CN115778750A - Left-right hand exchange mechanism and upper limb exoskeleton rehabilitation robot thereof - Google Patents

Abstract

The invention discloses a left-right hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof, belonging to the technical field of medical rehabilitation mechanical equipment, and comprising an elbow support, a first forearm connecting piece and a second forearm connecting piece which are sequentially connected in an end-to-end rotating manner; a first elbow joint component is arranged at the rotary joint of the elbow supporting piece and the first forearm connecting piece, the first elbow joint component is used for driving the first forearm connecting piece to rotate, and at the moment, the first forearm connecting piece is overlapped with the second forearm connecting piece; and a second elbow joint component is arranged at the first forearm connecting piece and the second forearm connecting piece and is used for driving the second forearm connecting piece to rotate, and at the moment, the elbow supporting piece is overlapped with the first forearm connecting piece. The invention can realize the exchange of left and right hands when respectively driving the first forearm connecting piece and the second forearm connecting piece to rotate, can realize two purposes through one set of mechanism, and meets the requirements of different patients on left-hand or right-hand rehabilitation training.

Description

Left-right hand exchange mechanism and upper limb exoskeleton rehabilitation robot thereof

Technical Field

The invention relates to the technical field of medical rehabilitation mechanical equipment, in particular to a left-hand and right-hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof.

Background

With the development of urbanization and the aggravation of aging in China, the incidence rate of cerebral apoplexy shows an explosive rising trend. Although modern medicine effectively reduces the death rate of stroke diseases, the patients still cannot avoid dysfunction in movement, cognition, speech, swallowing and the like to different degrees, and the sequelae seriously affect the daily life quality of the patients. Especially, most of complex and fine activities in daily life need to be completed by using upper limbs, and the impaired mobility of the upper limbs greatly reduces the life quality of patients.

The exoskeleton rehabilitation robot is a novel rehabilitation mechanical device which integrates rehabilitation medicine, artificial intelligence, control technology and the like, can carry out accurate motion control on the joint trained by a patient by using the exoskeleton robot device in rehabilitation, quantizes the treatment effect, provides reliable training data for the adjustment of a doctor treatment scheme, and integrally improves the rehabilitation treatment effect.

At present, the exoskeleton robot is mainly of a single-joint type of a hand or an elbow, and cannot meet the complicated and variable rehabilitation requirements of hemiplegic patients. Chinese patent application publication No. CN105662783A discloses an exoskeleton-type upper limb rehabilitation training robot, which comprises a base, a mechanical shoulder blade assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical forearm assembly, a mechanical wrist joint assembly, a mechanical hand assembly and a motor driving assembly; the base supports whole ectoskeleton formula upper limbs rehabilitation training robot, mechanical shoulder blade subassembly and pedestal connection, mechanical shoulder joint subassembly and mechanical shoulder blade subassembly are connected, mechanical elbow joint subassembly and mechanical shoulder joint subassembly are connected, mechanical forearm subassembly and mechanical elbow joint subassembly are connected, mechanical wrist joint subassembly and mechanical forearm subassembly are connected, mechanical arm subassembly and mechanical wrist joint subassembly are connected, motor drive assembly regard as the power supply of whole ectoskeleton formula upper limbs rehabilitation training robot. According to the scheme, the forearm adopts a two-section four-bar mechanism to realize the degree of freedom of the elbow in and out rotation, and the degree of freedom of elbow flexion and extension is realized through the driving of the motor. For another example, chinese patent with publication No. CN101357097B discloses a five-degree-of-freedom exoskeleton type upper limb rehabilitation robot, which includes an installation frame for installing the robot, the installation frame is designed with a guide rail, a lifting frame is installed on the guide rail, the lifting frame is provided with a height adjusting mechanism, a rotatable installation arm is installed on the lifting frame through a rotating shaft, a rehabilitation mechanical arm body composed of a transverse shoulder, an upper arm, a front arm and a handle is installed on the rotatable installation arm, 5 degree-of-freedom joints, 5 driving motors are respectively installed on rotating axes of the joints, four torque sensors cascaded with the driving motors are respectively installed on the shoulder, the elbow and the wrist, wherein two shoulders, one elbow and one bending and extending part of the wrist are provided, and the torque sensors are used as a transmission device and a detection device to connect a motor reducer and an execution mechanism. The scheme provides single joint motion and three-dimensional multi-joint compound motion of each joint of a patient through joints with 5 degrees of freedom, but the scheme does not disclose how to simultaneously apply the left hand and the right hand and how to realize the exchange of the left hand and the right hand.

