Exoskeleton type upper limb rehabilitation robot

Abstract

The invention is suitable for the technical field of rehabilitation robots, and provides an exoskeleton type upper limb rehabilitation robot which comprises a main body module, a big arm module and a small arm module, the main body module comprises a robot base, a supporting part and a shoulder joint movement mechanism, and the shoulder joint movement mechanism is supported on the ground through the main body part and achieves lifting control; the big arm and the small arm are based on the shape of an arm and belong to a linear mechanism, and the big arm module is connected with the main body module to realize fixation and rotation of the big arm; the small arm module is connected with the large arm module and used for driving the elbow joint to rotate inwards / outwards and bend / stretch and the shoulder joint to rotate inwards / outwards. According to the exoskeleton type upper limb rehabilitation robot, through reasonable and compact motor arrangement, basic requirements can be met, the overall structure of the robot is more compact, the size is smaller, and the requirements of actual application scenes are met.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation robots, and in particular relates to an exoskeleton type upper limb rehabilitation robot. Background Art

[0002] China's exoskeleton upper limb rehabilitation training robot industry started from simple repair technology and has now developed into a modern industrial system with a complete industrial chain and advanced technology level. With the acceleration of social aging and technological advancement, the demand for such equipment continues to grow. Due to the problems of traditional exoskeleton upper limb rehabilitation robots in work efficiency, manufacturing costs, energy consumption, etc., technological innovation is urgently needed to improve their performance.

[0003] At present, most exoskeleton upper limb rehabilitation robots use combined transmission, facing problems such as complex structure, low reliability, and high manufacturing and maintenance costs, which limits their market promotion. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a lightweight, modular, and easy-to-install and maintain exoskeleton upper limb rehabilitation robot, so as to improve the control and work efficiency of the robot, reduce energy consumption, and reduce costs.

[0005] In order to solve the above technical problems, the present invention provides an exoskeleton upper limb rehabilitation robot, characterized in that the exoskeleton upper limb rehabilitation robot comprises: a main body module, a big arm module and a small arm module, and the rehabilitation training task of the exoskeleton upper limb rehabilitation robot is achieved through the coordinated work of the three modules;

[0006] The main body module includes: a robot base, a support part, and a shoulder joint motion mechanism to achieve lifting control and shoulder joint flexion / extension;

[0007] The arm module is connected to the main body module to achieve the fixation and rotation of the arm;

[0008] The forearm module is connected to the upper arm module and is used to drive the internal / external rotation movement, flexion / extension movement of the elbow joint and the internal / external rotation movement of the shoulder joint.

[0009] The robot base includes: a fixed bottom plate, a guide rail fixing plate, a linear guide rail, a guide rail slider, a slider fixing plate, an upper cover plate, a hydraulic cylinder, and a hydraulic cylinder connecting plate. Guide rail fixing plates are provided on both sides of the fixed bottom plate, the linear guide rail is installed on the guide rail fixing plate, the guide rail slider is connected to the slider fixing plate and installed on the linear guide rail, and the slider fixing plate and the hydraulic cylinder are connected to the hydraulic cylinder connecting plate through the upper cover plate.

[0010] The supporting part includes: a supporting shaft, a horizontal carrier plate, a motor, a large cylindrical spur gear, and a small cylindrical spur gear. The supporting shaft is connected to the hydraulic cylinder connecting plate and the horizontal carrier plate through a fixed support, the motor is connected to the supporting shaft through a fixed seat, the large cylindrical spur gear is installed on the supporting shaft, and the small cylindrical spur gear is installed at the end of the motor and meshes with the large cylindrical spur gear to realize the lifting function.

[0011] The shoulder joint motion mechanism includes: a rotating shaft, a horizontal carrier plate, a bearing seat, a motor, a large cylindrical spur gear, and a small cylindrical spur gear. The rotating shaft is installed in the bearing seats at both ends of the horizontal carrier plate. The motor is fixed to the horizontal carrier plate through a fixing plate and is parallel to the rotating shaft. The small gear at the end of the motor meshes with the large gear on the rotating shaft to drive the rotating shaft to rotate.

