CN111938988A - Wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot - Google Patents
Wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot Download PDFInfo
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- CN111938988A CN111938988A CN202010688890.5A CN202010688890A CN111938988A CN 111938988 A CN111938988 A CN 111938988A CN 202010688890 A CN202010688890 A CN 202010688890A CN 111938988 A CN111938988 A CN 111938988A
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- bending
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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
- A61H1/0214—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
- A61H1/0274—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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
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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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Abstract
The invention provides a wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot which comprises an elbow joint rotating assembly, an elbow joint flexion and extension assembly, a wrist joint rotating assembly, a wrist joint dorsiflexion assembly, a wrist joint radius assembly, an elbow joint support, a wrist joint front support, a wrist joint rear support and a handle, wherein the elbow joint rotating assembly is arranged on the wrist joint back flexion assembly; the elbow joint rotating assembly is connected with the elbow joint supporting piece; the elbow joint flexion and extension assembly is fixed on the elbow joint support; the elbow joint flexion and extension assembly is connected with the wrist joint rear support piece; the wrist joint back bending component and the wrist joint radial bending component are connected with the wrist joint front supporting piece; the wrist joint rotating assembly is connected with the wrist joint front supporting piece and the wrist joint rear supporting piece; the grip is connected with the wrist joint dorsiflexion assembly and the wrist joint radialis assembly. The robot can realize five degrees of freedom of motion of the rotation motion of the elbow joint, the flexion and extension motion of the elbow joint, the rotation motion of the wrist joint, the back bending motion of the wrist joint and the radial bending motion of the wrist joint. The robot is simple in structure, does not need to be fixed by an additional support, has the characteristic of convenience in carrying, and can improve the flexibility and effectiveness of rehabilitation exercise.
Description
Technical Field
The invention relates to a medical rehabilitation instrument, in particular to a wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot.
Background
Under the comprehensive influence of social aging, natural disasters, various accidents and the like, the disabled population caused by cerebral apoplexy, spinal cord injury, cerebral trauma and the like is rapidly increased. After acute-phase clinical treatment such as surgery, paralyzed patients generally undergo long-term rehabilitation training to restore partial motor abilities and return to normal life. Research on traditional stroke therapy and a motor learning theory shows that partial functions of a stroke patient can be recovered by strengthening motor control and skill acquisition exercise; muscle strength can be enhanced through repetitive resistance exercises and a variety of tasks and feedback exercises. The traditional rehabilitation treatment means generally depends on a rehabilitation physical therapist to manually drive the affected limb of the patient to perform passive rehabilitation training, and the training strategy is single; meanwhile, in the training process, the force applied to the affected limb and the training track of the affected limb are difficult to keep good consistency; moreover, this rehabilitation approach requires a physical effort by the physical therapist, and it is often difficult for the patient to have rehabilitation exercises of sufficient intensity and frequency. And the existing rehabilitation medical resources are very short, and the generally adopted rehabilitation treatment method in China has the problems of large personnel consumption, long rehabilitation period, limited effect and the like. The rehabilitation robot technology is an effective way for solving the traditional rehabilitation method. Compared with the traditional artificial rehabilitation training mode, the rehabilitation robot drives the patient to perform rehabilitation exercise training and has a plurality of advantages. The robot is more suitable for executing long-time simple repeated movement tasks, can ensure the strength, effect and precision of rehabilitation training and has good movement consistency; generally, the rehabilitation robot has programmable capability, can provide personalized training with different strengths and modes aiming at the injury degree and the rehabilitation degree of a patient, and enhances the active participation consciousness of the patient.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot. The robot can realize five degrees of freedom of motion of the rotation motion of the elbow joint, the flexion and extension motion of the elbow joint, the rotation motion of the wrist joint, the back bending motion of the wrist joint and the radial bending motion of the wrist joint; the upper limb rehabilitation robot is directly worn on the upper limb of a patient, does not need other fixing supports, is convenient to carry and use, and can effectively improve the effectiveness and flexibility of rehabilitation exercises.
