Exoskeletal rehabilitation robot for upper limbs

A technology for rehabilitation training and robotics, which is applied in the direction of manipulators, passive exercise equipment, program-controlled manipulators, etc. It can solve problems such as user injuries, failure to consider shoulder girdle movement, and human-machine joint axis mismatch.

CN105662782APending Publication Date: 2016-06-15SHANGHAI ZHUODAO MEDICAL TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2016-06-15

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Abstract

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, two mechanical arm assemblies and six motor driving components, wherein the base comprises a moving base, an electrical cabinet, an electric lifting post, a base platform, a motor mounting corner bracket, a base rotating motor, a coupling, a base main bearing block, a base and ball screw nut assembly, a base nut seat, a base shared secondary bearing block, a right support, a base linear guide rail assembly and a left support; the mechanical arm assembly comprises a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly and a mechanical hand part assembly; each motor driving assembly comprises a motor and speed reducing component, a torque sensor component and a driving component which are respectively arranged on the same motor driving base frame. The exoskeletal rehabilitation robot can be worn on the upper limbs of the human body and can be used for assisting the upper limbs of the human body in moving in a three-dimensional space and performing rehabilitation training.
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Description

technical field

[0001] The invention relates to the fields of robot technology, human biomechanics, rehabilitation medicine and rehabilitation engineering, in particular to an exoskeleton type upper limb rehabilitation training robot. Background technique

[0002] An exoskeleton robot is an electromechanical device that can be worn on the human body to assist or extend the human body's movement capabilities. The range of applications of exoskeleton robots is very wide, including remote control, enhancement of human body functions, compensation of human body functions, and limb rehabilitation training. At present, several robots for limb rehabilitation training of stroke patients have been developed around the world. The use of robots for limb rehabilitation training after stroke is expected to shorten the recovery time of patients, improve the recovery effect and reduce the total treatment cost.

[0003] In the design of exoskeleton-type rehabilitation training robot, th...

Examples

Embodiment Construction

[0040] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0041] Please see attached figure 1 , attached figure 2 , attached image 3 , attached Figure 4 , attached Figure 10 and attached Figure 11 As shown, an exoskeleton type upper limb rehabilitation training robot includes a base 100, two mechanical arm assemblies 200 and six motor drive assemblies 800; the base 100 includes a mobile base 1001, an electrical box 1002, and an electric lifting column 1003, base platform 1004, motor mounting angle bracket 1005, base rotating motor 1006, coupling 1007, base main bearing seat 1008, base ball screw nut assembly 1009, base nut seat 1010, base common pair Bearing seat 1011, right bracket 1012, base linear guide assembly 1013 and left bracket 1014; the electrical box 1002 is fixedly installed on the mobile base 1001; the electric lifting column 1003 is fixedly installed on the electrical box 1002; the base...