Multi-axis upper limb rehabilitation robot with man-machine coupling function

Abstract

The invention is applicable to the technical field of rehabilitation robots, and provides a man-machine coupled multi-axis upper limb rehabilitation robot, comprising: a fixed bracket, the bottom of which is connected with moving wheels; the lifting platform frame is installed on the fixed support, and a movable lifting assembly is arranged on the lifting platform frame; the front-back moving telescopic assembly is connected with the moving lifting assembly; the shoulder joint movement assembly is connected with the front-back movement telescopic assembly; the elbow joint movement assembly is connected with the shoulder joint movement assembly; and the wrist joint movement assembly is connected with the elbow joint movement assembly. The upper limb rehabilitation robot has the advantages of being good in man-machine coupling, multiple in active freedom degree, wide in applicable human body upper limb size range, flexible to move, capable of conforming to human engineering and the like, and the technical problem that in the rehabilitation training process of a patient, the glenohumeral joint and the mechanical arm shoulder joint center offset and the individual size difference cannot be matched with the upper limb rehabilitation robot is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation robots, and in particular relates to a multi-axis upper limb rehabilitation robot with human-machine coupling. Background Art

[0002] Patients with impaired upper limb function have their daily lives severely impacted, not only posing rehabilitation challenges for the patients themselves but also placing additional caregiving and financial pressures on their families and society. Traditional rehabilitation methods for upper limb dysfunction often have numerous limitations, such as difficulty quantifying rehabilitation effects and a lack of personalization of the rehabilitation process. Consequently, the development of upper limb rehabilitation robotics has garnered significant attention.

[0003] Upper limb rehabilitation robots primarily assist patients with movement training for multiple joints in their upper limbs, including the shoulder, elbow, wrist, and hand. Through active or passive rehabilitation training, they offer patients a new approach to rehabilitation. Compared to traditional rehabilitation methods, upper limb rehabilitation robots not only quantify movement but also provide personalized rehabilitation plans based on individual patient characteristics. With the assistance of robots, patients can undergo more effective and safe rehabilitation training, thereby improving rehabilitation outcomes, shortening the recovery cycle, and enhancing quality of life.

[0004] However, traditional upper limb rehabilitation robots have poor human-machine coupling and insufficient degrees of freedom during movement, resulting in a single rehabilitation training movement and a lack of flexibility. In addition, since the robotic arm is a rigid structure and the human upper limb is a flexible structure, the center of the human glenohumeral joint will shift during rehabilitation training. The center offset of the glenohumeral joint and the robotic arm shoulder joint, as well as individual size differences, cannot match the upper limb rehabilitation robot. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a multi-axis upper limb rehabilitation robot with human-machine coupling, aiming to solve the problems raised in the above background technology.

[0006] The embodiment of the present invention is implemented as follows: a multi-axis upper limb rehabilitation robot with human-machine coupling, comprising:

[0007] A fixed bracket, wherein the bottom of the fixed bracket is connected to a moving wheel;

[0008] A lifting platform frame is mounted on the fixed bracket, and a movable lifting assembly is provided on the lifting platform frame for adjusting the height relative to the ground and tracking the upward and downward deviation of the center of the patient's glenohumeral joint;

[0009] an anterior-posterior moving telescopic assembly connected to the moving elevating assembly for tracking the anterior-posterior offset of the glenohumeral joint center;

[0010] A shoulder joint motion component, connected to the forward and backward moving telescopic component, is used to drive the shoulder joint to perform internal rotation or external rotation, extension or flexion;

[0011] An elbow joint motion component, connected to the shoulder joint motion component, for driving the elbow joint to perform sagittal plane flexion and extension motion;

[0012] The wrist joint motion component is connected to the elbow joint motion component and is used to drive the wrist joint to perform adduction or outward rotation, internal rotation or external rotation, flexion or extension movements.

[0013] Preferably, the mobile lifting assembly includes:

[0014] a frame partition, mounted on the bottom end of the fixing bracket;

[0015] A fixed pulley assembly fixing plate is mounted on the fixing bracket, and an L-shaped fixing strip is provided on the fixed pulley assembly fixing plate, and the L-shaped fixing strip is connected to the fixing bracket;

[0016] The fixed pulley is mounted on the fixed pulley assembly fixing plate through the fixed pulley fixing bolts. The fixed pulley is provided with a pulley bearing. The fixed pulley is wound with a steel wire rope and connected to the counterweight frame.

