A terminal traction upper limb rehabilitation training device

Abstract

The present invention discloses a terminal traction upper limb rehabilitation training device. During rehabilitation training, the patient's upper limb forearm and hand are fixed on the armrest and handle of the robot. The robot arm drives the end of the human upper limb, thereby driving the upper limb to complete various rehabilitation training modes in the horizontal plane and sagittal plane of the human body. The device is driven by two motors and a single-acting cylinder. The first joint motor drives the upper arm to swing relative to the column, and the second joint motor drives the forearm to swing relative to the upper arm through the synchronous belt II transmission. The single-acting cylinder drives the end of the robot to perform vertical linear motion. A servo closed-loop control system is used to accurately control the posture, range of motion and training intensity of the human upper limb. The controller consists of a touch screen and a switch button. The rehabilitation training mode can be selected through the touch screen. Each rehabilitation mode training has a corresponding dynamic schematic diagram display, which is convenient and easy to understand. The speed, time and range of motion of each joint of each rehabilitation training mode can also be adjusted according to the patient's condition.

Description

Technical Field

[0001] The invention relates to the technical field of medical care equipment, in particular to a terminal traction upper limb rehabilitation training device. Background Art

[0002] Terminal traction upper limb rehabilitation training is a form of upper limb rehabilitation, which is very suitable for patients with upper limb motor loss due to upper limb cranial nerve damage and muscle damage, such as hemiplegic patients with cerebral stroke. Most of them will partially or completely lose motor ability on one side of their body. Due to the lack of exercise or effective and scientific rehabilitation activities for many years, their limbs will have different degrees of muscle atrophy and joint adhesion. Long-term lack of active and effective exercise training can easily cause upper limb loss of mobility. The upper limb rehabilitation training device can fully exercise the upper limbs of such patients in a sitting position to achieve the purpose of rehabilitation training.

[0003] Most of the upper limb rehabilitation devices commonly used in the market are similar to CPM machines, with simple structures, but fixed training modes, and can only perform passive training of joints. Alternatively, a 6-degree-of-freedom exoskeleton rod is used to bind the upper limbs of the human body to the terminal traction, so that the upper limb joints move with the joint movement of the exoskeleton. The 6-degree-of-freedom exoskeleton robot is inconvenient to adjust to the upper limbs of different patients, and the structure is complex. In addition, the upper limbs are fixed in a wrapping manner. Once the robot fails or the patient's muscles spasm, it is easy to cause harm to the patient. In addition, there are 2-degree-of-freedom rectangular coordinate terminal traction rehabilitation robots on the market, which can only realize the movement of the upper limbs in the horizontal plane. There are problems such as incomplete training of the upper limb joints of the human body, a single mode, the upper limb ligaments cannot be stretched in all directions, and the training effect is limited. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an end-traction upper limb rehabilitation training device. The upper arm and the forearm of the device each have one degree of freedom, which are driven by a first joint motor and a second joint motor respectively. The lifting of the end assembly is driven by a single-acting cylinder. The device has a wide training space, diverse training modes, and convenient adjustment of training parameters. Various movement modes are designed according to sports rehabilitation therapy technology, including adduction and abduction modes of the shoulder joint in the horizontal plane and flexion and extension in the sagittal plane, and flexion and extension modes of the elbow joint in the horizontal plane. The range of motion of each joint can be adjusted as needed to meet the rehabilitation training needs of different patients.

[0005] The present invention is achieved through the following technical solutions:

[0006] A terminal traction upper limb rehabilitation training device, comprising a robot body, a robot support mechanism and a control drive unit, wherein the robot body comprises a large arm, a small arm connected to one end of the large arm and three degrees of freedom formed by a terminal assembly, and the robot support mechanism comprises a support column for supporting the robot body;

[0007] The support column is a rectangular frame structure, a first mounting plate is arranged on the top of the support column, and a second mounting plate and a third mounting plate are arranged horizontally in sequence below the first mounting plate;

