CN113599193A - Wearable upper limb rehabilitation exoskeleton - Google Patents
Wearable upper limb rehabilitation exoskeleton Download PDFInfo
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- CN113599193A CN113599193A CN202111030154.1A CN202111030154A CN113599193A CN 113599193 A CN113599193 A CN 113599193A CN 202111030154 A CN202111030154 A CN 202111030154A CN 113599193 A CN113599193 A CN 113599193A
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- connecting rod
- large arm
- shoulder
- elbow
- module
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
-
- 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
- A61H2205/062—Shoulders
-
- 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
- A61H2205/065—Hands
Abstract
The invention discloses a wearable upper limb rehabilitation exoskeleton which comprises a wearing back plate module, a shoulder motion module, an upper arm internal and external rotation module and an elbow motion module, wherein the wearing back plate module comprises a wearing back plate and a movable base, the shoulder motion module comprises a first servo motor, a horizontal connecting rod and a shoulder vertical connecting rod, the upper arm internal and external rotation module is installed on the inner side of the bottom end of the shoulder vertical connecting rod, and the elbow motion module is arranged at the other end of the upper arm internal and external rotation module. According to the invention, through a multi-modular design, the overall structure of the rehabilitation exoskeleton is simpler, and compared with the traditional steel structure wearable skeleton, the rehabilitation exoskeleton is lighter and lighter after being worn; the large arm support semi-ring in the upper arm internal-external rotation module and the wrist rotation semi-ring of the elbow movement module rotate around the curvature center of the wrist rotation semi-ring to enable the exoskeleton and the limb of a patient to be easy to generate joint movement axes to keep consistent, and meanwhile, a sliding groove in the semi-ring is sleeved on a bearing, so that the process of swinging the arm is smoother.
Description
Technical Field
The invention relates to the field of rehabilitation equipment, in particular to a wearable upper limb rehabilitation exoskeleton.
Background
Stroke is a group of diseases that cause damage to brain tissue due to sudden rupture of cerebral vessels or the inability of blood to flow into the brain due to vessel occlusion. In recent years, the stroke condition of China always has the characteristics of high morbidity, high disability rate, high mortality and high recurrence rate. Patients often require the assistance of rehabilitation equipment in daily life due to nerve damage. On the other hand, with the popularization of vehicles, traffic accidents have been increasing year by year, and motor disorders such as car accidents or mechanical injuries also require timely rehabilitation.
The exoskeleton robot integrates the technologies of sensing, control, information, fusion, mobile computing and the like, and relates to key technologies of anthropomorphic mechanical structure design, drive system selection, energy problem, control system principle and the like. The exoskeleton robot needs to be in contact with a human body, the intention of the human body is collected through a sensor, mechanical feedback is carried out, and how to realize human-machine dynamic balance is a difficult point of development of the exoskeleton robot for more than half a century. At present, most wearable upper limb exoskeletons have small number of degrees of freedom, and the movement of the upper limbs of a human body is multi-joint system movement; the existing research and commercial exoskeletons are mostly of rigid structures, so that the exoskeletons and the limbs of a patient are prone to generating inconsistent joint motion axes, so that the sensor measurement is inaccurate, the comfort of human-computer interaction is reduced, the portability is a great advantage of the wearable upper limb exoskeletons, but is limited by objective factors of hardware devices such as motors and batteries, and the existing wearable design exoskeletons with multiple degrees of freedom are still overweight and not light enough in actual training.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wearable upper limb rehabilitation exoskeleton.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention relates to a wearable upper limb rehabilitation exoskeleton, which comprises a wearable back plate module, a shoulder motion module, an upper arm internal and external rotation module and an elbow motion module, wherein the wearable back plate module comprises a wearable back plate 15 and a movable base 16, the movable base 16 is arranged at the top end of the wearable back plate 15, the shoulder motion module is arranged at the top end of the movable base 16, the shoulder motion module comprises a first servo motor 1, a horizontal connecting rod 2 and a shoulder vertical connecting rod 4, the first servo motor 1 is arranged on one side of the top end surface of the movable base 16, the top end of the first servo motor 1 is in transmission connection with the shoulder horizontal connecting rod 2, the other end of the shoulder horizontal connecting rod 2 is provided with a shoulder vertical connecting rod 4, a shoulder hinge 3 is arranged between the shoulder vertical connecting rod 4 and the shoulder horizontal connecting rod 2, and the outer side of the bottom end of the shoulder vertical connecting rod 4 is provided with a second servo motor 5, an upper arm internal and external rotation module is installed on the inner side of the bottom end of the shoulder vertical connecting rod 4, and an elbow motion module is arranged at the other end of the upper arm internal and external rotation module.
