CN113633522A - Exoskeleton type upper limb rehabilitation training robot - Google Patents

Exoskeleton type upper limb rehabilitation training robot Download PDF

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Publication number
CN113633522A
CN113633522A CN202111086686.7A CN202111086686A CN113633522A CN 113633522 A CN113633522 A CN 113633522A CN 202111086686 A CN202111086686 A CN 202111086686A CN 113633522 A CN113633522 A CN 113633522A
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China
Prior art keywords
shoulder
arm
power unit
forearm
extension
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Granted
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CN202111086686.7A
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Chinese (zh)
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CN113633522B (en
Inventor
李继才
简卓
王道雨
胡杰
方凡夫
易金花
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Shanghai Zhuodao Medical Technology Co ltd
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Shanghai Zhuodao Medical Technology Co ltd
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Priority to CN202111086686.7A priority Critical patent/CN113633522B/en
Publication of CN113633522A publication Critical patent/CN113633522A/en
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Publication of CN113633522B publication Critical patent/CN113633522B/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277Elbow
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281Shoulder
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • A61H2205/062Shoulders

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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 application discloses ectoskeleton formula upper limbs rehabilitation training robot is applicable to the upper limbs that drives the patient and realizes full degree of freedom motion. The exoskeleton type upper limb rehabilitation training robot comprises an equipment body, a full-freedom training arm and at least one arm fixing piece. The full-freedom training arm comprises a shoulder joint motion assembly and an elbow joint motion assembly, the shoulder joint motion assembly is movably arranged on the equipment body in multiple degrees of freedom, the elbow joint motion assembly is movably arranged on the shoulder joint motion assembly in multiple degrees of freedom, and the shoulder joint motion assembly forms a training space on the side face of the equipment body. The arm fixing piece is arranged on the shoulder joint motion assembly and is used for fixing the upper limb of the patient on the shoulder joint motion assembly so as to enable the upper limb of the patient to move synchronously with the shoulder joint motion assembly. This application enables the patient and this kind can not produce the sense of oppression in the training process, makes the patient train more attentively.

Description

Exoskeleton type upper limb rehabilitation training robot
Technical Field
The invention relates to a rehabilitation instrument, in particular to an exoskeleton type upper limb rehabilitation training robot.
Background
At present, in the rehabilitation training process of patients with upper limb dysfunction caused by diseases such as cerebral apoplexy and injury, single-joint rehabilitation training and multi-joint compound action rehabilitation training need to be carried out on the upper limbs of the patients. Medical research has proved that the exoskeleton type rehabilitation training robot as a mechatronic system suitable for repeatedly executing complicated labor work for a long time can assist a patient to complete a large amount of high-precision and standardized single-joint and multi-joint compound training actions and promote the patient to better recover the motion and motion control capability of the affected limb.
One key difficulty of the structural design of the exoskeleton-type upper limb rehabilitation training robot is that various structural parameters of the robot are adjusted to match biomechanical parameters of upper limbs of different patients, so that the matching of a human-computer joint motion axis or a motion center is achieved, and the robot drives the upper limb on the affected side to complete preset training action and training intensity in a three-dimensional space. According to the existing exoskeleton type upper limb rehabilitation training robot, due to the fact that a human-computer motion axis or a motion center is not matched, an exoskeleton type mechanical mechanism can limit the motion space of a patient limb, compensation motion is generated, the rehabilitation training effect is reduced, and under the severe condition, unexpected acting force can be generated on the joint of the patient, joint pain is generated, and secondary injury to the upper limb of the patient is caused. In addition, the shoulder of the human body is a multi-joint complex, so the design of the shoulder structure of the exoskeleton type upper limb rehabilitation training robot is reasonable, which is a key technical difficulty in the field.
The current robot body mechanical structure is complicated huge, has equipment structure all around at patient's head, and training equipment is at the operation in-process, and the oppression that causes the patient leads to the patient to have the fear psychology, and the unable robot body of accepting therefore leads to the patient unable and robot coordination training, is difficult to be absorbed in rehabilitation training, has reduced the effect of patient when the training.
Disclosure of Invention
One advantage of the present invention is to provide an exoskeleton-type upper limb rehabilitation training robot, which can drive an upper limb of a user to perform full-freedom rehabilitation training in a three-dimensional space, and a mechanical structure of the exoskeleton-type upper limb rehabilitation training robot does not appear around the head of the patient, so as to greatly reduce the oppression feeling of equipment on the patient and increase the concentration degree of the rehabilitation training of the patient.
Another advantage of the present invention is to provide an exoskeleton-type upper limb rehabilitation training robot, wherein the full-freedom training arm can drive the upper limb of the user to perform full-freedom rehabilitation training in a three-dimensional space, and interference between various components on the full-freedom training arm does not occur.
Another advantage of the present invention is to provide an exoskeleton-type upper limb rehabilitation training robot, wherein the freedom training arm can exercise both the left arm and the right arm of the patient.
Another advantage of the present invention is to provide the exoskeleton-type upper limb rehabilitation training robot, wherein the full-freedom training arm drives the upper arm and the forearm of the patient to move correspondingly through the shoulder joint movement assembly and the elbow joint movement assembly, so as to realize multi-joint compound movement.
It is another advantage of the present invention to provide an exoskeleton-type upper limb rehabilitation training robot in which an elbow joint movement assembly combines the movement of an elbow flexion-extension component and a forearm pronation-supination component to provide a combined rehabilitation training action on the forearm of a patient.
Another advantage of the present invention is to provide an exoskeleton-type upper limb rehabilitation training robot, wherein the adjustment assembly can adjust the length of the full-freedom training arm, so that the length of the full-freedom training arm can be adapted to the arms of different patients.
Another advantage of the present invention is to provide an exoskeleton-type upper limb rehabilitation training robot, wherein the glenohumeral joint motion assembly combines the motions in the X, Y and Z directions to achieve multi-degree-of-freedom motion, so as to avoid compensatory motions during the training of the full-degree-of-freedom training arm and avoid the arm injury of the patient.
