CN113545958A - Shoulder joint rehabilitation robot - Google Patents
Shoulder joint rehabilitation robot Download PDFInfo
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- CN113545958A CN113545958A CN202110752311.3A CN202110752311A CN113545958A CN 113545958 A CN113545958 A CN 113545958A CN 202110752311 A CN202110752311 A CN 202110752311A CN 113545958 A CN113545958 A CN 113545958A
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- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 229
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims description 46
- 210000000245 forearm Anatomy 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 abstract description 9
- 238000011084 recovery Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000008602 contraction Effects 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 5
- 238000012549 training Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 208000025978 Athletic injury Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010041738 Sports injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000009349 indirect transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention is suitable for the field of rehabilitation robots, and discloses a shoulder joint rehabilitation robot, which comprises a fixed end, a swing driving device and a translational driving device, wherein the swing driving device comprises an indirect driving module, a mechanical arm mechanism and a small arm mechanism, the indirect driving module comprises a supporting mechanism, a first driving mechanism and a second driving mechanism, the small arm mechanism comprises a small arm supporting plate and a third driving mechanism, the supporting mechanism is in shaft connection with the mechanical arm mechanism, the mechanical arm mechanism is connected with the small arm supporting plate, the fixed end is vertically connected with the small arm supporting plate and can slide relative to the small arm supporting plate, the first driving mechanism, the second driving mechanism and the third driving mechanism respectively drive the fixed end to perform first preset swing, second preset swing and third preset swing, the translational driving device drives the fixed end to move up and down, back and forth and back and left and right in the horizontal direction, the robot can realize large-range movement and compound movement of a shoulder joint of a patient, the recovery of the exercise capacity is effectively realized.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a shoulder joint rehabilitation robot for sports injury.
Background
The shoulder joint is the most flexible and fragile joint of the human body and the joint with the least stable structure in the human body joint, and most of the movements can cause the damage of the shoulder joint. In the face of a patient with shoulder joint loss, shoulder joint rehabilitation therapy is required, generally, the shoulder joint can realize common rehabilitation or exercise rehabilitation through rehabilitation therapy, the common rehabilitation means that the patient returns to normal life, the exercise rehabilitation belongs to exercise physical therapy, and people needing to be treated need to be helped to recover the normal exercise life. The motor rehabilitation has more requirements than the common rehabilitation, and the target level is higher. In the prior art, the shoulder joint rehabilitation therapy mainly has the following problems:
firstly, the traditional clinical shoulder joint rehabilitation means mainly depends on hand-grip training of a rehabilitation doctor, namely one-to-one physical therapy. The traditional rehabilitation doctor training has low efficiency, is influenced by the subjective emotion of a therapist and possibly cannot ensure the strength of the rehabilitation training of a patient; corresponding training parameters and indexes (such as movement speed, track, strength and the like) are lacked in the training process, and the recovery evaluation index which is not objective enough is not beneficial to further follow-up research.
Secondly, rehabilitation is a frequent and repetitive task, which is more suitable for being accomplished with the assistance of a robot. The cross research combining the robot technology and the rehabilitation medicine can make up for many defects of the traditional clinical rehabilitation medicine. However, at present, the number of special shoulder joint rehabilitation robot products is small, the output torque is limited, the degree of freedom is insufficient, and the requirements of exercise rehabilitation and the completion of compound rehabilitation actions cannot be met.
Disclosure of Invention
The invention aims to provide a shoulder joint rehabilitation robot which has three rotational degrees of freedom of internal rotation, external expansion, internal contraction and flexion and extension and three translational degrees of freedom of up and down, left and right and front and back, can realize large-range movement and multi-degree-of-freedom compound movement of a shoulder joint of a patient, and effectively realizes the recovery of movement capability.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides a shoulder joint rehabilitation robot, includes stiff end, swing drive arrangement and translation drive arrangement, swing drive arrangement includes indirect drive module, arm mechanism and forearm mechanism, indirect drive module includes supporting mechanism, first actuating mechanism and second actuating mechanism, forearm mechanism includes the forearm backup pad and establishes third actuating mechanism in the forearm backup pad, supporting mechanism with arm mechanism coupling, arm mechanism with the forearm backup pad is connected, the stiff end with the forearm backup pad is connected perpendicularly, and can be relative the forearm backup pad slides, first actuating mechanism is used for driving arm mechanism swings, makes arm mechanism drives forearm mechanism swings, in order to drive the stiff end carries out the first swing of predetermineeing, second actuating mechanism is used for driving forearm mechanism swings, The small arm mechanism drives the fixed end to perform second preset swing, the third driving mechanism is used for driving the fixed end to perform third preset swing, the translational driving device is connected with the supporting mechanism, and the translational driving device is used for driving the supporting mechanism to move in three translational degrees of freedom in the vertical, front-back and left-right directions in the horizontal direction, so that the fixed end moves in three translational degrees of freedom in the vertical, front-back and left-right directions in the horizontal direction.
Preferably, the first driving mechanism includes a first driving member, a first belt pulley, and a second belt pulley driven by the first belt pulley, the first driving member is mounted on the supporting mechanism, the first belt pulley is connected to an output end of the first driving member, and the second belt pulley is connected to the mechanical arm mechanism.
