A six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot

Abstract

The present invention discloses a six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot, comprising: a lower mechanism, including a chassis, a lifting column arranged on the chassis, and a first multi-dimensional force sensor arranged on the lifting column; an intermediate mechanism, including an upper platform, a lower platform, and a plurality of connecting components connecting the upper and lower platforms, wherein the lower platform is arranged on the first multi-dimensional force sensor; an upper mechanism, including a connecting rod assembly and a power member driving the connecting rod assembly to work; an end gripping mechanism, wherein the end gripping mechanism is arranged on the connecting rod assembly of the upper mechanism, and comprises a second multi-dimensional force sensor, a gripping handle, and an arm bracket, wherein the second multi-dimensional force sensor is arranged on the connecting rod assembly, the arm bracket is rotatably arranged on the upper part of the second multi-dimensional force sensor, and the gripping handle is arranged in the arm bracket. The present invention adopts a serial-parallel hybrid mode, so that the product has large structural rigidity and strong movement flexibility, and provides sufficient activity space for upper limb rehabilitation exercises.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation machinery, and in particular to a six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot. Background Art

[0002] Stroke, commonly known as stroke, is a sudden onset of cerebrovascular disease and the most serious complication of cerebrovascular disease. Stroke is considered one of the three major diseases that threaten human health. After a stroke, patients often suffer from hemiplegia or paralysis, lose the ability to move their limbs to varying degrees, and cannot take care of themselves. The upper limbs of the human body bear very important responsibilities in daily life and complete various delicate and complex activities. Upper limb motor dysfunction will seriously affect people's daily life. Therefore, the reconstruction of upper limb motor function in hemiplegic patients is an important topic in the field of rehabilitation medicine research. Clinical medical research has shown that most stroke patients can restore their limb motor ability to a certain extent through extensive and repetitive task-based exercises, so upper limb rehabilitation training robots for stroke patients have appeared on the market.

[0003] The upper limb rehabilitation training robot is a combination of the field of robotics technology and the field of rehabilitation medicine. It is a new technology that supplements or replaces professional physicians to complete the rehabilitation training of the upper limbs of the human body. Its appearance has opened up a new path for the rehabilitation treatment of patients with upper limb hemiplegia and made up for the deficiencies in the clinical treatment of hemiplegic patients. The treatment method of the rehabilitation training robot is to connect the affected limb to the robot. The patient's limb is driven by the robot to complete various movements, stimulate the neural control system of the upper limb joints and muscles of the human body, and thus achieve the purpose of restoring the patient's limb motor function. This method reduces the dependence on the treating physician. It can help medical staff complete heavy and repetitive rehabilitation training tasks and help patients better restore their limb motor function.

[0004] At present, upper limb rehabilitation robots can be divided into two categories according to their mechanical structure: end-traction type and exoskeleton type. In the rehabilitation exercise of the end-traction type rehabilitation robot, its end is usually fixedly connected to the patient's wrist, and the movement of the affected limb is driven by the movement of the end effector of the rehabilitation robot. It is difficult to perform independent active or passive rehabilitation exercises on a single joint in the patient's upper limb. In addition, this type of rehabilitation robot is usually only connected to the patient through the wrist. During the rehabilitation exercise, its reaction force may cause damage to the patient's wrist or other parts of the patient's limbs. Exoskeleton rehabilitation robots can be directly worn on the human body. Their various degrees of freedom are limited by the movement mode and size of the human joints, so the mechanism is relatively complex. Since the joints of this type of rehabilitation robot are attached to the human body, the weight and inertia of the robot and the patient's limbs will affect the driving characteristics and movement characteristics of the robot. Moreover, when patients use exoskeleton rehabilitation robots, it is more troublesome to wear them and it is difficult to complete the training independently. In addition, the versatility of the product may be poor for patients with different limb lengths.

[0005] Therefore, further research and development of upper limb rehabilitation robots is needed to better serve patients and help them recover as soon as possible. Summary of the invention

[0006] In view of the above problems existing in the prior art, the present invention aims to provide a six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot, which adopts a serial-parallel hybrid method to make the product structure rigid and flexible, and provide sufficient activity space for upper limb rehabilitation exercises.