[0008] The bottom of one end of the boom is horizontally arranged on the first mounting plate through a boom reducer, the boom reducer is arranged through the first mounting plate, a driving transmission mechanism I for driving the boom to rotate is arranged between the first mounting plate and the third mounting plate, the driving transmission mechanism I includes a first joint motor, one end of the first joint motor is vertically arranged between the second mounting plate and the third mounting plate, and the first joint motor passes through the driving pulley I arranged at the other end of the second mounting plate and is connected to the driven pulley I arranged at the input end of the boom reducer through a horizontally arranged synchronous belt I, so that the boom is controlled to swing relative to the supporting column through the first joint motor;

[0009] A motor flange is fixedly arranged in the inner cavity of one end of the boom located at the boom reducer, and a driving transmission mechanism II for controlling the rotation of the forearm is vertically arranged on the motor flange, the driving transmission mechanism II includes a second joint motor, the output shaft of the second joint motor is connected to a driving pulley II located in the inner cavity of the motor flange, a driven pulley II is arranged at the other end of the inner cavity of the boom, a synchronous belt II is arranged between the driving pulley II and the driven pulley II, the driven pulley II is connected to the forearm reducer, the output end of the forearm reducer is connected to the forearm, so that the second joint motor controls the forearm to swing relative to the boom, and the other end of the forearm is connected to the end assembly;

[0010] The end assembly includes a single-acting cylinder arranged vertically, a three-dimensional force sensor located in the inner cavity of the forearm is arranged at the bottom of the single-acting cylinder, a hand rest and an arm rest are arranged horizontally at the top of the single-acting cylinder, a handle is arranged at one end of the hand rest, the other end of the hand rest is rotatably connected to a single elbow connected to the top of the single-acting cylinder through an elbow, and the arm rest is fixedly connected to one side connected to the top of the elbow;

[0011] The control drive unit includes a controller and a motor driver, and the motor driver is arranged on the end surface of the third mounting plate.

[0012] Furthermore, a side plate is fixedly provided on one side between the first mounting plate and the second mounting plate, and a movable plate is connected to an end face of the second mounting plate close to the side plate by bolts, and the first joint motor is fixedly connected to the movable plate by screws, and the movable plate is L-shaped, and the vertical section of the movable plate is connected to the side plate by a bolt column, and the distance between the movable plate and the side plate is adjusted by pulling the bolt column to adjust the movement of the first joint motor, thereby adjusting the tension of the synchronous belt I.

[0013] Furthermore, the connecting hole on the horizontal section of the movable plate and the second mounting plate is an oblong hole, so that the movable plate moves relative to the second mounting plate with the first joint motor.

[0014] Furthermore, a tensioning wheel is provided in the synchronous belt II between the driving pulley II and the driven pulley II, and the tension of the synchronous belt II is adjusted by adjusting the position of the tensioning wheel.

[0015] Furthermore, the connecting elbow and the single elbow are connected by bolts, and the friction force of relative rotation can be adjusted by the tightness of the bolt connection.

[0016] Furthermore, the top of the connecting elbow is provided with an axial hole, and the end of the hand rest away from the handle is cooperated with the axial hole of the connecting elbow, and is connected and fixed by an axial end screw, so that the rotational resistance of the wrist joint is adjusted by the tightening degree of the axial end screw.

[0017] Furthermore, the first joint motor and the second joint motor are both provided with a photoelectric encoder detection mechanism.

[0018] Furthermore, the upper arm reducer and the lower arm reducer both adopt harmonic reducers.

[0019] Furthermore, the rotation center of the boom reducer and the rotation center of the second joint motor coincide with the central axis of the support column.

[0020] Furthermore, the side of the motor flange is provided with an opening for facilitating the installation of the synchronous belt II.

