An upper limb single-arm rehabilitation training robot and an operation method thereof

Abstract

The present invention discloses an upper limb single-arm rehabilitation auxiliary training robot and an operation method, comprising a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly connected in sequence; the shoulder joint assembly is used to assist the movement of the patient's shoulder joint; the elbow joint assembly is used to assist the movement of the forearm around the elbow joint; the wrist joint assembly is used to assist the movement of the patient's wrist joint and forearm. The wrist joint assembly includes two driving mechanisms and a handle. The handle realizes the internal rotation / external rotation movement of the forearm by rotation, and at the same time switches the palm between the horizontal state and the vertical state. When the palm is in the vertical state, the driving mechanism can realize the palmar flexion / dorsiflexion movement of the wrist; when the palm is in the horizontal state, the driving mechanism can realize the radial deviation / ulnar deviation movement of the wrist. In the present invention, the wrist joint can present different movement states, and the full-motion rehabilitation training of the wrist can be realized through a simple structure.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training equipment, and in particular to an upper limb single-arm rehabilitation training robot and an operation method thereof. Background Art

[0002] Upper limb rehabilitation robots are mainly used to cooperate with or assist rehabilitation therapists in implementing patients' rehabilitation training. Compared with traditional rehabilitation therapist-assisted training, the use of upper limb rehabilitation robots can greatly improve the efficiency of rehabilitation training and reduce the workload of rehabilitation therapists.

[0003] However, since the upper limb rehabilitation robot relies on mechanized means to control the movement of each joint of the upper limb, in order to meet the patients' higher rehabilitation needs and realize more joint rehabilitation exercises, the design requirements for the upper limb rehabilitation robot are also relatively high. The rehabilitation training for the upper limbs mainly includes: flexion / extension, internal rotation / external rotation, and abduction / adduction of the shoulder joint, flexion / extension of the elbow joint, palmar flexion / dorsiflexion, radial deviation / ulnar deviation of the wrist joint and internal rotation / external rotation of the forearm. The upper limb rehabilitation robot in the prior art has a relatively complex structure and cannot perform rehabilitation exercises for the whole arm. It often needs to rely on other machines or rehabilitation therapists to complete a whole set of rehabilitation training. Therefore, it is urgent to design an upper limb rehabilitation robot with a simple structure, which can meet multiple needs and realize more multi-joint rehabilitation exercises. Summary of the invention

[0004] In order to solve the technical problems that existing upper limb rehabilitation robots are large in size, complex in structure, and cannot achieve rehabilitation movements of all joints of the upper limbs, and often need to rely on other machines or rehabilitation therapists to complete a whole set of rehabilitation training, the present invention provides an upper limb single-arm rehabilitation training robot and an operating method thereof to solve the above problems.

[0005] The present invention proposes an upper limb single-arm rehabilitation training robot, comprising a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly connected in sequence; the shoulder joint assembly is used to control the arm to complete the movement of the shoulder joint, and assist the movement of the patient's shoulder joint; the elbow joint assembly is used to control the forearm to complete the movement of the elbow joint, and assist the forearm to move around the elbow joint; the wrist joint assembly is used to control the palm to complete the movement of the wrist joint, and assist the movement of the patient's wrist joint and forearm; wherein, the wrist joint assembly comprises a driving mechanism and a handle, the handle can rotate to realize the internal rotation / external rotation movement of the forearm, and switch the palm between a horizontal state and a vertical state, when the palm is in a vertical state, the driving mechanism realizes the rehabilitation movement of palmar flexion / dorsiflexion; when the palm is in a horizontal state, the driving mechanism realizes the rehabilitation movement of radial deviation / ulnar deviation.

