CN115317321A - Wearable upper limb rehabilitation robot - Google Patents

Abstract

The invention provides a wearable upper limb rehabilitation robot, which comprises a rack, shoulder joints, elbow joints and wrist joints, and relates to five degrees of freedom, wherein each shoulder joint comprises a large arm internal rotation and external rotation mechanism, a large arm internal contraction and external expansion mechanism, a large arm upper swing and lower swing mechanism and a large arm length adjusting mechanism; daily or complex arm actions can be completed in the rehabilitation training, the shoulder joint can be adducted and abducted, and the guided rehabilitation training that the shoulder joint is inwards and outwards unfolded is realized.

Description

A wearable upper limb rehabilitation robot

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to a wearable upper limb rehabilitation robot.

Background technique

In recent years, my country's population aging trend is obvious, with the increase in average life expectancy, population aging will be further accelerated. Stroke with high morbidity, high disability rate, high mortality rate, high recurrence rate, and high economic burden is a high-incidence disease among the elderly in my country, which can cause limb motor dysfunction in patients. Reasonable rehabilitation training can help patients recover limb movement Function, the recovery of upper limb function plays an extremely important role in the treatment of stroke patients. Actively helping patients to do rehabilitation training is conducive to improving their mobility. However, traditional artificial-assisted rehabilitation methods are costly and inefficient, making it difficult to meet the rehabilitation needs of stroke patients. People's attention has begun to shift to rehabilitation robots, so rehabilitation robots have become a new focus in the field of rehabilitation.

For example, the Chinese patent application number is CN201910490684.0 and the publication date is 2019.08.16, which discloses a six-degree-of-freedom wearable flexible rope-driven exoskeleton-type upper limb rehabilitation training robot. It has movement coherence and fluency, avoids secondary injury to patients, and does not realize the degree of freedom required by joints through large mechanisms such as joint turntables, high space utilization, more comfortable to wear, and more suitable for human arms. Movement characteristics; however, the robot in this document can only realize the up and down swing, internal rotation and external rotation of the patient's arm, while for the shoulder joint, it can only perform the movement of the arm up and down, and cannot perform adduction and abduction rehabilitation training. The shoulder joint is a key part of the upper limb connection, and the adduction and abduction of the shoulder joint can make the two arms move closer and open, which is very important for upper limb training. To this end, a wearable upper limb rehabilitation robot is proposed.

Contents of the invention

The purpose of the present invention is to provide a wearable upper limb rehabilitation robot, which can complete daily or complex arm movements during rehabilitation training, can achieve shoulder joint adduction and abduction, and realize shoulder joint inward and outward expansion guided rehabilitation training , and can effectively limit the adduction and abduction of the big arm to prevent the occurrence of strain.

In order to achieve the above object, a wearable upper limb rehabilitation robot is used to perform rehabilitation training for personnel who need rehabilitation training, including a rack, an elbow joint training mechanism and a wrist joint training mechanism, and also includes a shoulder joint training structure. The shoulder joint training mechanism includes the internal rotation and external rotation mechanism of the big arm, the adduction and abduction mechanism of the big arm, the swing up and down swing mechanism of the big arm and the length adjustment mechanism of the big arm. Extension mechanism and forearm length adjustment mechanism, the wrist joint training mechanism includes wrist adduction and abduction mechanism, one end of the shoulder joint training mechanism is connected with the frame, one end of the elbow joint training mechanism is connected with the other end of the shoulder joint training mechanism One end is connected, the wrist joint training mechanism is connected with the other end of the elbow joint training mechanism, the internal rotation and external rotation mechanism of the large arm is fixedly connected with the frame, and one end of the internal rotation and external rotation mechanism of the large arm is connected with the adduction and abduction of the large arm One end of the mechanism is rotatably connected, the other end of the adduction and abduction mechanism of the boom is rotatably connected with one end of the upswing and downswing mechanism of the boom, and the length adjustment mechanism of the boom moves on the other end of the upswing and downswing mechanism of the boom, and the up The pendulum and hem mechanism are connected with one end of the forearm adduction and abduction mechanism, and the other end of the forearm adduction and abduction mechanism is provided with a forearm length adjustment mechanism, and the forearm length adjustment mechanism is connected with the wrist adduction and abduction mechanism Connected, the upper arm adduction and abduction mechanism is used to adduct and abduct the upper arm of the personnel who need to undergo rehabilitation training towards the chest. The upper arm adduction and abduction mechanism is equipped with The limit structure that limits the direction of rotation.

