CN115227544A

CN115227544A - Upper limb single-arm rehabilitation training robot and operation method thereof

Info

Publication number: CN115227544A
Application number: CN202210808765.2A
Authority: CN
Inventors: 王洪波; 田宇; 宁圆盛; 朱攀; 杨丛亮; 魏健; 罗静静; 陈力
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-10-25

Abstract

The invention discloses an upper limb single-arm rehabilitation auxiliary training robot and an operation method, wherein the robot comprises a shoulder joint component, an elbow joint component and a wrist joint component which are connected in sequence; the shoulder joint assembly is used for assisting the movement of a shoulder joint of a patient; the elbow joint assembly is used for assisting the motion of the forearm around the elbow joint; the wrist joint assembly is for assisting movement of a patient's wrist and forearm. Wherein, wrist joint subassembly includes two actuating mechanism and handle. The grip realizes inward/outward rotation movement of the forearm through rotation, the palm is switched between a horizontal state and a vertical state, and when the palm is in the vertical state, the driving mechanism can realize palm bending/back bending movement of the wrist; when the palm is in a horizontal state, the driving mechanism can realize the radial deviation/ulnar deviation movement of the wrist. The wrist joint can present different motion states, and the full-motion rehabilitation training of the wrist can be realized through a simple structure.

Description

Upper limb single-arm rehabilitation training robot and operation method thereof

Technical Field

The invention relates to the technical field of rehabilitation training instruments, in particular to an upper limb single-arm rehabilitation training robot and an operation method thereof.

Background

The upper limb rehabilitation robot is mainly used for matching or assisting a rehabilitation therapist to realize rehabilitation training of a patient, and compared with the traditional rehabilitation therapist assistant training, the upper limb rehabilitation robot can greatly improve the rehabilitation training efficiency and reduce the workload of the rehabilitation therapist.

However, since the upper limb rehabilitation robot controls the movement of each joint of the upper limb by means of mechanization, in order to meet the higher rehabilitation requirement of the patient and realize more joint rehabilitation movements, the design requirement for the upper limb rehabilitation robot is also higher, wherein the rehabilitation training for the upper limb mainly comprises: the flexion/extension of shoulder joint, revolve the interior/revolve outward, abduction/adduction, the flexion/extension of elbow joint, the palm of wrist joint/back of the body curve, the radius/chi partially and the internal rotation/the external rotation of forearm, and the recovered robot structure of upper limbs among the prior art is comparatively complicated, and can not carry out the recovered motion of full arm, often need accomplish a whole set of rehabilitation training with the help of other machines or rehabilitation therapist, for this reason, need urgently to design a simple structure, satisfy multiple demand, realize the recovered robot of upper limbs of more many joints recovered motion.

Disclosure of Invention

In order to solve the technical problems that the existing upper limb rehabilitation robot is large in size and complex in structure, cannot realize rehabilitation movement of all joints of an upper limb and often needs to complete a whole set of rehabilitation training by other machines or rehabilitation therapists, the invention provides an upper limb single-arm rehabilitation training robot and an operation method thereof to solve the problems.

The invention provides an upper limb single-arm rehabilitation training robot, which comprises a shoulder joint component, an elbow joint component and a wrist joint component which are connected in sequence; the shoulder joint component is used for controlling the arm to complete the motion of the shoulder joint and assisting the motion of the shoulder joint of the patient; the elbow joint assembly is used for controlling the forearm to complete the motion of the elbow joint and assisting the forearm to move around the elbow joint; the wrist joint assembly is used for controlling the palm to complete the movement of the wrist joint and assisting the movement of the wrist joint and the forearm of the patient; the wrist joint assembly comprises a driving mechanism and a handle, the handle can rotate to realize inward/outward rotation of the forearm and switch the palm between a horizontal state and a vertical state, and when the palm is in the vertical state, the driving mechanism realizes rehabilitation movement of palm bending/back bending; when the palm is in a horizontal state, the driving mechanism realizes the rehabilitation movement of radial deviation/ulnar deviation.

Further, the wrist joint assembly includes: the wrist joint first driving mechanism is connected with the tail end of the elbow joint component; the first wrist joint fixing frame is arranged on an output shaft of the first wrist joint driving mechanism and is driven to rotate by the first wrist joint driving mechanism; the handle is connected with an output shaft of the second wrist joint driving mechanism and is driven to rotate by the second wrist joint driving mechanism; the output shaft of the wrist joint second driving mechanism is superposed with the axis of the forearm, the output shaft of the wrist joint second driving mechanism is vertical to the central shaft of the grip, and the output shaft of the wrist joint first driving mechanism is vertically crossed with the output shaft of the wrist joint second driving mechanism.

Furthermore, a second wrist joint fixing frame is connected to an output shaft of the second wrist joint driving mechanism, a first sliding rail is fixed to the second wrist joint fixing frame, and the handle is connected to the first sliding rail in a sliding manner, so that a patient can hold the handle and then the wrist joint is located at the intersection point of the output shaft of the first wrist joint driving mechanism and the output shaft of the second wrist joint driving mechanism.

