TWM451125U - Interactive robot arm device for upper limb rehabilitation - Google Patents

Description

Mechanical arm device with interactive upper limb rehabilitation

The present invention relates to a rehabilitation tool, and more particularly to a mechanical arm device with an interactive upper limb rehabilitation.

Most of the existing rehabilitation medical treatments require rehabilitation workers who have professional medical experience to use artificial traction to drive the upper limbs of the patients to achieve the effect of limb reconstruction. However, due to the lack of physical strength and manpower of the rehabilitation staff in hospitals or medical units, and the rehabilitation of patients need to be assisted by the rehabilitation staff to achieve more effective rehabilitation results, so when the number of patients is large It is a considerable burden on the physical and mental consumption of the rehabilitation teacher; on the other hand, because the time required for rehabilitation treatment is longer, the patient needs a long-term return for rehabilitation, which accumulates for a long time and is prone to fatigue. Feeling inert, and the willingness to return to rehabilitation is reduced.

Therefore, the object of the present invention is to provide an interactive upper arm rehabilitation robotic arm device having a rehabilitation function.

Therefore, the novel mechanical arm device for interactive upper limb rehabilitation comprises a mechanical arm unit, a driving unit, and a control unit.

The robot arm unit includes a base, a shoulder joint module movably disposed on the base, an elbow joint module movably coupled to the shoulder joint module, and a movable joint to the elbow Wrist joint module of the joint module.

The driving unit is used to drive the robot arm unit to move.

The control unit includes a human-machine operating module, an interface transmission module electrically connected to the human-machine operating module, and a driving module electrically connected to the interface transmission module and the driving unit.

The human-machine operating module can input a plurality of motion trajectory programs to control the driving module to drive the driving unit, thereby controlling the shoulder joint module of the mechanical arm unit, the elbow joint module, and the wrist joint The modules operate according to the motion trajectories.

The utility model has the beneficial effects that the mechanical arm unit, the driving unit and the control unit are designed so that the upper limb of the user can be easily retracted through the pulling of the mechanical arm unit, so that It can effectively reduce the expenditure of the rehabilitation staff's manpower, and can also improve the patient's willingness to rehabilitate and get a better rehabilitation effect.

The foregoing and other technical aspects, features and advantages of the present invention will be apparent from the following description of the preferred embodiments.

Referring to FIG. 1 and FIG. 2, a preferred embodiment of the present invention relates to a robotic arm unit 2, a driving unit 3, and a control unit 4.

The robot arm unit 2 includes a base 21, a shoulder joint module 22 movably disposed on the base 21, an elbow joint module 23 movably coupled to the shoulder joint module 22, and a The wrist joint module 24 is movably connected to the elbow joint module 23.

The base 21 has a plurality of casters 211 respectively disposed at the bottom and a plurality of The stand 212 is adjustably disposed at the bottom. Thereby, when the base 21 is moved to the desired position, the legs 212 can be adjusted to move the casters 211 off the ground for the purpose of positioning.

The shoulder joint module 22 has a first rotating shaft 221 extending along an axis L and a second rotating shaft 222 perpendicular to the first rotating shaft 221 .

The elbow joint module 23 has a third rotating shaft 231 parallel to the second rotating shaft 222 and a fourth rotating shaft 232 perpendicular to the third rotating shaft 231.

The wrist joint module 24 has a fifth rotation shaft 241 that is perpendicular to the fourth rotation shaft 232. The first rotating shaft 221, the second rotating shaft 222, the third rotating shaft 231, the fourth rotating shaft 232, and the fifth rotating shaft 241 allow the robot arm unit 2 to perform like a human upper limb The same swing action.