Another advantage of the present invention is to provide an exoskeleton-type upper limb rehabilitation training robot, wherein the device body adjusts the height of the full-freedom training arm and glenohumeral joint movement assembly through the lifting unit, so that the training robot can adapt to patients with different heights.
To achieve at least one of the above advantages, the present invention provides
Exoskeleton type upper limb rehabilitation training robot, suitable for driving the upper limb of patient to realize the motion of full degree of freedom, its characterized in that, exoskeleton type upper limb rehabilitation training robot includes:
an apparatus body;
at least one full-freedom training arm, the full-freedom training arm comprising a shoulder motion component and an elbow motion component, the shoulder motion component being multi-freedom movably disposed on the device body, the elbow motion component being multi-freedom movably disposed on the shoulder motion component, the shoulder motion component forming a training space on a side of the device body; and
at least one arm securing member disposed on the shoulder articulation assembly for securing the patient's upper limb to the shoulder articulation assembly such that the patient's upper limb is capable of synchronous movement with the shoulder articulation assembly.
According to an embodiment of the invention, the arm securing member is detachably provided to the shoulder joint movement assembly.
According to an embodiment of the invention, the shoulder articulation assembly comprises:
a shoulder joint adduction and abduction component, the shoulder joint adduction and abduction component comprising a shoulder abduction base plate, a shoulder abduction output plate, a shoulder abduction linkage mechanism and a shoulder abduction power unit, the shoulder abduction base plate being disposed on the equipment body, the shoulder abduction linkage mechanism being disposed on the shoulder abduction base plate, the shoulder abduction power unit being in driving connection with the shoulder abduction linkage mechanism, the shoulder abduction output plate being in driving connection with the shoulder abduction linkage mechanism so that the shoulder abduction output plate rotates around an output axis of the shoulder abduction power unit;
the shoulder joint flexion and extension component comprises a shoulder flexion and extension power unit and a shoulder flexion and extension swing arm, the shoulder flexion and extension power unit is arranged on the shoulder folding and extension output plate, and the shoulder flexion and extension swing arm is arranged at the output end of the shoulder flexion and extension power unit so as to enable the shoulder flexion and extension swing arm to rotate around the output axis of the shoulder flexion and extension power unit; and
the shoulder joint internal-external rotation motion part comprises a shoulder internal-external rotation output frame, a shoulder internal-external rotation link mechanism and a shoulder internal-external rotation force unit, the shoulder internal-external rotation link mechanism is arranged on the shoulder flexion and extension swing arm, the shoulder internal-external rotation force unit is in transmission connection with the shoulder internal-external rotation link mechanism, and the shoulder internal-external rotation output frame is in transmission connection with the shoulder internal-external rotation link mechanism so as to enable the shoulder internal-external rotation output frame to rotate around the output axis of the shoulder internal-external rotation force unit.
According to an embodiment of the present invention, the elbow articulation assembly comprises:
the elbow bending and stretching component comprises an elbow bending and stretching power unit and an elbow bending and stretching output arm, the elbow bending and stretching power unit is arranged on the shoulder internal and external rotation output frame, and the elbow bending and stretching output arm is arranged at the output end of the elbow bending and stretching power unit so that the elbow bending and stretching output arm rotates around the output axis of the elbow bending and stretching power unit; and
a forearm back of rotation part of pronating, forearm back of rotation part of pronating includes a forearm back of rotation power pack and a forearm back of rotation rolling stock of pronating, forearm back of rotation power pack set up in the elbow bends and stretches the output arm, forearm back of rotation rolling stock set up in forearm back of rotation power pack's output before pronating, so that forearm back of rotation rolling stock of pronating winds forearm back of rotation power pack's output axis rotates.
According to an embodiment of the present invention, the elbow assembly further comprises a grasping member disposed on the forearm pronation and supination turret for grasping by a hand of a patient; and
a grip sensor disposed on the gripping member for measuring the grip of the patient on the gripping member.
According to an embodiment of the present invention, the full-freedom training arm further comprises an adjustment assembly, the adjustment assembly comprising:
the upper arm adjusting part is arranged on the shoulder flexion and extension swing arm so as to adjust the length of the shoulder flexion and extension swing arm;
a forearm adjustment member disposed on the elbow flexion and extension output arm to adjust a length of the elbow flexion and extension output arm.
According to an embodiment of the present invention, the upper arm adjusting component includes an upper arm sliding plate, an upper arm trapezoidal screw, an upper arm driving unit and an upper arm guide rail, the upper arm driving unit is disposed on the shoulder flexion-extension swing arm, the upper arm guide rail is disposed on the shoulder flexion-extension swing arm, the upper arm trapezoidal screw is disposed at the output end of the upper arm driving unit, and the upper arm sliding plate is disposed on the upper arm trapezoidal screw and slidably connected with the upper arm guide rail;
the forearm adjusting part comprises a forearm sliding plate, a forearm trapezoidal screw, a forearm driving unit and a forearm guide rail, the forearm driving unit is arranged in the shoulder flexion and extension swing arm, the forearm guide rail is arranged in the shoulder flexion and extension swing arm, the forearm trapezoidal screw is arranged at the output end of the forearm driving unit, and the forearm sliding plate is arranged in the forearm trapezoidal screw and is in sliding connection with the forearm guide rail.
According to an embodiment of the invention, the exoskeleton-type upper limb rehabilitation training robot comprises a glenohumeral joint movement assembly, the glenohumeral joint movement assembly comprises an X-direction movement base frame, an X-direction movement power unit, a Y-direction movement base frame, a Y-direction movement power unit, a Z-direction movement base frame and a Z-direction movement power unit, the Z-direction movement power unit is arranged on the device body, the Z-direction movement base frame is arranged at the output end of the Z-direction movement power unit to control the Z-direction movement base frame to move along the Z direction through the Z-direction movement power unit, the X-direction movement power unit is arranged on the Z-direction movement base frame, the X-direction movement base frame is arranged at the output end of the X-direction movement power unit to drive the X-direction movement base frame to move along the X direction through the X-direction movement power unit, the Y-direction moving power unit is arranged on the X-direction moving base frame, and the Y-direction moving base frame is arranged at the output end of the Y-direction moving power unit so as to drive the Y-direction moving base frame to move along the Y direction through the Y-direction moving power unit;
the shoulder adduction-abduction component of the full-freedom training arm is disposed on the Y-direction motion base frame.