As a preferred technical solution of the present invention, the movable base 16 is composed of a supporting plate and a mounting plate, the inside of the wearable back plate 15 is a cavity structure, and the surface of the wearable back plate is provided with a plurality of positioning holes side by side, the supporting plate is movably sleeved on the top end of the inner cavity of the wearable back plate 15, one side of the top end of the supporting plate is fixedly connected with the mounting plate, the mounting plate is a concave plate structure, mounting grooves are formed at both ends of the mounting plate, and the first servo motor 1 is mounted in the mounting grooves.
As a preferred technical scheme of the present invention, the upper arm internal and external rotation module includes a large arm connecting rod 6, the large arm connecting rod 6 is in transmission connection with a second servo motor 5, a large arm adjusting screw 17 is installed at the other end of the large arm connecting rod 6, auxiliary sliding rods are respectively installed on two sides of the large arm adjusting screw 17, the other end of the large arm adjusting screw 17 is connected with a large arm internal rotation mechanism base 10, a plurality of hexagonal copper columns 28 are installed on the surface of one side of the large arm internal rotation mechanism base 10 facing the large arm connecting rod 6, a stepping motor 7 is installed at the top end of the hexagonal copper columns 28, a large arm supporting semi-ring 9 is installed inside the large arm internal rotation mechanism base 10, the large arm supporting semi-ring 9 is in transmission connection with the stepping motor 7, and an elbow movement module is installed on the other side of the large arm supporting semi-ring 9.
As a preferred technical solution of the present invention, the upper arm support half ring 9 includes an inner half ring 91 and an outer half ring 92, the inner half ring 91 is positioned inside the outer half ring 92, the two sides of the inner surface of the outer half ring 92 are provided with a first limit sliding groove 93 side by side, two sides of the outer surface of the outer half ring 92 are provided with second limiting sliding grooves 94 in parallel, a large arm internal rotation rack 18 is arranged between the second limiting sliding grooves 94, the first limiting sliding groove 93 and the second limiting sliding groove 94 are both internally provided with deep groove ball bearings 29, the deep groove ball bearings 29 are connected in a penetrating way through a screw rod, and is fixedly arranged inside the large arm internal rotation mechanism base 10, the outer side of the large arm internal rotation rack 18 is engaged with a gear 30, the gear 30 is installed inside the large arm internal rotation mechanism base 10 through a pin shaft, the coupler 27 is installed on the rotating shaft of the stepping motor 7, and the other end of the coupler 27 is connected with the pin shaft of the gear 30.
As a preferred technical solution of the present invention, both ends of the inner half ring 91 and the outer half ring 92 are fixedly clamped with an elbow rotating base 19, the elbow rotating base 19 extends to a side away from the large arm connecting rod 6 and is sleeved with a tapered roller bearing 12, and an elbow servo motor 8 is installed on the outer side of one elbow rotating base 19.
As a preferred technical solution of the present invention, the elbow motion module includes a small arm housing 11, one end of the small arm housing 11 is located between the elbow rotation bases 19 and is sleeved inside the tapered roller bearing 12, an output shaft of the elbow servo motor 8 is in transmission connection with one end of the small arm housing 11, an adjusting box 34 is disposed at the bottom end of the small arm housing 11, a small arm adjusting slider 20 is sleeved in an inner cavity of the adjusting box 34, a plurality of small arm adjusting screws 13 are disposed at the bottom end of the adjusting box 34, the small arm adjusting screws 13 penetrate through the adjusting box 34 and abut against the small arm adjusting slider 20, and a wrist base 21 is connected to the other end of the small arm adjusting slider 20.