With the above settings, by setting the internal rotation and external rotation mechanism, the adduction and abduction mechanism, the upper swing and lower swing mechanism and the boom length adjustment mechanism at the shoulder joint, the internal rotation and external rotation of the shoulder joint and the large arm can be realized. The three degrees of freedom of arm adduction and abduction and the upswing and downswing of the upper arm; by setting the forearm adduction and abduction mechanism at the elbow joint and the mechanism for adjusting the length of the forearm, the adduction and adduction of the elbow joint and the forearm length can be realized. One degree of freedom of abduction; by setting the wrist adduction and abduction mechanism at the elbow joint, one degree of freedom of wrist adduction and abduction can be realized, so that it can conveniently guide the rehabilitation person to carry out multi-modal rehabilitation training, At the same time, the adduction and abduction mechanism of the upper arm is added to realize the adduction and abduction of the upper arm to the chest, so that the adduction and abduction of the upper arm can be trained. The limit structure limits the rotation angle to prevent straining due to excessive rotation and ensure safety.

Further, the internal rotation and external rotation mechanism of the boom includes a shoulder block, a left fixing part of the shoulder block, a right fixing part of the shoulder block, a frame connecting part, a large arm internal rotation and external rotation steering wheel, and a large arm internal rotation and external rotation Rotary motor, one end of the rack connector is fixedly connected to the frame, the other end of the rack connector is connected to the right end of the shoulder block, the inner rotation and outer rotation motors of the big arm are located under the rack connector, and are fixed on the shoulder block On the right side of the right fixing part, the other end of the right fixing part of the shoulder block is connected with the left fixing part of the shoulder block. And the other end of the external rotation steering wheel is installed on the shoulder block and connected with the shoulder block. The shoulder block is installed in the groove of the left fixing part of the shoulder block and the shoulder block rotates in the groove.

With the above settings, by setting the cross section as a groove on the left fixing part of the shoulder block, the shoulder block is connected with the left fixing part of the shoulder block, which can support the shoulder block and prevent the shoulder block from shaking during the rehabilitation process; by setting the internal rotation of the arm And the external rotation motor, the output shaft of the boom internal rotation and the external rotation motor is connected with the large arm internal rotation and the external rotation steering wheel, and the rotation of the motor realizes the internal rotation and external rotation of the large arm.

Further, the large arm adduction and abduction mechanism of the shoulder joint includes the acromion, the adduction and abduction motor of the large arm, the adduction and abduction steering wheel of the large arm, and the rotator cuff. One end of the acromion and the shoulder block pass through a screw Fix the connection, the adduction and abduction motors of the big arm are arranged on the upper surface of the other end of the shoulder peak, the limit mechanism includes the first stepped surface and the second stepped surface set on the bottom surface of the shoulder peak, the first stepped surface and the second stepped surface planes are parallel to the upper surface of the acromion, and the distance between the second stepped surface and the upper surface of the acromion is less than the distance between the first stepped surface and the upper surface of the acromion, the adduction and abduction rudder disc setting of the big arm At the second stepped surface, the adducting and abducting rudder disc of the boom is connected to the output shaft end of the motor, and the rotator cuff near the second stepped surface is provided with a circular accommodating groove with a cross-sectional shape for placing and The adduction and abduction rudder disc of the boom are fixed, and the lower end of the rotator cuff is provided with a fixing slot for fixing the upswing and downswing mechanism of the boom.

With the above settings, a circular groove is opened at the connection end between the shoulder peak and the big arm retraction and outward extension rudder disc, and a stepped limit structure is formed through the first stepped surface and the second stepped surface, so as to reduce the weight of the shoulder peak, The circular groove can hide the adduction and abduction steering wheel of the big arm, and the stepped limit structure matches the upper end surface of the rotator cuff, so that when turning into the limit structure, the adduction and abduction motor of the big arm The rotation realizes the adduction and abduction of the upper arm. When the rotator cuff rotates, it will be restricted by the stepped surface, preventing the wearer from causing muscle strain and protecting the wearer.

Further, the upper swing and lower swing mechanism of the boom includes the boom and the upper swing and lower swing motors, the upper swing and lower swing motors of the boom are arranged on the rotator cuff, and the output ends of the upper swing and lower swing motors of the boom are connected to the One end of the arm is rotatably connected, and a hollow groove is arranged on the arm.

With the above settings, the up and down swing motors of the boom are connected with the boom rotation, so as to realize the swing motion training of the boom up and down.

Further, the boom length adjustment mechanism includes a boom adjustment block, an upper fixed block, a lower fixed block and an adjustment block, the lower end of the boom adjustment block is connected with the lower fixed block, and the upper end of the boom adjustment block is connected with the upper end of the fixed block. connection, the boom adjustment block is slidably connected to the hollow groove of the boom, and the adjustment block is fixedly connected with the other end of the boom.

For the above settings, by setting the boom adjustment block to slide between the two ends of the hollow groove of the boom, one end of the hollow groove coincides with one end of the adjustment block to prevent the boom adjustment block from slipping out. After determining the appropriate boom length, The boom is fixedly connected with the boom adjustment block to realize the adjustment of the boom length.