[0017] A fixed pulley base is installed on the lifting platform frame, and a top pulley is provided on the fixed pulley base, and a steel wire rope is connected to the top pulley;

[0018] Lifting platform slide rails are installed on both sides of the lifting platform frame. Lifting platform sliders are installed on the lifting platform slide rails and are connected to the forward and backward moving telescopic components. The lifting platform sliders are provided with wire rope fixings, and one end of the wire rope is confined in the wire rope fixings;

[0019] A stepper motor is mounted on the lifting platform frame, and the stepper motor is connected to a plum blossom coupling;

[0020] A lead screw is mounted on a lead screw fixing seat and is drivingly connected to the plum blossom coupling;

[0021] The lead screw slider is installed on the lead screw and is connected to the telescopic assembly that moves forward and backward.

[0022] Preferably, the forward and backward moving telescopic assembly comprises:

[0023] A lifting platform lifting plate is fixedly connected to the lead screw slider, and the lifting platform lifting plate is connected to the front and rear movable platform bottom plate, and the front and rear movable platform bottom plate is provided with a front and rear movable slide rail;

[0024] A movable platform top plate is provided with a forward and backward movable slider installed on the movable platform top plate, and the forward and backward movable slider is slidably matched with the forward and backward movable slide rail.

[0025] Preferably, the shoulder joint motion assembly comprises:

[0026] The shoulder servo motor is connected to the harmonic reducer through a motor flange, and the harmonic reducer is installed on the shoulder motor base located on the top plate of the mobile platform;

[0027] The output shaft of the reducer is installed on the output shaft bearing of the reducer, the output shaft of the reducer is connected to the output end of the harmonic reducer, and the output shaft bearing of the reducer is installed on the motor base through the bearing fixing outer ring;

[0028] A limiting block is installed between the output shaft of the reducer and the fixed outer ring of the bearing, and is connected to the first connecting rod to limit the movement angle;

[0029] The shoulder second servo motor reducer module is installed at the other end of the first connecting rod. The output end of the shoulder second servo motor reducer module is connected to the second connecting rod to drive the second connecting rod to rotate and drive the shoulder joint to perform internal rotation or external rotation movement;

[0030] The shoulder-third servo motor reducer module is installed at the other end of the second connecting rod. The output end of the shoulder-third servo motor reducer module is connected to the main third connecting rod to drive the main third connecting rod to rotate and drive the shoulder joint to perform extension or flexion movement;

[0031] an upper arm shock-absorbing sleeve assembly, mounted on the main third link and used to fix the upper arm;

[0032] A secondary third connecting rod, one end of which is connected to the main third connecting rod, and a length adjustment component is provided between the main third connecting rod and the secondary third connecting rod.

[0033] Preferably, the upper arm shock-absorbing sleeve assembly comprises:

[0034] The upper arm cuff base is installed on the main third link, the upper arm cuff base is connected to the upper arm cuff support, the upper arm cuff support is connected to the upper arm inner cuff, the upper arm inner cuff is connected to the upper arm outer cuff through the upper arm cuff steel ball retainer, a retainer steel ball is provided between the upper arm cuff steel ball retainer and the upper arm outer cuff, an upper arm cuff slide rail is installed on the upper arm cuff outer cuff, a rubber blocking piece is provided at the end of the upper arm cuff slide rail, and the upper arm cuff slider is slidably installed on the upper arm cuff slide rail;

[0035] The upper arm cuff is fixedly connected to the upper arm cuff slider.

[0036] Preferably, the elbow joint motion assembly comprises:

[0037] The elbow servo motor reducer module is installed at the other end of the auxiliary third link. The output end of the elbow servo motor reducer module is connected to the main fourth link to drive the main fourth link to rotate and drive the elbow joint to perform sagittal plane flexion and extension movement;

[0038] a forearm cuff mounted on the main fourth link, the forearm cuff being connected to the forearm fixing strap;

[0039] A secondary fourth connecting rod, one end of which is connected to the main fourth connecting rod, and a length adjustment component is provided between the main fourth connecting rod and the secondary fourth connecting rod.

[0040] Preferably, the length adjustment assembly comprises:

[0041] There are two connecting rod guide rails, which are respectively installed on the main third connecting rod and the main fourth connecting rod;

[0042] There are two connecting rod sliders, which are respectively installed on the auxiliary third connecting rod and the auxiliary fourth connecting rod. The connecting rod sliders are slidably installed on the connecting rod guide rails. The distance between the main third connecting rod and the main fourth connecting rod, and the auxiliary third connecting rod and the auxiliary fourth connecting rod are adjusted through the cooperation of the connecting rod guide rails and the connecting rod sliders.