[0012] The boom module includes: an upper boom link, a Z-shaped boom lower link, a motor, a boom fixing ring, a hollow gear and a pinion. The upper boom link is connected to the end of the rotating shaft through a keyway flange. The rotation of the rotating shaft drives the upper boom link to rotate, thereby realizing the flexion / extension of the shoulder joint. The upper boom link is connected to the Z-shaped boom lower link through the boom fixing ring. The motor is installed between the upper boom link and the Z-shaped boom lower link through a fixing plate. The hollow gear is installed on the boom fixing ring and meshes with the pinion at the end of the motor.

[0013] The forearm module includes: an upper forearm link, a Z-shaped forearm lower link, a motor, a forearm fixing ring,

[0014] A hollow gear, a small gear and a hand grip, an upper link of the forearm and a lower link of the Z-shaped forearm are connected through a forearm fixing ring, a motor is installed between the upper link of the forearm and the lower link of the Z-shaped forearm through a fixing plate, a hollow gear is installed on the forearm fixing ring and meshes with the small gear at the end of the motor, and a hand grip is installed at the end of the lower link of the Z-shaped forearm.

[0015] The hand grip comprises: a Z-shaped wrench and a rotating shaft, the Z-shaped wrench is mounted on the rotating shaft, and the rotating shaft is connected to the lower connecting rod of the Z-shaped forearm through a shaft support.

[0016] The beneficial effects achieved by the present invention are:

[0017] (1) The above technical solution adopted by the present invention is an exoskeleton upper limb rehabilitation robot, which can achieve main structure lifting, shoulder joint flexion / extension and internal / external rotation, elbow joint flexion / extension and internal / external rotation through reasonable structural design, which can meet the rehabilitation requirements of most patients and has a wide range of applications;

[0018] (2) The above technical solution adopted by the present invention, an exoskeleton upper limb rehabilitation robot, can not only achieve the basic requirements through reasonable and compact motor arrangement, but also make the overall structure of the robot more compact and smaller in size, meeting the needs of actual application scenarios;

[0019] (3) The present invention uses an adjustable hand grip that can adapt to the needs of different patients and forearm lengths, while allowing patients to choose a comfortable grip angle when using the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a schematic structural diagram of the robot base of the present invention;

[0022] Figure 3 is a schematic structural diagram of the support portion of the present invention;

[0023] Figure 4 is a schematic structural diagram of the shoulder joint motion mechanism of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the big arm module of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the forearm module of the present invention.

[0026] The meanings of the main reference numerals in the figures are as follows:

[0027] 1-fixed base plate, 2-guide rail fixing plate, 3-linear guide rail, 4-guide rail slider, 5-slider fixing plate, 6-hydraulic cylinder, 7-upper cover plate, 8-hydraulic cylinder connecting plate, 9-support shaft, 10-horizontal carrier plate, 11-motor, 12-large cylindrical spur gear, 13-small cylindrical spur gear, 14-rotating shaft, 15-bearing seat, 16-motor, 17-large cylindrical spur gear, 18-small cylindrical spur gear, 19-upper connecting rod of big arm, 20-Z-type lower connecting rod of big arm, 21-small motor, 22-big arm fixing ring, 23-hollow Gear, 24-small gear, 25-small arm upper connecting rod, 26-Z-type small arm lower connecting rod, 27-small motor, 28-small arm fixing ring, 29-hollow gear, 30-small gear, 31-Z-type wrench, 32-rotating shaft, 33-fixed support, 34-bearing, 35-motor fixing seat, 36-fixed seat, 37-planetary reducer, 38-tensioning cover, 39-keyway flange, 40-motor fixing plate, 41-planetary reducer, 42-bearing seat assembly, 43-fixed plate, 44-shaft support, 45-fixed plate. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0030] like Figure 1 As shown, it is a structural diagram of an exoskeleton upper limb rehabilitation robot provided by an embodiment of the present invention, which includes a main body module, an upper arm module and a lower arm module. Through the coordinated work of the three modules, the rehabilitation training task of the exoskeleton upper limb rehabilitation robot is achieved;

[0031] The main module includes the robot base, support part, and shoulder joint motion mechanism to achieve lifting control and shoulder joint flexion / extension;

[0032] The boom module is connected to the main module to achieve the fixation and rotation of the boom;

[0033] The forearm module is connected to the upper arm module and is used to drive the internal / external rotation movement, flexion / extension movement of the elbow joint and the internal / external rotation movement of the shoulder joint.

