Rigid-flexible coupling wrist rehabilitation robot

Abstract

The invention provides a rigid-flexible coupling wrist rehabilitation robot which comprises an arm supporting unit and a wrist supporting unit, the arm supporting unit is matched with the forearm of a patient, the wrist supporting unit is matched with the palm of the patient, and an upper / lower elastic rope support and a left / right elastic rope support are installed on a connecting plate of the forearm supporting unit. An elastic rope connecting anchor point at the front end of the upper elastic rope support and an elastic rope connecting anchor point at the front end of the lower elastic rope support are connected with corresponding anchor points of the wrist supporting unit through three elastic ropes to form an integral tensioning structure, and four driving flexible ropes penetrate through Bowden wire pipes installed in the elastic rope supports to be connected to the corresponding anchor points of the wrist supporting unit. And the flexion / extension and radial deflection / ulnar deflection of the wrist joint are realized by traction and driving of the flexible cable. The open type wearable structure is convenient for a patient to wear, and the problems that a rigid wrist rehabilitation robot is not matched with the instant movement center when the wrist of the patient moves and the joint torque of a flexible wrist rehabilitation robot is insufficient are solved, so that the treatment effect of rehabilitation training on the patient is improved.

Description

Technical Field

[0001] This invention relates to a rigid-flexible coupled wrist rehabilitation robot, specifically to the field of rehabilitation medical assistive devices, belonging to the technical fields of neurorehabilitation, motor function reconstruction, and wearable exoskeleton assistive devices. Background Technology

[0002] With the aging population and the rising incidence of neurological diseases such as stroke, the demand for rehabilitation of hand, especially wrist, joint dysfunction is increasing. It is noteworthy that the wrist joint has a complex structure, possessing three motion planes: flexion / extension, radial / ulnar deviation, and pronation / supination. Viewed laterally, the wrist joint is located between the forearm and the palm, primarily formed by the distal radius and ulna, and also includes several irregular bones. Crucially, numerous important tendons, nerves, and blood vessels, including the finger flexor tendons, wrist flexor and extensor tendons, and the ulnar and radial arteries responsible for blood circulation in the hand, densely pass through this narrow area. Faced with such complex structure and functional requirements, traditional one-on-one rehabilitation treatment often consumes significant human, material, and financial resources. Against this backdrop, robot-assisted rehabilitation has emerged to meet the needs of high-intensity, long-term treatment, with wrist rehabilitation robots being a key example. However, most wrist rehabilitation devices currently on the market employ rigid connection structures, centralized drive schemes, or external frame designs, which generally suffer from problems such as large size, complex structure, inconvenience in wearing, and poor compliance, making it difficult to meet the individualized, phased, and multi-degree-of-freedom rehabilitation training needs of patients. On the other hand, while flexible wrist rehabilitation robots can improve comfort, they often suffer from insufficient transmission torque. Overall, existing rehabilitation robots still generally face core limitations in achieving multi-directional wrist joint training, including low drive transmission efficiency, complex structural wiring, and uncomfortable wearing. Tensioned integral structures, on the other hand, possess the characteristics of lightweight, structural flexibility, controllable shape, adjustable stiffness, and high load-bearing capacity, representing the future development direction of the field of spatial rigid-flexible coupling robots. Therefore, we designed a rigid-flexible coupling wrist rehabilitation robot that incorporates a tensioned integral structure, has high compliance, a reasonable drive arrangement, and is suitable for multi-degree-of-freedom training, effectively improving the comfort, accuracy, and practicality of rehabilitation training. Summary of the Invention

[0003] The purpose of this invention is to provide a rigid-flexible coupled wrist rehabilitation robot to achieve the above-mentioned functions and objectives.

[0004] This invention provides a rigid-flexible coupling wrist rehabilitation robot for functional recovery after wrist injury and wrist joint surgery. The robot is characterized by comprising an arm support unit, a wrist support unit, a forearm locking mechanism, a rear arm locking mechanism, elastic ropes, and drive cables. The arm support unit and the wrist support unit are connected as a single unit by the elastic ropes to form a tensioned overall structure. The wrist support unit rotates in both horizontal and vertical directions by pulling and releasing the four drive cables, thereby rotating the patient's wrist and achieving wrist joint rehabilitation training.