Disclosure of Invention

The invention aims to provide a left-right hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof, which are used for solving the problems in the prior art.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a left-right hand exchange mechanism, which comprises an elbow supporting piece, a first forearm connecting piece and a second forearm connecting piece, wherein the elbow supporting piece, the first forearm connecting piece and the second forearm connecting piece are sequentially connected in an end-to-end rotating manner; a first elbow joint component is arranged at the rotary joint of the elbow supporting piece and the first forearm connecting piece, and is used for driving the first forearm connecting piece to rotate, and at the moment, the first forearm connecting piece is overlapped with the second forearm connecting piece; first forearm connecting piece with second forearm connecting piece department is provided with second elbow joint subassembly, second elbow joint subassembly is used for the drive second forearm connecting piece rotates, at this moment, elbow support piece with first forearm connecting piece overlaps.

Preferably, the first elbow joint assembly includes a first motor secured to the first forearm attachment member and a first shaft secured to the elbow support member, the first motor being in driving communication with the first shaft; the second elbow joint subassembly is including fixing second motor on the first forearm connecting piece is with fixing second pivot on the second forearm connecting piece, the second motor with second pivot drive is connected.

Preferably, a first bevel gear is connected to a main shaft of the first motor, a second bevel gear is connected to the first rotating shaft, and the first bevel gear is in meshed connection with the second bevel gear; the spindle of the second motor is connected with a third bevel gear, the second rotating shaft is connected with a fourth bevel gear, and the third bevel gear is meshed with the fourth bevel gear.

Preferably, the first motor and the second motor are arranged in parallel up and down and are both parallel to the first forearm link, and the elbow support and the second forearm link are equal in length and half of the first forearm link.

The invention also provides an upper limb exoskeleton rehabilitation robot, which comprises a shoulder joint assembly, an upper arm assembly, the left-right hand exchange mechanism, the forearm assembly and the wrist joint assembly, wherein the left-right hand exchange mechanism, the forearm assembly and the wrist joint assembly are sequentially connected, elbow supporting pieces of the left-right hand exchange mechanism are connected with the upper arm assembly, second forearm connecting pieces of the left-right hand exchange mechanism and the forearm assembly are connected, and the shoulder joint assembly is connected to the sliding rail device in a sliding manner through a mechanical arm suspension mechanism.

Preferably, the shoulder joint assembly includes a vertically arranged shoulder joint abduction and adduction motor, a first vertical support member is mounted on a main shaft of the shoulder joint abduction and adduction motor, a shoulder joint up-and-down pressing motor and a third rotating shaft are arranged on the first vertical support member, the third rotating shaft is fixedly connected with the upper arm assembly, and a main shaft of the shoulder joint up-and-down pressing motor is perpendicular to the third rotating shaft and drives the third rotating shaft to rotate through a bevel gear.

Preferably, the upper arm subassembly includes second vertical support piece and parallel arrangement's upper arm connecting rod, the one end of upper arm connecting rod all with first vertical support piece rotates to be connected, the other end of upper arm connecting rod all with second vertical support piece rotates to be connected, one of them the one end of upper arm connecting rod with third pivot fixed connection, second vertical support piece with elbow support piece fixed connection.

Preferably, the forearm assembly includes a length adjustment device, the length adjustment device including a slide rail connected to the second forearm link, a slide plate slidably connected to the slide rail, and a locking structure for locking the slide plate, the slide plate being connected to the wrist joint assembly.

Preferably, the wrist joint assembly comprises a forearm connecting rod, a forearm transmission member rotatably arranged on the forearm connecting rod and a wrist joint internal rotation external motor driving the forearm transmission member to rotate, and a handle is arranged on the forearm transmission member.

Preferably, an arc-shaped limiting hole which takes the rotation center of the forearm transmission part as the circle center is formed in the forearm transmission part, a limiting rod is arranged on the forearm connecting rod, and the arc-shaped limiting hole is formed in the limiting rod in a sleeved mode.