[0006] Furthermore, the wrist joint assembly includes: a first wrist joint drive mechanism, connected to the end of the elbow joint assembly; a first wrist joint fixed frame, installed on the output shaft of the first wrist joint drive mechanism, and driven to rotate by the first wrist joint drive mechanism; a second wrist joint drive mechanism, connected to the first wrist joint fixed frame, and a handle, connected to the output shaft of the second wrist joint drive mechanism, and driven to rotate by the second wrist joint drive mechanism; the output shaft of the second wrist joint drive mechanism coincides with the axis of the forearm, the output shaft of the second wrist joint drive mechanism is perpendicular to the central axis of the handle, and the output shaft of the first wrist joint drive mechanism intersects perpendicularly with the output shaft of the second wrist joint drive mechanism.

[0007] Furthermore, a second wrist joint fixing frame is connected to the output shaft of the second wrist joint driving mechanism, a first slide rail is fixed to the second wrist joint fixing frame, and the handle is slidably connected to the first slide rail so that after the patient holds the handle, the wrist joint is located at the intersection of the output shaft of the first wrist joint driving mechanism and the output shaft of the second wrist joint driving mechanism.

[0008] Furthermore, the elbow joint assembly includes: an elbow joint driving mechanism, connected to the end of the shoulder joint assembly; a forearm bracket, installed on the output shaft of the elbow joint driving mechanism and driven to rotate by the elbow joint driving mechanism; the wrist joint first driving mechanism is fixedly connected to the forearm bracket, and the forearm bracket has a mechanical limit end surface on one end facing the wrist joint assembly, and when the wrist joint first fixing frame rotates, the side surface of the wrist joint first fixing frame can abut against the limit end surface.

[0009] Furthermore, one end of the first wrist joint fixing frame in the length direction is an arcuate end surface, the limiting end surface is an arcuate matching surface that fits the arcuate end surface, and the first wrist joint fixing frame rotates between two ends of the arcuate matching surface in the circumferential direction.

[0010] Furthermore, the forearm bracket includes an upper forearm bracket, a first telescopic assembly and a lower forearm bracket, the upper forearm bracket is installed on the output shaft of the elbow joint driving mechanism, the lower forearm bracket is connected to the first driving mechanism of the wrist joint, and the first telescopic assembly is used to control the upper forearm bracket and the lower forearm bracket to approach or move away from each other, thereby adjusting the length of the forearm bracket.

[0011] Furthermore, the shoulder joint assembly includes a first shoulder joint drive mechanism, a first movable frame, a second shoulder joint drive mechanism, a second movable frame, a third shoulder joint drive mechanism and an upper arm support which are connected in sequence, and the upper arm support is connected to the elbow joint drive mechanism; the central axes of the first shoulder joint drive mechanism, the second shoulder joint drive mechanism and the third shoulder joint drive mechanism intersect at one point.

[0012] Furthermore, the upper arm bracket and the lower arm bracket are respectively provided with a human-machine restraint mechanism, and the human-machine restraint mechanism includes a three-dimensional force detection seat, an arch frame, an adapter plate, a support plate and a strap. The three-dimensional force detection seat is fixed above the three-dimensional force, and the arch frame is rotatably connected to the three-dimensional force detection seat so that the arch frame can deflect in a direction perpendicular to the upper arm / lower arm bracket, and the three-dimensional force detection seat has a limiting structure for limiting the rotation of the arch frame. The two ends of the adapter plate are respectively hinged to the support plate and the arch frame, so that the support plate can deflect along the length direction of the upper arm / lower arm bracket.

[0013] Furthermore, the bending angle of the connecting plate connecting the first driving mechanism of the shoulder joint and the second driving mechanism of the shoulder joint is 120°, and the bending angle of the connecting plate connecting the second driving mechanism of the shoulder joint and the third driving mechanism of the shoulder joint is 120°.

[0014] The present invention further proposes an operating method, which is based on the upper limb single-arm rehabilitation training robot described above and comprises the following steps:

[0015] Palmar flexion and dorsiflexion movements: first start the second driving mechanism of the wrist joint, close the first driving mechanism of the wrist joint, rotate the handle through the second driving mechanism of the wrist joint, make the central axis of the handle parallel to the output axis of the first driving mechanism of the wrist joint, then start the first driving mechanism of the wrist joint, close the second driving mechanism of the wrist joint, and realize palmar flexion and dorsiflexion movements through the first driving mechanism of the wrist joint.