According to an embodiment of the present invention, the apparatus body includes a cabinet and a lifting unit, the lifting unit is disposed at the cabinet, and the Z-direction movement base frame of the glenohumeral joint movement assembly is disposed at an output end of the lifting unit.
According to an embodiment of the present invention, the device body further includes a processing component, and the processing component is respectively in communication connection with the shoulder folding and unfolding power unit, the shoulder flexion and extension power unit, the shoulder internal and external rotation power unit, the elbow flexion and extension power unit, the forearm forward and backward rotation power unit, the X-direction movement power unit, the Y-direction movement power unit, the Z-direction movement power unit, and the lifting unit.
Drawings
Fig. 1 shows a perspective view of the exoskeleton-type upper limb rehabilitation training robot.
Fig. 2 shows a schematic structural diagram of a full-freedom training arm of the exoskeleton-type upper limb rehabilitation training robot.
Fig. 3 shows a schematic diagram of the internal structure of the exoskeleton-type upper limb rehabilitation training robot with the cabinet removed.
Fig. 4 shows a side view of the exoskeleton-type upper limb rehabilitation training robot with the cabinet removed and the arms trained in full freedom degree.
Fig. 5 shows a state diagram of the full-freedom training arm of the exoskeleton-type upper limb rehabilitation training robot for training the left hand of a patient.
Fig. 6 shows a state diagram of the exoskeleton-type upper limb rehabilitation training robot with full-freedom training arm for training the right hand of the patient.
Fig. 7 shows a system diagram of the exoskeleton-type upper limb rehabilitation training robot.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1 to 7, the exoskeleton-type upper limb rehabilitation training robot according to a preferred embodiment of the present invention will be described in detail below. The exoskeleton type upper limb rehabilitation training robot is suitable for driving the upper limbs of a patient to realize full-freedom-degree movement. The exoskeleton-type upper limb rehabilitation training robot comprises a device body 10, at least one full-freedom training arm 20 and at least one arm fixing piece 30.
The full degree of freedom training arm 20 includes a shoulder joint assembly 21 and an elbow joint assembly 22, the shoulder joint assembly 21 being movably disposed to the apparatus body 10 in multiple degrees of freedom. The elbow assembly 22 is movably disposed to the shoulder assembly 21 in multiple degrees of freedom. The shoulder joint moving assembly 21 forms a training space at the side of the apparatus body 10.
The arm securing member 30 is provided to the shoulder joint moving assembly 21. The upper limbs of the patient are fixed to the shoulder joint moving assembly 21 by the arm fixing members 30 while the patient is backed by the apparatus body 10. When the shoulder joint movement assembly 21 moves, the upper limb of the patient can move synchronously with the shoulder joint movement assembly 21, thereby achieving the aim of exercising the upper limb of the patient. The training space is located the side of equipment body 10, consequently, the mechanical structure of ectoskeleton formula upper limbs rehabilitation training robot can not appear around patient's head, avoids equipment to patient's oppression sense greatly, increases the concentration degree of patient's rehabilitation training in-process.
In addition, the shoulder joint movement unit 21 does not interfere with the movement of the elbow joint movement unit 21 during the movement, and the two units can move independently from each other without interference.
The arm securing member 30 is detachably provided to the shoulder joint moving assembly 21.
The arm fixing member 30 is implemented as a semicircular ring and a band. The semicircular ring is detachably arranged on the shoulder joint movement assembly 21, and the binding band is used for binding the upper limb of the patient with the semicircular ring together so as to achieve the purpose of fixing the upper limb of the patient. Since the semi-circular ring is removable on the shoulder articulation assembly 21. Therefore, the semicircular ring can be separated from the full-freedom-degree training arm 20, the semicircular ring and the upper limb of the patient are bound, and the semicircular ring is fixed on the full-freedom-degree training arm 20, so that the aim of conveniently fixing the upper limb of the patient is fulfilled.
The semi-circular ring can be detachably connected with the shoulder joint movement assembly 21 in a threaded connection mode, namely the semi-circular ring is penetrated through by a bolt and then is in threaded connection with the shoulder joint movement assembly 21.
And in another detachable mode of the semicircular ring, one side of the semicircular ring, which is far away from the bandage, is provided with a magnet, and the shoulder joint movement component 21 is provided with a matched magnet with the magnet, wherein the magnet has different magnetism. The semi-circular ring is secured to the shoulder articulation component 21 by the magnetic properties of the magnets. The cooperation magnet can be implemented as the electro-magnet, and the electro-magnet can change the magnetic pole, when the magnetism of electro-magnet with the magnetism of magnet is the same, the semicircle ring is followed drop on the shoulder joint motion subassembly 21, when the electro-magnet with the magnetism of magnet is when different, the semicircle ring is firmly adsorbed in shoulder joint motion subassembly 21, thereby realizes semicircle ring detachable purpose.
The shoulder joint movement assembly 21 includes a shoulder adduction-abduction member 211, a shoulder flexion-extension member 212, and a shoulder internal rotation-external rotation movement member 213. The shoulder adduction-abduction member 211 controls the adduction-abduction of the shoulder of the arm of the patient. The shoulder flexion and extension component 212 controls flexion and extension of the shoulder of the arm of the patient. The shoulder internal rotation and external rotation motion part 213 controls the shoulder joint rotation of the patient. The shoulder joint of the patient can realize the adduction-abduction action, the flexion-extension action and the rotation action, and the adduction-abduction action, the flexion-extension action and the rotation action of the shoulder joint can be combined, so that the aim of multi-degree-of-freedom movement of the arm of the patient is fulfilled, and the arm of the patient can be well rehabilitated and trained.