Compared with the prior art, the invention has the following technical effects:

(1) According to the invention, the elbow supporting piece, the first forearm connecting piece and the second forearm connecting piece are sequentially connected in an end-to-end rotating manner, when the first forearm connecting piece is driven to rotate, the first forearm connecting piece and the second forearm connecting piece are kept to be overlapped, at the moment, elbow joint action of a left (right) hand can be realized, when the second forearm connecting piece is driven to act, the elbow supporting piece and the first forearm connecting piece are kept to be overlapped, at the moment, elbow joint action of a right (left) hand can be realized, therefore, exchange of the left hand and the right hand can be realized, two purposes can be realized through one set of mechanism, and requirements of different patients on left-hand or right-hand rehabilitation training can be met;

(2) According to the invention, the first motor for driving the first elbow joint to rotate and the second motor for driving the second elbow joint to rotate are both arranged on the first forearm connecting piece, the first forearm connecting piece can be used as a fixing part, the stability of movement during left-hand and right-hand exchange is kept, meanwhile, the lengths of the elbow supporting piece and the second forearm connecting piece are equal and are half of that of the first forearm connecting piece, when the first elbow joint (the second elbow joint) moves, the rotating center of the elbow supporting piece can be kept at the end part of the first forearm connecting piece, the actual position relation of the upper arm and the forearm at the elbow joint of a patient can be adapted, and the rehabilitation training can be ensured to be carried out on the basis of conforming to the structure of the human body;

(3) According to the invention, the first vertical supporting piece and the second vertical supporting piece are connected through the upper arm connecting rods which are arranged in parallel, so that a four-connecting-rod structure can be formed, the first vertical supporting piece and the second vertical supporting piece are always in a parallel and vertical position state, when the upper arm is lifted and pressed down, the left-right hand exchange mechanism can be always in a stable horizontal state, the requirement of independent action of each joint is met, and the bearing capacity of an upper arm assembly can be improved by the structure of the double upper arm connecting rods, so that the stability of the whole structure is ensured;

(4) According to the invention, the arc-shaped limiting hole taking the rotation center as the circle center is arranged on the front arm transmission piece, the limiting rod is arranged on the front arm connecting rod, and the rotation position of the front arm transmission piece can be limited by utilizing the arc-shaped limiting hole and the limiting rod, so that the wrist joint is in a controllable rotation range, the safety of a patient during rehabilitation exercise is ensured, and the injury to the human body joint is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a right-hand and left-hand exchange mechanism of the present invention;

FIG. 3 is another perspective view of the right and left hand exchange mechanism of the present invention;

FIG. 4 is a schematic view of a shoulder joint assembly and an upper arm assembly of the present invention;

FIG. 5 is a schematic view of a shoulder joint drive configuration of the present invention;

FIG. 6 is a schematic view of a forearm assembly and a wrist assembly in accordance with the invention;

wherein, 1, a slide rail device; 2. a mechanical arm suspension mechanism; 3. a shoulder joint component; 31. a shoulder joint abduction and adduction motor; 311. a first rigid wheel flange fixing part; 312. a first flexspline flange drive; 313. a deep groove ball bearing; 32. a first vertical support; 33. lifting and pressing the motor on the shoulder joint; 331. a second rigid wheel flange fixing part; 332. a second flexspline flange drive; 333. a fifth bevel gear; 34. a third rotating shaft; 341. a sixth bevel gear; 35. a fourth rotating shaft; 4. an upper arm assembly; 41. a second vertical support; 42. an upper arm link; 43. a shoulder joint gravity balancing device; 44. an upper arm fixing part; 5. a left-right hand exchange mechanism; 51. an elbow support; 52. a first forearm attachment; 53. a second forearm attachment; 54. a second rotating shaft; 541. a fourth bevel gear; 55. a second motor; 551. a third bevel gear; 56. a first rotating shaft; 561. a second bevel gear; 571. a first bevel gear; 57. a first motor; 6. a forearm assembly; 61. a forearm support member; 62. a length adjustment device; 63. a slide plate; 64. a forearm fixing part; 7. a wrist joint assembly; 71. a forearm link; 711. a limiting rod; 72. a forearm transmission member; 721. an arc-shaped limiting hole; 73. a wrist joint internal rotation and external rotation motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a left-hand and right-hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof, which are used for solving the problems in the prior art, wherein an elbow support, a first forearm connecting piece and a second forearm connecting piece are sequentially connected in an end-to-end rotating manner, and the exchange of the left hand and the right hand can be realized when the first forearm connecting piece and the second forearm connecting piece are respectively driven to rotate, so that two purposes can be realized through one set of mechanism, and the requirements of different patients on left-hand or right-hand rehabilitation training can be met.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.