Further, the elbow joint assembly includes: the elbow joint driving mechanism is connected with the tail end of the shoulder joint component; the small arm support is arranged on an output shaft of the elbow joint driving mechanism and is driven to rotate by the elbow joint driving mechanism; the first driving mechanism of the wrist joint is fixedly connected with the small arm support, a mechanical limiting end face is arranged at one end, facing the wrist joint assembly, of the small arm support, and when the first fixing frame of the wrist joint rotates, the side face of the first fixing frame of the wrist joint can be abutted to the limiting end face.

Furthermore, the length direction one end of the first wrist joint fixing frame is an arc-shaped end face, the limiting end face is an arc-shaped matching face attached to the arc-shaped end face, and the first wrist joint fixing frame rotates between the two ends of the arc-shaped matching face in the circumferential direction.

Furthermore, the forearm support comprises a forearm upper support, a first telescopic assembly and a forearm lower support, the forearm upper support is mounted on an output shaft of the elbow joint driving mechanism, the forearm lower support is connected with the first wrist joint driving mechanism, and the first telescopic assembly is used for controlling the forearm upper support and the forearm lower support to be close to or far away from each other so as to adjust the length of the forearm support.

Furthermore, the shoulder joint assembly comprises a shoulder joint first driving mechanism, a first moving frame, a shoulder joint second driving mechanism, a second moving frame, a shoulder joint third driving mechanism and a large arm support which are connected in sequence, and the large arm support is connected with the elbow joint driving mechanism; the central axes of the first shoulder joint driving mechanism, the second shoulder joint driving mechanism and the third shoulder joint driving mechanism are intersected at one point.

Furthermore, the large arm support and the small arm support are respectively provided with a man-machine constraint mechanism, the man-machine constraint mechanism comprises a three-dimensional force detection seat, an arch frame, an adapter plate, a supporting plate and a binding belt, the three-dimensional force detection seat is fixed above the three-dimensional force, the arch frame is rotatably connected with the three-dimensional force detection seat so that the arch frame can deflect along the direction perpendicular to the large arm/small arm support, the three-dimensional force detection seat is provided with a limiting structure for limiting the rotation of the arch frame, and two ends of the adapter plate are respectively hinged with the supporting plate and the arch frame so that the supporting plate can deflect along the length direction of the large arm/small arm support.

Furthermore, the bending angle of the connecting plate connecting the first shoulder joint driving mechanism and the second shoulder joint driving mechanism is 120 degrees, and the bending angle of the connecting plate connecting the second shoulder joint driving mechanism and the third shoulder joint driving mechanism is 120 degrees.

The invention also provides an operation method based on the upper limb single-arm rehabilitation training robot, which comprises the following steps:

movements of palmar flexion and dorsiflexion: the wrist joint first driving mechanism is started, the wrist joint second driving mechanism is closed, the grip is rotated through the wrist joint second driving mechanism, a central shaft of the grip is made to be parallel to an output shaft of the wrist joint first driving mechanism, then the wrist joint first driving mechanism is started, the wrist joint second driving mechanism is closed, and palm bending and back bending movement is achieved through the wrist joint first driving mechanism.

Radial and ulnar deviation movements: the wrist joint second driving mechanism is started, the wrist joint first driving mechanism is closed, the grip is rotated through the wrist joint second driving mechanism, the central shaft of the grip is perpendicular to the output shaft of the wrist joint first driving mechanism, then the wrist joint first driving mechanism is started, the wrist joint second driving mechanism is closed, and radial deviation and ulnar deviation movement is achieved through the wrist joint first driving mechanism.

Rotation movement of the small arm: under the condition that the central shaft of the handle is vertical to the output shaft of the first driving mechanism of the wrist joint, the rotation motion of the forearm is realized by starting the second driving mechanism of the wrist joint.

The invention has the beneficial effects that:

(1) According to the robot for upper limb single-arm rehabilitation training and the operation method, the direction of the palm is changed by the rotation of the grip, so that when the driving mechanism is started, the wrist is in different motion states, and the full-motion rehabilitation training of the wrist can be realized through a simple structure.

(2) According to the upper limb single-arm rehabilitation training robot and the operation method, the wrist joint assembly is provided with the two driving mechanisms, through reasonable arrangement of the two driving mechanisms and the positions of the handles, the posture of the handle can be adjusted while one driving mechanism realizes rotation of the forearm, and the other driving mechanism realizes different rehabilitation motion forms when the handle is in different states.

(3) According to the robot for upper limb single-arm rehabilitation training and the operation method, the upper arm and the lower arm are fixed through the human-computer constraint mechanism, the human-computer constraint mechanism and the human body are in a right constraint state, high human-computer compatibility is achieved, the front-back position and the inclination condition of the bandage can be adjusted according to the specific posture of a patient, and the comfort level of the patient is higher.