The shoulder adduction-abduction component 211 includes a shoulder-adduction base plate 2111, a shoulder-adduction linkage 2112, a shoulder-adduction power unit 2113, and a shoulder-adduction output plate 2114. The shoulder-contracting base plate 2111 is disposed on the device body 10, the shoulder-contracting link mechanism 2112 is disposed on the shoulder-contracting base plate 2111, the shoulder-contracting power unit 2113 is in transmission connection with the shoulder-contracting link mechanism 2112, and the shoulder-contracting output plate 2114 is in transmission connection with the shoulder-contracting link mechanism 2112, so that the shoulder-contracting output plate 2114 rotates around an output shaft axis L1 of the shoulder-contracting power unit.
The shoulder-contracting-expanding link mechanism 2112 includes a shoulder-contracting left swing arm 21121, a shoulder-contracting right swing arm 21122, a shoulder-contracting middle triangle 21123, a shoulder-contracting upper triangle 21124, and a shoulder-contracting drive arm 21125. One end of the shoulder deploying left swing arm 21121 and one end of the shoulder deploying right swing arm 21122 are both rotatably connected to the shoulder deploying base plate 2111. The shoulder-folded middle triangle 21123 and the shoulder-folded upper triangle 21124 are both triangular and have three ends. The other end of the shoulder-extending left swing arm 21121 is rotatably connected to both a first end of the shoulder-extending middle triangle 21123 and a first end of the shoulder-extending upper triangle 21124. One end of the shoulder deploy right swing arm 21122 is rotatably connected to both the second end of the shoulder deploy middle triangle 21123 and the second end of the shoulder deploy upper triangle 21124. The shoulder deploy output panels 2114 are simultaneously rotationally connected to the third end of the shoulder deploy middle triangle 21123 and the third end of the shoulder deploy upper triangle 21124. The shoulder stowing power unit 2113 is provided to the shoulder stowing upper triangle 21124. One end of the shoulder deploying drive arm 21125 is disposed at an output end of the shoulder deploying power unit 2113, and the other end of the shoulder deploying drive arm 21125 is rotatably connected to the shoulder deploying medium triangle 21123. The shoulder joint adduction-abduction components 211 may form several sets of parallelogram linkages, and the shoulder abduction output plates 2114 are driven to rotate around the axis L1 by the cooperation of the shoulder abduction power unit 2113 and the shoulder abduction drive arm 21125. The axis L1 is parallel to both the coronal and sagittal planes. The shoulder joint flexion and extension component 212 comprises a shoulder flexion and extension power unit 2121 and a shoulder flexion and extension swing arm 2122. The shoulder flexion and extension power unit 2121 is disposed at the shoulder retraction output plate 2114. The shoulder flexion and extension swing arm 2122 is disposed at an output end of the shoulder flexion and extension power unit 2121. The shoulder flexion and extension power unit 2121 drives the shoulder flexion and extension swing arm 2122 to rotate around an output axis L2 of the shoulder flexion and extension power unit 2121. The axis L2 is parallel to the horizontal plane and perpendicular to the axis L1.
The parallelogram linkages formed by the shoulder stowing linkage 2112 enable the shoulder stowing linkage 2112 to be quickly switched on the shoulder stowing base plate 2111. The shoulder deploy output plate 2114 is allowed to rotate about the axis L1 by the control of the shoulder deploy power unit 2113, so that the position of the shoulder deploy output plate 2114 relative to the apparatus body 10 can be changed quickly. In addition, the shoulder flexion and extension power unit 2121 drives the shoulder flexion and extension swing arm 2122 to rotate around the axis L2, so that the arm of the patient can be fixed to the full-freedom-degree training arm 20, and the full-freedom-degree training arm 20 can train both the left arm and the right arm of the patient. After the full-freedom-degree training arm 20 exercises the right arm of the patient, the shoulder folding and unfolding output plate 2114 is moved to the left side of the device body 10, and meanwhile, the shoulder bending and stretching swing arm 2122 is rotated, so that the full-freedom-degree training arm 20 is adapted to the left arm of the patient, and the exercise can be performed on the left arm of the patient.
By controlling the shoulder extension power unit 2113 and the shoulder flexion and extension power unit 2121, the full-freedom training arms 20 of the device can be exchanged quickly, and the purpose of saving time is achieved. In addition, because the full-freedom training arm 20 adopts the interchangeable mode to train the two arms of the patient, the number of mechanical structures on the equipment can be reduced, the fear of the equipment to the patient is further reduced, and the patient can train more attentively.
The shoulder joint internal rotation and external rotation movement part 213 comprises a shoulder internal rotation and external rotation link mechanism 2131, a shoulder internal rotation and external rotation force unit 2132 and a shoulder internal rotation and external rotation output frame 2133. The shoulder internal and external rotation link mechanism 2131 is arranged on the shoulder flexion and extension swing arm 2122, the shoulder internal and external rotation force unit 2132 is in transmission connection with the shoulder internal and external rotation link mechanism 2131, and the shoulder internal and external rotation output frame 2133 is in transmission connection with the shoulder internal and external rotation link mechanism 2131, so that the shoulder internal and external rotation output frame 2133 rotates around an output axis L3 of the shoulder internal and external rotation force unit 2132.
