CN211585086U

CN211585086U - Wearable multi-degree-of-freedom upper limb rehabilitation training robot arm

Info

Publication number: CN211585086U
Application number: CN201922027983.9U
Authority: CN
Inventors: 刘遥峰; 李冶; 蒋振东; 王胜新; 王杰
Original assignee: Casicc Intelligent Robot Co ltd
Current assignee: Casicc Intelligent Robot Co ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-09-29
Anticipated expiration: 2029-11-22

Abstract

The utility model provides a wearable multi-degree-of-freedom upper limb rehabilitation training robot arm, which comprises a cantilever assembly, a big arm assembly, a small arm assembly and a hand assembly which are movably connected in sequence; the hand component comprises a fixed shell, a rotating motor component, a grip strength sensor, a grip strength fixing seat and a movable support; the grip force fixing seat comprises a vertical part and a transverse part, the grip force sensor is installed on the transverse part, the vertical part is rotatably installed on the movable support, the movable support is movably installed on an adjusting rod, and the rotating motor assembly is connected with the adjusting rod. This openly can be according to different patients 'physical characteristics, adjust the length that forearm, big arm and hand link, angle isoparametric, simultaneously according to joint physiology characteristic and human body shape characteristic, adopt bionic design to joint overall arrangement and arm skeleton support part for the motion of each part can well coincide patient joint rotatory, reduces the weight of upper limbs rehabilitation training arm simultaneously, reduces patient's burden.

Description

Wearable multi-degree-of-freedom upper limb rehabilitation training robot arm

Technical Field

The present disclosure relates to an upper limb rehabilitation training robot arm, and in particular, to a wearable multi-degree-of-freedom upper limb rehabilitation training robot arm.

Background

Stroke refers to the sudden rupture of a cerebral vessel to cause hemorrhage or acute occlusion causing severe damage to the brain, which may result in death, coma, hemiplegia, loss of speech, and other motor dysfunctions. Has high fatality rate and disability rate, and is the first cause of death in China. At present, the number of people who suffer from stroke every year in China is over 250 thousands, and the number of people who die of stroke every year is over 150 thousands. It is estimated that nearly 1200 million people in the population over 40 years old in China will have had a stroke, with a direct medical cost as high as 375 billion yuan. The incidence of stroke in China is on a rising trend, the death rate of stroke is obviously reduced along with the improvement of medical level, but the disability rate is still over 80 percent, most patients have serious sequelae, and hemiplegia is one of the most common manifestations, and the living level and quality of people are seriously influenced. For hemiplegia caused by cerebral apoplexy, the later the rehabilitation intervention time is, the less hope is for the recovery of the function of the affected limb of the patient, so that the family members and the society of the patient need to spend great cost on treating and nursing the patient, and great economic and mental pressure is brought to the family members and the society. Therefore, the search for quick and effective rehabilitation therapy, improvement of various functions and prognosis of patients, and improvement of quality of life of patients are important issues of current attention. With the rapid development of medical rehabilitation technology, the upper limb rehabilitation training mechanical arm is gradually introduced into the rehabilitation process of a patient, integrates a plurality of disciplines such as medical science, biology, mechanics, information and computer discipline, can meet the training intensity requirements of different patients, is suitable for the patient to independently perform rehabilitation training, and realizes the recovery of the upper limb function.

The publication No. CN 109350446A discloses an active and passive combination upper limb rehabilitation training robot system based on electromyographic signals, and the training mechanical arm of the system has the advantages of compact overall structure, high matching degree of a driving device and joint rotation and small rotation error. The motion joint has soft limit, mechanical limit and the like. However, since the difference between people is large, the length, width and other dimensions of the arm, wrist and hand are different, and the comfortable force application angle of the joint is also different, for example, when the grip sensor is held by the hand, the position and angle of the grip sensor are different due to the different size of the hand. In addition, the disclosed technology can not feed back the motion moment condition of each joint, and is not beneficial to tracking and analyzing the rehabilitation condition of the patient.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, the present disclosure provides a wearable multi-degree-of-freedom upper limb rehabilitation training robot arm