Preferably, the second driving mechanism includes a second driving member, a third belt wheel, and a fourth belt wheel in belt transmission with the third belt wheel, the second driving member is installed on the supporting mechanism, the third belt wheel is connected with an output end of the second driving member, and the fourth belt wheel is connected with the small arm supporting plate.
Preferably, the mechanical arm mechanism comprises a first transverse plate, a second transverse plate arranged at an interval with the first transverse plate, a first vertical plate, a second vertical plate arranged at an interval with the first vertical plate, a first transverse-vertical adapter, a second transverse-vertical adapter and a synchronous belt turning plate, the second transverse plate is supported on the first transverse plate, the first transverse plate is connected with the first vertical plate through the first transverse-vertical adapter, the second transverse plate is connected with the second vertical plate through the second transverse-vertical adapter, the swing driving device further comprises a first connecting mechanism, the first connecting mechanism comprises a penetrating shaft and an outer shaft sleeve, the penetrating shaft penetrates through the supporting mechanism and the second transverse plate, one end of the penetrating shaft, far away from the second transverse plate, is rotatably connected with the supporting mechanism through a bearing, and the outer shaft sleeve is mounted on the penetrating shaft through a bearing, the outer shaft sleeve is connected with the second transverse plate, the second belt wheel is sleeved on the outer shaft sleeve, the second driving mechanism also comprises a fifth belt wheel, a sixth belt wheel, a synchronous belt turning plate and an idler wheel assembly, the fifth belt wheel is sleeved on the through mandrel, and is positioned at one side of the second belt wheel far away from the mechanical arm mechanism, the sixth belt wheel is sleeved at one end of the through mandrel far away from the supporting mechanism, the synchronous belt turning plate is connected with the second transverse and vertical adapter piece, the idler wheel assembly is arranged on the synchronous belt turning plate, the fourth belt wheel is respectively connected with the first vertical plate and the second vertical plate in a rotating way through a rotating shaft, and the rotating shaft is connected with the small arm supporting plate, and the synchronous belt is used for realizing synchronous rotation of the sixth belt wheel and the fourth belt wheel by changing the direction through the idler wheel component.
Preferably, the small arm mechanism further comprises a driving support plate vertically arranged on the small arm support plate and a bearing support plate arranged at an interval with the driving support plate, the fixed end is connected with the bearing support plate and can slide relative to the bearing support plate, the third driving mechanism comprises a third driving member, a rotating shaft, a seventh belt wheel, two rotating idle wheels arranged at intervals, an open synchronous belt, a synchronous belt rack and a synchronous belt pressing plate, the third driving member is arranged on the driving support plate, the two rotating idle wheels are arranged on the bearing support plate, one end of the rotating shaft is connected with the third driving member, the other end of the rotating shaft is arranged on the bearing support plate through a bearing, the seventh belt wheel is sleeved on the rotating shaft, the synchronous belt rack and the synchronous belt pressing plate are matched for use, and two sets are respectively arranged at two end parts of the fixed end, the open synchronous belt bypasses a seventh belt pulley and passes through the inner sides of the two rotary idle wheels, and two ends of the open synchronous belt are respectively fixed between the synchronous belt rack and the synchronous belt pressing plate at two end parts of the fixed end.
Preferably, the stiff end is the semicircle ring structure, the semicircle ring structure is provided with the arc spout, swing drive arrangement still includes second coupling mechanism, second coupling mechanism includes the connecting plate, installs guide pulley base and setting are in on the connecting plate guide pulley on the base, the connecting plate with the forearm backup pad is connected perpendicularly, guide pulley with arc spout adaptation.
Preferably, the translational driving device comprises a fourth driving mechanism, a fifth driving mechanism and a sixth driving mechanism, the fourth driving mechanism comprises a first slide rail seat and a fourth driving component, the fifth driving mechanism comprises a second slide rail seat and a fifth driving component which are vertically arranged with the first slide rail seat, the second slide rail seat is slidably connected with the first slide rail seat, the sixth driving mechanism comprises a base plate which is slidably connected with the second slide rail seat, a shaft member which is vertically arranged on the base plate, an elastic member which is sleeved on the shaft member and a sixth driving component, the supporting mechanism is arranged on the shaft member through a linear bearing, the elastic member is elastically compressed between the base plate and the supporting mechanism, the sixth driving component is arranged on the supporting mechanism, and a telescopic shaft of the sixth driving component is connected with the base plate, the fourth driving assembly is used for driving the second slide rail seat to slide back and forth along the first slide rail seat so that the fixed end can move back and forth, the fifth driving assembly is used for driving the supporting mechanism to slide left and right along the second slide rail seat so that the fixed end can move left and right, and the sixth driving assembly is used for driving the supporting mechanism to slide up and down along the shaft part so that the fixed end can move up and down.
Preferably, the supporting mechanism includes a first fixing plate and a second fixing plate which are arranged at an interval, the second fixing plate is supported on the first fixing plate, the first driving mechanism and the second driving mechanism are both installed on the second fixing plate, the shaft passes through the first fixing plate and the second fixing plate and is slidably connected with the first fixing plate and the second fixing plate, the sixth driving assembly passes through the second fixing plate and is installed on the first fixing plate, and the telescopic shaft of the sixth driving assembly is in telescopic movement between the first fixing plate and the base plate.