The shoulder internal and external rotation link mechanism 2131 comprises a shoulder internal and external rotation left swing arm 21311, a shoulder internal and external rotation right swing arm 21312, a shoulder internal and external rotation middle triangle 21313, a shoulder internal and external rotation upper triangle 21314 and a shoulder internal and external rotation driving arm 21315. One end of the shoulder internal and external rotation left swing arm 21311 and one end of the shoulder internal and external rotation right swing arm 21312 are rotatably connected to the shoulder flexion and extension swing arm 2122. The shoulder internal and external rotation middle triangular plate 21313 and the shoulder internal and external rotation upper triangular plate 21314 are triangular and have three ends. The other end of the shoulder internal and external rotation left swing arm 21311 is simultaneously connected with the first end of the shoulder internal and external rotation middle triangular plate 21313 and the first end of the shoulder internal and external rotation upper triangular plate 21314 in a rotating manner. One end of the shoulder internal and external rotation right swing arm 21312 is simultaneously rotatably connected with the second end of the shoulder internal and external rotation middle triangular plate 21313 and the second end of the shoulder internal and external rotation upper triangular plate 21314. The shoulder internal and external rotation output frame 2133 is simultaneously and rotatably connected with the third end of the shoulder internal and external rotation middle triangular plate 21313 and the third end of the shoulder internal and external rotation upper triangular plate 21314. The shoulder inside and outside turning force unit 2132 is provided on the shoulder inside and outside turning upper triangle 21314. One end of the shoulder internal and external rotation driving arm 21315 is disposed at an output end of the shoulder internal and external rotation force unit 2132, and the other end of the shoulder internal and external rotation driving arm 21315 is rotatably connected to the shoulder internal and external rotation middle triangle 21313. The shoulder internal and external rotation link mechanism 2131 can form a plurality of groups of parallelogram link mechanisms, and the shoulder internal and external rotation output frame 2133 is driven to rotate around the axis L3 by the matching of the shoulder internal and external rotation force unit 2132 and the shoulder internal and external rotation driving arm 21315. The axis L3 is parallel to the horizontal plane and perpendicular to both the axis L1 and the axis L2.
The elbow assembly 22 includes an elbow flexion-extension component 221 and a forearm pronation-supination component 222. The elbow flexion-extension component 221 is disposed on the shoulder flexion-extension component 212, and the elbow flexion-extension component 221 controls the forearm of the patient to bend or extend around the elbow joint. The forearm supination component 222 is disposed on the shoulder flexion and extension component 212, and the forearm supination component 222 controls rotation of the forearm of the patient about the elbow joint. The forearm of the patient is controlled through the elbow motion assembly 22 to move in multiple degrees of freedom.
The elbow flexion and extension component 221 includes an elbow flexion and extension power unit 2211 and an elbow flexion and extension output arm 2212. The elbow flexion and extension power unit 2211 is arranged on the shoulder internal and external rotation output frame 2133. The toggle output arm 2212 is disposed at the output of the toggle power unit 2211. The toggle output arm 2212 is controlled by the toggle power unit 2211 to rotate about the output axis L4 of the toggle power unit 2211. The axis L4 is parallel to the axis L1.
The forearm pronation and supination component 222 includes a forearm pronation and supination power unit 2221 and a forearm pronation and supination turret 2222, the forearm pronation and supination power unit 2221 is disposed at the elbow flexion and extension output arm 2212, the forearm pronation and supination turret 2222 is disposed at the output end of the forearm pronation and supination power unit 2221, such that the forearm pronation and supination turret 2222 rotates around the output axis L5 of the forearm pronation and supination power unit 2221.
The shoulder joint movement assembly 21 controls the arm of the patient to move, and the elbow joint movement assembly 22 drives the forearm of the patient to move while the arm moves, so that the multi-joint part of the patient can be moved at the same time, and the upper limb of the patient can be moved in a combined manner.
The elbow assembly 22 also includes a gripping member 223. The gripping member 223 is disposed on the forearm pronation and supination turret 2222 so as to rotate in synchronization with the forearm pronation and supination turret 2222. The palm of the patient can hold the gripping member 223, which is convenient for driving the forearm of the patient to rotate.
The elbow assembly 22 also includes a grip sensor 224. The grip strength sensor 224 is provided to the grip part 223. When the palm of the patient holds the gripping member 223, the grip force sensor 224 can detect the force transmitted by the palm of the patient, so as to further understand the condition of the upper limb of the patient.
It is worth mentioning that, due to the arrangement, the exoskeleton-type upper limb rehabilitation training robot can drive the upper limbs of the user to do rehabilitation activities at different spatial positions, and interference among all parts on the exoskeleton-type upper limb rehabilitation training robot cannot occur.
More particularly, the exoskeleton-type upper limb rehabilitation training robot can drive different parts of an upper limb of a user to do rehabilitation activities at different spatial positions, and interference among all parts on the exoskeleton-type upper limb rehabilitation training robot cannot occur.
The full degree of freedom training arm 20 also includes an adjustment assembly 23. The adjustment assembly 23 includes an upper arm adjustment member 231 and a forearm adjustment member 232. The upper arm adjustment component 231 is disposed on the shoulder flexion and extension swing arm 2122 to adapt the length of the shoulder flexion and extension component 212 to the upper arm of the patient, so that the shoulder joint movement assembly 21 can be adapted to the arms of different patients. Forearm adjustment part 232 set up in elbow bends and stretches output arm 2212, so that the elbow joint bends and stretches the length of part 221 and carries out the adaptation with patient's forearm, makes elbow joint motion subassembly 22 can adapt different patients ' forearm, finally makes full degree of freedom training arm 20 can carry out the adaptation to different patients ' arm to the purpose of the different patient arms of adaptation makes full degree of freedom training arm 20 can be applicable to various crowds and carry out the upper limbs and take exercise.
The upper arm adjusting part 231 includes an upper arm sliding plate 2311, an upper arm trapezoidal screw 2312, an upper arm driving unit 2313, and an upper arm guide 2314. The upper arm driving unit 2313 is provided to the shoulder flexion and extension swing arm 2122. The upper arm guide 2314 is provided to the shoulder flexion and extension swing arm 2122. The upper arm trapezoidal screw 2312 is provided at an output end of the upper arm driving unit 2313. The upper arm sliding plate 2311 is provided to the upper arm trapezoidal screw 2312 and is slidably coupled to the upper arm guide 2314. The upper arm sliding plate 2311 is driven to slide by the matching of the upper arm driving unit 2313 and the upper arm trapezoidal screw 2312, so that the length of the shoulder flexion and extension swing arm 2122 is changed, and the shoulder flexion and extension swing arm 2122 can be matched with the upper arms of different patients.