The technical scheme of the disclosure is realized as follows:

a wearable multi-degree-of-freedom upper limb rehabilitation training robot arm comprises a cantilever assembly, a large arm assembly, a small arm assembly and a hand assembly which are movably connected in sequence; the hand component comprises a fixed shell, a rotating motor component, a grip strength sensor, a grip strength fixing seat and a movable support; the rotary motor assembly is installed at the front end of the fixed shell, the grip fixing seat comprises a vertical portion and a transverse portion, the grip sensor is installed on the transverse portion, the vertical portion is rotatably installed on the movable support, the movable support is movably installed on an adjusting rod, the rotary motor assembly is connected with the adjusting rod and can drive the adjusting rod to rotate by taking the connecting portion of the rotary motor assembly and the adjusting rod as an axis.

Furthermore, the hand assembly further comprises an adjusting knob, and a first pin hole is formed in the lower end part of the movable support; the adjusting knob penetrates through the first pin hole and is connected with the adjusting rod, so that the movable support and the adjusting rod are relatively fixed.

Furthermore, the hand assembly further comprises a positioning knob, and a second pin hole is formed in the upper end part of the movable support; one end of the positioning knob penetrates through the second pin hole and is connected with the vertical part, so that the grip strength fixing seat and the movable support are relatively fixed.

Further, the output end of the rotating motor assembly is connected with a torque sensor.

Further, the hand assembly further comprises a first strap seat fixedly mounted on the fixed shell and a sliding block fixing seat connected with the small arm assembly, and the sliding block fixing seat is mounted at the rear end of the fixed shell.

Furthermore, the small arm assembly comprises an elbow joint motor assembly, a small arm, a first bent rail assembly and a first rotating shaft which is rotatably connected with the large arm assembly, the output end of the elbow joint motor assembly is connected with the small arm and can drive the small arm to swing, the first bent rail assembly is fixedly connected with the small arm, a slidable sliding block is arranged on the first bent rail assembly, and the sliding block is connected with the hand assembly; and the output end of the toggle joint motor assembly is connected with a torque sensor.

Furthermore, the big arm assembly comprises a big arm length adjusting mechanism, a connecting beam, a second bent rail assembly and a second rotating shaft which is rotatably connected with the small arm assembly, the second bent rail assembly is connected with the connecting beam through a transmission assembly, and the second bent rail assembly is connected with the transmission assembly in a sliding manner; the large arm length adjusting mechanism is connected with the cantilever assembly.

Further, the large arm length adjusting mechanism comprises a rotating arm and a connecting seat, the connecting seat is connected with the rotating arm through a guide post and a screw rod, and the screw rod is rotated to drive the connecting seat to be close to or far away from the rotating arm.

Furthermore, the cantilever assembly comprises a cantilever beam, a rotating beam and a vertical arm, one end of the rotating beam is rotatably connected with the cantilever beam, the other end of the rotating beam is connected with the vertical arm, the vertical arm is rotatably connected with the big arm assembly, a limit knob is arranged on the vertical arm, and one end of the limit knob is connected with the big arm assembly.

Furthermore, the emergency stop device further comprises an emergency stop switch, wherein the emergency stop switch is installed on the cantilever assembly and is connected with the motor controller.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a wearable multi-degree-of-freedom upper limb rehabilitation training robot arm according to the present disclosure;

FIG. 2 is a schematic view of a hand assembly of the present disclosure;

FIG. 3 is a schematic structural view of the forearm assembly of the present disclosure;

FIG. 4 is a schematic view of a large arm assembly of the present disclosure;

FIG. 5 is a schematic view of a cantilever assembly of the present disclosure;

the device comprises a cantilever assembly 101, a large arm assembly 102, a small arm assembly 103, a hand assembly 104, an emergency stop switch 201, a cantilever beam 202, a rotating beam 203, a vertical arm 204, a limit knob 205, a rotating arm 206, a guide post 207, a screw 208, a connecting seat 301, a connecting beam 302, a transmission assembly 303, a second limit block 304, a large arm 305, a limit pin 306, a second strap seat 307, a strap 308, a second curved rail assembly 309, a second rotating shaft 310, an elbow joint motor assembly 401, a small arm 402, a first limit block 403, a sliding block 404, a first curved rail assembly 405, a first rotating shaft 406, a sliding block fixing seat 501, a first strap seat 502, a fixing shell 503, a rotating motor assembly 504, a grip force sensor 506, a grip force fixing seat 507, a moving support 508, a positioning knob 509 and an adjusting knob 511;