As shown in fig. 1 to 6, the present invention provides a right-left hand changing mechanism 5 which is connected to a robot arm for rehabilitation training and which is mainly capable of supporting the arm of a patient to perform an elbow joint movement. The left-right hand exchange mechanism 5 comprises an elbow supporting piece 51, a first forearm connecting piece 52 and a second forearm connecting piece 53, wherein the elbow supporting piece 51, the first forearm connecting piece 52 and the second forearm connecting piece 53 are rod-shaped and are sequentially connected in an end-to-end rotating manner to form a fold line-shaped structure capable of relatively rotating at a rotating joint, the first forearm connecting piece 52 and the second forearm connecting piece 53 can be overlapped as required, at the moment, the first forearm connecting piece and the second forearm connecting piece form a V-shaped structure with changeable angles with the elbow supporting piece 51, and the V-shaped structure is opposite to the opening direction of the V-shaped structure formed by the upper arm and the forearm of the left (right) hand. Alternatively, the elbow support 51 overlaps the first forearm link 52, and in this case forms a variable angle V-shaped configuration with the second forearm link 53, opposite the opening of the V-shaped configuration formed by the upper arm and forearm of the right (left) hand. Elbow support 51 is used to attach upper arm assembly 4 and second forearm attachment 53 is used to attach forearm assembly 6. The rotary connection between the elbow support 51 and the first forearm link 52 is provided with a first elbow joint assembly for driving the first forearm link 52 to rotate, and the driving method may take various forms, for example, the body of the motor is fixed on the elbow support 51, and the spindle is fixed on the first forearm link 52, so as to realize the relative rotation driven by the motor, and at this time, the first forearm link 52 overlaps the second forearm link 53. A second elbow joint assembly is disposed between the first forearm connector 52 and the second forearm connector 53, and the second elbow joint assembly is used to drive the second forearm connector 53 to rotate, and the drive method can take various forms, for example, the body of the motor is fixed on the second forearm connector 53, and the spindle is fixed on the first forearm connector 52, so as to realize the relative rotation driven by the motor, and at this time, the elbow support 51 is overlapped with the first forearm connector 52. Of course, the form of the first and second wrist assemblies is not limited to the foregoing, and other forms of rotational drive that are available in the prior art may also be used. Fig. 1 to 3 show a right-and-left hand switching mechanism 5 in a particular form in which the first toggle joint assembly forms a left-hand drive and the second toggle joint assembly forms a right-hand drive. According to the invention, the elbow supporting piece 51, the first forearm connecting piece 52 and the second forearm connecting piece 53 are sequentially connected in an end-to-end rotating manner, when the first forearm connecting piece 52 is driven to rotate, the first forearm connecting piece 52 and the second forearm connecting piece 53 are kept to be overlapped, elbow joint movement of a left (right) hand can be realized at the moment, when the second forearm connecting piece 53 is driven to move, the elbow supporting piece 51 and the first forearm connecting piece 52 are kept to be overlapped, elbow joint movement of a right (left) hand can be realized at the moment, therefore, the exchange of the left hand and the right hand can be realized, two purposes are realized through one set of mechanism, and the requirements of different patients on left hand or right hand rehabilitation training are met.

As shown in fig. 2 to 3, the first elbow joint assembly may include a first motor 57 fixed on the first forearm connecting member 52 and a first rotating shaft 56 fixed on the elbow supporting member 51, the first motor 57 is in driving connection with the first rotating shaft 56, the first forearm connecting member 52 can be driven to rotate relative to the elbow supporting member 51 by using the first motor 57 as a power source, and the first motor 57 can directly drive the first rotating shaft 56 to rotate or can transmit power by means of gear engagement. The second elbow joint assembly may include a second motor 55 fixed to the first forearm connecting member 52 and a second rotating shaft 54 fixed to the second forearm connecting member 53, the second motor 55 is in driving connection with the second rotating shaft 54, the second forearm connecting member 53 can be driven to rotate relative to the first forearm connecting member 52 by using the second motor 55 as a power source, and the second motor 55 may directly drive the second rotating shaft 54 to rotate or may transmit power by way of gear engagement.