The technical scheme for solving the technical problem is to provide a wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot, which comprises an elbow joint rotating assembly, an elbow joint flexion and extension assembly, a wrist joint rotating assembly, a wrist joint dorsiflexion assembly, a wrist joint radialization assembly, a wrist joint front supporting piece, a wrist joint rear supporting piece and a handle; the elbow joint rotating assembly is connected with the elbow joint supporting piece; the elbow joint flexion and extension assembly is fixed on the elbow joint support; the elbow joint flexion and extension assembly is connected with the wrist joint rear support piece; the wrist joint back bending component and the wrist joint radial bending component are connected with the wrist joint front supporting piece; the wrist joint rotating assembly is connected with the wrist joint front supporting piece and the wrist joint rear supporting piece; the grip is connected with the wrist joint dorsiflexion assembly and the wrist joint radialis assembly.
The elbow joint rotating assembly includes: the elbow joint supporting piece and the lantern ring are connected to an inner ring of a bearing where the elbow joint external tooth rotating piece is located; the elbow joint motor fixing plate is fixed on the elbow joint supporting piece; the elbow joint rotating motor is fixed on the elbow joint motor fixing plate; the output end of the elbow joint rotating motor is connected with the elbow joint pinion; one end of the inner ring connecting plate is connected with the inner ring of the elbow joint outer tooth rotating piece, and the other end of the inner ring connecting plate is connected with the elbow joint motor fixing plate; the elbow joint rotating motor is connected with the rotating shaft through the coupler, and the other end of the rotating shaft is provided with a key groove connected with the elbow joint pinion.
The elbow joint external tooth rotating piece is a special bearing, and a gear is arranged on an outer ring of the bearing; a margin is reserved on the inner ring of the bearing for facilitating wearing, and flexible materials can be added according to actual arm circumference.
The elbow joint flexion and extension assembly comprises: the elbow joint bending and stretching device comprises an elbow joint bending and stretching motor, a lead screw tail end 1, a lead screw tail end 2, a lead screw bottom plate, an elbow joint motor fixing plate, a lead screw nut, a lead screw sliding block and a crank rod, wherein the lead screw bottom plate is fixed on an elbow joint supporting piece; the elbow joint flexion and extension motor is fixed on an elbow joint motor fixing plate, an output shaft of the elbow joint flexion and extension motor is connected with a belt wheel for transmission, and a key groove end of a lead screw is connected with the output belt wheel; the tail end 1 of the screw rod and the tail end 2 of the screw rod are connected with the screw rod and fixed on the elbow joint supporting piece; the screw rod nut is connected with the screw rod, and the screw rod nut is connected with the screw rod sliding block; the screw rod sliding block and the screw rod bottom plate form a moving amplitude, and the screw rod sliding block is connected with the crank rod; the wrist joint rear support piece is connected with the crank rod.
The wrist joint rotating assembly includes: the wrist joint motor fixing plate is fixed on the wrist joint front supporting piece; the wrist joint rotating motor is fixed on a wrist shutdown motor fixing plate and is connected with a wrist joint pinion through a coupler; the wrist joint pinion and the wrist joint external tooth rotating piece form a rotating amplitude; the outer ring of the wrist joint external tooth rotating piece is fixed with the wrist joint rear supporting piece, and the wrist joint front supporting piece is fixed with the inner ring of the wrist joint external tooth rotating piece.
The wrist joint external tooth rotating piece is a special bearing, and a gear is arranged on an outer ring of the bearing; a margin is reserved on the inner ring of the bearing for facilitating wearing, and flexible materials can be added according to actual arm circumference.
The wrist dorsiflexion assembly includes: the wrist joint back bending mechanism comprises a wrist joint motor fixing plate, a wrist joint back bending motor, a wrist joint back bending lead screw nut, a wrist joint back bending lead screw tail end 1, a wrist joint back bending lead screw tail end 2, a wrist joint back bending lead screw sliding block, a wrist joint back bending crank and a wrist joint back bending lead screw bottom plate; wherein, the wrist joint motor fixing plate is fixed on the wrist joint front supporting piece; the wrist joint back curve lead screw bottom plate is fixed on the wrist joint front support piece; the wrist joint back bending motor is fixed on a wrist shutdown motor fixing plate, the output end of the wrist joint back bending motor is driven by a belt wheel, and the output end of the belt wheel is connected with a wrist joint back bending screw rod; the tail end 1 of the wrist joint back-bending lead screw and the tail end 2 of the wrist joint back-bending lead screw are respectively fixed at two ends of a wrist joint back-bending lead screw base plate; the wrist joint back-bending screw rod is connected with a wrist joint back-bending screw rod nut; the wrist joint back-bending lead screw nut is connected with the wrist joint back-bending lead screw sliding block, and the wrist joint back-bending lead screw sliding block is connected with the wrist joint back-bending crank; the wrist joint back bending crank is connected with the grip.