[0021] The beneficial effects of the present invention are:

[0022] (1) The present invention can select a corresponding rehabilitation mode according to the specific conditions of the patient. Each rehabilitation mode training has a corresponding dynamic schematic diagram display, which is convenient and easy to understand. The speed, time and range of motion of each joint of each rehabilitation training mode can also be adjusted according to the patient's condition. Each motor is equipped with overload safety protection. Once an accident occurs, the robot will stop working in time to prevent injury to the patient;

[0023] (2) The present invention utilizes the coordinated actions of the first joint motor, the second joint motor and the single-acting cylinder to drive the human upper limbs to complete multi-mode spatial three-dimensional rehabilitation training movements. At the same time, the three-dimensional force sensor and the photoelectric encoder detection mechanism respectively collect the force signal of the robot end and the angle signal of each rotating joint in real time to achieve precise control of the upper limbs. The single-acting cylinder is used as the driving element for the vertical movement of the end, which has certain flexibility and safety, and obtains good rehabilitation training effects without harming the patient.

[0024] (3) In the present invention, the first joint motor and the second joint motor are centrally arranged on the supporting column, thereby reducing the gravity of the motor on the robot arm to a certain extent, reducing the influence of inertia force on the mechanical system, and improving the control performance of the mechanical system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the drive transmission mechanism I of the present invention;

[0027] Figure 3 is a top view of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the drive transmission mechanism II of the present invention;

[0029] Figure 5 It is a schematic diagram of the overall structure of the terminal assembly of the present invention;

[0030] Figure 6 is a partial view of the top of the terminal assembly of the present invention;

[0031] Figure numerals: 1. upper arm, 2. lower arm, 3. supporting column, 301. first mounting plate, 302. second mounting plate, 303. third mounting plate, 4. second joint motor, 5. first joint motor, 6. synchronous belt I, 7. single-acting cylinder, 8. single elbow, 9. connecting elbow, 10. hand support, 11. handle, 12. arm support, 13. side plate, 14. movable plate, 15. driving pulley II, 16. driven pulley II, 17. lower arm reducer, 18. synchronous belt II, 19. tensioning pulley, 20. motor driver, 21. driving pulley I, 22. driven pulley I, 23. motor flange, 24. upper arm reducer, 25. three-dimensional force sensor. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings.

[0033] Example 1

[0034] As shown in the accompanying drawings, a terminal traction upper limb rehabilitation training device includes a robot body, a robot support mechanism and a control drive unit. The robot body includes a large arm 1, a small arm 2 connected to one end of the large arm and three degrees of freedom formed by the terminal assembly. The robot support mechanism includes a support column 3 for supporting the robot body. The bottom of the support column 3 is provided with a chassis. The chassis is provided with sliding wheels around it to facilitate movement, saving time and effort.

[0035] The support column 3 is a rectangular frame structure, a first mounting plate 301 is arranged on the top of the support column 3, and a second mounting plate 302 and a third mounting plate 303 are arranged horizontally in sequence below the first mounting plate 301;

[0036] The bottom of one end of the boom 1 is horizontally arranged on the first mounting plate 301 through a boom reducer 24, and the boom reducer 24 is arranged through the first mounting plate 301. A driving transmission mechanism I for driving the boom to rotate is arranged between the first mounting plate 301 and the third mounting plate 303, and the driving transmission mechanism I includes a first joint motor 5, one end of the first joint motor 5 is vertically arranged between the second mounting plate 302 and the third mounting plate 303, and the first joint motor 5 passes through the driving pulley I21 arranged at the other end of the second mounting plate 302 and is connected to the driven pulley I22 arranged at the input end of the boom reducer through a horizontally arranged synchronous belt I6, so that the boom 1 is controlled to swing relative to the supporting column through the first joint motor 5; wherein the boom reducer 24 adopts a harmonic reducer, which is fixed to the first mounting plate 301 by screws, and its input end is connected to the driving pulley I21 through the driven pulley I22 and the synchronous belt I, and its output end, i.e., the flexible pulley, is connected to the boom through screws;

[0037] A side plate 13 is fixedly provided on one side between the first mounting plate 301 and the second mounting plate 302, and a movable plate 14 is connected to an end face of the second mounting plate 302 close to the side plate by bolts. The first joint motor 5 is fixedly connected to the movable plate 14 by screws. The movable plate 14 is L-shaped, and the vertical section of the movable plate 14 is connected to the side plate 13 by bolt columns. The distance between the movable plate 14 and the side plate 13 is adjusted by pulling the bolt columns to adjust the movement of the first joint motor 5, thereby adjusting the tension of the synchronous belt Ⅰ6. The connecting hole on the horizontal section of the movable plate 14 and the second mounting plate 302 is an elongated elliptical hole, so that the movable plate 14 moves with the first joint motor 5 relative to the second mounting plate 302.