[0005] Furthermore, the arm support unit mainly consists of components such as a forearm ring bracket, forearm ring, rear arm ring bracket, rear arm ring, connecting plate, elastic rope bracket, elastic rope pressure plate, and Bowden conduit. The forearm ring is composed of a forearm half-ring and a front cover plate, and the rear arm ring is composed of a rear arm half-ring and a rear cover plate. The forearm ring and rear arm ring are fixedly connected by four connecting plates with corresponding holes. The forearm ring bracket and rear arm ring bracket are respectively installed on the forearm ring and rear arm ring. The upper / lower elastic rope bracket and the left / right elastic rope bracket are respectively installed at the corresponding holes in the connecting plates in the vertical and horizontal directions. The four Bowden conduits pass through the internal channels of the upper / lower and left / right elastic rope brackets. The front support foot of the forearm ring bracket is designed to tilt forward at 45° to increase the bottom support area, thereby counteracting the overturning moment caused by the forward shift of the overall center of gravity of the mechanism and improving the overall stability of the structure. The cover plates of both the forearm ring and the rear arm ring adopt an openable structure, which facilitates the open design of the arm ring and improves the convenience of use.

[0006] Furthermore, six elastic ropes are used to connect the arm support unit and the wrist support unit into a single structure. One end of three of the elastic ropes is fixed in three vertical countersunk holes at the rear of the upper part of the U-shaped bracket of the wrist support unit, and the other end is placed in three grooves of the upper elastic rope bracket. They are then pressed and fixed by an elastic rope clamping plate. The surface of the elastic rope clamping plate is provided with a spike structure to prevent the elastic rope from axially slipping on the surface of the upper elastic rope bracket when it is under tension, thus ensuring connection stability. The remaining three elastic ropes are connected in the same way and fixed in three vertical countersunk holes at the rear of the lower part of the U-shaped bracket of the wrist support unit and three grooves of the lower elastic rope bracket, forming a symmetrical tension connection structure. Furthermore, one end of the horizontal flexion drive cable and the extension drive cable are installed in the internal grooves of the locking cover plate and the locking pressure plate, and one end of the vertical radial deflection drive cable and the vertical deflection drive cable are fixed in the upper and lower vertical countersunk holes of the front steel pipe; the other end of the radial deflection drive cable is connected to the drive device through the internal channel of the upper elastic rope bracket and the interior of the upper Bowden tube at the rear end of the upper elastic rope bracket; similarly, the other three drive cables pass through the other three elastic rope brackets and the Bowden tube to connect to the drive device; the flexion / extension and ulnar / radial deflection of the wrist are achieved by pulling the four drive cables for release and retraction control; in order to reduce the frictional resistance when the drive cables are pulled, the front pipes of the four elastic rope brackets adopt a bent pipe design.

[0007] Furthermore, the locking mechanism includes a forearm ring locking mechanism and a rear arm ring locking mechanism. The forearm ring locking mechanism includes a forearm ring locking seat, a locking tongue, a compression coil spring, and a pull ring. The forearm ring locking seat is equipped with a compression coil spring. The locking tongue has a smooth shaft structure, which passes through the inner hole of the compression coil spring and the through hole of the forearm ring locking seat in sequence. The pull ring is fixed on the vertical through hole at the front end of the locking tongue's smooth shaft for pulling out and resetting the locking tongue, thereby realizing the opening and closing of the forearm ring. The rear arm ring locking mechanism includes a rear arm ring locking seat, a locking tongue, a compression coil spring, and a pull ring, with the same structure as the forearm ring locking mechanism. The two forearm ring locking mechanisms are respectively installed at the threaded holes on both sides of the forearm half ring. The movement of the locking tongue is limited by the hard limit structure on the forearm half ring. The two rear arm ring locking mechanisms are respectively installed at the threaded holes on both sides of the rear arm ring. The movement of the locking tongue is limited by the hard limit structure on the rear arm half ring.

[0008] Furthermore, the wrist support unit mainly includes a U-shaped bracket, a handle, a handle connecting seat, a bearing, a pivot, a pivot screw, a locking cover plate, a locking pressure plate, and a steel pipe plug. The U-shaped bracket consists of a front steel pipe and two Y-shaped connecting rods. The upper and lower round tubes of the front steel pipe pass through the horizontal through holes of the two handle connecting seats, and the connecting seats are mounted in the slots of the front steel pipe. The pivot passes sequentially through the vertical through hole of the lower handle connecting seat, the slot at the bottom of the front steel pipe, the handle through hole, the slot at the top of the front steel pipe, and the vertical through hole of the upper handle connecting seat. The shaft is positioned and locked using shaft screws to achieve structural connection; two Y-shaped connecting rods are fixedly connected to the front steel pipe, and four steel pipe plugs are installed in the horizontal through holes at the front of the Y-shaped connecting rods to seal the ends; a deep groove ball bearing is installed inside the handle, and the shaft and bearing are clearance-fitted to facilitate free rotation of the handle on the shaft and improve operation smoothness; the locking cover plate and locking pressure plate are installed together in the horizontal through hole at the front of the U-shaped bracket to fix and lock the horizontal drive cable, ensuring a stable connection of the drive cable.