As a preferred technical solution of the present invention, a dc brushless motor 22 is disposed at the bottom of the wrist base 21, a wrist cover plate 23 is mounted at the other end of the wrist base 21, a driving wheel 33 is disposed inside the wrist cover plate 23, the driving wheel 33 is in transmission connection with an output shaft of the dc brushless motor 22, tension pulleys 35 are disposed on both sides of the top end of the driving wheel 33, a plurality of hexagon bolts 31 are disposed at the top of the driving wheel 33, a deep groove ball bearing 32 is sleeved at the outer end of the hexagon bolts 31, a wrist rotation half ring 25 is disposed outside the deep groove ball bearing 32, a chute is disposed inside the wrist rotation half ring 25, the deep groove ball bearing 32 is located inside the chute, synchronous belt fastening mechanisms 26 are disposed outside both ends of the wrist rotation half ring 25, and synchronous belts 24 are pressed on the outer ends of the driving wheel 33 and the tension pulleys 35, and the two ends of the synchronous belt 24 are fixed inside the synchronous belt fastening mechanism 26, and the top end of the wrist rotating half ring 25 is provided with a hand placing support plate 35.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, through a multi-modular design, the overall structure of the rehabilitation exoskeleton is simpler, and compared with the traditional steel structure wearable skeleton, the rehabilitation exoskeleton is lighter and lighter after being worn; the large arm support semi-ring in the upper arm internal-external rotation module and the wrist rotation semi-ring of the elbow movement module rotate around the curvature center of the wrist rotation semi-ring, so that the exoskeleton and the limb of a patient are easy to generate joint movement axes to keep consistent, and meanwhile, a sliding groove in the semi-ring is sleeved on a bearing, so that the semi-ring rotates more smoothly, and the arm swinging process is smoother; the adjustable movable base, the large arm adjusting screw rod and the small arm adjusting slide block realize free adjustment, can perform corresponding adjustment according to the physical condition of a patient, and is more convenient to use; through first servo motor, second servo motor, elbow servo motor and DC brushless motor, drive the motion of each joint department of arm, carry out auxiliary motion when possessing sufficient flexibility to be favorable to the better rehabilitation training of patient.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is one of the overall structural schematic diagrams of the present invention;
FIG. 2 is a second schematic view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of an elbow motion module configuration of the present invention;
FIG. 4 is a schematic view of the internal structure of the wrist cover of FIG. 3;
FIG. 5 is a schematic diagram of the upper arm inside and outside rotation module of the present invention;
FIG. 6 is a schematic view of the inner structure of the large arm support half ring of FIG. 5;
FIG. 7 is a schematic view of the large arm support half-ring configuration of FIG. 5;
FIG. 8 is a top view of the adjustable motion base of the present invention;
in the figure: 1. a first servo motor; 2. a shoulder horizontal link; 3. a shoulder hinge; 4. a shoulder vertical link; 5. a second servo motor; 6. a large arm connecting rod; 7. a stepping motor; 8. an elbow servo motor; 9. the big arm supports the semi-ring; 10. a large arm internal rotation mechanism base; 11. a forearm housing; 12. a tapered roller bearing; 13. a forearm adjusting screw; 14. an encoder; 15. a back wearing plate; 16. an adjustable mobile base; 17. a large arm adjusting lead screw; 18. a large arm internal rotation rack; 19. an elbow rotating base; 20. a small arm adjusting slide block; 21. a wrist base; 22. a DC brushless motor; 23. a wrist cover plate; 24. a synchronous belt; 25. rotating the semi-ring by the wrist; 26. a synchronous belt fastening mechanism; 27. a coupling; 28. a hexagonal copper cylinder; 29. a deep groove ball bearing; 30. a gear; 31. a hexagon head bolt; 32. a deep groove ball bearing; 33. a driving wheel; 34. an adjustment box; 35. a tension wheel; 36. a hand placement board; 91. an inner half ring; 92. an outer half ring; 93. a first limiting chute; 94. the second spacing spout.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1
As shown in fig. 1-8, the invention provides a wearable upper limb rehabilitation exoskeleton, comprising a wearable back plate module, a shoulder motion module, an upper arm internal and external rotation module and an elbow motion module, wherein the wearable back plate module comprises a wearable back plate 15 and a movable base 16, the movable base 16 is arranged at the top end of the wearable back plate 15, the shoulder motion module is arranged at the top end of the movable base 16, the shoulder motion module comprises a first servo motor 1, a horizontal connecting rod 2 and a shoulder vertical connecting rod 4, the first servo motor 1 is installed at one side of the top end surface of the movable base 16, the top end of the first servo motor 1 is in transmission connection with the shoulder horizontal connecting rod 2, the other end of the shoulder horizontal connecting rod 2 is provided with the shoulder vertical connecting rod 4, a shoulder hinge 3 is arranged between the shoulder vertical connecting rod 4 and the shoulder horizontal connecting rod 2, and a second servo motor 5 is installed at the outer side of the bottom end of the shoulder vertical connecting rod 4, an upper arm internal and external rotation module is installed on the inner side of the bottom end of the shoulder vertical connecting rod 4, and an elbow motion module is arranged at the other end of the upper arm internal and external rotation module.