(4) According to the upper limb single-arm rehabilitation training robot and the operation method, the shoulder joint assembly is connected with the two adjacent driving mechanisms through the connecting plate with the bending angle of 120 degrees, and the movement range of the shoulder joint is enlarged by arranging the positions of the three driving mechanisms, so that the rehabilitation training range of a patient is close to the normal movement range of the shoulder joint of the human body.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a perspective view (viewed from above) of an embodiment of an upper limb one-arm rehabilitation training robot according to the present invention;

FIG. 2 is an enlarged view taken at a in FIG. 1;

FIG. 3 is an enlarged view of FIG. 1 at b;

fig. 4 is a perspective view (viewed from below) of an embodiment of the upper limb one-arm rehabilitation training robot according to the present invention;

FIG. 5 is an enlarged view at e of FIG. 4;

FIG. 6 is a front view of the ergonomic restraint mechanism of the present invention;

FIG. 7 isbase:Sub>A sectional view taken along line A-A of FIG. 6;

FIG. 8 is a bottom view of an embodiment of the upper extremity single arm rehabilitation training robot of the present invention;

FIG. 9 is a sectional view taken along line B-B of FIG. 8;

FIG. 10 is an enlarged view at c of FIG. 9;

FIG. 11 is an enlarged view at d of FIG. 9;

FIG. 12 is a bottom view of FIG. 8;

FIG. 13 is a cross-sectional view taken along line D-D of FIG. 12;

fig. 14 is a plan view (including a partially enlarged view) of an embodiment of the upper limb one-arm rehabilitation training robot according to the present invention.

In the figure, 1, a shoulder joint component 101, a shoulder joint first driving mechanism 102, a first moving frame 103, a shoulder joint second driving mechanism 104, a second moving frame 105, a shoulder joint third driving mechanism 106, a first adapter frame 107, a second adapter frame 108, an upper big arm support 109, a lower big arm support 110, a second telescopic component 111, a shoulder joint first fixing frame 112, a shoulder joint second fixing frame 113, a shoulder joint third fixing frame 114, a second arc-shaped groove 115, a first limiting block 116, a second limiting block 117, a first bump 118, a third arc-shaped groove 119, a third limiting block 2, an elbow joint component 201, an elbow joint driving mechanism 202, an upper small arm support 203, a lower small arm support, 204, an arc-shaped matching surface, 205, a first telescopic component, 2051, a trapezoidal screw rod, 2052, a connecting nut, 2053, a hand wheel, 2054, a guide shaft, 2055, a limiting nut, 206, a fourth limiting block, 207, a second convex block, 3, a wrist joint component, 301, a handle, 302, a first wrist joint driving mechanism, 303, a first wrist joint fixing frame, 304, a second wrist joint driving mechanism, 305, a second wrist joint fixing frame, 306, a first sliding rail, 4, a man-machine constraint mechanism, 401, a three-dimensional force detection seat, 4011, a base, 40111, a first arc-shaped groove, 4012, a three-dimensional force sensor, 4013, a cover cap, 402, an articulated shaft, 403, an adapter plate, 404, a supporting plate, 405, a bandage, 406, a limiting pin, 407, an arch-shaped frame, 408 and a second sliding rail.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

As shown in fig. 1-14, an upper limb single-arm rehabilitation training robot comprises a shoulder joint component 1, an elbow joint component 2 and a wrist joint component 3 which are connected in sequence; the shoulder joint component 1 is used for controlling the motion of an arm around a shoulder joint and assisting the motion of the shoulder joint of a patient, and the motion of the shoulder joint mainly comprises adduction/abduction, inward rotation/outward rotation and forward flexion/backward extension; the elbow joint component 2 is used for controlling the motion of the small arm around the elbow joint and assisting the motion of the small arm around the elbow joint, and the motion of the elbow joint mainly comprises flexion/extension; the wrist joint assembly 3 is used for controlling the motion of the palm around the wrist joint and assisting the motion of the wrist joint and the forearm of the patient, and the motion of the wrist joint mainly comprises palmar flexion/dorsiflexion, radial deviation/ulnar deviation and rotation of the forearm; the wrist joint assembly 3 comprises a driving mechanism and a grip 301, the grip 301 can rotate to realize the inward rotation or outward rotation of the forearm, and simultaneously enables the palm to be switched between a horizontal state and a vertical state, and when the palm is in the horizontal state, the driving mechanism realizes the rehabilitation motions of radial deviation, ulnar deviation and forearm rotation; when the palm is in a vertical state, the driving mechanism realizes the rehabilitation movement of bending the palm and bending the back of the hand to the lower arm.

According to the invention, the full-freedom-degree rehabilitation movement of the whole upper limb single-arm can be realized through one upper limb single-arm rehabilitation training robot, wherein the rotation of the grip 301 is used for changing the orientation of the palm, the hand can be operated by holding the grip 301, the upper limb single-arm rehabilitation training robot does not need to be dismounted, and the operation is simple and rapid.