[0007] The specific technical solutions are as follows:

[0008] A six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot comprises: a lower mechanism, the lower mechanism comprises a chassis, a lifting column arranged on the chassis and a first multi-dimensional force sensor arranged on the lifting column; an intermediate mechanism, the intermediate mechanism is arranged above the lower mechanism, comprises an upper platform, a lower platform and a plurality of connecting components connecting the upper and lower platforms, the lower platform is arranged on the first multi-dimensional force sensor; an upper mechanism, the upper mechanism is arranged above the intermediate mechanism and connected to the upper platform, the upper mechanism comprises a connecting rod assembly and a power member driving the connecting rod assembly to work; an end gripping mechanism, the end gripping mechanism is arranged on the connecting rod assembly of the upper mechanism, comprises a second multi-dimensional force sensor, a gripping handle and an arm bracket, the second multi-dimensional force sensor is arranged on the connecting rod assembly, the arm bracket is rotatably arranged on the upper part of the second multi-dimensional force sensor, and the gripping handle is arranged in the arm bracket.

[0009] Compared with the prior art, the present invention has the following advantages:

[0010] The lower mechanism in the present invention is used to adjust the position and height of the upper limb rehabilitation robot, and is used for the movement of the robot to meet the needs of patients of different heights and body shapes; the middle mechanism is a four-degree-of-freedom parallel mechanism including one translation and three rotations; the upper mechanism is a planar two-degree-of-freedom parallel mechanism including two translations, and finally interacts with the patient through the end grip mechanism to pull the affected limb for rehabilitation exercises. Compared with the prior art, the present invention adopts a series-parallel hybrid six-degree-of-freedom structure to achieve a larger range of upper limb motion, solving the problems of small motion space of the parallel structure and poor rigidity of the series structure.

[0011] Preferably, the connecting assembly includes a first electric cylinder, a push rod connected to the first electric cylinder, and a first ball head assembly and a second ball head assembly respectively connected to two ends of the first electric cylinder.

[0012] Preferably, the first ball head assembly includes a first ball joint seat and a ball head with a rod that are connected to each other, the first ball joint seat is arranged on the upper platform, and the ball head with a rod is connected to the push rod.

[0013] Preferably, a cylindrical pin with a hole is provided on the ball head with a rod, and the ball head with a rod is connected to the push rod by inserting a cotter pin into the cylindrical pin with a hole.

[0014] Preferably, the second ball head assembly includes a connected second ball joint seat and a flanged ball head, the second ball joint seat is arranged on the lower platform, and the flanged ball head is connected to one end of the first electric cylinder.

[0015] Preferably, the number of the connecting components is four, and a suitable number may be selected according to actual needs.

[0016] Preferably, the connecting rod assembly comprises connecting rod arms hinged to each other, wherein the hinges of the two connecting rod arms are fixed on the upper platform.

[0017] Preferably, the power member comprises a telescopic arm, one end of the telescopic arm is hinged to the connecting rod arm, and the other end of the telescopic arm is fixed to the upper platform.

[0018] Preferably, the telescopic arm comprises a connected connection seat and a second electric cylinder, and the connection seat is fixed on the upper platform.

[0019] Preferably, the chassis is a chassis with three legs, and each leg is provided with a Forma wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0022] Figure 3 It is a front view of the overall structure of the present invention;

[0023] Figure 4 It is a side view of the overall structure of the present invention;

[0024] Figure 5 It is a top view of the overall structure of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the lower mechanism in the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the intermediate mechanism in the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of a single connection component in the present invention;

[0028] Fig. 9 It is a schematic diagram of the connection structure between the upper mechanism and the end holding mechanism in the present invention.

[0029] In the attached drawings, 1.1, chassis; 1.2, lifting column; 1.3, first multi-dimensional force sensor; 1.4, Fuma wheel; 2.1, upper platform; 2.2, lower platform; 2.3, first electric cylinder; 2.4, push rod; 2.5, first ball joint seat; 2.6, ball head with rod; 2.7, cylindrical pin with hole; 2.8, second ball joint seat; 2.9, ball head with flange; 3.1, connecting rod arm; 3.2, connecting seat; 3.3, second electric cylinder; 4.1, second multi-dimensional force sensor; 4.2, holding handle; 4.3, arm bracket. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In order to facilitate understanding of the above technical solutions of the present invention, the above technical solutions of the present invention are described in detail below through specific usage methods.

[0032] like Figures 1 to 5 As shown, a six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot includes an upper mechanism, an intermediate mechanism, a lower mechanism and an end gripping mechanism. The lower mechanism can realize the overall movement and up and down height adjustment of the upper limb rehabilitation robot. The intermediate mechanism is a four-degree-of-freedom parallel mechanism including one translation and three rotations. The upper mechanism is a planar two-degree-of-freedom parallel mechanism including two translations. Finally, it interacts with the patient through the end gripping mechanism to pull the affected limb for rehabilitation movements.