[0038] A motor flange 23 is fixedly provided in the inner cavity at one end of the boom 1 located at the boom reducer, and a driving transmission mechanism II for controlling the rotation of the forearm is vertically provided on the motor flange 23, the driving transmission mechanism II includes a second joint motor 4, the output shaft of the second joint motor 4 is connected to a driving pulley II15 located in the inner cavity of the motor flange, a driven pulley II16 is provided at the other end of the inner cavity of the boom, a synchronous belt II18 is provided between the driving pulley II15 and the driven pulley II16, an opening for facilitating the installation of the synchronous belt II is provided on the side of the motor flange 23, and a synchronous belt II18 is provided between the driving pulley II15 and the driven pulley II16. A tensioning wheel 19 is arranged inside the step belt II, and the tension of the synchronous belt II 18 is adjusted by adjusting the position of the tensioning wheel 19. The driven pulley II 16 is connected to the forearm reducer 17, and the output end of the forearm reducer 17 is connected to the forearm, that is, the end of the forearm connected to the upper arm is located above the upper arm, so that the second joint motor 4 controls the forearm 2 to swing relative to the upper arm 1. The first joint motor 5 and the second joint motor 4 are both provided with a photoelectric encoder detection mechanism for detecting the movement angle and speed of each joint, and each motor is provided with overload safety protection. Once an accident occurs, the robot will stop working in time to prevent injury to the patient. In addition, a mechanical limit device is provided on the robot arm for further protection;

[0039] The rotation center of the boom reducer 24 and the rotation center of the second joint motor 4 are both coincident with the central axis of the support column 3. The arm reducer 17 is a harmonic reducer, that is, its rigid wheel is fixed on the boom, and its flexible wheel output is connected to the arm. The other end of the arm 2 is connected to the end assembly;

[0040] The end assembly includes a single-acting cylinder 7 arranged vertically, a three-dimensional force sensor 25 located in the inner cavity of the forearm is arranged at the bottom of the single-acting cylinder 7, a hand support 10 and an arm support 12 arranged horizontally are arranged at the top of the single-acting cylinder 7, a handle 11 is arranged at one end of the hand support, and the other end of the hand support is rotatably connected to a single elbow 8 connected to the top of the single-acting cylinder 7 through an elbow 9, and the arm support 12 is fixedly connected to one side connected to the top of the elbow 9;

[0041] The force applied at the end is transmitted to the three-dimensional force sensor 25 through the single-acting cylinder 7. The size and direction of the force applied by the human hand at the end are expressed by the pressure value and direction measured by the three-dimensional force sensor 25, thereby reflecting the active movement intention of the trainee, which can be used for active rehabilitation training based on impedance control. The single-acting cylinder 7 pushes out the cylinder piston rod by gas pressure and presses the cylinder piston rod back by an internal spring. The intake pressure is controlled by a proportional pressure regulating valve to balance the spring force and the external load, thereby realizing the control of the extension displacement of the cylinder piston rod. The wrist joint is the rotation of the hand rest 10 relative to the connecting elbow 9. When the robot drives the upper limbs of the human body to do rehabilitation exercises, the wrist joint can achieve passive rehabilitation of a certain intensity.

[0042] Furthermore, the connecting elbow 9 and the single elbow 8 are connected by bolts, and the friction of relative rotation can be adjusted by the tightness of the bolt connection, which can not only achieve a certain degree of passive training of ulnar deviation and radial deviation of the wrist joint during upper limb rehabilitation training, but also achieve compliant rotation when the wrist joint is subjected to excessive force when the end moves up and down.