The wrist joint flexure assembly includes: a wrist joint radius motor, a wrist joint radius lead screw nut, a wrist joint radius lead screw bottom plate, a wrist joint radius lead screw slider, a wrist joint radius lead screw tail end 1, a wrist joint radius lead screw tail end 2 and a wrist joint radius crank; wherein, the wrist joint radial bending lead screw bottom plate is fixed on the wrist joint front supporting piece; the wrist joint bending motor is fixed on a wrist shutdown motor fixing plate, the output end of the wrist joint bending motor is driven by a belt wheel, and the output end of the belt wheel is connected with a wrist joint bending screw; the tail end 1 of the wrist joint radially bent lead screw and the tail end 2 of the wrist joint radially bent lead screw are respectively fixed at two ends of a bottom plate of the wrist joint radially bent lead screw; the wrist joint radial bending screw is connected with a wrist joint radial bending screw nut; the wrist joint radial bending screw nut is connected with the wrist joint radial bending screw slider; the wrist joint radial crank lead screw slider is connected with a wrist joint radial crank; the wrist joint and radius crank is connected with the handle.
Compared with the prior art, the invention has the beneficial effects that:
1. the robot can realize elbow joint rotation motion, elbow joint flexion and extension motion, wrist joint rotation motion, wrist joint dorsiflexion motion and wrist joint radius flexion motion. The training of the upper limb rehabilitation robot is highly targeted, and the training effects of the elbow joint and the wrist joint can be effectively improved.
2. The invention does not need additional support fixation, and can select the rehabilitation place according to the needs of the patient.
3. The present invention is not limited to single-sided upper limb training. The rehabilitation robot can complete the rehabilitation exercise of the left limb or the right limb of the patient, and the practicability of the rehabilitation robot is improved.
4. The complexity of a common upper limb rehabilitation robot is doubled by increasing one degree of freedom, and the corresponding production cost is increased. The upper limb rehabilitation robot has the advantages of high structural similarity, the same driving mode and simple structure, is beneficial to reducing the processing cost and improving the economy of rehabilitation training.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot of the invention;
fig. 2 is a schematic structural diagram of an elbow joint rotating assembly of the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an elbow joint flexion and extension assembly of the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a wrist joint rotating assembly of the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a wrist joint dorsi-flexion assembly of the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a wrist joint radius flexure assembly of the wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to an embodiment of the present invention;
description of the reference numerals: 1. an elbow joint rotation assembly; 2. an elbow flexion and extension component; 3. an elbow joint support; 4. a wrist joint rotation assembly; 5. a wrist posterior support; 6. a wrist dorsiflexion assembly; 7. a wrist joint flexure assembly; 8. a wrist anterior support; 9. a grip; 10. an elbow joint external tooth rotating member; 11. an elbow joint rotating motor; 12. an elbow joint pinion; 13. an inner ring connecting plate; 14. a collar; 15. an elbow joint motor fixing plate; 16. an elbow joint flexion and extension motor; 17. a lead screw; 18. a screw end 1; 19. the tail end 2 of the lead screw; 20. a lead screw bottom plate; 21. a lead screw nut; 22. a lead screw slider; 23. a crank lever; 24. a wrist joint external tooth rotating member; 25. a wrist joint rotating motor; 26. a wrist pinion; 27. a wrist joint motor fixing plate; 28. a wrist joint dorsiflexion motor; 29. a wrist joint dorsiflexion lead screw; 30. a wrist joint dorsiflexion screw nut; 31. back bending the tail end 1 of a lead screw of a wrist joint; 32. the wrist joint dorsiflexion lead screw tail end 2; 33. a wrist joint back bending lead screw slide block; 34. a wrist dorsiflexion crank; 35. a wrist joint dorsiflexion lead screw bottom plate; 36. a wrist joint radial bending motor; 37. a wrist joint radial bending screw; 38. a wrist joint radial bending screw nut; 39. a wrist joint radial bending lead screw bottom plate; 40. a wrist joint radial bending lead screw slider; 41. a wrist joint radial bending screw tail end 1; 42. the wrist joint radius bend lead screw terminal 2; 43. wrist joint radial crank.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot (called rehabilitation robot for short) which comprises the following components in a figure 1: the wrist joint comprises an elbow joint rotating assembly 1, an elbow joint flexion and extension assembly 2, an elbow joint support 3, a wrist joint rotating assembly 4, a wrist joint rear support 5, a wrist joint dorsiflexion assembly 6, a wrist joint radial flexion assembly 7, a wrist joint front support 8 and a grip 9; the elbow joint rotating assembly 1 is connected with an elbow joint support 3; the elbow joint flexion-extension component 2 is connected with the elbow joint support 3; the elbow joint flexion and extension assembly 2 is connected with a wrist joint rear support piece 5; the wrist joint back bending component 6 is connected with the wrist joint radial bending component 7 and the wrist joint front supporting component 8; the wrist joint rotating assembly 4 is connected with a wrist joint front supporting piece 8 and a wrist joint rear supporting piece 5; the handle 9 is connected with the wrist joint dorsiflexion assembly 6 and the wrist joint radialis assembly 7.