[0043] Preferably, the wrist joint motion assembly comprises:

[0044] The first DC reduction motor module of the wrist is installed at the other end of the auxiliary fourth connecting rod. The output end of the first DC reduction motor module of the wrist is connected to the fifth connecting rod, which is used to drive the fifth connecting rod to rotate and drive the wrist joint to perform inward or outward swing movement;

[0045] The second DC reduction motor module of the wrist is installed at the other end of the fifth connecting rod. The output end of the second DC reduction motor module of the wrist is connected to the sixth connecting rod, which is used to drive the sixth connecting rod to rotate and drive the wrist joint to perform internal rotation or external rotation movement;

[0046] The third DC reduction motor module on the wrist is installed at the other end of the sixth connecting rod. The output end of the third DC reduction motor module on the wrist is connected to the hand grip to drive the hand grip to rotate and drive the wrist joint to flex or extend.

[0047] The embodiment of the present invention provides a multi-axis upper limb rehabilitation robot with human-machine coupling to address the problems in the existing technology. It is equipped with a moving lifting component to introduce passive degrees of freedom, which can track the upper and lower offsets of the patient's glenohumeral joint center. It is also equipped with a forward and backward moving telescopic component to introduce passive degrees of freedom, which can track the forward and backward offsets of the patient's glenohumeral joint center, thereby improving the comfort of the patient's rehabilitation process. At the same time, it is also equipped with a shoulder joint motion component, an elbow joint motion component and a wrist joint motion component, with three degrees of freedom at the shoulder, one degree of freedom at the elbow and three degrees of freedom at the wrist, which conform to the physiological structure of the human upper limb and have the advantages of good human-machine coupling, multiple active degrees of freedom, wide range of applicable upper limb sizes, flexible movement and ergonomics. It solves the technical problems of the patient's glenohumeral joint and the center offset of the robotic arm shoulder joint during rehabilitation training and the inability to match the upper limb rehabilitation robot due to individual size differences. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic structural diagram of a multi-axis upper limb rehabilitation robot with human-machine coupling provided by an embodiment of the present invention;

[0049] Figure 2 A schematic structural diagram of a mobile lifting assembly in a multi-axis upper limb rehabilitation robot with human-machine coupling provided by an embodiment of the present invention;

[0050] Figure 3 for Figure 2 A partial enlarged schematic diagram;

[0051] Figure 4 A schematic diagram of the structure of a forward and backward moving telescopic component in a multi-axis upper limb rehabilitation robot with human-machine coupling provided by an embodiment of the present invention;

[0052] Figure 5 A cross-sectional view of a servo motor reducer module in a multi-axis upper limb rehabilitation robot with human-machine coupling provided by an embodiment of the present invention;

[0053] Figure 6 for Figure 1 A partial enlarged schematic diagram;

[0054] Figure 7 A partially enlarged schematic diagram of a shoulder joint motion component in a multi-axis upper limb rehabilitation robot with human-machine coupling provided by an embodiment of the present invention;

[0055] Figure 8 for Figure 7 A partial enlarged schematic diagram.

[0056] In the attached figure: 1-moving wheel, 2-fixed bracket, 3-frame partition, 4-counterweight frame, 5-fixed pulley fixed plate, 6-L-shaped fixing bar, 7-fixed pulley fixing bolt, 8-pulley bearing, 9-fixed pulley, 10-wire rope, 11-fixed pulley base, 12-stepping motor, 13-lifting platform frame, 14-plum blossom coupling, 15-screw fixing seat, 16-screw, 17-lifting platform slide rail, 18-lifting platform slider, 1 9-screw slider, 20-wire rope fixing part, 21-lifting platform lifting plate, 22-front and rear moving platform bottom plate, 23-front and rear moving slide rail, 24-front and rear moving slider, 25-moving platform top plate, 26-shoulder servo motor, 27-motor flange, 28-harmonic reducer, 29-shoulder motor base, 30-reducer output shaft, 31-reducer output shaft bearing, 32-bearing fixed outer ring, 33-limiting block, 34- First connecting rod, 35-shoulder two servo motor reducer module, 36-second connecting rod, 37-shoulder three servo motor reducer module, 38-rear end of the third connecting rod, 39-upper arm inner sleeve, 40-upper arm sleeve steel ball retainer, 41-upper arm outer sleeve, 42-upper arm sleeve slide rail, 43-rubber blocking piece, 44-upper arm sleeve slider, 45-retainer steel ball, 46-upper arm cuff, 47-upper arm sleeve support, 48-upper arm sleeve base, 49-connecting rod guide rail, 50-connecting rod slider, 51-front end of the third connecting rod, 52-elbow servo motor reducer module, 53-rear end of the fourth connecting rod, 54-forearm cuff, 55-forearm fixing strap, 56-front end of the fourth connecting rod, 57-first DC reduction motor module at the wrist, 58-fifth connecting rod, 59-second DC reduction motor module at the wrist, 60-sixth connecting rod, 61-hand grip, 62-third DC reduction motor module at the wrist. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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.