Preferably, the shoulder joint rehabilitation robot further comprises a base, universal wheels are arranged at the bottom of the base, the translational driving device is installed on the base, and the mechanical arm mechanism, the small arm mechanism and the fixed end are located on one side of the base.
Preferably, the shoulder joint rehabilitation robot further comprises a control system for controlling the driving of the swing driving device and the translation driving device.
The shoulder joint rehabilitation robot provided by the invention has three rotational degrees of freedom of internal rotation, external expansion, internal contraction and flexion and extension and three translational degrees of freedom of up and down, left and right and front and back, has an active and passive compound rehabilitation function, can realize large-range movement and multi-degree-of-freedom compound movement of the shoulder joint of a patient, and effectively realizes the recovery of movement capability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a shoulder joint rehabilitation robot provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a base according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a translation driving device provided in an embodiment of the present invention;
FIG. 4 is a partial schematic view of an indirect drive module provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a combination of a first coupling mechanism and an indirect drive module provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a robotic arm mechanism provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of the attachment of the forearm mechanism provided by an embodiment of the invention;
FIG. 8 is a schematic structural diagram of a second coupling mechanism provided in accordance with an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a fixing end provided in an embodiment of the present invention;
FIG. 10 is a schematic view of a combination of an indirect drive mechanism, a first linkage mechanism, a robotic arm mechanism, and a second linkage mechanism provided in accordance with an embodiment of the present invention;
FIG. 11 is a schematic view of a combination of a small arm mechanism, a second connecting mechanism and a fixed end provided by an embodiment of the present invention;
fig. 12 is a combination schematic diagram of the first connecting mechanism, the mechanical arm mechanism, the small arm mechanism, the second connecting mechanism and the fixed end provided by the embodiment of the invention.
The reference numbers illustrate:
1. a base; 11. a universal wheel; 12. a frame; 13. an electric box; 14. an electric box supporting plate;
2. a translation drive device; 21. a first slide rail seat; 22. a fourth drive assembly; 23. a second slide rail seat; 28. a fifth drive assembly; 24. a base plate; 25. a shaft support; 26. a shaft member; 27. an elastic member; 29. a sixth drive assembly;
3. an indirect drive module; 31. a support mechanism; 311. a first fixing plate; 312. a second fixing plate; 32. a first drive mechanism; 321. a first driving member; 322. a first pulley; 323. a second pulley; 324. a torque limiter; 325. a drive shaft; 326. a first force sensor; 33. a second drive mechanism; 331. a second driving member; 332. a third belt pulley; 333. a fourth pulley; 334. a fifth belt pulley; 335. a sixth pulley; 336. a synchronous belt; 337. a synchronous belt turning plate; 338. an idler assembly; 339. a second force sensor;
4. a first connecting mechanism; 41. penetrating a mandrel; 42. an outer sleeve;
5. a mechanical arm mechanism; 51. a first transverse plate; 52. a second transverse plate; 53. a first vertical plate; 54. a second vertical plate; 55. a first transverse-vertical adapter; 56. a second transverse-vertical adapter;
6. a rotating shaft;
7. a small arm mechanism; 71. a forearm support plate; 72. a drive support plate; 73. a speed reducer; 74. a sensor adapter plate; 75. a torque sensor; 76. a rotating shaft; 77. a seventh pulley; 78. a bearing support plate; 710. a rotating idler wheel; 711. a third driving member; 712. a synchronous belt rack; 713. pressing plates of the synchronous belt;
8. a second connecting mechanism; 81. a connecting plate; 82. a guide pulley base; 83. a guide pulley;
9. a fixed end; 91. has an arc chute.
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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 12, which are shoulder joint rehabilitation robots according to an embodiment of the present invention, mainly for patients with sports injuries, the shoulder joint rehabilitation robot has three rotational degrees of freedom including internal rotation and external rotation, external expansion and internal contraction, and flexion and extension, and three translational degrees of freedom including up and down, left and right, and front and back, and has an active and passive compound rehabilitation function, and can realize wide-range movement and compound movement with multiple degrees of freedom of a shoulder joint of a patient, and effectively realize recovery of movement capability, please refer to fig. 1, in which an X direction is a front-back direction, a Y direction is a left-right direction, and a Z direction is a top-bottom direction.