As shown in fig. 2, the elbow joint rotating assembly includes: the elbow joint external tooth rotating part 10, the elbow joint rotating motor 11, the elbow joint pinion 12, the inner ring connecting plate 13, the lantern ring 14 and the elbow joint motor fixing plate 15, wherein the elbow joint supporting part 3 and the lantern ring 14 are connected to the inner ring of a bearing where the elbow joint external tooth rotating part 10 is located; the elbow joint motor fixing plate 15 is fixed on the elbow joint support 3; the elbow joint rotating motor 11 is fixed on the elbow joint motor fixing plate 15; the output end of the elbow joint rotating motor 11 is connected with an elbow joint pinion 12; one end of the inner ring connecting plate 13 is connected with the inner ring of the elbow joint outer tooth rotating piece 10, and the other end is connected with the elbow joint motor fixing plate 15; one end of the output shaft of the elbow joint rotating motor 11 is provided with a key groove which is connected with an elbow joint pinion 12.
As shown in fig. 3, the elbow flexion and extension assembly includes: the elbow joint flexion and extension motor 16, a lead screw 17, a lead screw tail end 1(18), a lead screw tail end 2(19), a lead screw bottom plate 20, a lead screw nut 21, a lead screw sliding block 22 and a crank rod 23, wherein the elbow joint flexion and extension motor 16 is fixed on the elbow joint motor fixing plate 15; the screw rod bottom plate 20 is fixed on the elbow joint support 3; the output shaft of the elbow joint flexion and extension motor 16 is connected with a belt pulley through a key for transmission, and the keyway end of a lead screw is connected with an output belt pulley; the tail end 1(18) of the screw rod is connected with the tail end 2(19) of the screw rod and fixed on the elbow joint support 3; the feed screw nut 21 is connected with the feed screw 17, and the bottom of the feed screw nut 21 is connected with the feed screw sliding block 22; the screw rod slide block 22 and the screw rod bottom plate 20 form a moving amplitude; the lead screw slide block 22 is connected with a crank rod 23; the tail end of the wrist joint rear support piece 5 is connected with a crank rod 23; the wrist joint rear support piece 5 is connected with a crank rod 23 to form a crank link mechanism.