[0043] Furthermore, an axial hole is provided at the top of the connecting elbow 9, and the end of the hand rest 10 away from the handle is matched with the axial hole of the connecting elbow 9, and is connected and fixed by an axial end screw, so that the rotational resistance of the wrist joint is adjusted by the tightening degree of the axial end screw, which can not only achieve a certain degree of passive training of wrist flexion and dorsiflexion movements during upper limb rehabilitation training, but also achieve compliant rotation when the wrist joint is subjected to excessive force.

[0044] Furthermore, the control drive unit includes components such as a computer, a simulator, a controller, a motion control mechanism, and a motor driver 20, which is the control core of the rehabilitation training device, and also includes a control interface, which includes a touch screen and a switch button. The rehabilitation training mode can be selected through the touch screen, and different rehabilitation training modes and the amplitude, speed and intensity of rehabilitation movements can be selected according to the specific conditions of the patient. The rehabilitation training parameters are fed back to the control panel of the control interface in real time, which is convenient for doctors to understand the patient's rehabilitation status. The motor driver 20 is set on the end surface of the third mounting plate 303.

[0045] Working process: When in use, turn on the robot and put it in the initial working position (under the condition of ensuring that the patient is not harmed). According to the pre-measured basic size of the patient's upper limbs and the patient's sitting shoulder height, adjust the height of the seat and the position relative to the robot. After the adjustment is completed, hold the handle 11 with the patient's hand, put the forearm on the arm rest 12, and fix the wrist with a bandage appropriately. The tightness should not affect the rotation of the wrist and the hand should not fall off the handle 11. Input the range of movement allowed by each joint of the patient into the device through the touch screen, select a suitable rehabilitation training mode, set the rehabilitation training time, and then start the rehabilitation training device. According to the set rehabilitation training mode, the single-acting cylinder 7 on the three-degree-of-freedom robot arm body overcomes the spring force and external load in the single-acting cylinder 7 through the control of the intake pressure, so that the end of the robot moves vertically and stops at a certain position. The vertical movement distance is fed back to the computer in the control unit in time by the pressure detected by the three-dimensional force sensor 25 for calculation and processing. The upper arm 1 and the lower arm 2 are driven by the corresponding first joint motor and the second joint motor to drive the corresponding synchronous belt and reducer, thereby completing the coordinated action. The movement angle and speed of each joint are detected by the photoelectric encoder of each motor, and fed back to the controller in real time, and the next motor movement instruction is issued through the operation controller. The three joints are controlled by the closed-loop servo of drive-detection-feedback-processing-drive, so that the movement of each joint is accurate and smooth. During the training process, different movement times, speeds and training intensities can be set by key operation according to the specific conditions of the patient's upper limb rehabilitation.

[0046] To sum up: the upper arm and forearm joints of the device are driven by the corresponding first joint motor and second joint motor respectively, realizing the rotational movement of the shoulder joint and elbow joint in the horizontal plane, and the vertical movement of the end is driven by the single-acting cylinder to realize the movement of the end in the sagittal plane. The rotational freedom of the upper arm and forearm and the movement freedom of the single-acting cylinder are all controlled by closed-loop servo. The coordinated movement of three degrees of freedom can drive the robot end to perform three-dimensional compound movement in space, and drive the patient's upper limbs to achieve all-round rehabilitation training.

[0047] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention shall be defined by the attached claims and their equivalents.