The wrist joint assembly 3:

as shown in fig. 1 and 3, the wrist joint assembly 3 includes a grip 301, a first wrist joint driving mechanism 302, a first wrist joint fixing frame 303 and a second wrist joint driving mechanism 304, a housing of the first wrist joint driving mechanism 302 is connected to a distal end of the elbow joint assembly 2, the motion of the elbow joint assembly 2 can drive the whole wrist joint assembly 3 to move through the housing of the first wrist joint driving mechanism 302, the first wrist joint fixing frame 303 is mounted on an output shaft of the first wrist joint driving mechanism 302 and is driven to rotate by the first wrist joint driving mechanism 302; the shell of the wrist joint second driving mechanism 304 is connected with the wrist joint first fixing frame 303, the motion state of the wrist joint first fixing frame 303 can be transmitted to the grip 301 through the wrist joint second driving mechanism 304, and the grip 301 is connected with the output shaft of the wrist joint second driving mechanism 304 and is driven to rotate by the wrist joint second driving mechanism 304. The first wrist joint fixing frame 303 plays a role in switching, and a corresponding first wrist joint fixing frame 303 structure can be designed according to the position relationship between the first wrist joint driving mechanism 302 and the second wrist joint driving mechanism 304. The first wrist joint driving mechanism 302 and the second wrist joint driving mechanism 304 have the same structure, and taking the first wrist joint driving mechanism 302 as an example, the first wrist joint driving mechanism 302 is a motor module including a speed reducer and an encoder.

The output shaft of the wrist joint second driving mechanism 304 is coincident with the axis of the small arm, the output shaft of the wrist joint second driving mechanism 304 is vertical to the central shaft of the handle 301, the handle 301 is arranged close to the straight line where the output shaft of the wrist joint second driving mechanism 304 is, when the patient holds the handle 301, the central shaft of the arm is approximately coaxial with the output shaft of the wrist joint second driving mechanism 304, the small arm can rotate after the wrist joint second driving mechanism 304 is started, the palm can be switched between a horizontal state and a vertical state in the rotation process of the small arm, the output shaft of the wrist joint first driving mechanism 302 is vertical to the output shaft of the wrist joint second driving mechanism 304, the first wrist joint driving mechanism 302 is used for controlling radial deviation/ulnar deviation and palmar flexion/dorsiflexion of the wrist joint, the grip 301 needs to be close to a straight line where a central axis of the first wrist joint driving mechanism 302 is located as much as possible, in the embodiment, an output shaft of the second wrist joint driving mechanism 304 is vertically arranged, when the grip 301 is in a horizontal state, a palm is horizontally held on the grip 301, the second wrist joint driving mechanism 304 drives the palm to rotate along a horizontal plane, the radial deviation/ulnar deviation movement of the wrist joint can be controlled, when the grip 301 is in a vertical state, the palm is vertically held on the grip 301, the second wrist joint driving mechanism 304 drives the palm to rotate along the horizontal plane, and the palmar flexion/dorsiflexion movement of the wrist joint can be controlled.

In order to locate the grip 301 at the intersection point of the output shaft of the first wrist joint driving mechanism 302 and the output shaft of the second wrist joint driving mechanism 304, it is preferable that the second wrist joint fixing frame 305 is connected to the output shaft of the second wrist joint driving mechanism 304, the first slide rail 306 is fixed to the second wrist joint fixing frame 305, the grip 301 is slidably connected to the first slide rail 306, the grip 301 can be located on the central axis of the first wrist joint driving mechanism 302 by sliding the grip 301 back and forth, and different palm sizes can be adapted by adjusting the axial position of the palm on the grip 301, so that the wrist joint can be located on the central axis of the second wrist joint driving mechanism 304 after the patient holds the grip 301.

The elbow joint component 2:

as shown in fig. 1, 9 and 14, the elbow joint assembly 2 comprises an elbow joint driving mechanism 201 and a small arm support, and a shell of the elbow joint driving mechanism 201 is connected with the tail end of the shoulder joint assembly 1; the motion of the shoulder joint component 1 can drive the whole elbow joint component 2 to move through a shell of the elbow joint driving mechanism 201, and the small arm support is arranged on an output shaft of the elbow joint driving mechanism 201 and is driven to rotate by the elbow joint driving mechanism 201; the casing and the forearm support fixed connection of the first actuating mechanism of wrist joint 302, and the one end towards wrist joint subassembly 3 has spacing terminal surface on the forearm support, and when the first mount 303 of wrist joint was rotatory, the side of the first mount 303 of wrist joint can with spacing terminal surface butt.

Actuation of the elbow joint drive mechanism 201 may effect flexion/extension rehabilitation motion at the elbow joint. The limiting end face can mechanically limit the first fixing frame 303 of the wrist joint, so that the phenomenon that the wrist joint of a patient is excessively bent in the movement process is prevented.