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to fig. 1 and 2, a wearable multi-degree-of-freedom upper limb rehabilitation training robot arm comprises a cantilever assembly 101, a large arm assembly 102, a small arm assembly 103 and a hand assembly 104 which are movably connected in sequence; the hand assembly 104 comprises a fixed shell 503, a rotating motor assembly 504, a grip sensor 506, a grip fixing seat 507 and a movable support 508; the rotating electrical machine assembly 504 is mounted at the front end of the fixed housing 503, the grip fixing seat 507 includes a vertical portion and a horizontal portion, the grip sensor 506 is mounted on the horizontal portion, the vertical portion is rotatably mounted on the movable support 508, the movable support 508 is movably mounted on an adjusting rod 505, the rotating electrical machine assembly 504 is connected with the adjusting rod 505, and can drive the adjusting rod 505 to rotate around the connecting portion of the rotating electrical machine assembly 504. In this embodiment, the position of the movable support 508 on the adjustment rod 505 can be adjusted, so that the hand of different users can be in a relatively comfortable position when holding the grip sensor 506, and the grip holder 507 can be rotated relative to the movable support 508, so that the hand of different users can be adjusted to a most comfortable angle when holding the grip sensor 506.

In this embodiment, the hand assembly 104 further includes an adjusting knob 511, and a first pin hole is formed at a lower end of the movable support 508; the adjusting knob 511 passes through the first pin hole and is connected with the adjusting rod 505, so that the movable support 508 and the adjusting rod 505 are fixed relatively. After the user moves the grip holder 507 to a comfortable position, the movable support 508 and the adjusting rod 505 can be relatively fixed by screwing the adjusting knob 511, so as to prevent the movable support from sliding.

In this embodiment, the hand assembly 104 further includes a positioning knob 509, and a second pin hole is formed on an upper end portion of the movable support 508; one end of the positioning knob 509 passes through the second pin hole and is connected to the vertical portion, so that the grip holder 507 and the movable support 508 are fixed relatively. After the user adjusts the grip holder 507 to a comfortable angle, the grip holder 507 and the movable support 508 may be relatively fixed by screwing the positioning knob 509, so as to prevent the grip holder 507 from swinging.

In this embodiment, the hand assembly 104 further includes a first strap seat 502 fixedly mounted on the fixed housing 503, and a slider fixing seat 501 connected to the small arm assembly 103, wherein the slider fixing seat 501 is mounted at the rear end of the fixed housing 503.

Referring to fig. 1 and 3, the small arm assembly 103 includes a toggle motor assembly 401, a small arm 402, a first curved rail assembly 405, and a first rotating shaft 406 rotatably connected to the large arm assembly 102, an output end of the toggle motor assembly 405 is connected to the small arm 402 and drives the small arm 402 to swing, the first curved rail assembly 405 is fixedly connected to the small arm 402, a slidable slider 404 is disposed on the first curved rail assembly 405, and the slider 404 is connected to the hand assembly 104. The two ends of the bent rail of the first bent rail assembly 405 are provided with first limit blocks 403.

Referring to fig. 1, 3 and 4, the large arm assembly 102 includes a large arm length adjustment mechanism, a connecting beam 302, a second curved rail assembly 309, and a second rotating shaft 310 rotatably connected to the small arm assembly 103, wherein the second curved rail assembly 309 is connected to the connecting beam 302 through a transmission assembly 303, and the second curved rail assembly 309 is slidably connected to the transmission assembly 303; the large arm length adjusting mechanism is connected with the cantilever assembly 101; the first rotating shaft 406 is connected with the second rotating shaft 310 in a relative rotation manner; the toggle motor assembly 405 is fixedly connected to the second curved rail assembly 309. The axes of the first rotating shaft 406 and the second rotating shaft 310 are on the same straight line with the axis of the swing of the small arm 402; the big arm assembly 102 further comprises a big arm 305, the big arm 305 is fixedly connected with the second curved rail assembly 309, the small arm 402 is rotatably connected with the big arm 305, and a limit pin 306 for limiting the rotation angle of the small arm 402 is further arranged at the connecting part of the small arm 402 and the big arm 305. And two ends of the bent rail of the second bent rail component 309 are provided with second limiting blocks 304.