[0009] Compared with the prior art, the beneficial effects of the present invention are: (1) The wrist rehabilitation robot can realize the recovery of wrist function after wrist joint injury and wrist joint surgery; (2) The problem of mismatch of the instantaneous center of motion during the rehabilitation process of traditional rigid wrist rehabilitation robots is solved by tensioning the overall structure; (3) The problem of insufficient joint torque during the rehabilitation process of flexible wrist rehabilitation robots is solved by rigid-flexible coupling; (4) An open wearable structure is adopted, which is convenient for patients to wear the device. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is an axonometric view of a rigid-flexible coupled wrist rehabilitation robot; Figure 2 This is the front view of the rigid-flexible coupling wrist rehabilitation robot; Figure 3 This is a top view of a rigid-flexible coupled wrist rehabilitation robot; Figure 4 This is a left view of a rigid-flexible coupled wrist rehabilitation robot; Figure 5 This is an axonometric view of the arm support unit of a rigid-flexible coupled wrist rehabilitation robot; Figure 6 This is an exploded axial view of the arm support unit of the rigid-flexible coupling wrist rehabilitation robot. Figure 7 This is an axonometric view of the wrist support unit of a rigid-flexible coupled wrist rehabilitation robot. Figure 8 This is an exploded axial view of the wrist support unit of a rigid-flexible coupled wrist rehabilitation robot. Figure 9 This is an isometric view of the locking mechanism; Figure 10 This is an exploded axial view of the locking mechanism; Figure 11 This is an axonometric view of the elastic rope distribution installation; Figure 12 This is an exploded axial view of the elastic rope distribution installation; Figure 13 This is an axonometric view of the distributed installation of the drive cable; Figure 14 This is an exploded axonal view of the drive cable distribution installation; Figure 15 This is a front view of the radial deviation motion of a rigid-flexible coupled wrist rehabilitation robot; Figure 16It is the front view of the ulnar deviation motion of the rigid-flexible coupling wrist rehabilitation robot; Figure 17 It is the top view of the flexion motion of the rigid-flexible coupling wrist rehabilitation robot; Figure 18 It is the top view of the extension motion of the rigid-flexible coupling wrist rehabilitation robot; Reference signs: 1. Arm support unit; 2. Wrist support unit; 3. Forearm ring locking mechanism 3; 4. Rear arm ring locking mechanism; 5. Upper front elastic rope 5; 6. Upper left elastic rope; 7. Upper right elastic rope 7; 8. Lower front elastic rope 8; 9. Lower left elastic rope 9; 10. Lower right elastic rope; 11. Flexion drive flexible cable; 12. Extension drive flexible cable; 13. Radial deviation drive flexible cable; 14. Ulnar deviation drive flexible cable; 15. Forearm ring bracket; 16. Forearm ring 16; 17. Front upper lining plate; 18. Front lower lining plate; 19. Rear arm ring bracket; 20. Rear arm ring 20; 21. Rear upper lining plate; 22. Rear lower lining plate; 23. Upper connecting plate; 24. Lower connecting plate; 25. Left connecting plate; 26. Right connecting plate; 27. Upper elastic rope bracket; 28. Lower elastic rope bracket; 29. Left elastic rope bracket; 30. Right elastic rope bracket; 31. Upper elastic rope pressing plate; 32. Lower elastic rope pressing plate; 33. Left elastic rope pressing plate; 34. Right elastic rope pressing plate; 35. Upper Bowden tube; 36. Lower Bowden tube; 37. Left Bowden tube; 38. Right Bowden tube; 39. Forearm half ring; 40. Front cover plate; 41. First-level pin shaft; 42. Rear arm half ring 42; 43. Rear cover plate; 44. Second-level pin shaft; 45. U-shaped bracket; 46. Grip; 47. Upper grip connecting seat; 48. Lower grip connecting seat; 49. Deep groove ball bearing; 50. Rotating shaft; 51. Rotating shaft screw; 52. Locking cover plate; 53. Locking pressing plate; 54. First-level steel pipe plug; 55. Second-level steel pipe plug; 56. Front-end steel pipe; 57. Upper Y-shaped connecting rod 57; 58. Lower Y-shaped connecting rod; 59. Forearm ring locking seat; 60. Lock tongue; 61. Compression helical spring; 62. Pulling ring; 63. Rear arm ring locking seat. Detailed implementation manners

[0011] The present invention will be described in detail below in conjunction with the various implementation manners shown in the drawings. However, it should be noted that these implementation manners do not limit the present invention, and any equivalent transformation or substitution in terms of function, method, or structure made by those of ordinary skill in the art based on these implementation manners shall fall within the protection scope of the present invention.