The driving unit 3 is configured to drive the robot arm unit 2 to move, and includes a first planetary reducer 30 connected to the first rotating shaft 221, a first servo motor 31 connected to the first planetary reducer 30, a second planetary reducer 32 coupled to the second rotating shaft 222, a second servo motor 33 coupled to the second planetary reducer 32, and a third planetary reducer 34 coupled to the third rotating shaft 231 a third servo motor 35 connected to the third planetary reducer 34, a fourth planetary reducer 36 connected to the fourth rotating shaft 232, and a fourth servomotor connected to the fourth planetary reducer 36. 37. A timing pulley set 38 coupled to the fifth rotating shaft 241, and a fifth servo motor 39 coupled to the timing pulley set 38. Wherein, the first servo motor 31, the second servo motor 33, and the third servo horse Up to 35, the fourth servo motor 37, and the fifth servo motor 39, the shoulder joint module 22, the elbow joint module 23, and the wrist joint module 24 of the mechanical arm unit 2 can be lifted. Accuracy, in addition, with the first planetary reducer 30, the second planetary reducer 32, the third planetary reducer 34, and the fourth planetary reducer 36 cooperate to reduce the speed and improve the torque .

The control unit 4 includes a human-machine operating module 41, an interface transmission module 42 electrically connected to the human-machine operating module 41, and a driving module 43 electrically connected to the interface transmission module 42 and the driving unit 3. . The human-machine operating module 41 is a software interface developed by Visual Basic 6.0, and the interface transmission module 42 is a motion axis card, and the human-machine operating module 41 can transmit an action command to the interface transmission mode. Group 42.

The driving module 43 has a first servo driver 431 electrically connected to the first servo motor 31, a second servo driver 432 electrically connected to the second servo motor 33, and an electrical connection to the third servo motor 35. a third servo driver 433, a fourth servo driver 434 electrically connected to the fourth servo motor 37, and a fifth servo driver 435 electrically connected to the fifth servo motor 39, respectively, the first servo motor can be driven 31. The second servo motor 33, the third servo motor 35, the fourth servo motor 37, and the fifth servo motor 39 are actuated, and the first servo motor 31 and the second servo motor 33 may also be received. The position, speed, and torque signal values transmitted by the third servo motor 35, the fourth servo motor 37, and the fifth servo motor 39 are returned to the human-machine operating module 41 for calculation.

In use, the man-machine operation module 41 can input several kinds of motion trajectories The ergonomic operation module 41 controls the first servo driver 431, the second servo driver 432, and the third servo driver of the driving module 43 433. The fourth servo driver 434 and the fifth servo driver 435 drive the first servo motor 31, the second servo motor 33, the third servo motor 35, and the fourth servo motor of the driving unit 3, respectively. 37. The fifth servo motor 39, and the shoulder joint module 22 of the robot arm unit 2, the elbow joint module 23, and the wrist joint module 24 respectively operate according to the selected movement trajectories. In this way, the patient can still use the new type to perform the upper limb rehabilitation exercise without the assistance of the rehabilitation teacher.

According to the above description, the novel mechanical arm device for interactive upper limb rehabilitation has the following advantages and effects: the upper arm of the user is designed by the robot arm unit 2, the driving unit 3, and the control unit 4 The rehabilitation operation can be conveniently performed through the pulling of the robot arm unit 2, thereby effectively reducing the labor expenditure of the rehabilitation technician, and improving the patient's willingness to rehabilitate to obtain a better rehabilitation effect.

However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto, that is, the simple equivalent change and modification made by the novel patent application scope and the novel description content, All remain within the scope of this new patent.