In order to ensure the rotational stability, the first wrist joint fixing frame 303 in this embodiment contacts with the forearm support through an arc-shaped surface, that is, one end of the first wrist joint fixing frame 303 in the length direction is an arc-shaped end surface, the limiting end surface is an arc-shaped fitting surface 204 attached to the arc-shaped end surface, and the first wrist joint fixing frame 303 rotates between two ends of the arc-shaped fitting surface 204 in the circumferential direction. Specifically, as shown in fig. 8, the forearm support includes an upper forearm support 202, a first telescopic assembly 205 and a lower forearm support 203, the upper forearm support 202 is mounted on an output shaft of the elbow joint driving mechanism 201, the lower forearm support 203 is connected with a first wrist joint driving mechanism 302, and the first telescopic assembly 205 is used for controlling the upper forearm support 202 and the lower forearm support 203 to approach or separate from each other. The arc-shaped matching surface 204 is located at the end of the lower forearm support 203, as shown in fig. 14, a groove is formed in the end of the lower forearm support 203, the side surface of the groove is the arc-shaped matching surface 204, the first wrist joint fixing frame 303 is located in the groove, the length of the first wrist joint fixing frame 303 is larger than the diameter of the arc-shaped matching surface 204, when the first wrist joint fixing frame 303 rotates, the side surface of the first wrist joint fixing frame 303 can abut against the end of the arc-shaped matching surface 204, mechanical limitation is achieved, the first wrist joint fixing frame is preferable, the center of the arc-shaped matching surface 204 is attached to the end of the first wrist joint fixing frame 303, and two ends of the arc-shaped matching surface 204 are gradually expanded. The elbow joint drive mechanism 201 has the same structure as the wrist joint first drive mechanism 302.

The first telescopic assembly 205 is used for realizing telescopic translational motion, for example, it may be a telescopic cylinder, a feed screw nut mechanism, and the like, in this embodiment, as shown in fig. 5 and fig. 10, the first telescopic assembly 205 includes a trapezoidal lead screw 2051, a connection nut 2052, a handwheel 2053, and a guide shaft 2054, the upper arm support 202 and the lower arm support 203 have downward extending bosses, the trapezoidal lead screw 2051 is connected to the two bosses, the connection nut 2052 is fixed on the boss of the upper arm support 202, the trapezoidal lead screw 2051 is in threaded fit with the connection nut 2052, one end of the guide shaft 2054 is mounted with a limit nut 2055, the other end of the guide shaft 2054 passes through the boss of the upper arm support 202 and is fixed with the boss of the lower arm support 109 by a thread, the guide shaft 2054 can slide relative to the upper arm support 202, the limit nut 2055 can mechanically limit the guide shaft 2054, and place the guide shaft 2054 to be pulled out from the boss of the upper arm support 202. The trapezoid lead screw 2051 is rotatably connected with a boss of the lower forearm bracket 203 through a linear bearing, the hand wheel 2053 is fixed at the end part of the trapezoid lead screw 2051, when the hand wheel 2053 is rotated, the hand wheel 2053 drives the trapezoid lead screw 2051 to rotate, so that the upper forearm bracket 202 moves relative to the trapezoid lead screw 2051, and the upper forearm bracket 202 moves relative to the lower forearm bracket 203 because the trapezoid lead screw 2051 and the lower forearm bracket 203 are axially fixed through the linear bearing, so that the extension and retraction of the forearm bracket are realized.

Shoulder joint assembly 1:

the shoulder joint assembly 1 comprises a shoulder joint first driving mechanism 101, a first moving frame 102, a shoulder joint second driving mechanism 103, a second moving frame 104, a shoulder joint third driving mechanism 105 and a big arm support which are connected in sequence, and the big arm support is connected with a shell of an elbow joint driving mechanism 201; the central axes of the shoulder joint first drive mechanism 101, the shoulder joint second drive mechanism 103, and the shoulder joint third drive mechanism 105 intersect at one point.

As shown in fig. 1 and 2, a housing of the first shoulder joint driving mechanism 101 is fixed to a first shoulder joint fixing frame 111, the first shoulder joint fixing frame 111 is mounted on a fixed structure, the first movable frame 102 is mounted on an output shaft of the first shoulder joint driving mechanism 101, a housing of the second shoulder joint driving mechanism 103 is fixed to a second shoulder joint fixing frame 112, the second shoulder joint fixing frame 112 is connected to the first movable frame 102 through a first adapter frame 106, an output shaft of the second shoulder joint fixing frame 112 is connected to the second movable frame 104, a housing of the third shoulder joint driving mechanism 105 is fixed to a third shoulder joint fixing frame 113, the third shoulder joint fixing frame 113 is connected to the second movable frame 104 through a second adapter frame 107, and an upper arm support is fixedly mounted on an output shaft of the third shoulder joint driving mechanism 105. The shoulder joint first drive mechanism 101, the shoulder joint second drive mechanism 103, and the shoulder joint third drive mechanism 105 are all the same in structure as the wrist joint first drive mechanism 302. The rotation axes of the first shoulder joint driving mechanism 101, the second shoulder joint driving mechanism 103, and the third shoulder joint driving mechanism 105 may be perpendicular to each other, and in order to expand the rotation range, in this embodiment, the first adapter 106 and the second adapter 107 are used to adjust the angle between two adjacent driving mechanisms. The bending angle of the first adapter frame 106 is 120 °, and the bending angle of the second adapter frame 107 is 120 °.