[0058] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0059] like Figure 1 FIG. 1 is a structural diagram of a multi-axis upper limb rehabilitation robot with human-machine coupling provided by one embodiment of the present invention, comprising:

[0060] A fixed bracket 2, the bottom of which is connected to a moving wheel 1;

[0061] A lifting platform frame 13 is mounted on the fixed bracket 2. The lifting platform frame 13 is provided with a movable lifting assembly for adjusting the height relative to the ground and tracking the vertical deviation of the center of the patient's glenohumeral joint;

[0062] an anterior-posterior moving telescopic assembly connected to the moving elevating assembly for tracking the anterior-posterior offset of the glenohumeral joint center;

[0063] A shoulder joint motion component, connected to the forward and backward moving telescopic component, is used to drive the shoulder joint to perform internal rotation or external rotation, extension or flexion;

[0064] An elbow joint motion component, connected to the shoulder joint motion component, for driving the elbow joint to perform sagittal plane flexion and extension motion;

[0065] The wrist joint motion component is connected to the elbow joint motion component and is used to drive the wrist joint to perform adduction or outward rotation, internal rotation or external rotation, flexion or extension movements.

[0066] In one embodiment of the present invention, the multi-axis upper limb rehabilitation robot with human-machine coupling is designed to address the problems in the prior art. It is provided with a moving lifting component to introduce passive degrees of freedom, which can track the up and down offset of the patient's glenohumeral joint center. It is also provided with a forward and backward moving telescopic component to introduce passive degrees of freedom, which can track the forward and backward offset of the patient's glenohumeral joint center, thereby improving the comfort of the patient's rehabilitation process. At the same time, it is also provided with a shoulder joint motion component, an elbow joint motion component and a wrist joint motion component, with three degrees of freedom at the shoulder, one degree of freedom at the elbow and three degrees of freedom at the wrist, which conform to the physiological structure of the human upper limb and have the advantages of good human-machine coupling, multiple active degrees of freedom, wide range of applicable upper limb sizes, flexible movement and ergonomics.

[0067] like Figures 2 to 3 As shown, as a preferred embodiment of the present invention, the mobile lifting assembly includes:

[0068] A frame partition 3 is installed at the bottom end of the fixed bracket 2;

[0069] The fixed pulley block fixing plate 5 is mounted on the fixed bracket 2. The fixed pulley block fixing plate 5 is provided with an L-shaped fixing strip 6, which is connected to the fixed bracket 2.

[0070] The fixed pulley 9 is mounted on the fixed pulley assembly fixing plate 5 through the fixed pulley fixing bolts 7. A pulley bearing 8 is provided inside the fixed pulley 9. A steel wire rope 10 is wound around the fixed pulley 9 and connected to the counterweight frame 4.

[0071] A fixed pulley base 11 is mounted on the lifting platform frame 13. The fixed pulley base 11 is provided with a top pulley, and a steel wire rope 10 is connected to the top pulley;

[0072] The lifting platform slide rails 17 are installed on both sides of the lifting platform frame 13. The lifting platform sliders 18 are installed on the lifting platform slide rails 17 and are connected to the forward and backward moving telescopic components. The lifting platform sliders 18 are provided with wire rope fixing parts 20. One end of the wire rope 10 is confined in the wire rope fixing parts 20.

[0073] A stepper motor 12 is mounted on the lifting platform frame 13 and is connected to a plum blossom coupling 14;

[0074] The lead screw 16 is mounted on the lead screw fixing seat 15 and is drivingly connected to the plum blossom coupling 14;

[0075] The lead screw slider 19 is mounted on the lead screw 16 and is connected to the telescopic assembly that moves forward and backward.

[0076] One end of the wire rope 10 is connected to the wire rope fixing part 20, and the other end passes through the top pulley, fixed pulley 9, etc. and is fixed to the counterweight frame 4. A stepper motor 12 is fixed above the lifting platform frame 13, and the stepper motor 12 is connected to the plum blossom coupling 14. The plum blossom coupling 14 is connected to one end of the lead screw 16. The lead screw 16 is installed on the lead screw fixing seat 15, and a lead screw slider 19 is installed on the lead screw 16. Start the stepper motor 12 to drive the lead screw 16 to rotate, and then drive the lead screw slider 19 to move, adjust the height of the robotic arm with the ground, and track the upper and lower offset of the patient's glenohumeral joint center. Under the action of the lead screw slider 19, the lifting platform slider 18 slides relative to the lifting platform slide rail 17 to maintain the balance of the mobile lifting assembly and increase its safety.

[0077] like Figure 4 As shown in FIG. 1 , as a preferred embodiment of the present invention, the forward and backward moving telescopic assembly includes:

[0078] The lifting platform lifting plate 21 is fixedly connected to the screw slider 19, and the lifting platform lifting plate 21 is connected to the front and rear movable platform bottom plate 22, and the front and rear movable platform bottom plate 22 is provided with a front and rear movable slide rail 23;

[0079] A movable platform top plate 25 is provided with a forward and backward movable slider 24 , which is slidably matched with the forward and backward movable slide rail 23 .