[0034] In one embodiment of the present invention, the exoskeleton upper limb rehabilitation robot is designed to address the problems in the prior art of complex structure, low reliability, and high manufacturing and maintenance costs of rehabilitation robots. The robot is provided with a lightweight, modular, and simple-structured main body module, an upper arm module, and a lower arm module. While meeting various rehabilitation training requirements, the cost of the exoskeleton upper limb robot is reduced and the structure of the exoskeleton upper limb robot is simplified.

[0035] like Figure 2 As shown, as a preferred embodiment of the present invention, the robot base includes:

[0036] A fixed base plate 1, with guide rail fixing plates 2 installed on both sides of the fixed base plate 1;

[0037] A linear guide rail 3 is mounted on the guide rail fixing plate 2, a guide rail slider 4 is mounted on the linear guide rail 3, the guide rail slider 4 is connected to the slider fixing plate 5, and the slider fixing plate 5 passes through the upper cover plate 7 and is connected to the hydraulic cylinder connecting plate 8;

[0038] The hydraulic cylinder 6 passes through the upper cover plate 7 and is connected to the support shaft 9 through the hydraulic cylinder connecting plate 8.

[0039] like Figure 3 As shown, as a preferred embodiment of the present invention, the supporting part includes:

[0040] A support shaft 9, wherein the support shaft 9 is connected to the horizontal carrier plate 10 and the hydraulic cylinder connecting plate 8 through a fixed support 33 and a fixed support 36 respectively;

[0041] The motor assembly, the motor 11 and the planetary reducer 37 are connected by bolts to form a motor assembly, and the motor assembly is connected to the support shaft 9 through the motor fixing seat 35 and the bearing 34;

[0042] A large cylindrical spur gear 12 is fixed on the support shaft 9;

[0043] A small cylindrical spur gear 13, mounted at the end of the planetary reducer 37 in the motor assembly, meshing with the large cylindrical spur gear 12;

[0044] The module is driven by a motor 11 to provide power to drive the small cylindrical spur gear 13 to rotate, which in turn drives the large cylindrical spur gear 12 to rotate through gear transmission. The rotating large cylindrical spur gear 12 drives the lead screw to rotate, and the lead screw transmission is used to achieve lifting control, thereby adjusting the height of the rehabilitation training part of the robot from the ground.

[0045] like Figure 4 As shown, as a preferred embodiment of the present invention, the shoulder joint motion mechanism includes:

[0046] The rotating shaft 14 is installed in the bearing seats 15 at both ends of the horizontal carrier plate 10 through the bearing seat assembly 42, and the end close to the upper connecting rod 19 of the upper arm is connected to the upper connecting rod 19 of the upper arm through the keyway flange 39 and the tension cover 38;

[0047] The motor assembly, the motor 16 and the planetary reducer 41 are connected by bolts to form a motor assembly, and the motor assembly is fixed on the horizontal carrier plate 10 through the motor fixing plate 40, parallel to the rotating shaft 14;

[0048] A large cylindrical gear 17 is fixed on the rotating shaft 14;

[0049] A small cylindrical gear 18 is mounted at the end of the planetary reducer 41 in the motor assembly and meshes with the large cylindrical spur gear 17;

[0050] The module drives the small cylindrical spur gear 18 to rotate through the power provided by the motor 16 on the horizontal carrier plate 10, and drives the large cylindrical spur gear 17 to rotate through gear transmission. The large cylindrical spur gear 17 fixed on the rotating shaft 14 drives the rotating shaft 14 to rotate, thereby driving the upper connecting rod 19 of the upper arm connected to the rotating shaft 14 to rotate. Through the organic combination of these components, the flexion / extension movement of the shoulder joint is realized.