2‧‧‧Mechanical arm unit

21‧‧‧Base

211‧‧‧ casters

212‧‧ ‧ tripod

22‧‧‧ Shoulder joint module

221‧‧‧First rotating shaft

222‧‧‧second rotating shaft

23‧‧‧ Elbow joint module

231‧‧‧ Third rotating shaft

232‧‧‧fourth axis of rotation

24‧‧‧ wrist joint module

241‧‧‧ fifth axis of rotation

3‧‧‧Drive unit

30‧‧‧First planetary reducer

31‧‧‧First servo motor

32‧‧‧Second planetary reducer

33‧‧‧Second servo motor

34‧‧‧ Third planetary reducer

35‧‧‧third servo motor

36‧‧‧4th planetary reducer

37‧‧‧fourth servo motor

38‧‧‧time gauge pulley set

39‧‧‧ fifth servo motor

4‧‧‧Control unit

41‧‧‧Man-machine operation module

42‧‧‧Interface Transfer Module

43‧‧‧Drive Module

431‧‧‧First servo drive

432‧‧‧Second servo drive

433‧‧‧third servo drive

434‧‧‧fourth servo drive

435‧‧‧ fifth servo drive

L‧‧‧ axis

1 is a schematic view of a preferred embodiment of a robotic arm device for interactive upper limb rehabilitation, which does not show a control unit; Figure 2 is a block diagram of the system of the preferred embodiment.

2‧‧‧Mechanical arm unit

21‧‧‧Base

211‧‧‧ casters

212‧‧ ‧ tripod

22‧‧‧ Shoulder joint module

221‧‧‧First rotating shaft

222‧‧‧second rotating shaft

23‧‧‧ Elbow joint module

231‧‧‧ Third rotating shaft

232‧‧‧fourth axis of rotation

24‧‧‧ wrist joint module

241‧‧‧ fifth axis of rotation

L‧‧‧ axis

Claims (7)

The utility model relates to an interactive upper limb rehabilitation mechanical arm device, comprising: a mechanical arm unit, comprising a base, a shoulder joint module movably disposed on the base, and a movable joint connection to the shoulder joint module An elbow joint module, and a wrist joint module movably coupled to the elbow joint module; a drive unit for driving the robot arm unit to move, and a control unit including a human-machine operation module, An interface transmission module electrically connected to the human-machine operating module, and a driving module electrically connected to the interface transmission module and the driving unit; wherein the human-machine operating module can input a plurality of motion track programs. The shoulder joint module, the elbow joint module, and the wrist joint module are respectively operated according to the movement trajectory by controlling the driving module to drive the driving unit, thereby controlling the mechanical arm unit. The interactive upper limb rehabilitation mechanical arm device according to claim 1, wherein the shoulder joint module has a first rotating shaft extending along an axis and a vertical axis perpendicular to the first rotating shaft a second rotating shaft, the elbow joint module has a third rotating shaft parallel to the second rotating shaft and a fourth rotating shaft perpendicular to the third rotating shaft, the wrist joint module having a perpendicular to the The fifth axis of rotation of the fourth axis of rotation. The interactive upper limb rehabilitation robot apparatus according to claim 2, wherein the driving unit comprises a first planetary reducer connected to the first rotating shaft, and a first planetary deceleration connected to the first planetary shaft a first servo motor of the machine, and a second planetary deceleration connected to the second rotating shaft a second servo motor connected to the second planetary reducer, a third planetary reducer connected to the third rotating shaft, a third servo motor connected to the third planetary reducer, and a connection a fourth planetary reducer of the fourth rotating shaft, a fourth servo motor connected to the fourth planetary reducer, a timing pulley set connected to the fifth rotating shaft, and a timing pulley set connected to the timing And a fifth servo motor, wherein the driving module drives the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, and the fifth servo motor respectively. The interactive upper limb rehabilitation mechanical arm device according to claim 3, wherein the driving module has a first servo driver electrically connected to the first servo motor, and is electrically connected to the second a second servo driver of the servo motor, a third servo driver electrically connected to the third servo motor, a fourth servo driver electrically connected to the fourth servo motor, and a first electrically connected to the fifth servo motor Five servo drives. The interactive upper limb rehabilitation mechanical arm device according to claim 1, wherein the interface transmission module is a motion axis card. The interactive upper limb rehabilitation robot apparatus according to the first aspect of the invention, wherein the base has a plurality of casters respectively disposed at the bottom. The interactive upper limb rehabilitation robot apparatus according to the first aspect of the invention, wherein the base has a plurality of legs that are adjustably disposed at the bottom.