[0012] Refer Figures 1 to 16 as shown Figure 1 It is the axonometric view of the rigid-flexible coupling wrist rehabilitation robot, Figure 2 It is the front view of the rigid-flexible coupling wrist rehabilitation robot, Figure 3 It is the top view of the rigid-flexible coupling wrist rehabilitation robot, Figure 4This is a left view of a rigid-flexible coupled wrist rehabilitation robot. Figure 5 This is an axonometric view of the arm support unit of a rigid-flexible coupled wrist rehabilitation robot. Figure 6 This is an exploded view of the arm support unit of a rigid-flexible coupled wrist rehabilitation robot along its axis. Figure 7 This is an axonometric view of the wrist support unit of a rigid-flexible coupled wrist rehabilitation robot. Figure 8 This is an exploded view of the wrist support unit of a rigid-flexible coupled wrist rehabilitation robot along its axis. Figure 9 This is an isometric view of the locking mechanism. Figure 10 This is an exploded axial view of the locking mechanism. Figure 11 This is an axonometric view of the elastic rope distribution installation. Figure 12 This is an exploded axial view of the elastic rope distribution installation. Figure 13 This is an isometric view of the drive cable distribution installation. Figure 14 This is an exploded axonal view of the drive cable distribution installation. Figure 15 This is the front view of the radial deviation motion of the rigid-flexible coupled wrist rehabilitation robot. Figure 16 This is the front view of the ulnar deviation motion of the rigid-flexible coupled wrist rehabilitation robot. Figure 17 This is a top view of the flexion motion of a rigid-flexible coupled wrist rehabilitation robot. Figure 18 This is a top view of the extension movement of a rigid-flexible coupled wrist rehabilitation robot.

[0013] This embodiment demonstrates an innovative rigid-flexible coupled wrist rehabilitation robot, such as Figures 1 to 4 As shown, this mechanism mainly consists of an arm support unit 1, a wrist support unit 2, two sets of forearm locking mechanisms 3, two sets of rear arm locking mechanisms 4, an upper front elastic rope 5, an upper left elastic rope 6, an upper right elastic rope 7, a lower front elastic rope 8, a lower left elastic rope 9, a lower right elastic rope 10, and flexion-driven flexible ropes 11, extension-driven flexible ropes 12, radial deviation-driven flexible ropes 13, and ulnar deviation-driven flexible ropes 14. The arm support unit 1 and the wrist support unit 2 are connected as a whole by the upper front elastic rope 5, upper left elastic rope 6, upper right elastic rope 7, lower front elastic rope 8, lower left elastic rope 9, and lower right elastic rope 10. To achieve wrist rehabilitation training, this mechanism uses a rope-driven system to realize horizontal and vertical rehabilitation training of the wrist. The flexion drive cable 11 and extension drive cable 12 drive the wrist support unit 2 to rotate horizontally, thereby causing the wrist to rotate horizontally. The radial deviation drive cable 13 and ulnar deviation drive cable 14 drive the wrist support unit 2 to rotate vertically, thereby causing the wrist to rotate vertically. This design provides a new design concept for wrist joint rehabilitation robots.

