difference in height in addition, still have cheap, easy replacement, the advantage of easily obtaining.

In particular, the flexible foam-rubber cushion 11 is used for separating the human body from the exoskeleton and ensuring the comfort of the human body. The large arm and the small arm of the upper limb of the human body are connected with the rehabilitation robot by a flexible connecting belt 14.

Preferably, the invention adopts a flexible connecting belt to connect the large arm structure and the small arm structure with the large arm and the small arm of the upper limb of the human body respectively, and the flexible connecting belt 14 is made of light materials and self-adhesive tapes and is comfortable to wear after being connected with the human body. The multi-dimensional movement of a plurality of joints is supported, and the movement can be carried out independently or can be completed by coordinating and matching each joint. The upper limb rehabilitation robot can carry out rehabilitation training on the patient under the condition of meeting three training modes of active training, passive training and assistance by giving a certain driving force to the patient through the movement device, so that the service cycle is greatly increased; meanwhile, the manufacturing cost of the upper limb rehabilitation robot is reduced, and the popularization of hospitals is facilitated.

Preferably, the first transfer means includes: a shoulder joint motor shaft bevel gear 1, a shoulder joint output shaft bevel gear 15 and a transmission bracket 16; the shoulder joint motor shaft bevel gear 1 is meshed with the shoulder joint output shaft bevel gear 15, and the transmission bracket 16 fixes the shoulder joint motor shaft bevel gear 1 and the shoulder joint output shaft bevel gear 15 on a motor shaft.

Optionally, the second conveying device includes: an elbow joint transmission shaft bevel gear 7 and an elbow joint output shaft bevel gear 8; the elbow joint transmission shaft bevel gear 7 is connected with the elbow joint structure and is in meshed connection with an elbow joint output shaft bevel gear 8.

As an alternative embodiment, the present invention is further provided with two position sensors, which are respectively located in the shoulder joint motor and the elbow joint motor 5, and process the real-time position signals into data signals to be sent to the computer.

Preferably, the shoulder joint motor and the elbow joint motor 5 are used as driving motors, are connected with a computer through a CAN communication card and a CAN bus, and are connected with a driver through a cable, the driver receives data information of commands sent by the computer, and the driving motors make corresponding motions to drive the rehabilitation robot to move, so that the purposes of active, passive and assisted training of a patient are achieved.

In this embodiment, the elbow joint motor 5 is a motor with model number EC40 of maxon with model number GD42C reduction box, and the shoulder joint motor with model number EC90flat with harmonic reducer reduction box. The driver is Coplay brand model BPL-090-14.

Fig. 2 is a side view of the whole structure of the exoskeleton robot, wherein the large arm structure 12 and the small arm structure 9 are on the same shaft, and the large arm structure 12 and the small arm structure are movably connected.

As an alternative embodiment, in use, the present invention adjusts the fixing belt 13 and the flexible connecting belt 14 for the patient to wear the exoskeleton-type upper limb rehabilitation robot, and adopts an appropriate rehabilitation strategy according to the disease condition of the patient. Generally, in the initial stage of rehabilitation training, a computer controls an elbow joint driver and two shoulder joint drivers according to a fixed motion curve, the drivers control an elbow joint motor 5 and a shoulder joint motor to move, and the elbow joint motor 5 drives a forearm structure 9 of the rehabilitation robot to carry out flexion and extension motions of an elbow joint after being decelerated by an elbow joint transmission shaft bevel gear 7 and an elbow joint output shaft bevel gear 8.

In order to improve the intelligence and automation degree of the robot, the robot control system is further arranged, is independent of the mechanical structure of the robot and is connected with the robot body through a data line. The control system comprises two parts of hardware and software. The hardware part of the control system comprises a computer, a display, a driver and a CAN bus. The data of the computer can be displayed through the display; the CAN bus and the computer realize serial data communication; the computer is connected with a driver of the motor through a CAN bus; the driver receives data information of commands sent by the computer and drives the motor to make corresponding movement, and the motor drives the rehabilitation robot to move after being decelerated by the bevel gear. In the control loop, the data of the motor is fed back to the computer through the position sensor, and the feedback mode forms a closed loop. The software mainly comprises a real-time control module and a training display module, can provide three rehabilitation motion strategies of passive rehabilitation training, active rehabilitation training and constant-speed muscle strength rehabilitation training for independent or coordinated motion of shoulder joints and elbow joints, provides different training speeds and can adjust different speeds according to the conditions of patients in real time; the training display module can display the motion curve in real time, record training data and store the training data, and is convenient for later analysis and effect evaluation of long-term training.

Preferably, the patient is passively trained during the movement of the patient's upper limbs. At the moment, the computer transmits the curve of the normal movement of the upper limb to the CAN bus, and the CAN bus controls the elbow joint motor 5 and the shoulder joint motor to drive the exoskeleton to realize the amplitude and the speed of the normal movement of the upper limb of the human.

With the progress of rehabilitation training, the mobility of the patient starts to recover, and an active rehabilitation control mode is adopted. When active control is adopted, the movement intention obtained by the position sensor is transmitted to a computer, the control instruction is transmitted to the CAN to be communicated with the driver through the operation of a control algorithm, and the driver converts the control instruction into an electric signal to control the elbow joint motor 5 and the shoulder joint motor to rotate. The control algorithm can increase the output current of the motor to resist partial movement speed of the patient when the movement speed of the patient is too fast, and provides assistance when the movement speed of the patient is too slow, so that the patient and the robot can be ensured to always keep a coordinated and consistent movement rhythm.