Further, portable base 16 comprises backup pad and mounting panel part, and the inside of wearing backplate 15 is the cavity structure, and the surface is provided with a plurality of locating holes side by side, and the backup pad activity cup joints in the inner chamber top of wearing backplate 15, and top one side fixedly connected with mounting panel of backup pad, mounting panel are the concave plate block structure, and both ends have all opened the mounting groove, and first servo motor 1 installs in the mounting groove.
The upper arm internal and external rotation module comprises a large arm connecting rod 6, the large arm connecting rod 6 is in transmission connection with a second servo motor 5, a large arm adjusting screw rod 17 is installed at the other end of the large arm connecting rod 6, auxiliary sliding rods are arranged on two sides of the large arm adjusting screw rod 17, the other end of the large arm adjusting screw rod 17 is connected with a large arm internal rotation mechanism base 10, a plurality of hexagonal copper columns 28 are installed on one side surface of the large arm internal rotation mechanism base 10 towards the large arm connecting rod 6, a stepping motor 7 is installed on the top end of the hexagonal copper columns 28, a large arm supporting semi-ring 9 is arranged inside the large arm internal rotation mechanism base 10, the large arm supporting semi-ring 9 is in transmission connection with the stepping motor 7, and an elbow motion module is arranged on the other side of the large arm supporting semi-ring 9.
The large-arm supporting half ring 9 comprises an inner half ring 91 and an outer half ring 92, the inner half ring 91 is located inside the outer half ring 92, first limiting sliding grooves 93 are formed in two sides of the inner surface of the outer half ring 92 side by side, second limiting sliding grooves 94 are formed in two sides of the outer surface of the outer half ring 92 side by side, a large-arm internal rotation rack 18 is arranged between the second limiting sliding grooves 94, deep groove ball bearings 29 are arranged inside the first limiting sliding grooves 93 and the second limiting sliding grooves 94, the deep groove ball bearings 29 are connected through threaded rods and fixedly mounted inside the large-arm internal rotation mechanism base 10, gears 30 are meshed outside the large-arm internal rotation rack 18, the gears 30 are mounted inside the large-arm internal rotation mechanism base 10 through pin shafts, a coupler 27 is mounted on a rotating shaft of the stepping motor 7, and the other ends of the coupler 27 are connected with the pin shafts of the gears 30.
The both ends of interior semi-ring 91 and outer semi-ring 92 are all fixed joint have elbow rotating base 19, and elbow rotating base 19 is to keeping away from one side extension of big arm connecting rod 6 to cup jointed tapered roller bearing 12, elbow servo motor 8 is installed to one of them elbow rotating base 19 outside.
The elbow motion module includes forearm shell 11, the one end of forearm shell 11 is located between the elbow rotating base 19, and cup joint inside tapered roller bearing 12, elbow servo motor 8's output shaft and forearm shell 11's one end transmission are connected, the bottom of forearm shell 11 is provided with adjusts box 34, forearm adjusting block 20 has been cup jointed to the inner chamber of adjusting box 34, the bottom of adjusting box 34 is provided with a plurality of forearm adjusting screw 13, and forearm adjusting screw 13 runs through to the inside of adjusting box 34 and offsets with forearm adjusting block 20, the other end of forearm adjusting block 20 is connected with wrist base 21.