The large arm assembly 102 further comprises a second strap mount 307, the second strap mount 307 being mounted to the second curved rail assembly 309, and a strap 308 being attached to the second strap mount 307.

Referring to fig. 4 and 5, the upper arm length adjustment mechanism includes a rotating arm 206 and a connecting seat 301, the connecting seat 301 is connected to the rotating arm 206 through a guide post 207 and a lead screw 208, and rotating the lead screw 208 drives the connecting seat 301 to approach or separate from the rotating arm 206. When the device is used, the arm length of a user is measured, and the large arm length adjusting mechanism is adjusted to be in a proper size.

Referring to fig. 1 and 5, the cantilever assembly 101 includes a cantilever beam 202, a rotating beam 203 and a vertical arm 204, one end of the rotating beam 203 is rotatably connected to the cantilever beam 202, the other end of the rotating beam 203 is connected to the vertical arm 204, the vertical arm 204 is rotatably connected to the large arm assembly 102, the vertical arm 204 is provided with a limit knob 205, and one end of the limit knob 205 is connected to the large arm assembly 102. The limit knob 205 can limit the rotation angle of the large arm assembly 105, and mechanical limit is realized.

Referring to fig. 1, 2 and 3, in the present embodiment, a torque sensor is connected to an output of the wrist motor assembly 405 and an output of the rotating electric machine assembly 504. Each key movement torque can be detected in real time. Preferably, the large arm assembly 102 and the small arm assembly 103 are provided with electromyographic signal sensors for detecting muscle spasm and ensuring safety and reliability of rehabilitation training. In this embodiment, the motors of the elbow joint motor assembly 405 and the rotating motor assembly 504 are the direct current brushless motor and the planetary gear transmission, and have the advantages of compact structure, high matching degree of driving and joint rotation, and small rotation error; the motion joint is limited in a mode of combining soft limitation and mechanical limitation, so that the motion range of the joint freedom degree of a patient can be effectively restricted.

This openly can be according to different patients 'physical characteristics, adjust the length that forearm, big arm and hand link, angle isoparametric, simultaneously according to joint physiology characteristic and human body shape characteristic, adopt bionic design to joint overall arrangement and arm skeleton support part for the motion of each part can well coincide patient joint rotatory, reduces the weight of upper limbs rehabilitation training arm simultaneously, reduces patient's burden.

Referring to fig. 1, fig. 1 and fig. 3, in this embodiment, the present invention further includes an emergency stop switch 201, where the emergency stop switch 201 is installed on the cantilever assembly 101, and the emergency stop switch 201 is connected to the motor controller. The motor controller is connected to the wrist motor assembly 405 and the rotary motor assembly 504, respectively. When an emergency occurs, the emergency stop switch is pressed, so that the elbow joint motor and the rotating motor can be immediately stopped, and a patient is protected.

By adopting the technology, the rehabilitation training system can be accessed, and a plurality of rehabilitation training modes such as active, passive and impedance are configured, wherein in the passive rehabilitation training mode, aiming at the condition that the upper limbs of the patient in the early stage can not actively complete the movement function, the arm movement postures of the healthy people are input by the training control system, the movement output of the upper limb rehabilitation robot mechanism is controlled, the upper limbs of the patient are driven to perform the repetitive rehabilitation training, and meanwhile, the physiological data of the human body are collected to observe the rehabilitation training effect; in the active rehabilitation training mode, the difference between the upper limb movement gait of the patient and the standard expected posture is determined by detecting the surface electromyographic signals of the human body, the interaction force information between human and machines and the actual position and the expected position of the joint of the rehabilitation robot, so that the movement output of the upper limb rehabilitation robot is controlled to assist the patient to correct the movement posture. In the impedance rehabilitation training mode, different resistance values are set, the difficulty degree of rehabilitation training is changed, and the impedance rehabilitation training device has important significance for the recovery of muscle strength and nerve function remodeling of patients.