Referring to fig. 1 to 12, a shoulder joint rehabilitation robot according to an embodiment of the present invention includes a fixed end 9, a swing driving device, and a translation driving device 2, where the swing driving device includes an indirect driving module 3, a mechanical arm mechanism 5, and a small arm mechanism 7, the indirect driving module 3 includes a supporting mechanism 31, a first driving mechanism 32, and a second driving mechanism 33, the first driving mechanism 32 and the second driving mechanism 33 are both disposed on the supporting mechanism 31, the small arm mechanism 7 includes a small arm supporting plate 71, and a third driving mechanism disposed on the small arm supporting plate 71, the supporting mechanism 31 is coupled to the mechanical arm mechanism 5, the mechanical arm mechanism 5 is connected to the small arm supporting plate 71, the fixed end 9 is vertically connected to the small arm supporting plate 71 and can slide relative to the small arm supporting plate 71, the first driving mechanism 32 is configured to drive the mechanical arm mechanism 5 to swing so that the mechanical arm mechanism 5 drives the small arm mechanism 7 to swing, The fixed end 9 is driven to perform first preset swinging (such as bending and stretching), the second driving mechanism 33 is used for driving the small arm mechanism 7 to swing so that the small arm mechanism 7 drives the fixed end 9 to perform second preset swinging (such as outward stretching and inward contraction), the third driving mechanism is used for driving the fixed end 9 to perform third preset swinging (such as inward rotation and outward rotation), the translational driving device 2 is connected with the supporting mechanism 31, the translational driving device 2 drives the supporting mechanism 31 so that the supporting mechanism 31 drives the mechanical arm mechanism 5 to move in three translational degrees of freedom in the vertical, front-back and left-right directions of the horizontal direction, and the mechanical arm mechanism 5 drives the small arm mechanism 7 to move in three translational degrees of freedom in the vertical, front-back and left-right directions of the horizontal direction so as to drive the fixed end 9 to move in three translational degrees of freedom in the vertical, front-back and left-right directions of the horizontal direction.
When a patient carries out passive rehabilitation with the assistance of a shoulder joint rehabilitation robot, the affected limb is placed into the fixed end 9 to be fixed, the affected limb carries out passive rehabilitation along with the motion track of the rehabilitation robot, when the patient carries out active rehabilitation with the assistance of the rehabilitation robot, the affected limb is placed into the fixed end 9 to be fixed, the affected limb carries out rehabilitation according to designed rehabilitation actions, and the robot can give certain resistance according to real-time force feedback to carry out active rehabilitation.
It can be understood that the shoulder joint rehabilitation robot further includes a control system, the operation of the shoulder joint rehabilitation robot is controlled through the control system, so that the shoulder joint rehabilitation device moves according to the preset requirement, the control system can be a remote controller or a remote control end, and the like, and the specific setting can be performed by those skilled in the art according to the needs, and the detailed description is omitted here.
Further, the patient can adjust various parameters of the shoulder joint rehabilitation robot based on the control system to adjust the amplitude, speed and angle range of the shoulder joint movement.
The shoulder joint rehabilitation robot provided by the embodiment of the invention has three rotational degrees of freedom of internal rotation, external expansion, internal contraction and flexion and extension and three translational degrees of freedom of up and down, left and right and front and back, has an active and passive compound rehabilitation function, can realize large-range movement and multi-degree-of-freedom compound movement of the shoulder joint of a patient, and effectively realizes recovery of movement capability.
Referring to fig. 1 to 4, the translational driving device 2 includes a fourth driving mechanism for driving the fixed end 9 to move in the front-back direction, a fifth driving mechanism for driving the fixed end 9 to move in the left-right direction, and a sixth driving mechanism for driving the fixed end 9 to move in the up-down direction, the fourth driving mechanism includes a first slide rail seat 21 and a fourth driving assembly 22, the fifth driving mechanism includes a second slide rail seat 23 and a fifth driving assembly 28 vertically arranged with respect to the first slide rail seat 21, the second slide rail seat 23 is slidably connected with the first slide rail seat 21, the sixth driving mechanism includes a base plate 24 slidably connected with the second slide rail seat 23, a shaft member 26 vertically arranged on the base plate 24, an elastic member 27 sleeved on the shaft member 26, and a sixth driving assembly 29, the supporting mechanism 31 is mounted on the shaft member 26 through a linear bearing, the elastic member 27 is elastically compressed between the base plate 24 and the supporting mechanism 31, the sixth driving component 29 is arranged on the supporting mechanism 31, a telescopic shaft of the sixth driving component 29 is connected with the base plate 24, and the fourth driving component 22 drives the second slide rail seat 23 to slide back and forth along the first slide rail seat 21, so that the second slide rail seat 23 drives the supporting mechanism 31 to move back and forth, and the mechanical arm mechanism 5 drives the small arm mechanism 7 to move left and right to drive the fixed end 9 to move back and forth. The fifth driving assembly 28 drives the supporting mechanism 31 to slide left and right along the second slide rail seat 23, so that the mechanical arm mechanism 5 drives the small arm mechanism 7 to move left and right, and the fixed end 9 to move left and right. The sixth driving assembly 29 drives the supporting mechanism 31 to slide up and down along the shaft 26, so that the mechanical arm mechanism 5 drives the small arm mechanism 7 to move up and down, and the fixed end 9 to move up and down.
In particular, the shaft 26 is fixed to the floor base by means of a shaft 26 bracket 25.
Optionally, the fourth driving assembly 22 includes a driving motor, a transmission belt disposed on the first slide rail seat 21, and a transmission assembly connected to the driving motor and providing power to the transmission belt, and the fifth driving mechanism moves along with the transmission belt so as to move in the front-rear direction, and the driving manner is simple and reliable.