[0080] The lifting platform lifting plate 21 is fixedly connected to the front-back moving platform base plate 22 by welding, and the front-back moving slide rails 23 are fixedly installed on both sides of the front-back moving platform base plate 22 by bolts. The front-back moving slider 24 is installed on the front-back moving slide rail 23, and the front-back moving slider 24 is fixedly connected to the moving platform top plate 25. The front-back moving slider 24 slides in the linear slide groove of the front-back moving slide rail 23 to achieve the adjustment of the distance between the shoulder joint motion component and the fixed bracket 2, and the front-back offset of the patient's glenohumeral joint center can be tracked.

[0081] like Figures 5 to 8 As shown, as a preferred embodiment of the present invention, the shoulder joint motion assembly includes:

[0082] A shoulder servo motor 26 is connected to a harmonic reducer 28 via a motor flange 27. The harmonic reducer 28 is mounted on a shoulder motor base 29 located on the top plate 25 of the mobile platform;

[0083] The reducer output shaft 30 is mounted on the reducer output shaft bearing 31. The reducer output shaft 30 is connected to the output end of the harmonic reducer 28. The reducer output shaft bearing 31 is mounted on the shoulder motor base 29 through the bearing fixing outer ring 32.

[0084] A limiting block 33 is installed between the reducer output shaft 30 and the bearing fixed outer ring 32. The limiting block 33 is connected to the first connecting rod 34 and is used to limit the movement angle;

[0085] The shoulder second servo motor reducer module 35 is installed at the other end of the first connecting rod 34. The output end of the shoulder second servo motor reducer module 35 is connected to the second connecting rod 36, which is used to drive the second connecting rod 36 to rotate and drive the shoulder joint to perform internal rotation or external rotation movement;

[0086] The shoulder-third servo motor reducer module 37 is installed at the other end of the second connecting rod 36. The output end of the shoulder-third servo motor reducer module 37 is connected to the main third connecting rod 38, and is used to drive the main third connecting rod 38 to rotate, thereby driving the shoulder joint to perform extension or flexion movement;

[0087] An upper arm shock-absorbing sleeve assembly, mounted on the main third link 38, for fixing the upper arm;

[0088] The auxiliary third link 51 has one end connected to the main third link 38 , and a length adjustment component is provided between the main third link 38 and the auxiliary third link 51 .

[0089] The upper arm is fixed by using the upper arm shock-absorbing sleeve assembly, and the shoulder servo motor 26 is connected to the steel wheel of the harmonic reducer 28 through the motor flange 27. The steel wheel of the harmonic reducer 28 is installed on the shoulder motor base 29. The output end of the harmonic reducer 28 is connected to the reducer output shaft 30, and the reducer output shaft 30 is installed on the reducer output shaft bearing 31. The reducer output shaft bearing 31 is installed on the inner front end of the shoulder motor base 29. The bearing fixed outer ring 32 fixes the reducer output shaft bearing 31 on the shoulder motor base 29. By installing the limiting block 33 on the first connecting rod 34, it is made to rotate in the limiting groove of the bearing fixed outer ring 32, thereby achieving the purpose of limiting the movement angle of the shoulder servo motor 26. By starting the shoulder 2 servo motor reducer module 35, the second connecting rod 36 can be driven to rotate, and by starting the shoulder 3 servo motor reducer module 37, the main third connecting rod 38 can be driven to rotate, thereby realizing the internal rotation or external rotation, extension or flexion movement of the shoulder joint.

[0090] like Figures 7 and 8 As shown in FIG. 1 , as a preferred embodiment of the present invention, the upper arm shock absorbing sleeve assembly includes:

[0091] An upper arm cuff base 48 is mounted on the main third link 38. The upper arm cuff base 48 is connected to the upper arm cuff support 47. The upper arm cuff support 47 is connected to the upper arm inner cuff 39. The upper arm inner cuff 39 is connected to the upper arm outer cuff 41 via the upper arm cuff steel ball retainer 40. A retainer steel ball 45 is provided between the upper arm cuff steel ball retainer 40 and the upper arm outer cuff 41. An upper arm cuff slide rail 42 is installed on the upper arm outer cuff 41. A rubber blocking piece 43 is provided at the end of the upper arm cuff slide rail 42. An upper arm cuff slider 44 is slidably mounted on the upper arm cuff slide rail 42.

[0092] The upper arm cuff 46 is fixedly connected to the upper arm cuff slider 44 .