The forearm adjusting part 232 includes a forearm sliding plate 2321, a forearm trapezoidal screw 2322, a forearm driving unit 2323 and a forearm guide 2324. The forearm drive unit 2323 is disposed at the elbow flexion-extension output arm 2212. The front arm trapezoidal screw 2322 is disposed at an output end of the front arm driving unit 2323. The forearm guide 2324 is disposed at the elbow flexion and extension output arm 2212. The front arm sliding plate 2321 is disposed on the front arm trapezoidal screw 2322, and is slidably connected to the front arm sliding rail 2324. Through the cooperation of the forearm driving unit 2323 and the forearm trapezoidal screw 2322, the forearm sliding plate 2321 is driven to slide, so as to change the distance between the gripping member 223 and the shoulder internal and external rotation output frame 2133, and when the forearms of different patients are fixed on the elbow flexion and extension output arm 2212, the palms of the hands of the patients can hold the gripping member 223.
The shoulder joint complex mainly comprises humerus, scapula, clavicle and sternum, wherein the humerus and the scapula form a glenohumeral joint, the clavicle and the scapula form an acromioclavicular joint, the sternum and the clavicle form a sternoclavicular joint, and the scapula attached to the thorax is called as a scapula and sternoclavicular joint. In the coronal plane, when the shoulder joint abduction exceeds a certain angle, the scapula starts to rotate upwards, and the rotation movement displacement and the shoulder joint abduction angle change value form a certain proportional relation; in the horizontal plane, during the adduction and abduction processes of the shoulder joint, the clavicle can also rotate around the sternoclavicular joint, and the rotation movement displacement and the shoulder joint abduction angle change value form a certain proportional relation; the glenohumeral joint of the human body can move along with the movement of the shoulder joint in the three-dimensional space and follow the movement in the three-dimensional space. Most of the existing upper limb exoskeleton type rehabilitation training products do not have the freedom degree of motion matching with the glenohumeral joint, and all the products can generate compensatory motion, unexpected acting force and other factors which are not beneficial to rehabilitation treatment in the training process. When a patient exercises, the body of the patient needs to be fixed in order to improve the exercise effect of the patient, and the simplest fixing mode is to make the back of the patient lean on a flat plate so as to fix the upper body of the patient. When the shoulder of the patient moves, the scapula of the patient can move synchronously along with the shoulder of the patient, so that the scapula of the patient is easily in hard contact with the flat plate, and the shoulder and the scapula of the patient are twisted, so that the body of the patient can be damaged secondarily.
The exoskeleton-style upper limb rehabilitation training robot includes a glenohumeral joint movement assembly 40. The glenohumeral articulation assembly 40 includes an X-motion base 41, an X-motion power unit 42, a Y-motion base 43, a Y-motion power unit 44, a Z-motion base 45, and a Z-motion power unit 46. The Z-direction movement power unit 46 is provided to the apparatus body 10. The Z-direction moving base frame 45 is provided at the output end of the Z-direction moving power unit 46. The Z-direction moving base frame 45 is controlled to move along the Z direction by the Z-direction moving power unit 46. The X-direction moving power unit 42 is disposed on the Z-direction moving base frame 45, and the X-direction moving base frame 41 is disposed on an output end of the X-direction moving power unit 42. The X-direction moving base frame 41 is driven to move along the X direction by the X-direction moving power unit 42.
The Y-direction moving power unit 44 is disposed on the X-direction moving base frame 41, and the Y-direction moving base frame 43 is disposed on an output end of the Y-direction moving power unit 44. The Y-direction moving base frame 43 is driven to move along the Y direction by the Y-direction moving power unit 44. The glenohumeral joint motion assembly 40 integrates the motion of three degrees of freedom in the X, Y and Z directions, can realize the degree of freedom motion, and achieves the purpose of training the glenohumeral joint of the patient.
The shoulder-contracting base plate 2111 of the full-freedom training arm 20 is disposed on the Y-motion base 43.
Preferably, the X-direction moving power unit 42, the Y-direction moving power unit 44, and the Z-direction moving power unit 44 are implemented as motors. The Z-motion base frame 45 includes a Z-ball screw 451, a Z-slide plate 452, and at least one Z-guide track 453. One end of the Z-direction ball screw 451 is provided to the output end of the Z-direction movement power unit 44, and the other end of the Z-direction ball screw 451 is screw-coupled to the Z-direction sliding plate 452. The Z-guide 453 slidably couples the apparatus body 10 and the Z-sliding plate 452 to block the Z-sliding plate 452 from rotating.
The X-direction moving base 41 includes an X-direction ball screw 411, an X-direction sliding plate 412 and at least one X-direction rail 413. One end of the X-direction ball screw 411 is disposed at an output end of the X-direction movement power unit 44, and the other end of the X-direction ball screw 411 is threadedly coupled to the X-direction sliding plate 412. The X-direction guide 413 slidably connects the Z-direction sliding plate 452 and the X-direction sliding plate 412 to block the X-direction sliding plate 412 from rotating.
The Y-direction moving base 43 includes a Y-direction ball screw 431, a Y-direction sliding plate 432, and at least one Y-direction rail 433. One end of the Y-direction ball screw 431 is provided to an output end of the Y-direction moving power unit 44, and the other end of the Y-direction ball screw 431 is screw-coupled to the Y-direction sliding plate 432. The Y-guide 433 slidably couples the Z-slide plate 452 and the Y-slide plate 432 to block the Y-slide plate 432 from rotating.
Further preferably, the motor is a servo motor. The glenohumeral joint motion assembly 40 employs a servo motor and ball screw for cooperation. The servo motor can accurately control the rotating number of turns of the output shaft of the servo motor, so that the movement amount can be accurately controlled.
Since the glenohumeral articulation assembly 40 is movable in three axes, adjusting the glenohumeral articulation assembly 40 can move the full degree of freedom training arm 20 from one side of the device body 10 to the other side of the device body 10. Thus, a single said full-freedom training arm 20 is enabled to train either the left or right hand of the patient.