[0033] Specifically, Figure 6 As shown, the lower mechanism includes a chassis 1.1. In this embodiment, the chassis 1.1 is a chassis 1.1 with three legs, each leg is provided with a Forma wheel 1.4, which can be adjusted in height, fixed, and movable. A lifting column 1.2 is provided on the chassis 1.1, which can be electrically controlled to rise and fall to adapt to training at different heights. The lifting column 1.2 is provided with a first multi-dimensional force sensor 1.3. In this embodiment, a six-dimensional force sensor is used to ensure the stability of the robot.

[0034] like Figure 7 As shown, the intermediate mechanism is arranged above the lower mechanism, including an upper platform 2.1, a lower platform 2.2 and a plurality of connecting components connecting the upper and lower platforms 2.2. The lower platform 2.2 is arranged on the multi-dimensional force sensor, such as Figure 8As shown, each connecting assembly includes a first electric cylinder 2.3 and a push rod 2.4 connected to the first electric cylinder 2.3, a first ball head assembly and a second ball head assembly respectively connected to both ends of the first electric cylinder 2.3, the first ball head assembly includes a connected first ball joint seat 2.5 and a rod ball head 2.6, the rod ball head 2.6 is provided with a cylindrical pin 2.7 with a hole, the first ball joint seat 2.5 is arranged on the upper platform 2.1, and the rod ball head 2.6 is connected to the push rod 2.4 by inserting a split pin into the cylindrical pin 2.7 with a hole. The second ball head assembly includes a connected second ball joint seat 2.8 and a flanged ball head 2.9, the second ball joint seat 2.8 is arranged on the lower platform 2.2, and the flanged ball head 2.9 is connected to one end of the first electric cylinder 2.3. In this embodiment, both the upper and lower platforms 2.2 are platforms with three legs, and are arranged correspondingly. There are four connecting components connecting the upper and lower platforms 2.2, three of which are respectively located on the three legs of the platform, and one is located at the center of the platform. With this connection method, a four-degree-of-freedom rotation of one translation plus three rotations can be achieved. In this embodiment, the number of connecting components can be selected according to actual needs. The present invention is arranged with three corner points of a triangle, and can also be arranged with four corner points of a quadrilateral, but is not limited to the layout forms listed here.

[0035] like Fig. 9 As shown, the upper mechanism is arranged above the middle mechanism and is connected to the upper platform 2.1. The upper mechanism includes a polygonal connecting rod assembly and a power member that drives the connecting rod assembly. The connecting rod assembly is a quadrilateral connecting rod assembly, including four mutually hinged connecting rod arms 3.1, wherein the hinges of two connecting rod arms 3.1 are fixed at the middle position of the upper platform 2.1; the power member includes two telescopic arms, which are respectively hinged to the middle parts of adjacent connecting rod arms 3.1 to control the extension and retraction of the connecting rod assembly. One end of the two telescopic arms is fixed to one of the legs of the upper platform 2.1. Each telescopic arm includes a connecting seat 3.2 and a second electric cylinder 3.3. The connecting seat 3.2 is fixed to one of the legs of the upper platform 2.1. One end of the second electric cylinder 3.3 is fixed to the connecting seat 3.2, and the other end is hinged to the middle part of the connecting rod arm 3.1, which can electrically drive the extension and retraction of the connecting rod assembly. The above structure is adopted to form a two-degree-of-freedom parallel mechanism of the upper mechanism.

[0036] The end gripping mechanism is arranged at the hinge of two connecting rod arms 3.1 of the connecting rod assembly of the upper mechanism, and can move with the extension and retraction of the connecting rod assembly, thereby driving the reciprocating training of the affected limb. Specifically, the end gripping mechanism includes a second multi-dimensional force sensor 4.1, a gripping handle 4.2 and an arm bracket. The end gripping mechanism is connected to the hinge of the two connecting rod arms 3.1 through the second multi-dimensional force sensor 4.1, the arm bracket is rotatably arranged on the upper part of the second multi-dimensional force sensor 4.1, and the gripping handle 4.2 is arranged in the arm bracket. When the patient uses it, the arm of the affected limb can be placed on the arm bracket, the palm of the hand holds the gripping part, and the telescopic arm drives the connecting rod assembly to extend and retract, thereby driving the extension and retraction of the end gripping mechanism to achieve the training of the affected limb.