Further, the forearm adduction and abduction mechanism includes an elbow joint connection block, a forearm adduction and abduction motor, and an forearm adjustment block. One end of the elbow joint connection block is fixedly connected with the big arm adjustment block, and the elbow joint is connected The other end of the block is connected with the fixed end of the forearm adduction and abduction motor, and the output end of the forearm adduction and abduction motor is rotationally connected with the forearm adjustment block.

With the above settings, the forearm adduction and abduction motor is rotationally connected with the forearm adjustment block, so that the rotation of the motor realizes the adduction and abduction movement of the elbow joint forearm.

Further, the forearm length adjustment mechanism includes the forearm and the forearm fixing block, the forearm fixing block is fixedly connected with the forearm adjustment block to form a cavity, and one end of the forearm is fixed after sliding in the cavity embedded in the forearm fixing block In the cavity, the other end of the forearm is fixedly connected with the adduction and abduction mechanism of the wrist.

In the above configuration, by setting the forearm to slide on the forearm adjustment block, after determining the appropriate forearm length, the forearm is fixedly connected with the forearm fixing block, thereby realizing the adjustment of the forearm length.

Further, the wrist adduction and abduction mechanism includes a motor fixing frame, a wrist splint, a wrist connector, a wrist adduction and abduction motor, a wrist adduction and abduction steering wheel, a handle, a wrist connector and a wrist joint The splint is connected, the motor fixing frame is fixedly connected with the wrist connector, the wrist adduction and abduction motors are installed on the motor fixing frame, the output end of the wrist adduction and abduction motors is connected with the wrist adduction and abduction steering wheel, the wrist The adduction and abduction rudder discs are fixedly connected with the handle.

With the above settings, by setting the wrist adduction and abduction motors on the wrist connector, the rotation of the wrist adduction and abduction motors drives the wrist adduction and abduction steering wheel rotation, thereby realizing the adduction and abduction movements of the wrist joints.

Further, the frame includes a suspension, a frame lifting rod, a frame lifting fixing rod, a beam, a supporting tripod, and casters, the suspension is fixed at the left and right ends of the frame lifting rod, and the frame lifting rod and the frame lifting The fixed rod is detachably connected, the crossbeam is fixed on the left and right ends of the frame lifting fixed rod, the supporting tripod is connected with the frame lifting fixed rod, and the caster is connected with the end of the supporting tripod.

With the above settings, by setting the frame, the shoulder joint is fixedly connected with the frame to support the whole machine, and at the same time, the height adjustment can be realized by adjusting the lifting rod of the frame to meet the needs of people of different heights.

Further, the rotator cuff includes a first rotator cuff plate and a second rotator cuff plate, one end of the first rotator cuff plate and the second rotator cuff plate are connected, the first rotator cuff plate is set horizontally, and the second rotator cuff plate is vertically set, fixed The groove is set on the second rotator cuff plate, and the distance from the connection between the first rotator cuff plate and the adduction and abduction motor of the upper arm to the edge of the first rotator cuff plate is greater than the connection between the adduction and abduction motor of the upper arm and the accommodating slot The distance from the end of the second stepped surface close to the first stepped surface, and the groove depth of the accommodating groove is greater than the distance between the bottom surface of the first rotator cuff plate and the bottom of the accommodating groove.

With the above settings, when the big arm retracts and extends the steering gear to the end of the second stepped surface close to the first stepped surface, since the end of the first rotator cuff plate close to the second stepped surface is longer than the accommodation groove close to the second stepped surface One end of the first rotator cuff plate protrudes from the groove wall of the accommodating groove, so that the connection between the first stepped surface and the second stepped surface will block one end of the first rotator cuff plate, and the rotator cuff will be affected by the step when it rotates. The surface is limited to prevent the wearer from causing muscle strain and achieve the function of protecting the wearer, and at the same time, the structure is simple.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the internal rotation and external rotation mechanism of the shoulder joint of the present invention.

Fig. 3 is a structural schematic diagram of the adduction and abduction mechanism of the shoulder joint of the present invention.

Fig. 4 is a structural schematic diagram of the upswing and downswing mechanism of the shoulder joint of the present invention.

Fig. 5 is a structural schematic diagram of the adduction and abduction mechanism of the elbow joint forearm of the present invention.

Fig. 6 is a schematic structural view of the wrist adduction and abduction mechanism of the wrist joint of the present invention.

Fig. 7 is a structural schematic diagram of the frame structure of the present invention.

Fig. 8 is a schematic diagram of arm rotation of a person who needs rehabilitation training in the present invention.

Fig. 9 is a schematic diagram of the connection between the left fixing part of the shoulder block and the groove in the present invention.