As shown in fig. 4, the wrist joint rotation assembly includes: the wrist joint external tooth rotating piece 24, the wrist joint rotating motor 25, the wrist joint pinion 26 and the wrist joint motor fixing plate 27, wherein the wrist joint motor fixing plate 27 is fixed on the wrist joint front support piece 8; the wrist joint rotating motor 25 is fixed on a wrist shutdown motor fixing plate 27; the wrist joint rotating motor 25 is connected with a wrist joint pinion 26 through a coupler; the wrist joint pinion 26 and the wrist joint external tooth rotating piece 24 form a rotating amplitude; the wrist joint rear support piece 5 is fixed on the outer ring of the wrist joint external tooth rotating piece 24; the wrist joint front supporting piece 8 is fixed with the inner ring of the wrist joint external tooth rotating piece 24;
as shown in fig. 5, the dorsi-flexion component of the wrist joint comprises: a wrist joint back bending motor 28, a wrist joint back bending lead screw 29, a wrist joint back bending lead screw nut 30, a wrist joint back bending lead screw bottom plate 35, a wrist joint back bending lead screw slider 33, a wrist joint back bending lead screw terminal 1(31), a wrist joint back bending lead screw terminal 2(32) and a wrist joint back bending crank 34; wherein, the fixing plate of the wrist dorsiflexion motor 28 is fixed on the wrist front support piece 8; the wrist joint dorsiflexion lead screw bottom plate 35 is fixed on the wrist joint front support piece 8; a wrist joint back bending motor 28 is fixed on a wrist shutdown motor fixing plate 27; the output end of the wrist joint back bending motor 28 is driven by a belt wheel, and the output end of the belt wheel is connected with a wrist joint back bending screw 29; the tail end 1(31) of the wrist joint back curve lead screw and the tail end 2(32) of the wrist joint back curve lead screw are fixed at the two ends of the wrist joint back curve lead screw bottom plate 35; the wrist joint back bending screw 29 is connected with a wrist joint back bending screw nut 30; the wrist joint back curve lead screw nut 30 is connected with a wrist joint back curve lead screw slide block 33; the wrist joint back curve lead screw slider 33 is connected with a wrist joint back curve crank 34; the wrist dorsi-flexion crank 34 is connected to the grip 9.
As shown in fig. 6, the wrist joint flexure assembly includes: a wrist joint and radius crank motor 36, a wrist joint and radius crank lead screw 37, a wrist joint and radius crank lead screw nut 38, a wrist joint and radius crank lead screw bottom plate 39, a wrist joint and radius crank lead screw slider 40, a wrist joint and radius crank lead screw terminal 1(41), a wrist joint and radius crank lead screw terminal 2(42) and a wrist joint and radius crank 43; wherein, the wrist joint motor fixing plate 27 is fixed on the wrist joint front supporting piece 8; the wrist joint radial bending screw bottom plate 39 is fixed on the wrist joint front support piece 8; the wrist joint radius motor 36 is fixed on the wrist shutdown motor fixing plate 27; the output end of the wrist joint bending motor 36 is driven by a belt wheel, and the output end of the belt wheel is connected with a wrist joint bending screw 37; the tail end 1(41) of the wrist joint radial bending lead screw and the tail end 2(42) of the wrist joint radial bending lead screw are fixed at two ends of a wrist joint radial bending lead screw bottom plate 39; the wrist joint radial bending screw is connected with a wrist joint radial bending screw nut; the wrist joint radial bending screw nut is connected with the wrist joint radial bending screw slider; the wrist joint radial bending lead screw slider 40 is connected with a wrist joint radial bending crank 43; the wrist joint crank 43 is connected to the handle 9.
The wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot has the working principle and the working process as follows:
the patient wears: before rehabilitation training of a patient, the patient rotates a proper flexible material ring according to the arm circumference of the patient and is arranged on the elbow joint rotating assembly 1 and the wrist joint rotating assembly 4; the arm of the patient is inserted into the elbow joint rotating assembly 1, then enters the wrist joint rotating assembly 4, and finally is held by the hand to the grip 9; the elbow joint rotating assembly 1 and the wrist joint rotating assembly 4 are used for fixing forearms, and the handle 9 is used for fixing hands, so that the arms do rotary motion.
Training a patient: the elbow joint rotating motor 11 drives the elbow joint pinion 12 to rotate and is meshed with the elbow joint external tooth rotating part 10 through a gear to complete the rotating motion of the elbow joint; the elbow joint flexion and extension motor 16 drives a screw 17 and a connected screw nut 21 through belt transmission, and drives a crank rod 23 and a connected wrist joint rear support piece 5 to rotate so as to complete flexion and extension movement of the elbow joint; the wrist joint rotating motor 25 drives a wrist joint pinion 26 which is transmitted to the wrist joint external tooth rotating piece 24 through gear engagement to complete the rotation motion of the wrist joint; the wrist joint back bending motor 28 drives a wrist joint back bending lead screw 29 and a connected wrist joint back bending lead screw nut 30 through belt transmission, drives a wrist joint back bending lead screw slide block 33 and a connected wrist joint back bending crank 34, and completes back bending movement of the wrist joint; the wrist joint bending motor 36 drives a wrist joint bending screw 37 and a connected wrist joint bending screw nut 38 through belt transmission, and drives a wrist joint bending screw slider 40 and a connected wrist joint bending crank 43 to complete the bending movement of the wrist joint.