The shoulder joint component 1 can realize the adduction/abduction, internal rotation/external rotation, anteflexion/retroflexion rehabilitation movement at the shoulder joint.

In order to be able to adjust the length of the boom support, the boom support is preferably of the same telescopic structure as the forearm support, i.e. the boom support comprises a boom upper support 108, a boom lower support 109 and a second telescopic assembly 110 connecting the boom upper support 108 and the boom lower support 109, the second telescopic assembly 110 is of the same structure as the first telescopic assembly 205, the boom upper support 108 is mounted on the output shaft of the shoulder joint third drive mechanism 105, and the boom lower support 109 is fixed with the housing of the elbow joint drive mechanism 201.

Example two

On the basis of the first embodiment, the large arm support and the small arm support are respectively provided with a human-computer constraint mechanism 4, and the number of degrees of freedom of the human-computer constraint mechanism 4 is obtained according to the following formula:

wherein F is the number of degrees of freedom in a closed chain; f. of _i The degree of freedom of the joint i; n is the number of joints; d is the motion space dimension; l is the number of closed chain loops.

In the formula (f) _ik The degree of freedom of the known joint i; m is the known number of joints; f. of _juk The degree of freedom of the unknown joint j.

Wherein, unknown degree of freedom quantity in the big arm man-machine closed chain is:

the unknown number of degrees of freedom in the human-computer closed chain of the upper limb is as follows:

the number of degrees of freedom of the large-arm and small-arm ergonomic constraint mechanisms is 3 respectively.

In this embodiment, the two human-machine constraint mechanisms 4 have the same structure, taking the human-machine constraint mechanism 4 connected to the forearm support as an example, the human-machine constraint mechanism 4 includes a three-dimensional force detection seat 401, an arch frame 407, an adapter plate 403, a support plate 404 and a strap 405, the three-dimensional force detection seat 401 includes a base 4011, a three-dimensional force sensor 4012 mounted on the base 4011, and a cap 4013 fixed to the top of the three-dimensional force sensor 4012, the base 4011 is fixed above the forearm support, the arch frame 407 is rotatably connected to the base 4011 to enable the arch frame 407 to deflect along the direction of the forearm support, the three-dimensional force detection seat 401 has a limit structure for limiting the rotation of the arch frame 407, two ends of the adapter plate 403 are respectively hinged to the support plate 404 and the arch frame 407, so that the support plate 404 can tilt along the length direction perpendicular to the forearm support, and the strap 405 is connected to the top of the support plate 404.

As shown in fig. 6, 7 and 10, two sides of the arch frame 407 have first arc-shaped grooves 40111, the arc center of the first arc-shaped groove 40111 is located above the first arc-shaped groove 40111, and an articulated shaft 402 is disposed at the arc center of the first arc-shaped groove 40111, so that the arch frame 407 is articulated with the base 4011, and thus the arch frame 407 can tilt back and forth along the length direction of the forearm support, the limiting structure may be limiting pins 406 fixed on two sides of the base 4011, the limiting pins 406 are inserted into the first arc-shaped grooves 40111, and when the limiting pins 406 abut against the end portions of the first arc-shaped grooves 40111, the arch frame 407 cannot rotate continuously. In fig. 7, the right lower end of the adapter plate 403 is hinged to the arch frame 407 by a hinge, the left upper end of the adapter plate 403 is hinged to the support plate 404 by a hinge, the central axis of the hinge is parallel to the length direction of the boom support, and the central axes of the two hinges are not collinear, so that the support plate 404 can be tilted in the directions of both sides of the boom support. The top of the supporting plate 404 is preferably provided with a second sliding rail 408, the second sliding rail 408 is parallel to the length direction of the large arm bracket, the strap 405 is slidably connected on the second sliding rail 408, and the position of the strap 405 on the arm can be adjusted according to the length of the arm. Through first arc wall 40111, double hinge, second slide rail 408, make the patient when using this rehabilitation robot, man-machine restraint mechanism 4 can the micro-variation of big arm of self-adaptation patient and forearm to improve the travelling comfort that the patient used.

EXAMPLE III

On the basis of the first embodiment or the second embodiment, in order to avoid the shoulder joint damage caused by the excessively large rotation angle of the first driving mechanism 101 of the shoulder joint, as shown in fig. 2, in this embodiment, the end surface of the first movable frame 102, which is opposite to the first fixed frame 111 of the shoulder joint, is provided with the second arc-shaped groove 114, the first limiting block 115, which is suitable for being inserted into the second arc-shaped groove 114, is fixed on the shoulder joint fixed frame, the arc center of the second arc-shaped groove 114 is collinear with the rotation center of the first movable frame 102, and the first limiting block 115 moves in the second arc-shaped groove 114, so that the mechanical limiting effect is achieved, and the excessively large rotation angle of the first movable frame 102 is avoided.