Reference signs: 1. Shoulder joint arm internal rotation and external rotation mechanism; 2. Shoulder joint upper arm adduction and abduction mechanism; 3. Shoulder joint upper arm swing and lower swing mechanism; 4. Arm length adjustment mechanism; 5. Elbow joint adduction and abduction mechanism of forearm; 6. Forearm length adjustment mechanism; 7. Wrist adduction and abduction mechanism of wrist; 8. Rack; 11. Shoulder block; 12. Left fixing part of shoulder block ;13, shoulder block right fixing part; 14, frame connector; 15, rudder plate; 16, motor; 21, shoulder peak; 22, motor; 23, rudder plate; 24, rotator cuff; 25, first step surface ;26, the first step surface; 31, the motor; 32, the big arm; 33, the hollow groove; 41, the big arm adjustment block; 42, the upper fixed block; 43, the lower fixed block; 44, the adjustment block; 51, the elbow Joint connecting block; 52, motor; 53, forearm adjusting block; 61, forearm fixing block; 62, forearm; 63, connecting block; 71, wrist splint; 72, wrist connecting piece; 73, motor fixing frame; 74, motor; 75, steering wheel; 76, handle; 78, first cavity; 77, second cavity; 81, suspension; 82, frame elevating rod; 83, frame elevating and fixing rod; 84, beam ; 85, support tripod; 86, casters; 811, suspension plate; 812, extension edge; 813, frame connector installation slot; 814, frame connection installation hole; 231, the first rotator cuff plate; 232, the second Rotator cuff panels.

Detailed ways

Embodiments of the present invention will be further described in detail below in conjunction with the drawings and specific implementation methods.

As shown in Fig. 1, the embodiment of the present invention provides a kind of wearable upper limb rehabilitation robot, is used for carrying out rehabilitation training to the personnel who needs rehabilitation training, comprises frame 8, shoulder joint training mechanism, elbow joint training mechanism and wrist There are four parts of the joint training mechanism. The shoulder joint training mechanism includes the internal rotation and external rotation mechanism 1 of the large arm, the adduction and abduction mechanism 2 of the large arm section, the upper swing and lower swing mechanism 3 of the large arm, and the long arm length adjustment mechanism 4. Realize the control of three degrees of freedom; the elbow joint training mechanism includes forearm adduction and abduction mechanism 5 and forearm length adjustment mechanism 6 to control one of the degrees of freedom; the wrist joint includes wrist adduction and abduction mechanism 7. Control one of the degrees of freedom.

Boom internal rotation and external rotation mechanism 1 is fixedly connected with the frame, and one end of the large arm internal rotation and external rotation mechanism 1 is rotatably connected with one end of the large arm adduction and abduction mechanism 2, and the large arm adduction and abduction mechanism The other end of 2 is rotatably connected with one end of the boom upper swing and lower swing mechanism 3, the boom length adjustment mechanism 4 moves on the other end of the boom upper swing and lower swing mechanism 3, and the upper swing and lower swing mechanism 3 are retracted with the forearm and one end of the abduction mechanism 5 is connected, and the other end of the adduction and abduction mechanism 5 of the forearm is provided with a forearm length adjustment mechanism 6, and the forearm length adjustment mechanism 6 is connected with the adduction and abduction mechanism 7 of the wrist. The adduction and abduction mechanism 7 is used to adduct and abduct the big arm of the person who needs rehabilitation training to the chest direction, and the adduction and abduction mechanism of the big arm is provided with the adduction and abduction rotation direction of the big arm. limited structure.

In this embodiment, as shown in Figure 2, the internal rotation and external rotation mechanism 1 of the large arm of the shoulder joint includes a shoulder block 11, a shoulder block left fixing part 12, a shoulder block right fixing part 13, a frame connecting part 14, a large Arm internal rotation and external rotation steering wheel 15 and boom internal rotation and external rotation motor 16, frame connector 14 and suspension 81 of frame 8 are fixedly connected by bolts, shoulder block right fixing part 13 and frame connector 14 Connection, the big arm internal rotation and external rotation motor 16 are fixedly installed on the right side of the shoulder block right fixing part 13, the shoulder block right fixing part 13 and the shoulder block left fixing part 12 are fixedly connected by bolts, and the shoulder block left fixing part 12 is fixedly connected. A groove is provided, and the shoulder block 11 is arranged in the groove of the left fixing part 12 of the shoulder block and the shoulder block 11 rotates in the groove. In the present embodiment, as shown in Figure 9, the groove bottom of the groove is The inner rotation of the big arm and the matching arc setting of the bottom of the steering wheel 15 can support the shoulder block 11 and prevent the shoulder block 11 from shaking during the rehabilitation process. Two adjacent side walls of the inner and outer rotation motors 16 are provided with gaps for the shoulder block 11 to provide rotation space. One end of the shoulder piece 11 near the groove is provided with a circular groove, which is used to place and fix the steering wheel 15. The internal rotation of the big arm and the output shaft end of the external rotation motor 16 are connected with one end of the steering wheel 15, and the other end of the steering wheel 15 One end is installed in the circular groove of the shoulder block 11, and the inner rotation and outer rotation motor 16 of the big arm is used to drive the shoulder block 11 to rotate in the groove through the steering wheel 15, so as to realize the inner rotation and outer rotation of the shoulder joint. Spin rehabilitation exercise.