The bottom of the wrist base 21 is provided with a DC brushless motor 22, the other end of the wrist base 21 is provided with a wrist cover plate 23, the inside of the wrist cover plate 23 is provided with a driving wheel 33, and the driving wheel 33 is connected with the output shaft of the DC brushless motor 22 in a transmission way, both sides of the top end of the driving wheel 33 are provided with tension wheels 35, the top of the driving wheel 33 is provided with a plurality of hexagon bolts 31, the outer end of the hexagon bolt 31 is sleeved with a deep groove ball bearing 32, the outer part of the deep groove ball bearing 32 is provided with a wrist rotating semi-ring 25, the inner part of the wrist rotating semi-ring 25 is provided with a chute, the deep groove ball bearing 32 is positioned in the chute, the synchronous belt fastening mechanisms 26 are arranged at the outer sides of the two ends of the wrist rotating half ring 25, the outer ends of the driving wheel 33 and the tension wheel 35 are covered with the synchronous belt 24, and both ends of the timing belt 24 are fixed inside the timing belt fastening mechanism 26, and a hand placing support plate 35 is provided on the top end of the wrist rotation half ring 25.
Specifically, the back wearing plate 15 is attached to the back of a patient and can be bound with the body through a binding band, the adjustable moving base 16 realizes personalized height adjustment through changing a hole site relative to the back wearing plate 15, the shoulder horizontal connecting rod 2 realizes shoulder horizontal plane abduction and adduction movement, the second servo motor 5 realizes front and back swing in a shoulder vertical plane, the shoulder hinge 3 is designed for shoulder abduction and adduction underdrive, and the shoulder joint movement module is formed by movement with three degrees of freedom (only one side is drawn in fig. 1-2, and two shoulder joint movement modules can be installed actually according to requirements); the stepping motor 7 realizes the internal and external rotation of the upper arm through gear transmission, the large arm supporting semi-ring 9 is the fixing part of the upper arm, and a nylon bandage is arranged to ensure that the affected limb and the mechanism do not slide relatively, the elbow servo motor 8 is fixedly connected with the small arm shell, the elbow bending and stretching action is carried out relative to the internal and external rotation module of the upper arm, and the tail end is provided with the internal and external rotation module of the elbow; for the upper arm internal and external rotation module, the front and back swinging motion relative to the shoulder is realized by the large arm connecting rod 6 which is in transmission connection with the second motor module 5, the screw rod 17 rotates to adjust the position of the other end in the large arm internal rotation mechanism base 10, a stepless adjusting function is provided, the stepping motor 7 drives the gear 30 through the output shaft and the coupler 27, the gear 30 drives the large arm internal rotation rack 18, thereby the large arm support semi-ring 9 rotates around the curvature center thereof, the second limiting sliding groove 94 is arranged on the outer side of the outer semi-ring 92 in consideration of the large load of the rest part still to be borne by the upper arm transmission structure, the radial load is mainly borne by the whole module in the motion process, the first limiting sliding groove 93 is arranged on the inner side of the outer semi-ring 92, so that the deep groove ball bearing 29 is selected to rotate in the first limiting sliding groove 93 and the second limiting sliding groove 94 to reduce friction, and the large arm support semi-ring rotation is smoother, the elbow rotating bases 19 with symmetrical two sides can realize mechanical limit on the internal and external rotation of the upper arm and are also used as supporting parts of the elbow motion module; the elbow servo motor 8 is fixedly connected with the forearm shell 11, elbow bending and stretching actions are completed relative to the upper arm, the output torque of the elbow servo motor 8 enables the rest parts to bend and stretch relative to the upper arm, the conical roller bearing 12 in the elbow rotating base 19 can bear radial loads and axial loads, the load change conditions in the motion process are met, the connecting rod 20 can be pulled out of the adjusting box 34 to adjust the position, and the connecting rod is locked through the forearm adjusting screw 13, so that the adjustment is performed according to the length of the forearm; for the transmission design of elbow rotation, a synchronous belt 24 with simple structure and small volume is adopted for transmission, an output shaft of a brushless DC motor 22 drives a driving wheel 33 to rotate, tension pulleys on two sides ensure the efficiency of belt transmission, the synchronous belt 24 can be tightly attached to a wrist rotation half ring 25 through screws on a synchronous belt fastening mechanism 26 to realize the rotation of the wrist rotation half ring 25, a chute is arranged on the wrist rotation half ring 25 and can be filled with a deep groove ball bearing 32, the structure of the wrist rotation half ring 25 is similar to that of a large arm support half ring 9 (no large arm internal rotation rack and a second limiting chute), the tail end of a hexagon head bolt 31 is an optical axis and can be matched with the deep groove ball bearing 32 and is connected to a support plate 21 and a cover plate 23 through threads, so that the wrist rotation half ring 25 can stably rotate, and further the wrist rotation half ring 25 drives a hand placing support plate 36 to swing.