Optionally, the fifth driving assembly 28 includes a driving motor, a transmission belt disposed on the second slide rail seat 23, and a transmission assembly connected to the driving motor and providing power for the transmission belt, so that the base plate 24 moves along with the transmission belt to move in the left-right direction, and the driving manner is simple and reliable.
Optionally, the sixth driving assembly 29 is an electric push rod assembly, and it should be noted that the sixth driving assembly 29 may be driven by electric power, hydraulic pressure, pneumatic pressure and the like in a variety of manners when the driving requirement is met, as long as the driving requirement can be met, and details are not described here.
Referring to fig. 1, 9-11, the fixing end 9 is a semicircular ring structure having an arc chute 91, so that the patient can fix the affected limb on the semicircular ring structure when using the shoulder joint rehabilitation robot.
It is to be understood that the structure of the fixing end 9 is not limited to a semicircular ring structure, as long as it is a circular ring structure having an opening.
Referring to fig. 1, 6 and 11, the robot arm mechanism 5 includes a first horizontal plate 51, a second horizontal plate 52 spaced apart from the first horizontal plate 51, a first vertical plate 53, a second vertical plate 54 spaced apart from the first vertical plate 53, a first horizontal-vertical adapter 55 and a second horizontal-vertical adapter 56, the second horizontal plate 52 is supported on the first horizontal plate 51, the first horizontal plate 51 is connected to the first vertical plate 53 through the first horizontal-vertical adapter 55, and the second horizontal plate 52 is connected to the second vertical plate 54 through the second horizontal-vertical adapter 56.
Referring to fig. 1 and 4, the supporting mechanism 31 has a first end and a second end, the supporting mechanism 31 includes a first fixing plate 311 and a second fixing plate 312 arranged at an interval, the second fixing plate 312 is supported on the first fixing plate 311, the shaft 26 passes through the first fixing plate 311 and the second fixing plate 312 and is slidably connected with the first fixing plate 311 and the second fixing plate 312, the sixth driving assembly 29 passes through the second fixing plate 312 and is mounted on the first fixing plate 311, and the telescopic shaft of the sixth driving assembly 29 performs telescopic motion between the first fixing plate 311 and the base plate 24.
The linear bearings are embedded in the first fixing plate 311, the linear bearings are embedded in the second fixing plate 312, and the linear bearings on the first fixing plate and the linear bearings on the second fixing plate are arranged correspondingly.
The linear bearing is provided on the side facing the second fixed plate 312, and the linear bearing is also provided on the side facing the first fixed plate 311 of the second fixed plate 312.
Referring to fig. 1, 5 and 11, the swing driving apparatus further includes a first connecting mechanism 4, the first connecting mechanism 4 includes a through spindle 41 and an outer spindle sleeve 42, the through spindle 41 sequentially passes through the second fixing plate 312, the first fixing plate 311 and the second horizontal plate 52 of the robot arm mechanism 5, one end of the through spindle 41 away from the robot arm mechanism 5 is mounted on the second fixing plate 312 through a bearing, the outer spindle sleeve 42 is mounted on the through spindle 41 through a bearing, and the outer spindle sleeve 42 is connected to the robot arm mechanism 5.
Referring to fig. 1, 8, 10 and 11, the swing driving device further includes a second connecting mechanism 8, the second connecting mechanism 8 includes a connecting plate 81, a guide pulley base 82 mounted on the connecting plate 81, and a guide pulley 83 disposed on the guide pulley base 82, the connecting plate 81 is vertically connected to the small arm support plate 71, the guide pulley 83 is adapted to the sliding groove, and the fixed end 9 and the second connecting mechanism 8 are slidably connected by the guide pulley 83 and the arc-shaped sliding groove.
Referring to fig. 1, 4, 5, 10 and 12, the first driving mechanism 32 is configured to drive the robot arm to perform a first predetermined swing, the first driving mechanism 32 includes a first driving member 321, a first pulley 322, and a second pulley 323 driven by the first pulley 322 through a belt, the first driving member 321 is installed at a first end of the supporting mechanism 31, the first pulley 322 is connected to an output end of the first driving member 321, the second pulley 323 is disposed at a second end of the supporting mechanism 31, and the second pulley 323 is connected to the robot arm mechanism 5.
Specifically, the first driving member 321 is mounted on the second fixing plate 312.
Further, the first driving mechanism 32 further includes a torque limiter 324 and a driving shaft 325, the torque limiter 324 is connected to the output end of the first driving member 321, one end of the driving shaft 325 is connected to the torque limiter 324, and the other end is connected to the first pulley 322, and overload protection is achieved by the torque limiter 324.
Further, the first driving mechanism 32 further includes a first force sensor 326 mounted on the outer sleeve 42 via a sensor connection, and a force feedback is achieved by providing the first force sensor 326, wherein the first force sensor 326 is fixed to the second cross plate 52 of the mechanical arm mechanism 5.
It is understood that the first driving element 321 can be driven by electric power, hydraulic pressure, pneumatic pressure, etc. under the condition of satisfying the driving requirement, as long as the requirement of driving can be satisfied, and the description is omitted here.