In this embodiment, as shown in Figure 3, the adduction and abduction mechanism 2 of the large arm of the shoulder joint includes an acromion 21, an adduction and abduction motor 22 of the large arm, an adduction and abduction steering wheel 23 of the large arm, The rotator cuff 24, one end of the acromion 21 is fixedly connected with the shoulder block 11 by screws, the adduction and abduction motor 22 of the big arm is arranged on the upper surface of the other end of the acromion 21, and the limit mechanism includes a bottom surface of the acromion 21 provided with The first stepped surface 25 and the second stepped surface 26, the first stepped surface 25 and the second stepped surface 26 are respectively parallel to the upper surface of the shoulder peak 21, and the distance between the second stepped surface 26 and the upper surface of the shoulder peak 21 Less than the distance between the first stepped surface 25 and the upper surface of the shoulder peak 21, the adduction and abduction steering wheel 23 of the boom is arranged at the second step surface 26, and the adduction and abduction steering wheel 23 of the boom and the motor 22 The output shaft end of the rotator cuff 24 is provided with a circular accommodating groove with a cross-sectional shape near the second stepped surface 26, which is used to place and fix the adduction and abduction steering wheel 23 of the big arm, and the rotator cuff 24 The lower end is provided with a fixing groove for fixing the upper hem of the big arm and the lower hem mechanism 3. In this embodiment, the rotator cuff 24 includes a first rotator cuff plate 231 and a second rotator cuff plate 232, and the first rotator cuff plate 231 and the second shoulder cuff plate 231 and the second shoulder cuff plate 232. One end of the sleeve plate 232 is connected, the first rotator cuff plate 231 is arranged horizontally, the second rotator cuff plate 232 is vertically arranged, the fixing groove is arranged on the second rotator cuff plate 232, and the first rotator cuff plate 231 is adducted with the big arm and The distance from where the abduction motor 22 is connected to the edge of the first rotator cuff plate 231 is greater than the distance from the adduction of the big arm and the connection between the abduction motor 22 and the accommodating groove to the second stepped surface 26 near the end of the first stepped surface 25. The depth of the groove is greater than the distance between the bottom surface of the first rotator cuff plate 231 and the bottom of the accommodating groove, and the end of the accommodating groove away from the second stepped surface 26 is provided with an opening. Drive the adduction and abduction of the big arm rudder plate 23 to rotate, and the adduction and abduction of the large arm rudder plate 23 drive the rotation of the rotator cuff 24 to realize the adduction and abduction of the shoulder joint. When the adduction and abduction of the large arm When the steering gear 23 rotates to the second stepped surface 26 near one end of the first stepped surface 25, since the end of the first rotator cuff plate 231 near the second stepped surface 26 is longer than the end of the receiving groove near the second stepped surface 26 and accommodates The first rotator cuff plate 231 of the groove wall protrudes, so that the connection between the first stepped surface 25 and the second stepped surface 26 will block one end of the first rotator cuff plate 231, and the rotator cuff 24 will be affected by the step when it rotates. The surface restriction prevents the wearer from causing muscle strain and achieves the function of protecting the wearer.

In the present embodiment, as shown in FIG. 4 , the upper arm swing up and down swing mechanism 3 of the shoulder joint includes a boom up swing and down swing motor 31 and a boom 32 , and a hollow groove 33 is provided in the middle of the side of the boom 32 . The hollow groove 33 is parallel to the bottom surface of the boom 32 , the upper swing motor 31 of the boom and the lower swing motor 31 are fixedly connected with the rotator cuff 24 by bolts, the output end of the upper swing motor 31 and the lower swing motor 31 are rotationally connected with one end of the boom 32 , and the Rotate to realize the upswing and downswing movement of the shoulder joint and the upper arm.

In this embodiment, the boom length adjustment mechanism 4 includes a boom adjustment block 41, a fixed block upper 42, a fixed block lower 43 and an adjustment block 44, and the upper end of the boom adjustment block 41 passes through the upper surface of the fixed block upper 42. The bolts are fixedly connected, the lower end of the boom adjustment block 41 is fixedly connected with the bottom surface of the fixed block 43 by bolts, the boom adjustment block 41 can slide within the range of the boom 32 hollow groove, and the adjustment block 44 is connected to the boom 32 separately. One end is fixedly connected by bolts, which can prevent the boom adjustment block 41 from slipping out of the forearm 32. When the length of the boom 32 needs to be adjusted, remove the bolts on the fixing block 42 and the boom adjustment block 41, and simultaneously Remove the bolts at the fixing place between the lower 43 of the fixed block and the boom adjustment block 41, and then move the position of the boom adjustment block 41 on the boom 32 to realize the adjustment of the required length of the boom 32, and determine the required length of the boom 32 Finally, the boom 32 is fixedly connected with the boom adjustment block 41, so as to realize the adjustment of the length of the boom 32.