[0016] Movement of radial deviation and ulnar deviation: first start the second driving mechanism of the wrist joint, close the first driving mechanism of the wrist joint, rotate the handle through the second driving mechanism of the wrist joint, make the central axis of the handle perpendicular to the output axis of the first driving mechanism of the wrist joint, then start the first driving mechanism of the wrist joint, close the second driving mechanism of the wrist joint, and realize the movement of radial deviation and ulnar deviation through the first driving mechanism of the wrist joint.

[0017] Forearm rotational movement: when the central axis of the handle is perpendicular to the output axis of the first driving mechanism of the wrist joint, the forearm rotational movement is achieved by starting the second driving mechanism of the wrist joint.

[0018] The beneficial effects of the present invention are:

[0019] (1) The upper limb single-arm rehabilitation training robot and operation method described in the present invention, the wrist joint assembly changes the direction of the palm by rotating the handle, so that when the drive mechanism is started, the wrist presents different movement states, and the full-motion rehabilitation training of the wrist can be achieved through a simple structure.

[0020] (2) The upper limb single-arm rehabilitation training robot and operation method described in the present invention have two driving mechanisms in the wrist joint assembly. The two driving mechanisms and the handle are reasonably arranged so that one of the driving mechanisms can realize the rotation of the forearm while adjusting the position of the handle, and the other driving mechanism can realize different rehabilitation exercise forms when the handle is in different states.

[0021] (3) The upper limb single-arm rehabilitation training robot and operation method described in the present invention fix the upper arm and the forearm through a human-machine constraint mechanism, and the human-machine constraint mechanism is in a proper constraint state with the human body, has a high degree of human-machine compatibility, can adjust the front and rear position and inclination of the straps to adapt to the patient's specific posture, and the patient is more comfortable when using it.

[0022] (4) The upper limb single-arm rehabilitation training robot and operation method described in the present invention has a shoulder joint assembly that connects two adjacent drive mechanisms via a connecting plate with a bending angle of 120°. By arranging the positions of the three drive mechanisms, the range of motion of the shoulder joint is increased, making the patient's rehabilitation training range close to the normal range of motion of the human shoulder joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 is a stereoscopic diagram (viewed from above) of a specific embodiment of the upper limb single-arm rehabilitation training robot of the present invention;

[0025] Figure 2 yes Figure 1 The enlarged image at a in the middle;

[0026] Figure 3 yes Figure 1 Enlarged view of point b in the middle;

[0027] Figure 4 is a stereoscopic diagram of a specific embodiment of the upper limb single-arm rehabilitation training robot of the present invention (viewed from below);

[0028] Figure 5 yes Figure 4 Enlarged view at point e in the middle;

[0029] Figure 6 It is a front view of the human-machine restraint mechanism of the present invention;

[0030] Figure 7 yes Figure 6 AA section view;

[0031] Figure 8 is a bottom view of a specific embodiment of the upper limb single-arm rehabilitation training robot of the present invention;

[0032] Fig. 9 yes Figure 8 BB section view;

[0033] Fig.10 yes Fig. 9 Enlarged image at c in the middle;

[0034] Fig.11 yes Fig. 9 Enlarged image at point d in the middle;

[0035] Fig.12 yes Figure 8 Bottom view of

[0036] Fig.13 yes Fig.12 DD section view;

[0037] Fig.14 It is a top view (including a partial enlarged view) of a specific implementation of the upper limb single-arm rehabilitation training robot described in the present invention.