According to the invention, through a multi-modular design, the overall structure of the rehabilitation exoskeleton is simpler, and compared with the traditional steel structure wearable skeleton, the rehabilitation exoskeleton is lighter and lighter after being worn; the large arm support semi-ring in the upper arm internal-external rotation module and the wrist rotation semi-ring of the elbow movement module rotate around the curvature center of the wrist rotation semi-ring, so that the exoskeleton and the limb of a patient are easy to generate joint movement axes to keep consistent, and meanwhile, a sliding groove in the semi-ring is sleeved on a bearing, so that the semi-ring rotates more smoothly, and the arm swinging process is smoother; the adjustable movable base, the large arm adjusting screw rod and the small arm adjusting slide block realize free adjustment, can perform corresponding adjustment according to the physical condition of a patient, and is more convenient to use; through first servo motor, second servo motor, elbow servo motor and DC brushless motor, drive the motion of each joint department of arm, carry out auxiliary motion when possessing sufficient flexibility to be favorable to the better rehabilitation training of patient.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The wearable upper limb rehabilitation exoskeleton is characterized by comprising a wearable back plate module, a shoulder motion module, an upper arm internal and external rotation module and an elbow motion module, wherein the wearable back plate module comprises a wearable back plate (15) and a movable base (16), the movable base (16) is arranged at the top end of the wearable back plate (15), the shoulder motion module is arranged at the top end of the movable base (16), the shoulder motion module comprises a first servo motor (1), a horizontal connecting rod (2) and a shoulder vertical connecting rod (4), the first servo motor (1) is installed on one side of the top end surface of the movable base (16), the top end of the first servo motor (1) is in transmission connection with the shoulder horizontal connecting rod (2), the other end of the shoulder horizontal connecting rod (2) is provided with the shoulder vertical connecting rod (4), and a shoulder hinge (3) is arranged between the shoulder vertical connecting rod (4) and the shoulder horizontal connecting rod (2), second servo motor (5) are installed in the bottom outside of vertical connecting rod of shoulder (4), the bottom inboard of vertical connecting rod of shoulder (4) is installed the interior outer module of spiraling of upper arm, the other end of the interior outer module of spiraling of upper arm is provided with elbow motion module.
2. The wearable upper limb rehabilitation exoskeleton as claimed in claim 1, wherein the movable base (16) is composed of a supporting plate and a mounting plate, the inside of the wearable back plate (15) is a cavity structure, the surface of the wearable back plate is provided with a plurality of positioning holes side by side, the supporting plate is movably sleeved on the top end of the inner cavity of the wearable back plate (15), the mounting plate is fixedly connected to one side of the top end of the supporting plate, the mounting plate is a concave plate structure, mounting grooves are formed in two ends of the mounting plate, and the first servo motor (1) is mounted in the mounting grooves.
3. The wearable upper limb rehabilitation exoskeleton of claim 1, wherein the upper arm internal-external rotation module comprises a large arm connecting rod (6), the large arm connecting rod (6) is in transmission connection with a second servo motor (5), a large arm adjusting screw rod (17) is installed at the other end of the large arm connecting rod (6), auxiliary sliding rods are arranged on two sides of the large arm adjusting screw rod (17), a large arm internal rotation mechanism base (10) is connected to the other end of the large arm adjusting screw rod (17), a plurality of hexagonal copper columns (28) are installed on one side surface of the large arm internal rotation mechanism base (10) facing to the large arm connecting rod (6), a stepping motor (7) is installed at the top end of each hexagonal copper column (28), a large arm supporting half ring (9) is arranged inside the large arm internal rotation mechanism base (10), and the large arm supporting half ring (9) is in transmission connection with the stepping motor (7), and an elbow motion module is arranged on the other side of the large arm support semi-ring (9).