Further, as shown in fig. 3, a first bevel gear 571 is connected to a main shaft of the first motor 57, a second bevel gear 561 is connected to the first rotating shaft 56, and the first bevel gear 571 is in meshed connection with the second bevel gear 561 to realize driving connection between the first motor 57 and the first rotating shaft 56. The main shaft of the second motor 55 is connected with a third bevel gear 551, the second rotating shaft 54 is connected with a fourth bevel gear 541, and the third bevel gear 551 is meshed with the fourth bevel gear 541 to realize the driving connection between the second motor 55 and the second rotating shaft 54.

As shown in fig. 1 to 3, the first motor 57 and the second motor 55 are disposed in parallel up and down, and are both parallel to the first forearm link 52, and specifically, the first motor 57 and the second motor 55 may be installed below the first forearm link 52, with the spindles facing in opposite directions. Additionally, the elbow support 51 and the second forearm link 53 are of equal length and are half of the first forearm link 52, such that, after the elbow support 51, the first forearm link 52 and the second forearm link 53 are overlapped, the left and right hand swap mechanism 5 and its attached upper arm assembly 4 and forearm assembly 6 will be in alignment, which corresponds to the configuration of a human upper extremity. In summary, the first motor 57 for driving the first elbow joint and the second motor 55 for driving the second elbow joint are both disposed on the first forearm connector 52, so that the first forearm connector 52 can be used as a fixing part to maintain the motion stability during the exchange of the left hand and the right hand, meanwhile, the lengths of the elbow support 51 and the second forearm connector 53 are equal and are half of the length of the first forearm connector 52, when the first elbow joint (the second elbow joint) is moved, the rotation center thereof can be kept at the end of the first forearm connector 52, the actual position relationship between the upper arm and the forearm at the elbow joint of the patient can be adapted, and the rehabilitation training can be performed on the basis of conforming to the structure of the upper limb of the human body.

As shown in fig. 1 to 6, the present invention further provides an upper limb exoskeleton rehabilitation robot, comprising a shoulder joint component 3, an upper arm component 4, a left-right hand exchanging mechanism 5, a forearm component 6 and a wrist joint component 7, which are connected in sequence, wherein the elbow supporting piece 51 of the left-right hand exchanging mechanism 5 is connected with the upper arm component 4, the second forearm connecting piece 53 of the left-right hand exchanging mechanism 5 is connected with the forearm component 6, and the shoulder joint component 3 is slidably connected to the slide rail device 1 through the mechanical arm suspension mechanism 2. The slide rail device 1 is arranged on a liftable base, and the supporting height of the whole structure can be adjusted adaptively. Therefore, a complete robot structure comprising the auxiliary exercise structures of all joints of the upper limb is formed, and accurate single joint or composite joint training can be carried out aiming at shoulder joint abduction and adduction movement, upper lifting and lower pressing movement, elbow joint flexion and extension movement and wrist joint rotation and internal rotation and external movement of the upper limb of a human body. The main structure weight of the robot can be supported through the mechanical arm suspension mechanism 2, the relative position of the robot can be changed through sliding on the sliding rail device 1, and the robot is better suitable for different individuals or different positions where the same individual is located.