In this embodiment, as shown in FIG. 5 , the elbow joint forearm adduction and abduction mechanism 5 includes an elbow joint connection block 51, an forearm adduction and abduction motor 52, and an forearm adjustment block 53. One end of the connecting block 51 is fixedly connected with the big arm adjustment block 41 by screwing, and the other end of the elbow joint connecting block 51 is fixedly connected with the fixed end of the forearm adduction and abduction motor 52 by screwing, and the adduction and abduction of the forearm The output shaft end of the extension motor 52 is rotationally connected with the forearm adjustment block 53, and through the rotation of the motor, adduction and abduction of the elbow joint forearm are realized. The axes of the upswing and downswing motors of the big arm are perpendicular to the axes of the adduction and abduction motors of the forearm, so that the interference between the mechanical arm and the arm is reduced, and it is easier to complete daily or complex rehabilitation actions.

In this embodiment, the forearm length adjustment mechanism 6 includes a forearm fixing block 61, an arm 62 and a connecting block 63, the connecting block 63 is fixed on the forearm 62, and the forearm fixing block 61 and the forearm adjusting block 53 are connected by bolts. Fixedly connected, the forearm fixing block 61 is connected with the forearm adjustment block 53 to form a cavity, the forearm 62 passes through the cavity, and can be fixed in the cavity after sliding in the cavity. The forearm fixing block 61 is provided with two For the above adjustment holes and fixing holes, the fixing holes are located on both sides of the forearm fixing block 61, and the adjustment holes are arranged between the fixing holes of the forearm fixing block 61. In this embodiment, there are 6 fixing holes and 2 adjustment holes. One, when the length of the small arm 62 needs to be adjusted, the adjusting hole is disassembled so that the small arm moves in the cavity. The adjustment block 53 is fixedly connected so as to adjust the length of the forearm.

In this embodiment, as shown in FIG. 6 , the wrist adduction and abduction mechanism 7 includes a wrist splint 71, a wrist connector 72, a motor holder 73, a wrist adduction and abduction motor 74, a wrist The upper surface of the wrist splint 71 is provided with a bump 711, the bottom surface of the wrist connector 72 is connected with the upper surface of the bump 711, and the wrist connector 72 is connected to the wrist splint 71. A first cavity 78 and a second cavity 77 are formed between them, the other end of the forearm 62 is embedded in the first cavity 78 and is fixedly connected with the wrist joint splint 71 and the wrist connector 72 respectively by screws, and the motor fixing frame 73 Fixedly connected to the upper surface of the wrist connector 72 by screws, the adduction and abduction motor 74 of the wrist is installed on the motor fixing frame 73, and the output shaft end of the motor 74 passes through the wrist joint splint 71 and is connected with the adduction and adduction of the wrist. One end of the steering wheel 75 is rotationally connected, and the wrist adduction and the abduction steering wheel 75 are arranged in the second cavity 77. The wrist adduction and the other end of the abduction steering wheel 75 are rotationally connected with the handle 76. The rotation of the abduction motor 74 drives the adduction of the wrist and the rotation of the abduction rudder disc 75 so as to realize the rotation of the handle 76 connected with the adduction of the wrist and the abduction rudder disc 75, thereby realizing the adduction and abduction rehabilitation training of the wrist joint.

In this embodiment, as shown in Figure 7, the frame 8 includes a suspension 81, a frame lifting rod 82, a frame lifting and fixing rod 83, a beam 84, a supporting tripod 85, and casters 86, and the suspension 81 passes through Bolts are fixedly connected to the left and right ends of the frame elevating rod 82, and the frame elevating rod 82 is detachably connected with the frame elevating and fixing rod 83. In the present embodiment, the frame elevating and fixing rod 83 is provided with There are more than two installation holes arranged in the length direction of the rod 83, and the frame elevating rod 82 is also provided with an adjustment hole. After aligning the installation holes with the adjustment holes, the adjustment of the height of the frame up and down can be realized by fixing with bolts, adapting to different heights. The crowd, crossbeam 84 is positioned at the middle part of frame elevating rod 82, and the left and right ends of crossbeam 84 are respectively fixedly connected on the frame elevating fixed rod 83, and support tripod 85 is connected with frame elevating fixed rod 38, and caster 86 is connected with supporting leg. The ends of the frame 85 are rotatably connected to move the frame on the ground according to the needs of the rehabilitation person. The suspension frame 81 includes a suspension plate 811. The two sides of the suspension plate along the width direction are provided with extended sides 812 extending upwards and outwards. The extension plate and The suspension plate forms a frame connector mounting groove 813, the depth of which is equal to the thickness direction of the frame connector 14, and more than two frame connection mounting holes 814 are arranged on the suspension plate 811 along the length direction , the rack connector 14 is installed in the rack connector mounting groove 813 and fixed by providing screws on the rack connector mounting holes.