Nothing in this specification is said to apply to the prior art.
Claims (9)
1. The utility model provides a wearable five degree of freedom ectoskeleton upper limbs rehabilitation robot which characterized in that: comprises an elbow joint rotating component (1), an elbow joint flexion and extension component (2), an elbow joint supporting piece (3), a wrist joint rotating component (4), a wrist joint rear supporting piece (5), a wrist joint back bending component (6), a wrist joint radial bending component (7), a wrist joint front supporting piece (8) and a handle (9); the elbow joint rotating assembly (1) is connected with the elbow joint supporting piece (3); the elbow joint flexion and extension component (2) is fixed on the elbow joint support piece (3); the elbow joint flexion and extension component (2) is connected with a wrist joint rear support piece (5); the wrist joint dorsiflexion assembly (6) and the wrist joint radialis assembly (7) are connected with the wrist joint anterior support piece (8); the wrist joint rotating assembly (4) is respectively connected with a wrist joint front supporting piece (8) and a wrist joint rear supporting piece (5); the handle (9) is respectively connected with the wrist joint dorsiflexion assembly (6) and the wrist joint radialis assembly (7).
2. The wearable five degree of freedom exoskeleton upper limb rehabilitation robot according to claim 1, wherein the elbow joint rotation assembly (1) comprises: the elbow joint external tooth rotating part comprises an elbow joint external tooth rotating part (10), an elbow joint rotating motor (11), an elbow joint pinion (12), an inner ring connecting plate (13), a sleeve ring (14) and an elbow joint motor fixing plate (15), wherein the elbow joint supporting part (3) and the sleeve ring (14) are connected to an inner ring of a bearing where the elbow joint external tooth rotating part (10) is located; the elbow joint motor fixing plate (15) is fixed on the elbow joint support piece (3); the elbow joint rotating motor (11) is fixed on an elbow joint motor fixing plate (15), and the output end of the elbow joint rotating motor (11) is connected with an elbow joint pinion (12); one end of the inner ring connecting plate (13) is connected with the inner ring of the elbow joint outer tooth rotating piece (10), and the other end of the inner ring connecting plate is connected with the elbow joint motor fixing plate (15); the elbow joint rotating motor (11) is connected with the rotating shaft through a coupler, and the other end of the rotating shaft is provided with a key groove which is connected with the elbow joint pinion (12).
3. The wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot of claim 2, wherein: the elbow joint external tooth rotating piece (10) is a special bearing, and a gear is arranged on an outer ring of the bearing; a margin is reserved on the inner ring of the bearing for facilitating wearing, and flexible materials can be added according to actual arm circumference.
4. The wearable five degree of freedom exoskeleton upper limb rehabilitation robot of claim 1, wherein the elbow joint flexion and extension assembly comprises: the elbow joint motor fixing plate (15), the elbow joint flexion and extension motor (16), a lead screw (17), a lead screw tail end (1) (18), a lead screw tail end (2) (19), a lead screw bottom plate (20), a lead screw nut (21), a lead screw sliding block (22) and a crank rod (23), wherein the lead screw bottom plate (20) is fixed on the elbow joint supporting piece (3); the elbow joint bending and stretching motor (16) is fixed on an elbow joint motor fixing plate (15), an output shaft of the elbow joint bending and stretching motor (16) is connected with a belt wheel for transmission, and a key groove end of a lead screw (17) is connected with an output belt wheel; the screw tail end 1(18) and the screw tail end 2(19) are connected with the screw (17) and fixed on the elbow joint support (3); the lead screw nut (21) is connected with the lead screw (17), and the lead screw nut (21) is connected with the lead screw sliding block (22); the screw rod sliding block (22) and the screw rod bottom plate (20) form a moving range, and the screw rod sliding block (22) is connected with the crank rod (23); the wrist joint rear support piece (5) is connected with a crank rod (23).