As shown in fig. 4 to 5, the shoulder joint assembly 3 needs to drive the entire robot arm to move, and bear large external force and bending moment. It can include the shoulder joint abduction and adduction motor 31 of vertical setting, and shoulder joint abduction and adduction motor 31's main shaft is down, and installs first vertical support piece 32 on the main shaft, can realize the rotation drive to first vertical support piece 32 through the rotation of this main shaft. Specifically, the shoulder joint abduction and adduction motor 31 may be a dc brushless motor, and is connected to a harmonic reducer, the harmonic reducer mainly includes a wave generator, a rigid gear and a flexible gear, and the working mode mainly adopts a mode of driving the wave generator, fixing the rigid gear and outputting the flexible gear. The output shaft of the shoulder joint abduction and adduction motor 31 is connected with the flexible gear of the harmonic reducer, and is connected with the first flexible gear flange transmission member 312 through a screw, and the first flexible gear flange transmission member 312 is fixedly connected with the first vertical support member 32 to drive the first vertical support member 32 to complete the abduction and adduction movement of the shoulder joint. Meanwhile, in order to reduce the axial load generated by rotation, a deep groove ball bearing 313 is installed, and a rigid wheel of the harmonic reducer is fixedly connected with the first rigid wheel flange fixing part 311. The shoulder abduction-adduction motor 31 is fixed to a support structure connected to the robot arm suspension mechanism 2 through a first rigid wheel flange fixing member 311. The first vertical support 32 is provided with a shoulder joint up-and-down piezoelectric motor 33 and a third rotating shaft 34, the third rotating shaft 34 is fixedly connected with the upper arm component 4, and a main shaft of the shoulder joint up-and-down piezoelectric motor 33 is perpendicular to the third rotating shaft 34 and drives the third rotating shaft 34 to rotate through a bevel gear. Therefore, the upper arm assembly 4 can be driven to be lifted or pressed down by the shoulder joint lifting and pressing motor 33 for simulating the lifting and pressing motion of the upper arm. The shoulder joint up-down pressing motor 33 can also adopt a direct current brushless motor, a flexible gear of a harmonic reducer of the direct current brushless motor is connected with a second flexible gear flange transmission part 332 and is in key connection with a fifth bevel gear 333, the third rotating shaft 34 is provided with a sixth bevel gear 341, the third rotating shaft 34 rotates under the meshing transmission of the fifth bevel gear 333 and the sixth bevel gear 341, the up-down pressing movement of the shoulder joint is further completed, and a rigid gear is connected with a second rigid gear flange fixing part 331. When the piezoelectric motor 33 is lifted off the shoulder joint, it can be fixed to the first vertical support 32 by the second rigid-wheel flange mount 331.

The upper arm assembly 4 may include a second vertical support 41 and a parallel upper arm link 42, one end of the upper arm link 42 being rotatably connected to the first vertical support 32. The other ends of the upper arm links 42 are rotatably connected to the second vertical supports 41, and one end of one of the upper arm links 42 is fixedly connected to the third rotating shaft 34, and the second vertical support 41 is fixedly connected to the elbow support 51. The first vertical supporting member 32 can be a U-shaped structure, the third rotating shaft 34 is rotatably disposed on two arms of the U-shaped structure, a fourth rotating shaft 35 for supporting the other upper arm connecting rod 42 to rotate is further disposed, and the bottom surface of the U-shaped structure is connected to the first flexspline flange transmission member 312 of the shoulder joint abduction/adduction motor 31. According to the invention, the first vertical supporting piece 32 and the second vertical supporting piece 41 are connected through the upper arm connecting rods 42 which are arranged in parallel, so that a four-bar structure can be formed, the first vertical supporting piece 32 and the second vertical supporting piece 41 can be always in a parallel and vertical position state, the left-hand and right-hand exchange mechanism 5 can be always in a stable horizontal state when the upper arm is lifted and pressed down, the requirement of independent action of each joint is met, the bearing capacity of the upper arm assembly 4 can be improved due to the structure of the double upper arm connecting rods 42, and the stability of the whole structure is further ensured. Can be provided with shoulder joint gravity balancing unit 43 on the upper arm connecting rod 42 of upside, utilize shoulder joint gravity balancing unit 43 can realize gravity balance, the patient is when carrying out the rehabilitation training, just need not the strength to overcome the gravity of mechanism itself and carry out the rehabilitation motion, it needs to explain, shoulder joint gravity balancing unit 43 adopts the structure among the prior art to set up, for example, can utilize spring and cotton rope as gravity balancing unit to eliminate most gravitational moment, the calculation of gravitational moment can select for use the condition that human upper limbs and arm produced the biggest gravitational moment to calculate when the upper limbs are in horizontal position, no longer describe here. An upper arm fixing part 44 may be provided on the lower upper arm link 42 for fixing the upper arm of the patient at the upper arm fixing part 44 by a strap.