[0051] like Figure 5As shown, as a preferred embodiment of the present invention, the boom module includes: a boom upper connecting rod 19, a Z-type boom lower connecting rod 20, a small motor 21, a boom fixing ring 22, a hollow gear 23, a small gear 24, and a motor fixing plate 43. The boom upper connecting rod 19 and the Z-type boom lower connecting rod 20 are connected through the boom fixing ring 22 and the fixing plate 43. The small motor 21 is installed between the boom upper connecting rod 19 and the Z-type boom lower connecting rod 20 through the fixing plate 43, and is kept parallel to the boom upper connecting rod 19. The hollow gear 23 is installed on the boom fixing ring 22 and meshes with the small gear 24 at the end of the small motor 21.

[0052] The upper arm module is powered by a small motor 27 to drive the small gear 24 to rotate. The small gear 24 is connected to the output shaft of the motor. Its transmission is transmitted through the hollow gear 23, and through interaction with the arm fixing ring 22, the rotation movement of the upper arm part is realized. Since the upper arm fixing ring 22 is buckled with the upper arm, the rotation of the upper arm can be controlled, thereby realizing rehabilitation training of the upper arm muscles.

[0053] like Figure 6 As shown, as a preferred embodiment of the present invention, the forearm module includes:

[0054] An upper connecting rod 25 of the forearm, a lower connecting rod 26 of the Z-type forearm, a small motor 27, a fixing ring 28 of the forearm, a hollow gear 29, a small gear 30, a Z-type spanner 31, a rotating shaft 32, a shaft support 44, and a fixing plate 45. The upper connecting rod 25 of the forearm is connected to the lower connecting rod 26 of the Z-type forearm through the fixing ring 28 of the forearm and the fixing plate 45. The small motor 27 is installed between the upper connecting rod 25 of the forearm and the lower connecting rod 26 of the Z-type forearm through the fixing plate 45, and is kept parallel to the upper connecting rod 25 of the forearm. The hollow gear 29 is installed on the fixing ring 28 of the forearm, and meshes with the small gear 30 at the end of the small motor 27. The rotating shaft 32 is connected to the lower connecting rod 26 of the Z-type forearm through the shaft support 44, and the Z-type spanner 31 is installed on the rotating shaft 32;

[0055] The mechanism provides power through the drive of the small motor 27 to drive the small gear 30 to rotate. The rotating small gear 30 drives the hollow gear 29 to rotate and then controls the rotation of the forearm fixing ring 28 to achieve rehabilitation training for the forearm. In order to ensure that the patient's shoulder joint rotation movement is met while avoiding secondary injury and exercising the elbow joint rotation movement, the rotation angle of the hollow gear 29 is 0°~135° inward rotation and 0°~95° outward rotation. When the rotation angle of the hollow gear 29 exceeds the rotation angle of the forearm, it will drive the upper arm to rotate. At the same time, the forearm bracket can be rotated by holding the Z-shaped wrench 31 by hand to achieve training of the biceps brachii of the upper arm. The hand grip is designed to be rotatable. This design can adapt to the needs of different patients and forearm lengths, and allows patients to choose a comfortable holding angle when using the robot.

[0056] The specific embodiments described above further describe in detail the technical problems, technical solutions and beneficial effects solved by the present invention. The technical means disclosed in the solutions of the present invention are not limited to the technical means disclosed in the above-mentioned implementation modes, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. An exoskeleton upper limb rehabilitation robot, characterized in that: The exoskeleton upper limb rehabilitation robot comprises: a main body module, an upper arm module and a lower arm module, and the rehabilitation training task of the exoskeleton upper limb rehabilitation robot is achieved through the coordinated work of the three modules; The main body module includes: a robot base, a support part, and a shoulder joint motion mechanism to achieve lifting control and flexion / extension of the shoulder joint; The arm module is connected to the main body module to achieve the fixation and rotation of the arm; The forearm module is connected to the upper arm module and is used to drive the internal / external rotation movement, flexion / extension movement of the elbow joint and the internal / external rotation movement of the shoulder joint.