Similarly, as shown in fig. 11, a second limiting block 116 is installed on the second shoulder joint fixing frame 112, a first protrusion 117 is fixed on the outer side wall of the second moving frame 104, and when the first protrusion 117 rotates to the second limiting block 116, the second limiting block 116 prevents the first protrusion 117 from continuing to rotate, so as to perform a mechanical limiting function.

Similarly, as shown in fig. 12 and 13, the part of the upper arm support 108 rotatably connected to the third shoulder joint fixing frame 113 has a third arc-shaped groove 118, the arc center of the third arc-shaped groove 118 is collinear with the rotation center of the upper arm support 108, the third shoulder joint fixing frame 113 is provided with a third limiting block 119, and the third limiting block 119 moves in the third arc-shaped groove 118 to perform a mechanical limiting function.

As shown in fig. 14, a fourth limiting block 206 is fixed on the lower arm bracket 203, a second protrusion 207 is installed on the side of the upper arm bracket, and when the second protrusion 207 rotates to the fourth limiting block 206, the fourth limiting block 206 prevents the second protrusion 207 from rotating continuously, so as to perform a mechanical limiting function.

Example four

An operating method based on the upper limb single-arm rehabilitation training robot comprises the following steps:

movements of palmar flexion and dorsiflexion: firstly, the wrist joint second driving mechanism 304 is started, the wrist joint first driving mechanism 302 is closed, the wrist joint second driving mechanism 304 drives the grip 301 to rotate, the central shaft of the grip 301 is parallel to the output shaft of the wrist joint first driving mechanism 302, then the wrist joint first driving mechanism 302 is started, the wrist joint second driving mechanism 304 is closed, and palm bending and back bending movement is realized through the wrist joint first driving mechanism 302.

Radial and ulnar deviation movements: firstly, the wrist joint second driving mechanism 304 is started, the wrist joint first driving mechanism 302 is closed, the wrist joint second driving mechanism 304 drives the grip 301 to rotate, the central shaft of the grip 301 is perpendicular to the output shaft of the wrist joint first driving mechanism 302, then the wrist joint first driving mechanism 302 is started, the wrist joint second driving mechanism 304 is closed, and radial deviation and ulnar deviation movement are achieved through the wrist joint first driving mechanism 302.

Rotation movement of the small arm: when the center axis of the grip 301 is perpendicular to the output shaft of the first wrist joint drive mechanism 302, the rotation of the forearm is realized by activating the second wrist joint drive mechanism 304.

The operation method of the shoulder joint assembly 1 in the present invention is the same as the operation method of the shoulder joint of the rehabilitation robot in the prior art, and is not described in detail here.

In the description of the present invention, it is to be understood that the terms "center", "front", "rear", "inside", "outside", "axial", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In this specification, the schematic representations of the terms are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides an upper limbs single armed rehabilitation training robot which characterized in that: comprises a shoulder joint component (1), an elbow joint component (2) and a wrist joint component (3) which are connected in sequence;

the shoulder joint assembly (1) is used for assisting the movement of a shoulder joint of a patient;

the elbow joint component (2) is used for assisting the motion of the small arm around the elbow joint;

the wrist joint assembly (3) is used for assisting the movement of the wrist joint and the lower arm of the patient;

the wrist joint assembly (3) comprises a driving mechanism and a handle (301), wherein the handle (301) can rotate to realize inward rotation or outward rotation of the forearm, and simultaneously enables the palm to be switched between a horizontal state and a vertical state, and when the palm is in the vertical state, the driving mechanism can realize palm bending or dorsiflexion movement of the wrist; when the palm is in a horizontal state, the driving mechanism can realize the radial deviation or ulnar deviation movement of the wrist.

2. The upper extremity single arm rehabilitation training robot according to claim 1, characterized in that said wrist assembly (3) further comprises:

a wrist joint first driving mechanism (302) connected with the tail end of the elbow joint component (2);

the first wrist joint fixing frame (303) is arranged on an output shaft of the first wrist joint driving mechanism (302) and is driven to rotate by the first wrist joint driving mechanism (302);

a second driving mechanism (304) of the wrist joint, which is connected with the first fixing frame (303) of the wrist joint,

the grip (301) is connected with an output shaft of the wrist joint second driving mechanism (304) and is driven to rotate by the wrist joint second driving mechanism (304);

the output shaft of the wrist joint second driving mechanism (304) is overlapped with the axis of the forearm, the output shaft of the wrist joint second driving mechanism (304) is vertical to the central shaft of the handle (301), and the output shaft of the wrist joint first driving mechanism (302) is vertically crossed with the output shaft of the wrist joint second driving mechanism (304).