[0093] One end of the main third link 38 is welded and fixed to the upper arm cuff base 48, the upper arm cuff base 48 is fixed to the upper arm cuff support 47 by bolts, the upper arm cuff support 47 is fixed to the upper arm inner cuff 39, the upper arm inner cuff 39 is fixedly connected to the upper arm outer cuff 41 through the upper arm cuff steel ball retainer 40, and a retainer steel ball 45 is placed in the connection interval between the upper arm cuff steel ball retainer 40 and the upper arm outer cuff 41 to realize the inward and outward rotation of the upper arm outer cuff 41 relative to the upper arm inner cuff 39. An upper arm cuff slide rail 42 is welded to the upper arm outer cuff 41, and a rubber blocking piece 43 is placed on the upper arm cuff slide rail 42. The upper arm cuff slider 44 is connected to the upper arm cuff slider 44 to achieve forward and backward movement. The upper arm cuff slider 44 is fixed to the upper arm cuff 46 by bolts. The human upper arm is fixed in the upper arm outer cuff 41 through the upper arm cuff 46. The buffering function is achieved by the rotation of the retaining steel ball 45. The upper arm outer cuff 41 moves in the slide groove of the upper arm cuff steel ball retaining frame 40 to achieve internal rotation and external rotation of the upper arm.

[0094] like Figure 1 and Figure 6 As shown, as a preferred embodiment of the present invention, the elbow joint motion assembly includes:

[0095] The elbow servo motor reducer module 52 is installed at the other end of the auxiliary third connecting rod 51. The output end of the elbow servo motor reducer module 52 is connected to the main fourth connecting rod 53, and is used to drive the main fourth connecting rod 53 to rotate, thereby driving the elbow joint to perform sagittal plane flexion and extension movement;

[0096] A forearm cuff 54 is mounted on the main fourth link 53, and the forearm cuff 54 is connected to the forearm fixing strap 55;

[0097] The auxiliary fourth connecting rod 56 has one end connected to the main fourth connecting rod 53 , and a length adjustment component is provided between the main fourth connecting rod 53 and the auxiliary fourth connecting rod 56 .

[0098] The forearm can be mounted in the forearm cuff 54 using the forearm fixing strap 55 , and the main fourth link 53 can be driven to rotate by starting the elbow servo motor reducer module 52 , thereby achieving sagittal plane flexion and extension movement of the elbow joint.

[0099] like Figures 6 and 7 As shown, as a preferred embodiment of the present invention, the length adjustment component includes:

[0100] There are two connecting rod guide rails 49, which are respectively mounted on the main third connecting rod 38 and the main fourth connecting rod 53;

[0101] There are two connecting rod sliders 50, which are respectively installed on the secondary third connecting rod 51 and the secondary fourth connecting rod 56. The connecting rod slider 50 is slidably installed on the connecting rod guide rail 49. The distance between the main third connecting rod 38 and the main fourth connecting rod 53, and the secondary third connecting rod 51 and the secondary fourth connecting rod 56 are adjusted through the cooperation of the connecting rod guide rail 49 and the connecting rod slider 50.

[0102] In order to match the different human body size differences, a length adjustment component is also provided, which can adjust the placement size of the forearm and upper arm. Specifically, by sliding the connecting rod guide rail 49 on the connecting rod slider 50, the distance between the main third link 38 and the main fourth link 53 and the auxiliary third link 51 and the auxiliary fourth link 56 can be adjusted. The adjustable upper arm size range is 200mm-250mm, and the adjustable forearm size range is 200mm-250mm.

[0103] like Figure 1 As shown, as a preferred embodiment of the present invention, the wrist joint motion component includes:

[0104] The first DC reduction motor module 57 of the wrist is installed at the other end of the auxiliary fourth connecting rod 56. The output end of the first DC reduction motor module 57 of the wrist is connected to the fifth connecting rod 58, which is used to drive the fifth connecting rod 58 to rotate and drive the wrist joint to perform inward or outward swing movement;

[0105] The second DC reduction motor module 59 of the wrist is installed at the other end of the fifth connecting rod 58. The output end of the second DC reduction motor module 59 of the wrist is connected to the sixth connecting rod 60, which is used to drive the sixth connecting rod 60 to rotate and drive the wrist joint to perform internal rotation or external rotation movement;

[0106] The third DC reduction motor module 62 on the wrist is installed at the other end of the sixth connecting rod 60. The output end of the third DC reduction motor module 62 on the wrist is connected to the hand grip 61, which is used to drive the hand grip 61 to rotate and drive the wrist joint to flex or extend.

[0107] By starting the first DC reduction motor module 57 on the wrist, the fifth connecting rod 58 can be driven to rotate, by starting the second DC reduction motor module 59 on the wrist, the sixth connecting rod 60 can be driven to rotate, and by starting the third DC reduction motor module 62 on the wrist, the hand grip 61 can be driven to rotate. The patient holds the hand grip 61 with his palm to achieve adduction or outward rotation, internal rotation or external rotation, flexion or extension of the wrist joint.