As shown in Figures 1-8, the big arm of the shoulder joint internally rotates and the frame connector 14 of the external rotation mechanism 1 is connected with the suspension 81 of the frame 8 by screwing, and the large arm of the shoulder joint internally rotates And the shoulder block 11 of the external rotation mechanism 1 is connected with the acromion 21 of the adduction and abduction mechanism 2 of the large arm section of the shoulder joint by screwing, the adduction and abduction mechanism 2 of the large arm section of the shoulder joint The rotator cuff 24 is connected with the upper swing of the upper arm of the shoulder joint and the motor 31 of the lower swing mechanism 3 through screws, and the upper arm adjustment block 41 of the upper arm length adjustment mechanism 4 of the shoulder joint is sleeved on the upper arm of the shoulder joint. On the upper arm 32 of the upper swing and lower swing mechanism 3, the upper arm adjustment block 41 of the upper arm length adjustment mechanism 4 of the shoulder joint and the forearm adduction of the elbow joint training mechanism and the elbow joint of the abduction mechanism 5 The connection block 51 is connected by screws, and the forearm adjustment block 53 of the forearm adduction and abduction mechanism 5 of the elbow joint is fixedly connected with the forearm fixed block 61 of the forearm length adjustment mechanism 6 of the elbow joint training mechanism The forearm 62 of the forearm length adjustment mechanism 6 of the elbow joint is connected with the wrist splint 71 and the wrist connector 72 of the wrist adduction and abduction mechanism 7 of the wrist joint by screwing.

Working principle of the present invention: when in use, the personnel who need to carry out rehabilitation training put the shoulder joint part into the position where the shoulder joint big arm internal rotation and external rotation mechanism 1 is connected with the shoulder joint large arm adduction and abduction mechanism 2, and then Attach the upper arm to the upper arm and the lower arm mechanism 3 of the shoulder joint, adjust the length of the upper arm length adjustment mechanism 4 according to the length of the arm of the person who needs rehabilitation training, and then fix the length, and then move the forearm along the forearm Length adjustment mechanism 6, and according to the length of the forearm of the personnel who needs rehabilitation training, the length of the forearm length adjustment mechanism 6 is adjusted and fixed, and then the palm part holds the handle 76, when the shoulder joint big arm internal rotation is required And during external rotation, the internal rotation of the shoulder joint and the external rotation mechanism 1 make the shoulder joint move along the direction A in Figure 8 or the opposite direction along the A direction, when it is necessary to adduct and abduct the large arm of the shoulder joint , the adduction and abduction mechanism 2 of the upper arm of the shoulder joint makes the shoulder joint move along the B direction in Figure 8 or the opposite direction along the B direction. The arm adduction and abduction mechanism 5 acts, and when the wrist adduction and abduction of the wrist joint is required, the wrist adduction and abduction mechanism 7 acts.

Claims (10)

1. The utility model provides a wearable upper limbs rehabilitation robot for carry out the rehabilitation training personnel to needs and carry out the rehabilitation training, including frame, elbow joint training mechanism and wrist joint training mechanism, its characterized in that: the shoulder joint training mechanism comprises a big arm internal rotation and external rotation mechanism, a big arm adduction and abduction mechanism, a big arm upper swing and lower swing mechanism and a big arm length adjusting mechanism, the elbow joint training mechanism comprises a small arm adduction and abduction mechanism and a small arm length adjusting mechanism, the wrist joint training mechanism comprises a wrist adduction and abduction mechanism, one end of the shoulder joint training mechanism is connected with the rack, one end of the elbow joint training mechanism is connected with the other end of the shoulder joint training mechanism, the wrist joint training mechanism is connected with the other end of the elbow joint training mechanism, the big arm internal rotation and external rotation mechanism is fixedly connected with the rack, one end of the big arm internal rotation and external rotation mechanism is rotatably connected with one end of the big arm adduction and abduction mechanism, the other end of the big arm adduction and abduction mechanism is rotatably connected with one end of the big arm upper swing and lower swing mechanism, the big arm length adjusting mechanism moves on the other end of the big arm upper swing and lower swing mechanism, the other end of the big arm upper swing and lower swing mechanism is connected with one end of the big arm upper swing and lower swing and the small arm adduction mechanism, the small arm adduction mechanism is connected with the small arm adduction mechanism, the small arm adduction mechanism and abduction mechanism is used for limiting mechanism for extending the chest adduction mechanism, and the big arm adduction mechanism are used for limiting mechanism for limiting the abduction mechanism.

2. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the large arm internal rotation and external rotation mechanism comprises a shoulder block, a shoulder block left fixing piece, a shoulder block right fixing piece, a rack connecting piece, a large arm internal rotation and external rotation steering wheel and a large arm internal rotation and external rotation motor, one end of the rack connecting piece is fixedly connected with the rack, the other end of the rack connecting piece is connected with one end of the shoulder block right fixing piece, the large arm internal rotation and external rotation motor is positioned below the rack connecting piece and fixedly arranged on the right side of the shoulder block right fixing piece, the other end of the shoulder block right fixing piece is connected with the shoulder block left fixing piece, the output shaft of the large arm internal rotation and external rotation motor is connected with one end of the large arm internal rotation and external rotation steering wheel, the other end of the large arm internal rotation and external rotation steering wheel is arranged on the shoulder block and connected with the shoulder block, the shoulder block is arranged in a groove of the shoulder block left fixing piece, and rotates in the groove.

3. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the shoulder joint big arm adduction and abduction mechanism comprises a shoulder peak, a big arm adduction and abduction motor, a big arm adduction and abduction steering wheel and a shoulder sleeve, one end of the shoulder peak is fixedly connected with a shoulder block through screwing, the big arm adduction and abduction motor is arranged on the upper surface of the other end of the shoulder peak, the limiting mechanism comprises a first step surface and a second step surface which are arranged on the bottom surface of the shoulder peak, the first step surface and the second step surface are respectively parallel to the upper surface of the shoulder peak, the distance between the second step surface and the upper surface of the shoulder peak is smaller than the distance between the first step surface and the upper surface of the shoulder peak, the big arm adduction and abduction steering wheel is arranged at the second step surface, the big arm adduction and abduction steering wheel is connected with the output of the motor, a containing groove with a circular cross section shape is arranged at the position of the shoulder sleeve close to the second step surface and used for placing and fixing the big arm adduction steering wheel, and abduction steering wheel is arranged at the lower end of a shaft end used for fixing the big arm up-and down-swing mechanism.

4. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the big arm upper swing and lower swing mechanism comprises a big arm, a big arm upper swing motor and a big arm lower swing motor, the big arm upper swing motor and the big arm lower swing motor are arranged on the rotator cuff, the output ends of the big arm upper swing motor and the big arm lower swing motor are rotatably connected with one end of the big arm, and the big arm is provided with a hollow groove.

5. The wearable upper limb rehabilitation robot according to claim 4, characterized in that: big arm length adjustment mechanism includes on big arm regulating block, the fixed block, under the fixed block and adjusts the dog, and the lower extreme and the fixed block of big arm regulating block are connected down, are connected on the upper end of big arm regulating block and the fixed block, big arm regulating block sliding connection is on the hollow groove of big arm, adjusts dog and big arm other end fixed connection.

6. The wearable upper limb rehabilitation robot according to claim 5, characterized in that: the forearm adduction and abduction mechanism includes elbow joint connecting block, forearm adduction and abduction motor and forearm regulating block, the one end and the big arm regulating block fixed connection of elbow joint connecting block, and the other end and the forearm adduction of elbow joint connecting block and the stiff end of abduction motor are connected, and the output and the forearm regulating block rotation of forearm adduction and abduction motor are connected.

7. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the forearm length adjusting mechanism comprises a forearm and a forearm fixing block, the forearm fixing block is fixedly connected with the forearm adjusting block to form a cavity, one end of the forearm is embedded in the cavity of the forearm fixing block and is fixed in the cavity after sliding in the cavity, and the other end of the forearm is fixedly connected with the wrist inward-retracting and outward-extending mechanism.

8. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the wrist adduction and abduction mechanism comprises a motor fixing frame, a wrist joint clamping plate, a wrist connecting piece, a wrist adduction and abduction motor, a wrist adduction and abduction steering wheel and a handle, the wrist connecting piece is connected with the wrist joint clamping plate, the motor fixing frame is fixedly connected with the wrist connecting piece, the wrist adduction and abduction motor is arranged on the motor fixing frame, the output end of the wrist adduction and abduction motor is connected with the wrist adduction and abduction steering wheel, and the wrist adduction and abduction steering wheel is fixedly connected with the handle.

9. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the frame comprises a suspension, a frame lifting rod, a frame lifting fixing rod, a cross beam, a supporting foot frame and trundles, wherein the suspension is fixed at the left end and the right end of the frame lifting rod, the frame lifting rod is detachably connected with the frame lifting fixing rod, the cross beam is fixed at the left end and the right end of the frame lifting fixing rod, the supporting foot frame is connected with the frame lifting fixing rod, and the trundles are connected with the tail end of the supporting foot frame.

10. The wearable upper limb rehabilitation robot according to claim 3, characterized in that: the shoulder sleeve includes first shoulder sleeve board and second shoulder sleeve board, the one end of first shoulder sleeve board and second shoulder sleeve board links to each other, first shoulder sleeve board level sets up, second shoulder sleeve board sets up perpendicularly, the fixed slot sets up on second shoulder sleeve board, and first shoulder sleeve board and big arm adduction and abduction motor department of linking to each other are greater than big arm adduction and abduction motor and storage tank department of linking to each other and are close to the distance that first step face one end is close to the second step face, and the groove depth of storage tank is greater than the distance of the bottom surface distance storage tank bottom of first shoulder sleeve board.

Images