[0014] refer to Figure 5 and Figure 6As shown, the arm support unit 1 mainly consists of a forearm ring bracket 15, a forearm ring 16, a front upper liner 17, a front lower liner 18, a rear arm ring bracket 19, a rear arm ring 20, a rear upper liner 21, a rear lower liner 22, an upper connecting plate 23, a lower connecting plate 24, a left connecting plate 25, a right connecting plate 26, an upper elastic rope bracket 27, a lower elastic rope bracket 28, a left elastic rope bracket 29, a right elastic rope bracket 30, an upper elastic rope pressure plate 31, a lower elastic rope pressure plate 32, a left elastic rope pressure plate 33, and a right elastic rope pressure plate 34. 4. It is composed of components such as upper Bowden conduit 35, lower Bowden conduit 36, left Bowden conduit 37, and right Bowden conduit 38; the forearm ring 16 is composed of forearm half ring 39 and front cover plate 40. The first-stage pin 41 passes through the front horizontal through hole of the forearm half ring 39, the horizontal through hole of the front cover plate 40, and the rear horizontal through hole of the forearm half ring 39 in sequence, and forms an interference fit with the rear horizontal through hole. The front upper liner 17 and the front lower liner 18 are fixed to the corresponding threaded holes on the upper and lower sides of the inside of the forearm ring 16 by two first-stage internal hexagonal head screws. The structure of the rear arm ring 20 is similar to that of the forearm ring 16, consisting of a rear arm half-ring 42 and a rear cover plate 43. A secondary pin 44 passes sequentially through the front horizontal through hole of the rear arm half-ring 42, the horizontal through hole of the rear cover plate 43, and the rear horizontal through hole of the rear arm half-ring 42, forming an interference fit with the rear horizontal through hole. Similarly, the upper rear liner 21 and the lower rear liner 22 are fixed to the upper and lower sides of the rear arm ring 20 respectively by two primary hexagon socket head cap screws. The forearm ring bracket 15 is connected to the forearm half-ring 39 by two primary Phillips head countersunk screws. The screws pass through the tapered holes on both sides of the forearm ring bracket 15 and then mate with the threaded holes on both sides of the forearm half-ring 39. Similarly, the rear arm ring bracket 19 is also connected to the rear arm half-ring 42 by two primary Phillips head countersunk screws. The screws pass through the tapered holes on both sides of the rear arm ring bracket 19 and mate with the threaded holes on both sides of the rear arm half-ring 42, thus achieving fixation. Eight secondary Phillips head countersunk screws pass sequentially through the corresponding eight tapered holes on the upper connecting plate 23 and engage with the upper threaded holes of the front cover plate 40 and the rear cover plate 43 to achieve a fixed connection at the top. Similarly, eight secondary Phillips head countersunk screws pass through the corresponding eight tapered holes on the lower connecting plate 24 and engage with the lower threaded holes of the forearm half-ring 39 and the rear half-ring 42 to achieve a fixed connection at the bottom. Eight secondary Phillips head countersunk screws pass through the eight tapered holes on the left connecting plate 25 and engage with the left threaded holes of the forearm half-ring 39 and the rear half-ring 42 to achieve a fixed connection on the left side. Eight secondary Phillips head countersunk screws pass through the eight tapered holes on the right connecting plate 26 and engage with the right threaded holes of the forearm half-ring 39 and the rear half-ring 42 to achieve a fixed connection on the right side. In addition, four tertiary Phillips head countersunk screws pass sequentially through the four tapered holes of the upper elastic rope bracket 27 and engage with the four threaded holes in the middle of the upper connecting plate 23 to fix the upper elastic rope bracket. Four countersunk head screws with three-stage cross grooves pass through the four tapered holes of the lower elastic rope bracket 28 and engage with the four threaded holes in the middle of the lower connecting plate 24 to fix the lower elastic rope bracket.Similarly, the left elastic rope bracket 29 and the right elastic rope bracket 30 are respectively secured by four countersunk head screws passing through their respective four conical holes and engaging with the four threaded holes in the middle of the left connecting plate 25 and the right connecting plate 26. The front anchor points of the upper elastic rope pressure plate 31 and the upper elastic rope bracket 27 are tightly connected by screws; the front anchor points of the lower elastic rope pressure plate 32 and the lower elastic rope bracket 28 are tightly connected by screws; the front anchor points of the left elastic rope pressure plate 33 and the left elastic rope bracket 29 are tightly connected by screws; and the front anchor points of the right elastic rope pressure plate 34 and the right elastic rope bracket 30 are tightly connected by screws. The upper Bowden conduit 35, the lower Bowden conduit 36, the left Bowden conduit 37, and the right Bowden conduit 38 are respectively installed in the rear end channels of the upper elastic rope bracket 27, the lower elastic rope bracket 28, the left elastic rope bracket 29, and the right elastic rope bracket 30, and are secured with set screws.