Referring to fig. 1, 4, 5, 6, 10 and 12, the second driving mechanism 33 is configured to drive the forearm mechanism 7 to perform a second predetermined swing, the second driving mechanism 33 includes a second driving member 331, a third pulley 332, and a fourth pulley 333 in belt transmission with the third pulley 332, the second driving member 331 is installed at a first end of the supporting mechanism 31, the third pulley 332 is connected with an output end of the second driving member 331, and the fourth pulley 333 is connected with the forearm supporting plate 71.
Specifically, the second driving member 331 is mounted on the second fixing plate 312.
Further, the second driving mechanism 33 further includes a fifth pulley 334, a sixth pulley 335, a synchronous belt 336, a synchronous belt turning plate 337 and an idler assembly 338, the fifth pulley 334 is sleeved on the through mandrel 41 and is located on one side of the second pulley 323 away from the robot arm mechanism 5, the sixth pulley 335 is sleeved on one end of the through mandrel 41 away from the supporting mechanism 31, the synchronous belt turning plate 337 is connected with the second vertical-horizontal adapter 56, the idler assembly 338 is installed on the synchronous belt turning plate 337, the synchronous belt 336 switches directions through the idler assembly 338 to complete synchronous rotation of the sixth pulley 335 and the fourth pulley 333, the fourth pulley 333 is rotatably connected with the first vertical plate 53 and the second vertical plate 54 through the rotating shaft 6, and the rotating shaft 6 is connected with the forearm supporting plate 71. The second driving member 331 drives the third pulley 332 to rotate, so that the third pulley 332 drives the fifth pulley 334 to rotate, the fifth pulley 334 drives the through-center shaft 41 to rotate, the through-center shaft 41 drives the sixth pulley 335 to rotate, the synchronous belt 336 switches directions through the idler pulley assembly 338 to complete synchronous rotation of the sixth pulley 335 and the fourth pulley 333, and the small arm support plate 71 drives the fixed end 9 to perform a second preset swing.
Further, the second driving mechanism 33 further includes a second force sensor 339, the second force sensor 339 is a six-dimensional force sensor, one end of the rotating shaft 6 is mounted on the first vertical plate 53 through a bearing and a bearing seat, the other end of the rotating shaft is mounted on the second vertical plate 54 through a bearing and a bearing seat and extends out of the second vertical plate 54, the six-dimensional force sensor is mounted on a portion of the rotating shaft 6 extending out of the second vertical plate 54, and the six-dimensional force sensor is connected with the forearm support plate 71, and force feedback is achieved by arranging the six-dimensional force sensor.
It can be understood that the second driving element 331 can be driven by electric power, hydraulic pressure, pneumatic pressure, etc. under the condition of satisfying the driving requirement, and the description thereof is omitted here as long as the requirement of driving can be satisfied.
The shoulder joint rehabilitation robot of the embodiment of the invention realizes indirect transmission of the mechanical arm mechanism 5 and indirect drive of the small arm mechanism 7 by reasonably setting the structure of the mechanical arm mechanism 5, the structure of the first driving mechanism 32 and the structure of the second driving mechanism 33 and the connection relationship among the three mechanisms, and has the following advantages:
firstly, an indirect driving mode is adopted, the mass of the mechanical arm mechanism 5 can be reduced, the strength and the rigidity of the exoskeleton mechanical arm mechanism 5 are improved, and the safety of the shoulder joint rehabilitation robot is ensured.
Secondly, the output torque of the first driving element 321 and the second driving element 331 can be improved by adopting an indirect driving mode, and the phenomenon that the mass is overlarge due to the overlarge first driving element 321 and second driving element 331 during direct driving, so that the edge is overlarge is avoided.
Thirdly, the belt transmission can bear large torque output, and the advantages of shock absorption, buffering and low price are achieved.
Referring to fig. 1, 7, 9 and 11, the small arm mechanism 7 further includes a driving support plate 72 vertically disposed on the small arm support plate 71, and a bearing support plate 78 disposed at an interval from the driving support plate 72, the connection plate 81 of the second connection mechanism 8 is mounted at a lower side of a tail end of the bearing support plate 78, the third driving mechanism includes a third driving member 711, a rotation shaft 76, a seventh pulley 77, two rotation idlers 710 disposed at an interval, an open timing belt 336 (not shown), a timing belt rack 712 and a timing belt press plate 713, the third driving member 711 is mounted on the driving support plate 72, the two rotation idlers 710 are mounted on the bearing support plate 78, one end of the rotation shaft 76 is connected to the third driving member 711, the other end is mounted on the bearing support plate 78 through a bearing, the seventh pulley 77 is sleeved on the rotation shaft 76, the timing belt rack 712 and the timing belt press plate 713 are used in a matching manner, one set is respectively disposed at two end portions of the fixed end 9, the opening synchronous belt 336 bypasses the seventh pulley 77 and passes through the inner sides of the two rotary idle wheels 710, the two ends of the opening synchronous belt are respectively fixed between the synchronous belt rack 712 and the synchronous belt pressing plate 713 at the two end parts of the semicircular ring structure, and the third driving piece 711 drives the seventh pulley 77 to rotate so as to drive the semicircular ring structure to slide relative to the guide pulley base 82, thereby performing third preset swing.