[0037] The electric cylinder in the present invention serves as a power source for the upper limb rehabilitation robot to drive its movement. The lower mechanism in the present invention is used to adjust the position and height of the upper limb rehabilitation robot, and is used for the movement of the robot to meet the needs of patients of different heights and body shapes. The telescopic movement of the first electric cylinder 2.3 fixed at the center of the lower platform 2.2 provides a vertical translational movement for the upper platform 2.1, and the three branches composed of the three first electric cylinders 2.3 and the ball head assembly arranged in a triangle provide a rotational movement in three directions for the upper platform 2.1. The second electric cylinder 3.3 installed on the upper platform 2.1 drives the rotation of the connecting rod assembly through telescopic movement, which can realize translation in two directions on the plane. The patient holds his hand on the grip handle 4.2 at the end, and the forearm is supported by the arm bracket. Under the coordinated movement of the electric cylinder, six-degree-of-freedom upper limb rehabilitation training in space is realized. Compared with the prior art, the present invention adopts a series-parallel hybrid six-degree-of-freedom structure to achieve a larger range of upper limb movement, solving the problems of small movement space of the parallel structure and poor rigidity of the series structure.

[0038] In addition, the electric cylinder in the present invention can be replaced by other devices capable of achieving linear motion, such as linear guides, ball screws, hydraulic rods, pneumatic devices, etc. The motor used for driving can be any other form of driving motor or device known in the technical field, such as AC motors, DC motors, servo motors, stepper motors, etc.

[0039] The working principle and workflow of the six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot of the present invention are:

[0040] (1) Patient wearing: Before the patient starts rehabilitation training, adjust the overall height of the frame using the lifting column 1.2 according to the patient's standing or sitting height, and then hold the patient's hand on the grip handle 4.2 at the end, with the forearm supported by the arm bracket.

[0041] (2) Patient training: Start the electric cylinders of the middle and upper mechanisms to drive the affected limb to achieve six-degree-of-freedom rehabilitation training in space.

[0042] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot, characterized in that: include: A lower mechanism, the lower mechanism comprising a chassis (1.1), a lifting column (1.2) provided on the chassis (1.1), and a first multi-dimensional force sensor (1.3) provided on the lifting column (1.2); An intermediate mechanism, the intermediate mechanism being arranged above the lower mechanism and comprising an upper platform (2.1), a lower platform (2.2) and a plurality of connection components connecting the upper and lower platforms (2.2), the number of the connection components being four; the lower platform (2.2) being arranged on a first multi-dimensional force sensor (1.3); An upper mechanism, the upper mechanism is arranged above the intermediate mechanism and connected to the upper platform (2.1), the upper mechanism comprises a connecting rod assembly and a power member driving the connecting rod assembly to work; the connecting rod assembly comprises connecting rod arms (3.1) hinged to each other, wherein the hinges of the two connecting rod arms (3.1) are fixed to the upper platform (2.1); the power member comprises a telescopic arm, one end of the telescopic arm is hinged to the connecting rod arm (3.1), and the other end is fixed to the upper platform (2.1); the telescopic arm comprises a connected connecting seat (3.2) and a second electric cylinder (3.3), and the connecting seat (3.2) is fixed to the upper platform (2.1); An end gripping mechanism is provided on a connecting rod assembly of an upper mechanism, comprising a second multi-dimensional force sensor (4.1), a gripping handle (4.2) and an arm bracket (4.3), wherein the second multi-dimensional force sensor (4.1) is provided on the connecting rod assembly, the arm bracket (4.3) is rotatably provided on the upper part of the second multi-dimensional force sensor (4.1), and the gripping handle (4.2) is provided in the arm bracket (4.3).

2. The six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot according to claim 1, characterized in that: The connection assembly comprises a first electric cylinder (2.3), a push rod (2.4) connected to the first electric cylinder (2.3), and a first ball head assembly and a second ball head assembly respectively connected to two ends of the first electric cylinder (2.3).

3. The six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot according to claim 2, characterized in that: The first ball head assembly comprises a first ball joint seat (2.5) and a ball head with a rod (2.6) which are connected to each other; the first ball joint seat (2.5) is arranged on the upper platform (2.1); and the ball head with a rod (2.6) is connected to the push rod (2.4).

4. The six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot according to claim 3, characterized in that: The rod-carrying ball head (2.6) is provided with a cylindrical pin (2.7) with a hole, and the rod-carrying ball head (2.6) is connected to the push rod (2.4) by inserting a split pin into the cylindrical pin (2.7) with a hole.

5. The six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot according to claim 2, characterized in that: The second ball head assembly comprises a second ball joint seat (2.8) and a flanged ball head (2.9) which are connected to each other; the second ball joint seat (2.8) is arranged on the lower platform (2.2); and the flanged ball head (2.9) is connected to one end of the first electric cylinder (2.3).

6. The six-degree-of-freedom serial-parallel hybrid upper limb rehabilitation robot according to claim 1, characterized in that: The chassis (1.1) is a chassis (1.1) having three legs, each leg being provided with a Forma wheel (1.4).

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