[0015] refer to Figure 7 and Figure 8As shown, the wrist support unit 2 mainly includes a U-shaped bracket 45, a grip 46, an upper grip connecting seat 47, a lower grip connecting seat 48, a deep groove ball bearing 49, a rotating shaft 50, a rotating shaft screw 51, a locking cover plate 52, a locking pressure plate 53, a primary steel pipe plug 54, a secondary steel pipe plug 55, etc. The U-shaped bracket 45 consists of a front steel pipe 56, an upper Y-shaped connecting rod 57, and a lower Y-shaped connecting rod 58. Two deep groove ball bearings 49 are placed in the upper and lower through holes of the grip 46 and are fixed inside the grip with elastic retaining rings through two holes. The upper grip connecting seat 47 and the lower grip connecting seat 48 are placed above and below the grip 46, and their vertical through holes are concentric with the through holes of the grip 46. The upper and lower horizontal round tube parts of the front steel pipe 56 pass through the horizontal through holes of the upper grip connecting seat 47 and the lower grip connecting seat 48 and the connecting seat is mounted in the groove of the front steel pipe. The rotating shaft 50 passes sequentially through the vertical through hole of the lower handle connecting seat 48, the slot at the bottom of the front steel pipe 56, the through hole of the handle 46, the slot at the top of the front steel pipe 56, and the vertical through hole of the upper handle connecting seat 47. The rotating shaft 50 is positioned and locked by the rotating shaft screw 51, thus connecting the handle 46 to the U-shaped bracket 45. The upper Y-shaped connecting rod 57 and the lower Y-shaped connecting rod 58 are connected to the upper and lower through holes of the front steel pipe 56 respectively, and are fixed with cotter pins. Four primary steel pipe plugs 54 are installed in the four horizontal through holes at the front ends of the upper and lower Y-shaped connecting rods to seal the ends of the rods. A deep groove ball bearing 49 is installed inside the handle 46, allowing the handle 46 to rotate freely on the rotating shaft 50, improving the smoothness and flexibility of operation. The locking cover plate 52 and the locking pressure plate 53 are installed together at the horizontal through hole at the front end of the U-shaped bracket 45, and are fixed by screws to lock the drive cable. Four secondary steel pipe plugs 55 are respectively installed in the corresponding vertical large holes on the upper inner side of the U-shaped bracket 46 to seal the upper steel pipe. In addition, four secondary steel pipe plugs 55 are installed in the corresponding vertical large holes on the lower inner side of the U-shaped bracket 46 to seal the lower steel pipe.

[0016] Refer to Figure 9 and Figure 10As shown, the locking mechanism includes a forearm ring locking mechanism 3 and a rear forearm ring locking mechanism 4. The forearm ring locking mechanism 3 includes a forearm ring locking seat 59, a locking tongue 60, a compression coil spring 61, and a pull ring 62. The compression coil spring 61 is installed inside the forearm ring locking seat 59. The optical axis of the locking tongue 60 passes sequentially through the compression coil spring 61 and the through hole of the forearm ring locking seat 59. The pull ring 62 is installed at the vertical through hole at the front end of the optical axis of the locking tongue 60, used to pull out and reset the locking tongue 60, thus completing the opening and closing of the forearm ring 16. The rear forearm ring locking mechanism 4 includes a rear forearm ring locking seat 63, a locking tongue 60, a compression coil spring 61, and a pull ring 62, with the same structure as the forearm ring locking mechanism 3. The two forearm ring locking mechanisms 3 are respectively installed at the corresponding mounting holes on both sides of the forearm ring 16 and fixed with screws. The movement stroke of their locking tongues 60 is limited by a hard limiting structure on the forearm half-ring 39. Two rear arm ring locking mechanisms 4 are respectively installed at the corresponding mounting holes on both sides of the rear arm ring 20 and fixed with screws. The movement stroke of the locking tongue 60 is limited by the hard limiting structure on the rear arm half ring 42.

[0017] refer to Figure 11 and Figure 12 As shown, the elastic ropes include an upper front elastic rope 5, an upper left elastic rope 6, an upper right elastic rope 7, a lower front elastic rope 8, a lower left elastic rope 9, and a lower right elastic rope 10. One end of the upper front elastic rope 5 passes through a vertical countersunk hole 1a in the upper part of the U-shaped bracket 45; one end of the upper left elastic rope 6 passes through a vertical countersunk hole 1b in the upper part of the U-shaped bracket 45; and one end of the upper right elastic rope 7 passes through a vertical countersunk hole 1c in the upper part of the U-shaped bracket 45. The other ends of the upper front elastic rope 5, upper left elastic rope 6, and upper right elastic rope 7 are placed in the corresponding grooves of the upper elastic rope bracket 27 of the arm support unit 1, and are pressed down by the upper elastic rope clamping plate 31 and tightened with screws. Similarly, the lower front elastic rope 8, lower left elastic rope 9, and lower right elastic rope 10... One end of rope 9 and lower right elastic rope 10 passes through the three vertical countersunk holes 1d, 1e, and 1f at the bottom of the U-shaped bracket 45, respectively. The other ends of lower front elastic rope 8, lower left elastic rope 9, and lower right elastic rope 10 are placed in the corresponding grooves of the lower elastic rope bracket 28 of the arm support unit 1, and are pressed by the lower elastic rope clamping plate 32 and tightened with screws to form a symmetrical tension connection structure. The large holes inside the six vertical countersunk holes of the U-shaped bracket 45 are sealed by six secondary steel pipe plugs 55 to prevent the elastic ropes from being exposed.