In addition, the wearable multi-degree-of-freedom upper limb rehabilitation training robot arm can be connected with a matched development virtual training platform, treatment training is carried out in a game mode, single dryness of treatment is reduced, and the interest of patients in actively participating in treatment is improved. The game is developed and designed according to different disease conditions, and the whole course voice feedback enhances the participation sense of the patient in a competitive mode.

The disclosure "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present disclosure, "front" and "back" refer to the relative hand direction, and the finger direction relatively close to the hand is "front" and vice versa is "back".

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. A wearable multi-degree-of-freedom upper limb rehabilitation training robot arm comprises a cantilever assembly, a large arm assembly, a small arm assembly and a hand assembly which are movably connected in sequence; the hand component comprises a fixed shell, a rotating motor component, a grip strength sensor, a grip strength fixing seat and a movable support; the rotating motor component is arranged at the front end of the fixed shell and is characterized in that,

the grip fixing seat comprises a vertical part and a transverse part, the grip sensor is installed on the transverse part, the vertical part is rotatably installed on the movable support, the movable support is movably installed on an adjusting rod, the rotating motor assembly is connected with the adjusting rod and can drive the adjusting rod to rotate by taking a connecting part of the adjusting rod and the rotating motor assembly as an axis.

2. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein the hand assembly further comprises an adjusting knob, and a first pin hole is formed in the lower end of the moving support; the adjusting knob penetrates through the first pin hole and is connected with the adjusting rod, so that the movable support and the adjusting rod are relatively fixed.

3. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein the hand assembly further comprises a positioning knob, and a second pin hole is formed in the upper end portion of the movable support; one end of the positioning knob penetrates through the second pin hole and is connected with the vertical part, so that the grip strength fixing seat and the movable support are relatively fixed.

4. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein a torque sensor is connected to an output end of the rotating motor assembly.

5. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein the hand assembly further comprises a first strap seat fixedly mounted on the fixed housing, and a slider fixing seat connected with the small arm assembly, and the slider fixing seat is mounted at the rear end of the fixed housing.

6. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein the small arm assembly comprises an elbow joint motor assembly, a small arm, a first curved rail assembly and a first rotating shaft rotatably connected with the large arm assembly, the output end of the elbow joint motor assembly is connected with the small arm and can drive the small arm to swing, the first curved rail assembly is fixedly connected with the small arm, a slidable sliding block is arranged on the first curved rail assembly, and the sliding block is connected with the hand assembly; and the output end of the toggle joint motor assembly is connected with a torque sensor.

7. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein the large arm assembly comprises a large arm length adjusting mechanism, a connecting beam, a second curved rail assembly and a second rotating shaft rotatably connected with the small arm assembly, the second curved rail assembly is connected with the connecting beam through a transmission assembly, and the second curved rail assembly is slidably connected with the transmission assembly; the large arm length adjusting mechanism is connected with the cantilever assembly.

8. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm according to claim 7, wherein the upper limb length adjusting mechanism comprises a rotating arm and a connecting seat, the connecting seat is connected with the rotating arm through a guide post and a screw rod, and the connecting seat can be driven to be close to or far away from the rotating arm by rotating the screw rod.

9. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm as claimed in claim 1, wherein the cantilever assembly comprises a cantilever beam, a rotating beam and a vertical arm, one end of the rotating beam is rotatably connected with the cantilever beam, the other end of the rotating beam is connected with the vertical arm, the vertical arm is rotatably connected with the large arm assembly, a limit knob is arranged on the vertical arm, and one end of the limit knob is connected with the large arm assembly.

10. The wearable multi-degree-of-freedom upper limb rehabilitation training robot arm according to any one of claims 1-9, further comprising an emergency stop switch, wherein the emergency stop switch is mounted on the cantilever assembly and is connected with the motor controller.