[0108] The structures of the shoulder 2 servo motor reducer module 35, the shoulder 3 servo motor reducer module 37, and the elbow servo motor reducer module 52 are the same as the servo motor reducer module structure composed of the shoulder 1 servo motor 26, the harmonic reducer 28, the reducer output shaft 30, etc., but the sizes are slightly different. The servo motor, motor flange, harmonic reducer, reducer output shaft, reducer output shaft bearing, bearing fixed outer ring, and limit block are integrated inside;

[0109] The first wrist DC reduction motor module 57, the second wrist DC reduction motor module 59, and the third wrist DC reduction motor module 62 have the same structure, but slightly different sizes. They all integrate brushless DC motors and gear reducers inside.

[0110] The working principle of the multi-axis upper limb rehabilitation robot is as follows: first, the height is adjusted according to the patient's shoulder position, and the length adjustment component is adjusted according to the patient's forearm and upper arm. Then, the patient's arm is fixed to the upper arm cuff base 48 and the forearm cuff 54 through the upper arm cuff 46 and the forearm fixing belt 55, and the palm of the hand holds the hand grip 61. Then, the shoulder first servo motor 26, the shoulder second servo motor reducer module 35, the shoulder third servo motor reducer module 37, the elbow servo motor reducer module 52, the wrist first DC reduction motor module 57, the wrist second DC reduction motor module 59, and the wrist third DC reduction motor module 62 can be used to drive the patient's upper limb to perform rehabilitation training according to the set path.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-axis upper limb rehabilitation robot with human-machine coupling, characterized in that: include: A fixed bracket (2), wherein the bottom of the fixed bracket (2) is connected to a moving wheel (1); A lifting platform frame (13) is mounted on the fixed bracket (2), and a movable lifting assembly is provided on the lifting platform frame (13) for adjusting the height relative to the ground and tracking the upward and downward deviation of the center of the patient's glenohumeral joint; an anterior-posterior moving telescopic assembly connected to the moving elevating assembly for tracking the anterior-posterior offset of the glenohumeral joint center; A shoulder joint motion component, connected to the forward and backward moving telescopic component, is used to drive the shoulder joint to perform internal rotation or external rotation, extension or flexion; An elbow joint motion component, connected to the shoulder joint motion component, for driving the elbow joint to perform sagittal plane flexion and extension motion; The wrist joint motion component is connected to the elbow joint motion component and is used to drive the wrist joint to perform adduction or outward rotation, internal rotation or external rotation, flexion or extension movements.

2. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 1, characterized in that: The mobile lifting assembly includes: A frame partition (3) is mounted on the bottom end of the fixed bracket (2); A fixed pulley block fixing plate (5) is mounted on the fixing bracket (2); an L-shaped fixing strip (6) is provided on the fixed pulley block fixing plate (5); and the L-shaped fixing strip (6) is connected to the fixing bracket (2); A fixed pulley (9) is mounted on the fixed pulley assembly fixing plate (5) via a fixed pulley fixing bolt (7), a pulley bearing (8) is provided in the fixed pulley (9), and a steel wire rope (10) is wound around the fixed pulley (9) and connected to the counterweight frame (4); A fixed pulley base (11) is mounted on the lifting platform frame (13), wherein the fixed pulley base (11) is provided with a top pulley, and a steel wire rope (10) is connected to the top pulley; A lifting platform slide rail (17) is installed on both sides of the lifting platform frame (13); a lifting platform slider (18) is installed on the lifting platform slide rail (17) and is connected to the front and rear moving telescopic assembly; a wire rope fixing member (20) is provided on the lifting platform slider (18); one end of the wire rope (10) is confined in the wire rope fixing member (20); A stepper motor (12) is mounted on the lifting platform frame (13), and the stepper motor (12) is connected to a plum blossom coupling (14); A lead screw (16) is mounted on the lead screw fixing seat (15) and is drivingly connected to the plum blossom coupling (14); The lead screw slider (19) is mounted on the lead screw (16) and is connected to the forward and backward moving telescopic assembly.

3. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 2, characterized in that: The forward and backward moving telescopic assembly comprises: A lifting platform lifting plate (21) is fixedly connected to the lead screw slider (19), the lifting platform lifting plate (21) is connected to a front-rear movable platform bottom plate (22), and a front-rear movable slide rail (23) is provided on the front-rear movable platform bottom plate (22); A movable platform top plate (25) is provided with a forward and backward movable slider (24) mounted on the movable platform top plate (25), and the forward and backward movable slider (24) is slidably matched with the forward and backward movable slide rail (23).

4. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 3, characterized in that: The shoulder joint motion assembly includes: A shoulder servo motor (26), the shoulder servo motor (26) is connected to a harmonic reducer (28) through a motor flange (27), and the harmonic reducer (28) is mounted on a shoulder motor base (29) located on a top plate (25) of a mobile platform; A reducer output shaft (30) is mounted on a reducer output shaft bearing (31), the reducer output shaft (30) is connected to the output end of the harmonic reducer (28), and the reducer output shaft bearing (31) is mounted on a shoulder motor base (29) via a bearing fixing outer ring (32); A limiting block (33) is installed between the output shaft (30) of the reducer and the fixed outer ring (32) of the bearing, and the limiting block (33) is connected to the first connecting rod (34) to limit the movement angle; The shoulder second servo motor reducer module (35) is installed at the other end of the first connecting rod (34), and the output end of the shoulder second servo motor reducer module (35) is connected to the second connecting rod (36) for driving the second connecting rod (36) to rotate, thereby driving the shoulder joint to perform internal rotation or external rotation movement; The shoulder three servo motor reducer module (37) is installed at the other end of the second connecting rod (36), and the output end of the shoulder three servo motor reducer module (37) is connected to the main third connecting rod (38) for driving the main third connecting rod (38) to rotate and drive the shoulder joint to perform extension or flexion movement; An upper arm shock-absorbing sleeve assembly, mounted on the main third link (38) and used to fix the upper arm; A secondary third link (51), one end of which is connected to the main third link (38), and a length adjustment component is provided between the main third link (38) and the secondary third link (51).

5. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 4, characterized in that: The upper arm shock absorbing sleeve assembly comprises: An upper arm cuff base (48) is mounted on the main third link (38), the upper arm cuff base (48) is connected to the upper arm cuff support (47), the upper arm cuff support (47) is connected to the upper arm inner cuff (39), the upper arm inner cuff (39) is connected to the upper arm outer cuff (41) through the upper arm cuff steel ball retainer (40), a retainer steel ball (45) is provided between the upper arm cuff steel ball retainer (40) and the upper arm outer cuff (41), an upper arm cuff slide rail (42) is mounted on the upper arm outer cuff (41), a rubber blocking piece (43) is provided at the end of the upper arm cuff slide rail (42), and an upper arm cuff slider (44) is slidably mounted on the upper arm cuff slide rail (42); The upper arm cuff (46) is fixedly connected to the upper arm cuff slider (44).

6. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 4, characterized in that: The elbow joint motion component includes: An elbow servo motor reducer module (52) is mounted on the other end of the auxiliary third connecting rod (51), and an output end of the elbow servo motor reducer module (52) is connected to the main fourth connecting rod (53) for driving the main fourth connecting rod (53) to rotate and drive the elbow joint to perform sagittal plane flexion and extension movement; A forearm cuff (54) is mounted on the main fourth connecting rod (53), and the forearm cuff (54) is connected to the forearm fixing belt (55); A secondary fourth connecting rod (56), one end of which is connected to the main fourth connecting rod (53), and a length adjustment component is provided between the main fourth connecting rod (53) and the secondary fourth connecting rod (56).

7. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 6, characterized in that: The length adjustment component comprises: There are two connecting rod guide rails (49), which are respectively mounted on the main third connecting rod (38) and the main fourth connecting rod (53); Two connecting rod sliders (50) are provided and are respectively mounted on the auxiliary third connecting rod (51) and the auxiliary fourth connecting rod (56). The connecting rod sliders (50) are slidably mounted on the connecting rod guide rail (49). The distance between the main third connecting rod (38) and the main fourth connecting rod (53), and the auxiliary third connecting rod (51) and the auxiliary fourth connecting rod (56) are adjusted by the cooperation between the connecting rod guide rail (49) and the connecting rod sliders (50).

8. The multi-axis upper limb rehabilitation robot with human-machine coupling according to claim 6, characterized in that: The wrist joint motion component includes: The first DC reduction motor module (57) of the wrist is installed at the other end of the auxiliary fourth connecting rod (56), and the output end of the first DC reduction motor module (57) of the wrist is connected to the fifth connecting rod (58) for driving the fifth connecting rod (58) to rotate and drive the wrist joint to perform adduction or outward swing movement; The second DC reduction motor module (59) of the wrist is installed at the other end of the fifth connecting rod (58), and the output end of the second DC reduction motor module (59) of the wrist is connected to the sixth connecting rod (60) for driving the sixth connecting rod (60) to rotate, thereby driving the wrist joint to perform internal rotation or external rotation movement; The third DC reduction motor module (62) of the wrist is installed at the other end of the sixth connecting rod (60), and the output end of the third DC reduction motor module (62) of the wrist is connected to the hand grip (61) and is used to drive the hand grip (61) to rotate, thereby driving the wrist joint to flex or extend.

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