During isokinetic muscle strength training, the movement speed is preset on a computer, no matter how strong the patient uses, the movement speed of limbs cannot exceed the preset speed of the rehabilitation robot, the subjective strength of the patient only can increase the muscle tension, the torque output is increased, acceleration cannot be generated, the muscle strength is gradually recovered under the action of physical stimulation along with the advancement of training, and the rehabilitation of the movement function of each joint of the upper limb of the patient is facilitated.

The exoskeleton robot disclosed by the invention works according to the principle and process as follows: before rehabilitation training, the exoskeleton-type upper limb rehabilitation robot is brought to a patient, and a proper rehabilitation strategy is adopted according to the disease condition characteristics of the patient. Generally, in the initial stage of rehabilitation training, the rehabilitation robot drives the upper limbs of a patient to move according to a fixed motion curve, and the patient performs passive training. At the moment, the computer transmits the curve of the normal movement of the upper limb to the CAN bus, and the CAN bus controls the motor to drive the exoskeleton to realize the amplitude and the speed of the normal movement of the upper limb of the human. With the progress of rehabilitation training, the mobility of the patient starts to recover, and an active rehabilitation control mode is adopted. When active control is adopted, the movement intention is transmitted to a computer and is transmitted to a CAN bus to control the movement of a motor through the operation of a control algorithm. The control algorithm can ensure that the patient and the robot always keep the coordinated and consistent movement rhythm and provide assistance. In the later stage of rehabilitation training, an impedance control mode can be adopted to strengthen the rehabilitation effect, and a constant resistance is applied in the opposite direction, so that the purposes of strengthening the training and strengthening the exercise are achieved. During isokinetic muscle strength training, the movement speed is preset on the rehabilitation robot, once the movement speed is set, the movement speed of limbs cannot exceed the preset speed no matter how strong the force is used by a patient, the subjective force of the patient only can increase the muscle tension, the torque output is increased, acceleration cannot be generated, the memory of muscles is kept, the muscle strength is gradually recovered under the action of physical stimulation along with the advancement of training, and the rehabilitation robot is beneficial to the recovery of the movement function of each joint of the upper limb of the patient. The motion curve can be displayed in real time in the rehabilitation training, the training data is recorded and stored, and the professional analysis in the later period and the effect evaluation of the long-term training are facilitated.

The rehabilitation robot has the following advantages and positive effects:

the invention provides an upper limb rehabilitation robot with an exoskeleton capable of performing constant-speed muscle strength training, wherein the exoskeleton is a structural design that a shoulder joint motor and a shoulder joint bevel gear pair rotate a big arm part, and an elbow joint motor 5 is connected with a small arm part through an elbow joint bevel gear pair in a rotating mode. The rehabilitation training device can perform rehabilitation training on patients under the condition of meeting three training modes of active training, passive training and assistance training, and greatly prolongs the service cycle. Carry out the constant speed muscle strength training on this rehabilitation robot, can improve traditional muscle strength training, have very big advantage in the aspect of the hemiplegia patient muscle strength training of cerebral apoplexy, effectively improved the upper limbs motion function of the hemiplegia patient of cerebral apoplexy, compare in the constant speed muscle strength equipment of other end outputs, this recovered robot transmission of ectoskeleton is directly exported the motion joint, output motion is more accurate, fill the blank in the recovered robot constant speed muscle strength training field of exoskeletal upper limbs on the market.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. An exoskeleton rehabilitation robot, comprising: the device comprises a shoulder joint structure, a big arm structure, a small arm structure, an elbow joint structure, a first transmission device and a second transmission device;

the shoulder joint structure is driven by a motor;

2. The exoskeleton rehabilitation robot of claim 1, wherein said shoulder joint structure comprises a shoulder joint motor box, a harmonic reduction box, a shoulder joint motor;

3. The exoskeleton rehabilitation robot of claim 2, wherein said shoulder joint motor further comprises a first encoder and a first driver coupled thereto;

the computer generates first driving information according to the first speed information and the first position information and sends the first driving information to the first driver

The first driver is connected with the computer and used for receiving the first driving information sent by the computer and driving the shoulder joint motor to move.

4. The exoskeleton rehabilitation robot of claim 1, wherein said elbow structure comprises an elbow motor, a planetary reduction gearbox and an elbow motor mount;

5. The exoskeleton rehabilitation robot of claim 4, wherein said elbow joint motor further comprises a second encoder and a second driver coupled thereto;

6. The exoskeleton rehabilitation robot of claim 1, wherein said first transfer device comprises: the shoulder joint motor shaft bevel gear, the shoulder joint output shaft bevel gear and the transmission bracket;

7. The exoskeleton rehabilitation robot of claim 1, wherein said second transfer device comprises: an elbow joint transmission shaft bevel gear and an elbow joint output shaft bevel gear;

8. The exoskeleton rehabilitation robot as claimed in claim 1, wherein a knee joint wear and shock prevention plate and a flexible sponge pad are further arranged between said large arm and said small arm.

9. The exoskeleton rehabilitation robot of claim 1, further comprising a flexible connecting strap connecting said large arm structure and said small arm structure to the large arm and the small arm of the human upper limb, respectively.

10. The exoskeleton rehabilitation robot of claim 9, wherein said flexible connection strap is comprised of a lightweight material and a self-adhesive strap.