5. The wearable five degree of freedom exoskeleton upper limb rehabilitation robot of claim 1, wherein the wrist joint rotation assembly comprises: the wrist joint external tooth rotating piece (24), the wrist joint rotating motor (25), the wrist joint pinion (26) and the wrist joint motor fixing plate (27), wherein the wrist joint motor fixing plate (27) is fixed on the wrist joint front supporting piece (8); the wrist joint rotating motor (25) is fixed on a wrist shutdown motor fixing plate (27), and the wrist joint rotating motor (25) is connected with a wrist joint pinion (26) through a coupler; the wrist joint pinion (26) and the wrist joint external tooth rotating piece (24) form a rotating amplitude; the outer ring of the wrist joint external tooth rotating piece (24) is fixed with a wrist joint rear supporting piece (5), and the wrist joint front supporting piece (8) is fixed with the inner ring of the wrist joint external tooth rotating piece (24).
6. The wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 5, wherein: the wrist joint external tooth rotating piece (24) is a special bearing, and a gear is arranged on an outer ring of the bearing; a margin is reserved on the inner ring of the bearing for facilitating wearing, and flexible materials can be added according to actual arm circumference.
7. The wearable five degree of freedom exoskeleton upper limb rehabilitation robot of claim 1, wherein the wrist joint dorsi flexion assembly comprises: a wrist joint motor fixing plate (27), a wrist joint back bending motor (28), a wrist joint back bending screw rod (29), a wrist joint back bending screw rod nut (30), a wrist joint back bending screw rod tail end 1(31), a wrist joint back bending screw rod tail end 2(32), a wrist joint back bending screw rod sliding block (33), a wrist joint back bending crank (34) and a wrist joint back bending screw rod bottom plate (35); wherein, the wrist joint motor fixing plate (27) is fixed on the wrist joint front supporting piece (8); the wrist joint back curve lead screw bottom plate (35) is fixed on the wrist joint front support piece (8); the wrist joint back bending motor (28) is fixed on a wrist shutdown motor fixing plate (27), the output end of the wrist joint back bending motor (28) is driven by a belt wheel, and the output end of the belt wheel is connected with a wrist joint back bending screw rod (29); the tail end 1(31) of the wrist joint back curve lead screw and the tail end 2(32) of the wrist joint back curve lead screw are respectively fixed at two ends of a wrist joint back curve lead screw bottom plate (35); the wrist joint back bending screw rod (29) is connected with a wrist joint back bending screw rod nut (30); the wrist joint back-bending lead screw nut (30) is connected with a wrist joint back-bending lead screw sliding block (33), and the wrist joint back-bending lead screw sliding block (33) is connected with a wrist joint back-bending crank (34); the wrist joint dorsi-flexion crank (34) is connected with the grip (9).
8. The wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot of claim 1, wherein the wrist joint radius assembly comprises: a wrist joint and radial bending motor (36), a wrist joint and radial bending screw (37), a wrist joint and radial bending screw nut (38), a wrist joint and radial bending screw bottom plate (39), a wrist joint and radial bending screw slider (40), a wrist joint and radial bending screw tail end 1(41), a wrist joint and radial bending screw tail end 2(42) and a wrist joint and radial bending crank (43); wherein, the wrist joint radial bending lead screw bottom plate (39) is fixed on the wrist joint front supporting piece (8); the wrist joint bending motor (36) is fixed on a wrist shutdown motor fixing plate (27), the output end of the wrist joint bending motor (36) is driven by a belt wheel, and the output end of the belt wheel is connected with a wrist joint bending screw (37); the tail end 1(41) of the wrist joint radial bending lead screw and the tail end 2(42) of the wrist joint radial bending lead screw are respectively fixed at two ends of a bottom plate (39) of the wrist joint radial bending lead screw; the wrist joint radial bending lead screw (37) is connected with a wrist joint radial bending lead screw nut (38); the wrist joint radial bending lead screw nut (38) is connected with a wrist joint radial bending lead screw slider (40); the wrist joint radial bending lead screw slider (40) is connected with a wrist joint radial bending crank (43); the wrist joint radial crank (43) is connected with the handle (9).
9. The wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot according to any one of claims 1 to 8, wherein the elbow joint exoskeleton contains two degrees of freedom; the wrist exoskeleton contains three degrees of freedom.
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