Claims

1. A terminal traction upper limb rehabilitation training device, characterized in that: The robot comprises a robot body, a robot support mechanism and a control drive unit, wherein the robot body comprises a large arm (1), a small arm (2) connected to one end of the large arm and three degrees of freedom formed by an end assembly, and the robot support mechanism comprises a support column (3) for supporting the robot body; The support column (3) is a rectangular frame structure, a first mounting plate (301) is arranged on the top of the support column (3), and a second mounting plate (302) and a third mounting plate (303) are arranged horizontally in sequence below the first mounting plate (301); The bottom of one end of the boom (1) is horizontally arranged on the first mounting plate (301) through a boom reducer (24), the boom reducer (24) is arranged to penetrate the first mounting plate (301), and a driving transmission mechanism I for driving the boom to rotate is arranged between the first mounting plate (301) and the third mounting plate (303), the driving transmission mechanism I comprises a first joint motor (5), one end of the first joint motor (5) is vertically arranged between the second mounting plate (302) and the third mounting plate (303), and the first joint motor (5) passes through a driving pulley I (21) arranged at the other end of the second mounting plate (302) and is connected to a driven pulley I (22) arranged at the input end of the boom reducer through a horizontally arranged synchronous belt I (6), so that the boom (1) is controlled to swing relative to the supporting column through the first joint motor (5); A motor flange (23) is fixedly arranged in the inner cavity of one end of the boom reducer of the boom (1), and a driving transmission mechanism II for controlling the rotation of the forearm is vertically arranged on the motor flange (23), the driving transmission mechanism II comprising a second joint motor (4), the output shaft of the second joint motor (4) being connected to a driving pulley II (15) located in the inner cavity of the motor flange, a driven pulley II (16) being arranged at the other end of the inner cavity of the boom, a synchronous belt II (18) being arranged between the driving pulley II (15) and the driven pulley II (16), the driven pulley II (16) being connected to a forearm reducer (17), the output end of the forearm reducer (17) being connected to the forearm, so that the second joint motor (4) controls the forearm (2) to swing relative to the boom (1), and the other end of the forearm (2) is connected to an end assembly; The end assembly comprises a single-acting cylinder (7) arranged vertically, a three-dimensional force sensor (25) located in the inner cavity of the forearm is arranged at the bottom of the single-acting cylinder (7), a hand rest (10) and an arm rest (12) arranged horizontally are arranged at the top of the single-acting cylinder (7), a handle (11) is arranged at one end of the hand rest, the other end of the hand rest is rotatably connected to a single elbow (8) connected to the top of the single-acting cylinder (7) via a connecting elbow (9), and the arm rest (12) is fixedly connected to one side of the top of the connecting elbow (9); The control drive unit comprises a controller and a motor driver (20), and the motor driver (20) is arranged on the end surface of the third mounting plate (303).

2. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: A side plate (13) is fixedly arranged on one side between the first mounting plate (301) and the second mounting plate (302), and a movable plate (14) is connected to an end surface of the second mounting plate (302) close to the side plate by bolts, and the first joint motor (5) is fixedly connected to the movable plate (14) by screws, and the movable plate (14) is L-shaped, and the vertical section of the movable plate (14) is connected to the side plate (13) by bolt columns, and the distance between the movable plate (14) and the side plate (13) is adjusted by pulling the bolt columns, thereby adjusting the movement of the first joint motor (5), thereby adjusting the tension of the synchronous belt I (6).

3. The terminal traction upper limb rehabilitation training device according to claim 2, characterized in that: The connecting hole on the horizontal section of the movable plate (14) and the second mounting plate (302) is an oblong hole, so that the movable plate (14) moves relative to the second mounting plate (302) with the first joint motor (5).

4. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: A tensioning wheel (19) is provided in the synchronous belt II between the driving pulley II (15) and the driven pulley II (16), and the tension of the synchronous belt II (18) is adjusted by adjusting the position of the tensioning wheel (19).

5. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: The connecting elbow (9) and the single elbow (8) are connected via bolts, and the friction force of relative rotation can be adjusted by adjusting the tightness of the bolt connection.

6. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: The top of the connecting elbow (9) is provided with an axial hole, and the end of the hand rest (10) away from the handle is formed in cooperation with the axial hole of the connecting elbow (9) and is connected and fixed by an axial end screw, so that the rotational resistance of the wrist joint is adjusted by the degree of tightening of the axial end screw.

7. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: The first joint motor (5) and the second joint motor (4) are both provided with a photoelectric encoder detection mechanism.

8. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: The upper arm reducer (24) and the lower arm reducer (17) are both harmonic reducers.

9. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: The rotation center of the boom reducer (24) and the rotation center of the second joint motor both coincide with the central axis of the support column (3).

10. The terminal traction upper limb rehabilitation training device according to claim 1, characterized in that: The side surface of the motor flange (23) is provided with an opening for facilitating the installation of the synchronous belt II.

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