3. The upper limb single-arm rehabilitation training robot according to claim 2, characterized in that: the output shaft of the wrist joint second driving mechanism (304) is connected with a wrist joint second fixing frame (305), the wrist joint second fixing frame (305) is fixed with a first sliding rail (306), and the handle (301) is connected to the first sliding rail (306) in a sliding mode, so that the wrist joint can be located at the intersection point of the output shaft of the first driving mechanism (302) and the output shaft of the wrist joint second driving mechanism (304) after a patient holds the handle (301).

4. The upper limb single-arm rehabilitation training robot of claim 2, wherein: the elbow joint assembly (2) comprises:

the elbow joint driving mechanism (201) is connected with the tail end of the shoulder joint component (1);

the forearm support is arranged on an output shaft of the elbow joint driving mechanism (201) and is driven to rotate by the elbow joint driving mechanism (201);

the first driving mechanism (302) of the wrist joint is fixedly connected with the forearm support, a limiting end face is arranged at one end, facing the wrist joint assembly (3), of the forearm support, and when the first fixing frame (303) of the wrist joint rotates, the side face of the first fixing frame (303) of the wrist joint can be abutted to the limiting end face.

5. The upper limb single-arm rehabilitation training robot of claim 4, wherein: the length direction one end of the first wrist joint fixing frame (303) is an arc-shaped end face, the limiting end face is an arc-shaped matching face (204) attached to the arc-shaped end face, and the first wrist joint fixing frame (303) rotates between the two ends of the arc-shaped matching face (204) in the circumferential direction.

6. The upper limb single-arm rehabilitation training robot of claim 4, wherein: the forearm support comprises a forearm upper support, a first telescopic assembly (205) and a forearm lower support, the forearm upper support is mounted on an output shaft of the elbow joint driving mechanism (201), the forearm lower support is connected with a first wrist joint driving mechanism (302), and the first telescopic assembly (205) is used for adjusting the length of the forearm support.

7. The upper limb single-arm rehabilitation training robot of claim 4, wherein: the shoulder joint assembly (1) comprises a shoulder joint first driving mechanism (101), a first moving frame (102), a shoulder joint second driving mechanism (103), a second moving frame (104), a shoulder joint third driving mechanism (105) and a large arm support which are sequentially connected, and the large arm support is connected with an elbow joint driving mechanism (201); the central axes of the first shoulder joint driving mechanism (101), the second shoulder joint driving mechanism (103) and the third shoulder joint driving mechanism (105) intersect at a point.

8. The upper limb single-arm rehabilitation training robot of claim 7, wherein: the human-computer restraint mechanism (4) is arranged on the large arm support and the small arm support respectively, the human-computer restraint mechanism (4) comprises a three-dimensional force detection seat (401), an arch frame (407), an adapter plate (403), a support plate (404) and a binding band (405), the three-dimensional force detection seat (401) is fixed above the three-dimensional force, the arch frame (407) is rotatably connected with the three-dimensional force detection seat (401) so that the arch frame (407) deflects along the direction perpendicular to the large arm support or the small arm support, a limiting structure for limiting the rotation of the arch frame (407) is arranged on the three-dimensional force detection seat (401), and two ends of the adapter plate (403) are hinged to the support plate (404) and the arch frame (407) respectively so that the support plate (404) can deflect along the length direction of the large arm support or the small arm support.

9. The upper limb single-arm rehabilitation training robot of claim 7, wherein: the bending angle of a connecting plate connecting the first shoulder joint driving mechanism (101) and the second shoulder joint driving mechanism (103) is 120 degrees, and the bending angle of a connecting plate connecting the second shoulder joint driving mechanism (103) and the third shoulder joint driving mechanism (105) is 120 degrees.

10. A method of operation, characterized by: the operation method is based on the upper limb single-arm rehabilitation training robot of any one of claims 2-9, and comprises the following steps:

movements of palmar flexion and dorsi flexion: firstly, starting a wrist joint second driving mechanism (304), closing a wrist joint first driving mechanism (302), rotating a grip (301) through the wrist joint second driving mechanism (304), enabling a central shaft of the grip (301) to be parallel to an output shaft of the wrist joint first driving mechanism (302), then starting the wrist joint first driving mechanism (302), closing the wrist joint second driving mechanism (304), and realizing palmar flexion and dorsiflexion movement of a wrist through the wrist joint first driving mechanism (302);

radial and ulnar deviation movements: firstly, starting a wrist joint second driving mechanism (304), closing a wrist joint first driving mechanism (302), rotating a grip (301) through the wrist joint second driving mechanism (304), enabling a central shaft of the grip (301) to be vertical to an output shaft of the wrist joint first driving mechanism (302), then starting the wrist joint first driving mechanism (302), closing the wrist joint second driving mechanism (304), and realizing radial deviation and ulnar deviation movement of a wrist through the wrist joint first driving mechanism (302);

rotation movement of the small arm: when the central axis of the grip (301) is perpendicular to the output shaft of the first drive mechanism (302) of the wrist joint, the rotation of the forearm is realized by starting the second drive mechanism (304) of the wrist joint.