An exoskeleton rehabilitation robot arm rotation joint

Abstract

The invention discloses an exoskeleton rehabilitation machine arm rotating joint. The exoskeleton rehabilitation machine arm rotating joint comprises three parts, i.e., an arm fixing mechanism, a driving motor mechanism and a guide rail gear rotating mechanism, wherein the arm fixing mechanism is taken as a fixing part of the whole rotating joint, can be fixedly connected with a shoulder joint part of an exoskeleton rehabilitation robot, and is used for fixing one arm of a human body to ensure that the exoskeleton robot can drive the arm of the human body to move together for rehabilitation; the driving motor mechanism is fixed to the outer side of the arm fixing mechanism without occupying space of the arm of the human body, and is used for providing power required by joint rotation; the guide rail gear rotating mechanism adopts a guide rail gear structure, and is used for fixing a guide rail in a three-point way and driving the guide rail to rotate by using gear meshing motion, so as to realize rotating action of the exoskeleton rehabilitation robot. The exoskeleton rehabilitation machine arm rotating joint is based on a human engineering design principle, and has the advantages of simple structure, coaxial movement, wide application range and the like.

Description

Technical field [0001] The invention relates to a rotary joint used for an exoskeleton rehabilitation machine arm, including a large arm rotation and a forearm rotation joint, and belongs to the technical field of medical rehabilitation training equipment. Background technique [0002] In recent years, there have been more and more patients with motor dysfunction caused by diseases such as hemiplegia. The one-to-one manual rehabilitation by physicians has not been able to meet the requirements of the majority of patients. Therefore, rehabilitation robots used for training by collaborative physicians have been rapidly developed. Especially the exoskeleton rehabilitation robot similar to the human body structure. [0003] The rotation movement of the human arm is an important form of movement, including two parts: forearm rotation and forearm rotation. However, due to the wearable characteristics of the exoskeleton robot itself, its internal space should not be occupied, so the rota...

AI Technical Summary

Problems solved by technology

However, due to the wearable characteristics of the exoskeleton robot itself, its internal space should not be occupied, so the rotation axis of the exoskeleton robot is an imaginary virtual axis; in addition, in most actions in daily life, the human arm Maintain contact with the human torso, so the structure of the exoskeleton robot arm can only be designed on the outside of the arm

[0004] The above reasons have led to the difficulty in ensuring the mechanical structure of the revolving joint of the exoskeleton rehabilitation robot arm, and the coaxial design of the revolving joint of the robot and the revolving joint of the human arm is also a big problem

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