Further, the forearm mechanism 7 further includes a speed reducer 73, a sensor adapter 74 and a torque sensor 75, the speed reducer 73 is connected with a third driving member 711 and is used for adjusting the speed of the third driving member 711, the sensor adapter 74 is connected with an output end of the speed reducer 73, one end of the revolving shaft 76, which is far away from the bearing support plate 78, penetrates through the torque sensor 75 and is connected with the sensor adapter 74, and the torque sensor 75 is arranged and is used for measuring the torque magnitude and direction of the revolving shaft 76 and feeding back to the control system in time, so that the shoulder joint rehabilitation robot has an accurate force feedback function and effectively realizes the recovery of the movement capability.
It is understood that the third driving member 711 may be driven by electric power, hydraulic pressure, pneumatic pressure, etc. when the driving requirement is satisfied, and the description thereof is omitted here.
This shoulder joint rehabilitation robot adopts indirect drive's drive mode in order to satisfy recovered demand, and each joint passes through the drive of hold-in range 336, and the nimble reduce cost of drive form, and this kind of drive mode is effectual has reduced the quality of arm, has increased intensity and security.
Optionally, the first driving member 321, the second driving member 331 and the third driving member 711 are all high power motors. The shoulder joint rehabilitation robot adopts the high-power motor and an indirect driving mode with the rear motor in order to meet rehabilitation requirements, the transmission mode not only effectively reduces the quality of the mechanical arm, increases the strength and the safety, but also improves the useful work of the motor.
Referring to fig. 1-2, the rehabilitation robot further includes a base 1 including a frame 12, an electric box supporting plate 14 and an electric box 13, the frame 12 is made of aluminum, a universal wheel 11 is disposed at the bottom of the frame 12, the electric box supporting plate 14 is mounted in the middle of the frame 12, the electric box 13 is mounted on the electric box supporting plate 14, the translational driving device 2 is mounted on the frame 12, that is, the first guide rail seat is mounted on the frame 12, the mechanical arm mechanism 5, the small arm mechanism 7 and the fixing end 9 are located on one side of the frame 12, and the electric box 13 is used for providing power for the translational driving device 2 and electrical components of the swing driving device.
The shoulder joint robot of the embodiment of the invention can move the shoulder joint rehabilitation robot through the base 1, thereby improving convenience.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a shoulder joint rehabilitation robot, its characterized in that, includes stiff end, swing drive arrangement and translation drive arrangement, swing drive arrangement includes indirect drive module, arm mechanism and forearm mechanism, indirect drive module includes supporting mechanism, first actuating mechanism and second actuating mechanism, forearm mechanism includes the forearm backup pad and establishes third actuating mechanism in the forearm backup pad, supporting mechanism with arm mechanism coupling, arm mechanism with the forearm backup pad is connected, the stiff end with the forearm backup pad is perpendicular to be connected, and can be relative the forearm backup pad slides, first actuating mechanism is used for driving arm mechanism swings, makes arm mechanism drives forearm mechanism swings, in order to drive the stiff end carries out first preset swing, second actuating mechanism is used for driving forearm mechanism swings, The small arm mechanism drives the fixed end to perform second preset swing, the third driving mechanism is used for driving the fixed end to perform third preset swing, the translational driving device is connected with the supporting mechanism, and the translational driving device is used for driving the supporting mechanism to move in three translational degrees of freedom in the vertical, front-back and left-right directions in the horizontal direction, so that the fixed end moves in three translational degrees of freedom in the vertical, front-back and left-right directions in the horizontal direction.
2. The shoulder joint rehabilitation robot of claim 1, wherein the support mechanism has a first end and a second end, the first drive mechanism includes a first drive member mounted on the first end of the support mechanism, a first pulley coupled to an output end of the first drive member, and a second pulley coupled to the first pulley and disposed at the second end of the support mechanism, and the second pulley is coupled to the robotic arm mechanism.
3. The shoulder joint rehabilitation robot of claim 2, wherein the second driving mechanism includes a second driving member, a third pulley, and a fourth pulley in belt transmission with the third pulley, the second driving member being mounted on the first end of the support mechanism, the third pulley being connected to an output end of the second driving member, and the fourth pulley being connected to the lower arm support plate.
4. The shoulder joint rehabilitation robot of claim 3, wherein the mechanical arm mechanism comprises a first transverse plate, a second transverse plate arranged at an interval with the first transverse plate, a first vertical plate, a second vertical plate arranged at an interval with the first vertical plate, a first transverse-vertical adapter, a second transverse-vertical adapter and a synchronous belt turning plate, the second transverse plate is supported on the first transverse plate, the first transverse plate is connected with the first vertical plate through the first transverse-vertical adapter, the second transverse plate is connected with the second vertical plate through the second transverse-vertical adapter, the swing driving device further comprises a first connecting mechanism, the first connecting mechanism comprises a penetrating shaft and an outer shaft sleeve, the penetrating shaft penetrates through the supporting mechanism and the second transverse plate, one end of the penetrating shaft, which is far away from the second transverse plate, is rotatably connected with the supporting mechanism through a bearing, the outer shaft sleeve is arranged on the through mandrel through a bearing and is connected with the second transverse plate, the second belt wheel is sleeved on the outer shaft sleeve, the second driving mechanism further comprises a fifth belt wheel, a sixth belt wheel, a synchronous belt turning plate and an idler wheel assembly, the fifth belt wheel is sleeved on the penetrating mandrel, and is positioned at one side of the second belt wheel far away from the mechanical arm mechanism, the sixth belt wheel is sleeved at one end of the through mandrel far away from the supporting mechanism, the synchronous belt turning plate is connected with the second transverse and vertical adapter piece, the idler wheel assembly is arranged on the synchronous belt turning plate, the fourth belt wheel is respectively connected with the first vertical plate and the second vertical plate in a rotating way through a rotating shaft, and the rotating shaft is connected with the small arm supporting plate, and the synchronous belt is used for realizing synchronous rotation of the sixth belt wheel and the fourth belt wheel by changing the direction through the idler wheel component.