2. The exoskeleton upper limb rehabilitation robot according to claim 1, characterized in that: The robot base comprises: A fixed bottom plate (1), with guide rail fixing plates (2) provided on both sides of the fixed bottom plate; A linear guide rail (3) is mounted on the guide rail fixing plate (2), a guide rail slider (4) is mounted on the linear guide rail (3), the guide rail slider (4) is connected to the slider fixing plate (5), and the slider fixing plate (5) passes through the upper cover plate (7) and is connected to the hydraulic cylinder connecting plate (8); A hydraulic cylinder (6), wherein the hydraulic cylinder (6) passes through an upper cover plate (7) and is connected to a support shaft (9) via a hydraulic cylinder connecting plate (8).

3. The exoskeleton upper limb rehabilitation robot according to claim 1, characterized in that: The supporting part comprises: A support shaft (9), the support shaft being connected to the hydraulic cylinder connecting plate (8) and the horizontal carrier plate (10) via a fixed support; A motor (11), the motor being connected to the support shaft (9) via a fixing seat; A large cylindrical spur gear (12) mounted on the support shaft (9); The small cylindrical spur gear (13) is mounted on the motor (11) and meshes with the large cylindrical spur gear (12) to achieve the lifting function.

4. The exoskeleton upper limb rehabilitation robot according to claim 1, characterized in that: The shoulder joint motion mechanism comprises: A rotating shaft (14), wherein the rotating shaft (14) is installed in bearing seats (15) at both ends of the horizontal carrier plate (10); A motor (16), wherein the motor (16) is fixed on the horizontal carrier plate (10) via a motor fixing plate and is parallel to the rotating shaft (14); A large cylindrical spur gear (17) mounted on the rotating shaft (14); The small cylindrical spur gear (18) is mounted on the motor (16) and meshes with the large cylindrical gear (17) to drive the rotating shaft (14) to rotate.

5. The exoskeleton upper limb rehabilitation robot according to claim 4, characterized in that: The end of the rotating shaft (14) is connected to the upper connecting rod (19) of the upper arm through a keyway flange. The rotation of the rotating shaft (14) drives the upper connecting rod (19) of the upper arm to rotate, thereby realizing the flexion / extension of the shoulder joint.

6. The exoskeleton upper limb rehabilitation robot according to claim 1, characterized in that: The boom module comprises: a boom upper connecting rod (19), a Z-shaped boom lower connecting rod (20), a small motor (21), a boom fixing ring (22), a hollow gear (23) and a small gear (24); the boom upper connecting rod (19) and the Z-shaped boom lower connecting rod (20) are connected via the boom fixing ring (22); the small motor (21) is installed between the boom upper connecting rod (19) and the Z-shaped boom lower connecting rod (20) via a fixing plate; the hollow gear (23) is installed on the boom fixing ring (22) and meshes with the small gear (24) at the end of the small motor (21).

7. The exoskeleton upper limb rehabilitation robot according to claim 1, characterized in that: The forearm module comprises: an forearm upper connecting rod (25), a Z-shaped forearm lower connecting rod (26), a small motor (27), a forearm fixing ring (28), a hollow gear (29), a small gear (30) and a hand grip, wherein the forearm upper connecting rod (25) and the Z-shaped forearm lower connecting rod (26) are connected via the forearm fixing ring (28), the small motor (27) is installed between the forearm upper connecting rod (25) and the Z-shaped forearm lower connecting rod (26) via a fixing plate, the hollow gear (29) is installed on the forearm fixing ring (28) and meshes with the small gear (30) at the end of the small motor (27), and the hand grip is installed at the end of the Z-shaped forearm lower connecting rod (26).

8. The exoskeleton upper limb rehabilitation robot according to claim 7, characterized in that: The hand grip comprises: a Z-shaped wrench (31) and a rotating shaft (32); the Z-shaped wrench (31) is mounted on the rotating shaft (32); and the rotating shaft (32) is connected to the Z-shaped forearm lower connecting rod (26) via a shaft support.

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