As shown in fig. 6, the forearm assembly 6 includes a length adjustment device 62, the length adjustment device 62 includes a slide rail (not shown in the figure) connected to the second forearm connecting member 53, a slide plate 63 slidably connected to the slide rail, and a locking structure (not shown in the figure, a bolt may be used) of the locking slide plate 63, the slide rail may be disposed on a bottom surface of the length adjustment device 62, and the length adjustment device 62 is connected to the second forearm connecting member 53 through a forearm support member 61, and an elbow joint gravity balance device (disposed at the same position as the length adjustment device 62 in the figure, and the slide rail is disposed at a lower portion thereof) for balancing the weight of the forearm may be further provided. The slide 63 is connected to the wrist joint assembly 7 and may be provided with a forearm fixing portion 64 for fixing the forearm of the patient at the forearm fixing portion 64 by a strap. The length of the forearm assembly 6 can be adjusted by adjusting the position of the sliding plate 63 on the sliding rail, namely the distance between the wrist joint assembly 7 and the left-hand and right-hand exchange mechanism 5 can be adjusted, and compared with the traditional exoskeleton robot, the length adjusting device 62 provided by the invention can improve the adaptability of the upper limb exoskeleton robot to a greater extent and can meet the requirements of patients with different body types.

Wrist joint subassembly 7 can include forearm connecting rod 71, the rotation sets up forearm driving medium 72 and the outer motor 73 of drive forearm driving medium 72 pivoted wrist joint on forearm connecting rod 71 revolve, in order to make the structure lighter, can adopt the outer motor 73's of wrist joint spiral motor 73 motor shaft lug connection's mode to drive, the outer motor 73 of wrist joint spiral drives the patient through forearm driving medium 72 and handle and carries out the outer motion of wrist joint spiral. Specifically, forearm connecting rod 71 can set up the how many font structures of falling of long indent, and forearm driving medium 72 rotates and sets up on the inner wall of the one side support arm of falling how many font structures to forearm driving medium 72 extends along the interior concave surface of falling how many font structures, and the top of concave surface is provided with the handle of installing on forearm driving medium 72 including, and when using, the handle is held to the hand, when forearm driving medium 72 rotates, can drive the handle and rotate, and then realize wrist joint's drive.

Further, be provided with on the forearm driving medium 72 and use its rotation center as the spacing hole 721 of arc of centre of a circle, be provided with gag lever post 711 on the forearm connecting rod 71, the spacing hole 721 cover of arc is established on gag lever post 711, utilizes the rotational position that the spacing hole 721 of arc and gag lever post 711 can inject forearm driving medium 72 for within the wrist joint is in controllable rotation range, security when guaranteeing the recovered exercise of patient avoids causing the injury to human joint.

The motion principle of each joint of the invention is as follows:

abduction and adduction of shoulder joints: the output shaft of the shoulder joint abduction-adduction motor 31 is coaxial with the flexible gear of the harmonic reducer, and is connected with the first flexible gear flange transmission part 312 through a screw for transmission, so that the abduction-adduction movement of the shoulder joint of the mechanical arm is completed.

Lifting and pressing the shoulder joint: the output shaft of the shoulder joint up-and-down piezoelectric motor 33 is coaxial with the flexible gear of the harmonic reducer, is connected with the second flexible gear flange transmission part 332 through a screw for transmission, and is connected with the fifth bevel gear 333 through a key to drive the mechanical arm shoulder joint to be up-and-down pressed.

Flexion and extension movements of the elbow joint: the left-hand mode and the right-hand mode are switched according to the affected limb, and when the affected limb is in the right-hand mode, the second motor 55 can drive the second forearm connecting piece 53 to complete the flexion and extension movement of the elbow joint of the right hand through the third bevel gear 551 and the fourth bevel gear 541; in the left-hand mode, the first motor 57 can drive the first forearm connecting member 52 to complete the elbow joint flexion and extension movement of the left hand through the first bevel gear 571 and the second bevel gear 561.

The inward rotation and the outward rotation of the wrist joint: the wrist joint internal rotation and external rotation motor 73 drives the patient to do internal rotation and external rotation movement of the wrist joint through the forearm transmission piece 72 and the handle.