[0018] refer to Figure 13 and Figure 14As shown, the drive cables include a flexion drive cable 11, an extension drive cable 12, a radial deflection drive cable 13, and a ulnar deflection drive cable 14. One end of each of the flexion drive cable 11 and the extension drive cable 12 is fixedly installed in the internal grooves of the locking cover plate 52 and the locking pressure plate 53 and locked with screws. The other end passes through the interior of the left elastic rope bracket 29 and the right elastic rope bracket 30 and is connected to the drive device via the left Bowden tube 37 and the right Bowden tube 38. The radial deflection drive cable 13 and the ulnar deflection drive cable 14 pass through the upper vertical countersunk hole 2a and the lower vertical countersunk hole 2b of the U-shaped bracket 45, respectively, and the large holes are blocked by two secondary steel pipe plugs 55. The other end passes through the internal through holes of the upper elastic rope 27 and the lower elastic rope 28 and is connected to the drive device via the upper Bowden tube 35 and the lower Bowden tube 36.

[0019] refer to Figure 15 and Figure 18 As shown in the figure, the overall rehabilitation movements of the rigid-flexible coupling wrist rehabilitation robot are as follows: the mechanism rotates through the traction drive cable. The radial deviation drive cable 13 shortens, and the ulnar deviation drive cable 14 extends, causing the wrist support unit 2 to rotate clockwise to achieve the radial deviation movement; the ulnar deviation drive cable 14 shortens, and the radial deviation drive cable 13 extends, causing the wrist support unit 2 to rotate clockwise to achieve the ulnar deviation movement; the flexion drive cable 11 shortens, and the extension drive cable 12 extends, causing the wrist support unit 2 to rotate counterclockwise to achieve the flexion movement; the extension drive cable 12 shortens, and the flexion drive cable 11 extends, causing the wrist support unit 2 to rotate clockwise to achieve the extension movement.

[0020] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A rigid-flexible coupling wrist rehabilitation robot for human wrist joint rehabilitation training, characterized in that: The wrist rehabilitation robot mainly includes an arm support unit (1), a wrist support unit (2), a forearm ring locking mechanism (3), a rear arm ring locking mechanism (4), elastic ropes and drive cables, etc. The arm support unit (1) of this mechanism adopts an open structure, which makes it convenient for patients to wear and carry out rehabilitation training. The arm support unit (1) is mainly composed of a forearm ring bracket (15), a forearm ring (16), a rear arm ring bracket (19), a rear arm ring (20), a connecting plate, an elastic rope bracket, an elastic rope pressure plate, and Bowden tubing, etc.; the forearm ring (16) is composed of a forearm half-ring (39) and a front cover plate (40), and the rear arm ring (20) is composed of a rear arm half-ring (42) and a rear cover plate (43); the forearm ring (16) and the rear arm ring (20) are fixed by four connecting plates, and the forearm ring bracket and the rear arm ring bracket are respectively Do not install on the forearm ring (16) and rear arm ring (20); the upper elastic rope bracket (27), lower elastic rope bracket (28), left elastic rope bracket (29) and right elastic rope bracket (30) are installed on the connecting plates in the vertical and horizontal directions, and four Bowden tubes pass through the internal channels of the four elastic rope brackets; the front support foot of the forearm ring support plate (15) is tilted forward by 45° to increase the bottom support area, thereby counteracting the overturning moment caused by the forward shift of the overall center of gravity of the mechanism and improving the overall stability of the structure; The cover plates of the forearm ring (16) and the rear arm ring (20) are both openable and closable, which facilitates the open design of the arm ring and improves the ease of assembly and use.