5. The shoulder joint rehabilitation robot of claim 1, wherein the forearm mechanism further comprises a driving support plate vertically disposed on the forearm support plate and a bearing support plate spaced from the driving support plate, the fixed end is connected to the bearing support plate and is capable of sliding relative to the bearing support plate, the third driving mechanism comprises a third driving member, a rotating shaft, a seventh pulley, two spaced apart rotating idler pulleys, an open synchronous belt, a synchronous belt rack and a synchronous belt pressing plate, the third driving member is mounted on the driving support plate, the two rotating idler pulleys are mounted on the bearing support plate, one end of the rotating shaft is connected to the third driving member, the other end of the rotating shaft is mounted on the bearing support plate through a bearing, the seventh pulley is sleeved on the rotating shaft, and the synchronous belt rack and the synchronous belt pressing plate are used in cooperation, and two ends of the fixed end are respectively provided with a set of belt, the open synchronous belt passes through the inner sides of the two rotary idle wheels by winding around a seventh belt wheel, and two ends of the open synchronous belt are respectively fixed between the synchronous belt rack and the synchronous belt pressing plate at the two ends of the fixed end.
6. The shoulder joint rehabilitation robot of claim 1, wherein the fixed end is a semicircular ring structure provided with an arc-shaped sliding groove, the swing driving device further comprises a second connecting mechanism, the second connecting mechanism comprises a connecting plate, a guide pulley base mounted on the connecting plate, and a guide pulley arranged on the guide pulley base, the connecting plate is vertically connected with the forearm support plate, and the guide pulley is matched with the arc-shaped sliding groove.
7. The shoulder joint rehabilitation robot of claim 1, wherein the translational drive device comprises a fourth drive mechanism, a fifth drive mechanism and a sixth drive mechanism, the fourth drive mechanism comprises a first slide rail seat and a fourth drive component, the fifth drive mechanism comprises a second slide rail seat and a fifth drive component which are arranged perpendicular to the first slide rail seat, the second slide rail seat is connected with the first slide rail seat in a sliding manner, the sixth drive mechanism comprises a base plate connected with the second slide rail seat in a sliding manner, a shaft member vertically arranged on the base plate, an elastic member sleeved on the shaft member and a sixth drive component, the support mechanism is mounted on the shaft member through a linear bearing, the elastic member is elastically compressed between the base plate and the support mechanism, and the sixth drive component is arranged on the support mechanism, and the telescopic shaft of the sixth driving component is connected with the base plate, the fourth driving component is used for driving the second slide rail seat to slide back and forth along the first slide rail seat so as to enable the fixed end to move back and forth, the fifth driving component is used for driving the supporting mechanism to slide left and right along the second slide rail seat so as to enable the fixed end to move left and right, and the sixth driving component is used for driving the supporting mechanism to slide up and down along the shaft piece so as to enable the fixed end to move up and down.
8. The shoulder joint rehabilitation robot of claim 7, wherein the supporting mechanism includes a first fixing plate and a second fixing plate spaced apart from each other, the second fixing plate is supported on the first fixing plate, the first driving mechanism and the second driving mechanism are both mounted on the second fixing plate, the shaft member passes through the first fixing plate and the second fixing plate and is slidably connected to the first fixing plate and the second fixing plate, the sixth driving assembly passes through the second fixing plate and is mounted on the first fixing plate, and the telescopic shaft of the sixth driving assembly performs telescopic movement between the first fixing plate and the base plate.
9. The shoulder joint rehabilitation robot of claim 1, further comprising a base, wherein universal wheels are provided at a bottom of the base, the translational driving device is mounted on the base, and the mechanical arm mechanism, the small arm mechanism and the fixed end are located at one side of the base.
10. The shoulder joint rehabilitation robot of claim 1, further comprising a control system for controlling the driving of the oscillating drive means and the translational drive means.
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| CN202110752311.3A CN113545958A (en) | 2021-07-02 | 2021-07-02 | Shoulder joint rehabilitation robot |
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| CN202110752311.3A CN113545958A (en) | 2021-07-02 | 2021-07-02 | Shoulder joint rehabilitation robot |
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| CN113545958A true CN113545958A (en) | 2021-10-26 |
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| CN116059078A (en) * | 2022-12-27 | 2023-05-05 | 力之医疗科技(广州)有限公司 | Shoulder exoskeleton for upper limb auxiliary rehabilitation |
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