The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A left-right hand exchange mechanism is characterized in that: the forearm connecting piece is connected with the upper arm assembly in a head-tail rotating mode in sequence; a first elbow joint component is arranged at the rotary joint of the elbow supporting piece and the first forearm connecting piece, and is used for driving the first forearm connecting piece to rotate, and at the moment, the first forearm connecting piece is overlapped with the second forearm connecting piece; first forearm connecting piece with second forearm connecting piece department is provided with second elbow joint subassembly, second elbow joint subassembly is used for the drive second forearm connecting piece rotates, at this moment, elbow support piece with first forearm connecting piece overlaps.

2. The left-right hand exchange mechanism according to claim 1, wherein: the first elbow joint assembly comprises a first motor fixed on the first forearm connecting piece and a first rotating shaft fixed on the elbow supporting piece, and the first motor is in driving connection with the first rotating shaft; the second elbow joint subassembly is including fixing second motor on the first forearm connecting piece is with fixing second pivot on the second forearm connecting piece, the second motor with second pivot drive connection.

3. The left-right hand exchange mechanism according to claim 2, wherein: a main shaft of the first motor is connected with a first bevel gear, the first rotating shaft is connected with a second bevel gear, and the first bevel gear is meshed with the second bevel gear; the spindle of the second motor is connected with a third bevel gear, the second rotating shaft is connected with a fourth bevel gear, and the third bevel gear is meshed with the fourth bevel gear.

4. The left-right hand exchange mechanism according to claim 3, wherein: the first motor with parallel arrangement about the second motor, and all with first forearm connecting piece is parallel, elbow support piece with the length of second forearm connecting piece equals and is half of first forearm connecting piece.

5. An upper limb exoskeleton rehabilitation robot, which is characterized in that: the robot arm comprises a shoulder joint assembly, an upper arm assembly, a left-right hand exchange mechanism according to any one of claims 1-4, a forearm assembly and a wrist joint assembly which are connected in sequence, wherein an elbow supporting piece of the left-right hand exchange mechanism is connected with the upper arm assembly, a second forearm connecting piece of the left-right hand exchange mechanism is connected with the forearm assembly, and the shoulder joint assembly is connected on a sliding rail device in a sliding mode through a mechanical arm hanging mechanism.

6. The upper extremity exoskeleton rehabilitation robot of claim 5, wherein: the shoulder joint assembly comprises a vertically arranged shoulder joint abduction and adduction motor, a first vertical supporting piece is installed on a main shaft of the shoulder joint abduction and adduction motor, a shoulder joint up-and-down pressing motor and a third rotating shaft are arranged on the first vertical supporting piece, the third rotating shaft is fixedly connected with the upper arm assembly, and the main shaft of the shoulder joint up-and-down pressing motor is perpendicular to the third rotating shaft and drives the third rotating shaft to rotate through a bevel gear.

7. The upper extremity exoskeleton rehabilitation robot of claim 6, wherein: the upper arm subassembly includes second vertical support piece and parallel arrangement's upper arm connecting rod, the one end of upper arm connecting rod all with first vertical support piece rotates to be connected, the other end of upper arm connecting rod all with second vertical support piece rotates to be connected, one of them the one end of upper arm connecting rod with third pivot fixed connection, second vertical support piece with elbow support piece fixed connection.

8. The upper extremity exoskeleton rehabilitation robot of claim 7, wherein: the forearm subassembly includes length adjustment device, length adjustment device include with slide rail, sliding connection that second forearm connecting piece is connected slide plate and locking on the slide rail the locking structure of slide plate, the slide plate is connected with the wrist joint subassembly.

9. The upper extremity exoskeleton rehabilitation robot of claim 8, wherein: the wrist joint assembly comprises a forearm connecting rod, a forearm transmission piece and a wrist joint internal-rotation external motor, wherein the forearm transmission piece is rotatably arranged on the forearm connecting rod and drives the forearm transmission piece to rotate, and a handle is arranged on the forearm transmission piece.

10. The upper extremity exoskeleton rehabilitation robot of claim 9, wherein: the forearm transmission part is provided with an arc-shaped limiting hole taking the rotation center of the forearm transmission part as the circle center, the forearm connecting rod is provided with a limiting rod, and the arc-shaped limiting hole is sleeved on the limiting rod.

Images