When the full-freedom training arm 20 trains the arm of the patient, the glenohumeral joint motion assembly 40 correspondingly moves, so that the whole shoulder of the patient moves together, compensation motion and unexpected acting force can be avoided, and the arm of the patient is prevented from being damaged in the training process.
The apparatus body 10 includes a cabinet 11 and a lifting unit 12. The lifting unit 12 is disposed at a middle portion of the cabinet 11. The Z-motion base frame 45 of the glenohumeral articulation assembly 40 is disposed at the output of the elevator unit 12. The height of the Z-direction motion base frame 45 is adjusted by the lifting unit 12, so that the full-freedom exercising arm 20 and the glenohumeral joint motion assembly 40 can be adapted to people of different heights. Similarly, the patient can train in a standing or squatting position by using the full-freedom training arm 20 and the glenohumeral joint movement assembly 40, so that the patient can train in the most comfortable position. The lifting unit 12 is implemented as an electric push rod.
The apparatus body 10 further includes a roller base 13. The roller seat 13 is disposed on the cabinet 11, and a plurality of rollers 14 are disposed at the bottom of the roller seat 13. Preferably, the roller 14 is a lockable roller. The lockable idler wheels can realize rolling rotation and fixation, so that the exoskeleton type upper limb rehabilitation training robot can move and be positioned.
The apparatus body 10 further comprises at least one emergency stop member 15. The scram component 15 is configured to control the operation of both the full degree of freedom training arm 20 and the glenohumeral articulation assembly 40. When the patient is untimely, the training can be quickly interrupted through the emergency stop component 15, and the arm of the patient can be prevented from being damaged by excessive movement of the complete-freedom training arm 20 and the glenohumeral joint movement assembly 40. The emergency stop means 15 can be implemented as an emergency stop button located at the side of the apparatus body 10 so that the patient can quickly interrupt the exercise by means of the emergency stop button.
Preferably, the emergency stop buttons are implemented in two, and two emergency stop buttons are correspondingly disposed at both sides of the apparatus body 10.
The apparatus body 10 further comprises a processing component 16. The processing component 16 is in communication connection with the shoulder folding and unfolding power unit 2113, the shoulder flexion and extension power unit 2121, the shoulder internal and external rotation power unit 2135, the elbow flexion and extension power unit 2211, the forearm rotation front and back power unit 2221, the X-direction movement power unit 42, the Y-direction movement power unit 44, the Z-direction movement power unit 46, the emergency stop component 15 and the lifting unit 12. The processing component 16 provides system control of the plurality of power units to enable the full degree of freedom training arm 20 and the glenohumeral joint motion assembly 40 to travel a trajectory that corresponds to the motion of the patient's arm.
The exoskeleton type upper limb rehabilitation training robot highly integrates an intelligent control technical algorithm, can finish intelligent and automatic adjustment of various parameters, greatly increases the convenience of use of the robot, and obviously reduces the operation difficulty and the operation duration of therapists.
For example, the full-freedom training arm 20 is programmed to switch from the exercising patient's left arm to the exercising patient's right arm, or from the exercising patient's right arm to the exercising patient's right arm, under the control of the processing component 16, to further save time in switching the full-freedom training arm 20 exercise mode.
One rehabilitation training device may be used by multiple patients. For different patients, the medical staff needs to adjust the device to different states to fit different patients.
Further, the processing component 16 includes a data storage module capable of memorizing device parameters and user data. For example, a user only needs to perform rehabilitation exercises on the forearm, and after the user exercises once through the training robot, the training robot can record arm information, height and illness state of the user. Therefore, when this patient carries out the exercise once more, only need call out this user's data, the position that just can automatic movement take exercise before to the training robot, and this user of being convenient for takes exercise once more to can reduce the time that the training robot adjusted, improve medical personnel's efficiency at work.
The mode of calling out the user data can adopt a touch screen mode to carry out interaction or cloud internet interaction.
The full-freedom training arm 20 also includes a laser emitting head 24. The laser emitting head 24 is arranged on the shoulder flexion and extension swing arm 2122, and medical staff can conveniently guide the patient to wear the shoulder flexion and extension swing arm 2122 through the laser emitted by the laser emitting head 24, so that the center of the shoulder of the patient is opposite to the laser beam, and the patient can be guaranteed to correctly wear the full-freedom-degree training arm 20. The laser emitting head 24 can realize the function of auxiliary positioning.
More specifically, the laser emitting head 24 may also be implemented as a heating element, when the patient exercises, the patient can consciously move the shoulder center to the position of the heating element, and once the shoulder center of the patient leaves the position of the heating element, the patient can perceive that the position is incorrect, so that the patient can consciously exercise in a good posture, thereby improving the effect of the patient during the exercise.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (10)

1. Exoskeleton type upper limb rehabilitation training robot, suitable for driving the upper limb of patient to realize the motion of full degree of freedom, its characterized in that, exoskeleton type upper limb rehabilitation training robot includes:
an apparatus body;
at least one full-freedom training arm, the full-freedom training arm comprising a shoulder motion component and an elbow motion component, the shoulder motion component being multi-freedom movably disposed on the device body, the elbow motion component being multi-freedom movably disposed on the shoulder motion component, the shoulder motion component forming a training space on a side of the device body; and
at least one arm securing member disposed on the shoulder articulation assembly for securing the patient's upper limb to the shoulder articulation assembly such that the patient's upper limb is capable of synchronous movement with the shoulder articulation assembly.
2. The exoskeletal upper extremity rehabilitation training robot of claim 1, wherein said arm securing member is removably disposed to said shoulder articulation assembly.