4. The wearable upper limb rehabilitation exoskeleton as claimed in claim 3, wherein the large arm support half ring (9) comprises an inner half ring (91) and an outer half ring (92), the inner half ring (91) is located inside the outer half ring (92), first limiting sliding grooves (93) are formed in two sides of the inner surface of the outer half ring (92) side by side, second limiting sliding grooves (94) are formed in two sides of the outer surface of the outer half ring (92) side by side, a large arm internal rotation rack (18) is arranged between the second limiting sliding grooves (94), deep groove ball bearings (29) are arranged inside the first limiting sliding grooves (93) and the second limiting sliding grooves (94), the deep groove ball bearings (29) are connected through a screw rod and fixedly mounted inside the large arm internal rotation mechanism base (10), and gears (30) are engaged with the outer sides of the large arm internal rotation rack (18), the gear (30) is installed in the large arm internal rotation mechanism base (10) through a pin shaft, a coupler (27) is installed on a rotating shaft of the stepping motor (7), and the other end of the coupler (27) is connected with the pin shaft of the gear (30).
5. The wearable upper limb rehabilitation exoskeleton of claim 4, wherein elbow rotating bases (19) are fixedly clamped at two ends of the inner half ring (91) and the outer half ring (92), the elbow rotating bases (19) extend to the side far away from the large arm connecting rod (6) and are sleeved with tapered roller bearings (12), and an elbow servo motor (8) is installed on the outer side of one elbow rotating base (19).
6. The wearable upper limb rehabilitation exoskeleton of claim 5, wherein the elbow motion module comprises a small arm shell (11), one end of the small arm shell (11) is located between elbow rotating bases (19) and sleeved inside a tapered roller bearing (12), an output shaft of the elbow servo motor (8) is in transmission connection with one end of the small arm shell (11), an adjusting box (34) is arranged at the bottom end of the small arm shell (11), a small arm adjusting slider (20) is sleeved in an inner cavity of the adjusting box (34), a plurality of small arm adjusting screws (13) are arranged at the bottom end of the adjusting box (34), the small arm adjusting screws (13) penetrate through the inside of the adjusting box (34) and abut against the small arm adjusting slider (20), and a wrist base (21) is connected to the other end of the small arm adjusting slider (20).
7. The wearable upper limb rehabilitation exoskeleton of claim 6, wherein a DC brushless motor (22) is arranged at the bottom of the wrist base (21), a wrist cover plate (23) is installed at the other end of the wrist base (21), a driving wheel (33) is arranged inside the wrist cover plate (23), the driving wheel (33) is in transmission connection with an output shaft of the DC brushless motor (22), tension wheels (35) are arranged on both sides of the top end of the driving wheel (33), a plurality of hexagon head bolts (31) are arranged on the top of the driving wheel (33), deep groove ball bearings (32) are sleeved on the outer ends of the hexagon head bolts (31), a wrist rotation half ring (25) is arranged outside the deep groove ball bearings (32), a sliding groove is arranged inside the wrist rotation half ring (25), and the deep groove ball bearings (32) are located inside the sliding groove, the outer sides of the two ends of the wrist rotating semi-ring (25) are provided with synchronous belt fastening mechanisms (26), the outer ends of the driving wheel (33) and the tensioning wheel (35) are pressed with synchronous belts (24), the two ends of the synchronous belts (24) are fixed inside the synchronous belt fastening mechanisms (26), and the top end of the wrist rotating semi-ring (25) is provided with a hand placing support plate (35).
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| CN202111030154.1A CN113599193A (en) | 2021-09-03 | 2021-09-03 | Wearable upper limb rehabilitation exoskeleton |
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| CN202111030154.1A CN113599193A (en) | 2021-09-03 | 2021-09-03 | Wearable upper limb rehabilitation exoskeleton |
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| CN202111030154.1A Pending CN113599193A (en) | 2021-09-03 | 2021-09-03 | Wearable upper limb rehabilitation exoskeleton |
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Application publication date: 20211105 |