2. The rigid-flexible coupling wrist rehabilitation robot according to claim 1, characterized in that, Six elastic ropes are used to connect the arm support unit (1) and the wrist support unit (2) into an integrated structure. Among them, one end of three elastic ropes is fixed in the three vertical countersunk holes at the rear of the upper part of the U-shaped bracket (45) of the wrist support unit (1), and the other end is placed in the three grooves at the front end of the upper elastic rope bracket (27). The elastic rope is pressed and fixed by the elastic rope clamping plate. The surface of the elastic rope clamping plate is provided with a spike structure to prevent the elastic rope from axially sliding on the surface of the upper elastic rope bracket (27) when it is under tension, so as to ensure the connection stability. The other three elastic ropes are connected in the same way and fixed in the three vertical countersunk holes at the rear of the lower part of the U-shaped bracket (45) of the wrist support unit and the three grooves at the front end of the lower elastic rope bracket (28), forming a symmetrical tension connection structure.

3. The rigid-flexible coupling wrist rehabilitation robot according to claim 1, characterized in that... One end of the horizontal flexion drive cable (11) and extension drive cable (12) is installed in the internal groove of the locking cover plate (52) and locking pressure plate (53). One end of the vertical radial deflection drive cable (13) and ulnar deflection drive cable (14) is fixed in the upper and lower vertical countersunk holes of the front end steel pipe (56). The other end of the radial deflection drive cable (13) is connected to the drive device through the internal channel of the upper elastic rope bracket (27) and the interior of the upper Bowden tube (35) at the rear end of the upper elastic rope bracket (27). Similarly, the other three drive cables pass through the other three elastic rope brackets and Bowden tubes and are connected to the drive device. The wrist flexion / extension and ulnar / radial deflection are achieved by pulling the four drive cables for release control. In order to reduce the frictional resistance when the drive cables are pulled, the front end pipes of the four elastic rope brackets adopt a bent pipe design.

4. The rigid-flexible coupling wrist rehabilitation robot according to claim 1, characterized in that, The locking mechanism includes a forearm ring locking mechanism (3) and a rear arm ring locking mechanism (4). The forearm ring locking mechanism (3) includes a forearm ring locking seat (59), a locking tongue (60), a compression coil spring (61), and a pull ring (62); the compression coil spring (61) is installed inside the forearm ring locking seat (59), and the optical axis of the locking tongue (60) passes through the inside of the compression coil spring (61) and the through hole of the forearm ring locking seat (59) in sequence. The pull ring (62) is fixed on the vertical through hole at the front end of the optical axis of the locking tongue (60) and is used to pull out and reset the locking tongue (60) to realize the opening and closing of the forearm ring (16); the rear arm ring locking mechanism (4) Includes a rear arm ring locking seat (63), a locking tongue (60), a compression coil spring (61) and a pull ring (62), with the same structure as the front arm ring locking mechanism (3). The two front arm ring locking mechanisms (3) are respectively installed at the threaded holes on both sides of the front arm half ring (39), and the movement stroke of the locking tongue (60) is limited by the hard limit structure on the front arm half ring (39). The two rear arm ring locking mechanisms (4) are respectively installed at the threaded holes on both sides of the rear arm half ring (42), and the movement stroke of the locking tongue is limited by the hard limit structure on the rear arm half ring (42).

5. The rigid-flexible coupling wrist rehabilitation robot according to claim 1, characterized in that, The wrist support unit (2) mainly includes a U-shaped bracket (45), a grip (46), a grip connecting seat, a deep groove ball bearing (49), a rotating shaft (50), a rotating shaft screw (51), a locking cover plate (53), a locking pressure plate (54), and a steel pipe plug, etc.; the U-shaped bracket is composed of a front steel pipe (56) and two Y-shaped connecting rods. The upper and lower round tubes of the front steel pipe (56) pass through the horizontal through holes of the two grip connecting seats and the connecting seats are mounted in the slots of the front steel pipe (56); the rotating shaft (50) passes through the vertical through hole of the lower grip connecting seat (48), the slot at the bottom of the front steel pipe (56), the through hole of the grip (46), the slot at the top of the front steel pipe (56), and the upper grip connecting seat in sequence. The vertical through hole of the seat (47) is used to position and lock the shaft (50) by the shaft screw (51); two Y-shaped connecting rods are fixedly connected to the front steel pipe (56), and four steel pipe plugs are installed in the horizontal through hole at the front end of the Y-shaped connecting rod to seal the end; a deep groove ball bearing (49) is installed inside the handle (46), and the shaft (50) and the deep groove ball bearing (49) are clearance fit, which makes it easy for the handle (46) to rotate freely on the shaft (50) and improve the smoothness of operation; the locking cover plate (52) and the locking pressure plate (53) are installed together at the horizontal through hole at the front end of the U-shaped bracket (45) to fix and lock the horizontal driving rope to ensure the stability of the rope tension.

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