3. The exoskeletal upper extremity rehabilitation training robot of claim 1, wherein said shoulder articulation assembly comprises:
a shoulder joint adduction and abduction component, the shoulder joint adduction and abduction component comprising a shoulder abduction base plate, a shoulder abduction output plate, a shoulder abduction linkage mechanism and a shoulder abduction power unit, the shoulder abduction base plate being disposed on the equipment body, the shoulder abduction linkage mechanism being disposed on the shoulder abduction base plate, the shoulder abduction power unit being in driving connection with the shoulder abduction linkage mechanism, the shoulder abduction output plate being in driving connection with the shoulder abduction linkage mechanism so that the shoulder abduction output plate rotates around an output axis of the shoulder abduction power unit;
the shoulder joint flexion and extension component comprises a shoulder flexion and extension power unit and a shoulder flexion and extension swing arm, the shoulder flexion and extension power unit is arranged on the shoulder folding and extension output plate, and the shoulder flexion and extension swing arm is arranged at the output end of the shoulder flexion and extension power unit so as to enable the shoulder flexion and extension swing arm to rotate around the output axis of the shoulder flexion and extension power unit; and
the shoulder joint internal-external rotation motion part comprises a shoulder internal-external rotation output frame, a shoulder internal-external rotation link mechanism and a shoulder internal-external rotation force unit, the shoulder internal-external rotation link mechanism is arranged on the shoulder flexion and extension swing arm, the shoulder internal-external rotation force unit is in transmission connection with the shoulder internal-external rotation link mechanism, and the shoulder internal-external rotation output frame is in transmission connection with the shoulder internal-external rotation link mechanism so as to enable the shoulder internal-external rotation output frame to rotate around the output axis of the shoulder internal-external rotation force unit.
4. The exoskeletal upper extremity rehabilitation training robot of claim 3, wherein said elbow joint movement assembly comprises:
the elbow bending and stretching component comprises an elbow bending and stretching power unit and an elbow bending and stretching output arm, the elbow bending and stretching power unit is arranged on the shoulder internal and external rotation output frame, and the elbow bending and stretching output arm is arranged at the output end of the elbow bending and stretching power unit so that the elbow bending and stretching output arm rotates around the output axis of the elbow bending and stretching power unit; and
a forearm back of rotation part of pronating, forearm back of rotation part of pronating includes a forearm back of rotation power pack and a forearm back of rotation rolling stock of pronating, forearm back of rotation power pack set up in the elbow bends and stretches the output arm, forearm back of rotation rolling stock set up in forearm back of rotation power pack's output before pronating, so that forearm back of rotation rolling stock of pronating winds forearm back of rotation power pack's output axis rotates.
5. The exoskeletal upper extremity rehabilitation training robot of claim 4, wherein said elbow joint movement assembly further comprises a grasping member disposed on said forearm pronation and supination turret for grasping by the hand of the patient; and
a grip sensor disposed on the gripping member for measuring the grip of the patient on the gripping member.
6. The exoskeleton-style upper limb rehabilitation training robot of claim 4, wherein said full-freedom training arm further comprises an adjustment assembly, said adjustment assembly comprising:
the upper arm adjusting part is arranged on the shoulder flexion and extension swing arm so as to adjust the length of the shoulder flexion and extension swing arm;
a forearm adjustment member disposed on the elbow flexion and extension output arm to adjust a length of the elbow flexion and extension output arm.
7. The exoskeleton-type upper limb rehabilitation training robot as recited in claim 6, wherein said upper arm adjustment component comprises an upper arm sliding plate, an upper arm trapezoidal screw, an upper arm driving unit and an upper arm guide rail, said upper arm driving unit is disposed on said shoulder flexion-extension swing arm, said upper arm guide rail is disposed on said shoulder flexion-extension swing arm, said upper arm trapezoidal screw is disposed at an output end of said upper arm driving unit, said upper arm sliding plate is disposed on said upper arm trapezoidal screw and slidably connected with said upper arm guide rail;
the forearm adjusting part comprises a forearm sliding plate, a forearm trapezoidal screw, a forearm driving unit and a forearm guide rail, the forearm driving unit is arranged in the shoulder flexion and extension swing arm, the forearm guide rail is arranged in the shoulder flexion and extension swing arm, the forearm trapezoidal screw is arranged at the output end of the forearm driving unit, and the forearm sliding plate is arranged in the forearm trapezoidal screw and is in sliding connection with the forearm guide rail.
8. The exoskeleton upper limb rehabilitation training robot of claim 4, wherein the exoskeleton upper limb rehabilitation training robot comprises a glenohumeral joint movement assembly, the glenohumeral joint movement assembly comprises an X-direction movement base frame, an X-direction movement power unit, a Y-direction movement base frame, a Y-direction movement power unit, a Z-direction movement base frame and a Z-direction movement power unit, the Z-direction movement power unit is arranged on the equipment body, the Z-direction movement base frame is arranged at the output end of the Z-direction movement power unit so as to control the Z-direction movement base frame to move along the Z direction through the Z-direction movement power unit, the X-direction movement power unit is arranged on the Z-direction movement base frame, the X-direction movement base frame is arranged at the output end of the X-direction movement power unit so as to drive the X-direction movement base frame to move along the X direction through the X-direction movement power unit, the Y-direction moving power unit is arranged on the X-direction moving base frame, and the Y-direction moving base frame is arranged at the output end of the Y-direction moving power unit so as to drive the Y-direction moving base frame to move along the Y direction through the Y-direction moving power unit;
the shoulder adduction-abduction component of the full-freedom training arm is disposed on the Y-direction motion base frame.
9. The exoskeletal upper limb rehabilitation training robot of claim 8, wherein said device body comprises a cabinet and a lifting unit, said lifting unit being disposed on said cabinet, said Z-motion base of said glenohumeral articulation assembly being disposed on an output of said lifting unit.
10. The exoskeleton-type upper limb rehabilitation training robot of claim 9, wherein the device body further comprises a processing unit, and the processing unit is in communication connection with the shoulder extension power unit, the shoulder flexion and extension power unit, the shoulder internal and external rotation power unit, the elbow flexion and extension power unit, the forearm pronation and supination power unit, the X-direction movement power unit, the Y-direction movement power unit, the Z-direction movement power unit and the lifting unit, respectively.
CN202111086686.7A 2021-09-16 2021-09-16 Exoskeleton type upper limb rehabilitation training robot Active CN113633522B (en)

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