[0038] In the figure, 1, shoulder joint assembly, 101, first shoulder joint driving mechanism, 102, first moving frame, 103, second shoulder joint driving mechanism, 104, second moving frame, 105, third shoulder joint driving mechanism, 106, first adapter frame, 107, second adapter frame, 108, upper bracket of the big arm, 109, lower bracket of the big arm, 110, second telescopic assembly, 111, first fixed bracket of the shoulder joint, 112, second fixed bracket of the shoulder joint, 113, third fixed bracket of the shoulder joint, 114, second arc groove, 115, first limiting block, 116, second limiting block, 117, first protrusion, 118, third arc groove, 119, third limiting block, 2, elbow joint assembly, 201, elbow joint driving mechanism, 202, upper bracket of the forearm, 203, lower bracket of the forearm, 204, arc mating surface , 205, the first telescopic component, 2051, the trapezoidal screw, 2052, the connecting nut, 2053, the handwheel, 2054, the guide shaft, 2055, the limit nut, 206, the fourth limit block, 207, the second protrusion, 3, the wrist joint assembly, 301, the handle, 302, the first wrist joint drive mechanism, 303, the first wrist joint fixed frame, 304, the second wrist joint drive mechanism, 305, the second wrist joint fixed frame, 306, the first slide rail, 4, the human-machine restraint mechanism, 401, the three-dimensional force detection seat, 4011, the base, 40111, the first arc groove, 4012, the three-dimensional force sensor, 4013, the cap, 402, the hinge shaft, 403, the adapter plate, 404, the support plate, 405, the strap, 406, the limit pin, 407, the arch frame, 408, the second slide rail. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] Embodiment 1

[0041] like Figure 1-Figure 14 As shown, an upper limb single-arm rehabilitation training robot comprises a shoulder joint assembly 1, an elbow joint assembly 2 and a wrist joint assembly 3 connected in sequence; the shoulder joint assembly 1 is used to control the movement of the arm around the shoulder joint, and assist the movement of the patient's shoulder joint. The movement of the shoulder joint mainly includes adduction / abduction, internal rotation / external rotation, and flexion / extension; the elbow joint assembly 2 is used to control the movement of the forearm around the elbow joint, and assist the movement of the forearm around the elbow joint. The movement of the elbow joint mainly includes flexion / extension; the wrist joint assembly 3 is used to control the movement of the palm around the wrist joint, and assist the movement of the patient's wrist and forearm. The movement of the wrist joint mainly includes palmar flexion / dorsiflexion, radial deviation / ulnar deviation and forearm rotation; the wrist joint assembly 3 comprises a driving mechanism and a grip 301, the grip 301 can be rotated to realize the internal rotation or external rotation movement of the forearm, and at the same time, the palm can be switched between a horizontal state and a vertical state. When the palm is in a horizontal state, the driving mechanism realizes the rehabilitation movement of radial deviation, ulnar deviation and forearm rotation; when the palm is in a vertical state, the driving mechanism realizes the rehabilitation movement of palmar flexion and dorsiflexion of the forearm.

[0042] The present invention can realize full-degree-of-freedom rehabilitation movement of the entire upper limb single arm through an upper limb single-arm rehabilitation training robot, wherein the rotation of the handle 301 is used to change the direction of the palm, and the hand can be operated by holding the handle 301 without removing the upper limb single-arm rehabilitation training robot, and the operation is simple and quick.

[0043] Wrist Joint Component 3:

[0044] like Figure 1 and Figure 3As shown, the wrist joint assembly 3 includes a handle 301, a first wrist joint drive mechanism 302, a first wrist joint fixed frame 303 and a second wrist joint drive mechanism 304. The housing of the first wrist joint drive mechanism 302 is connected to the end of the elbow joint assembly 2. The movement of the elbow joint assembly 2 can drive the entire wrist joint assembly 3 to move through the housing of the first wrist joint drive mechanism 302. The first wrist joint fixed frame 303 is installed on the output shaft of the first wrist joint drive mechanism 302 and is driven to rotate by the first wrist joint drive mechanism 302. The housing of the second wrist joint drive mechanism 304 is connected to the first wrist joint fixed frame 303. The movement state of the first wrist joint fixed frame 303 can be transmitted to the handle 301 through the second wrist joint drive mechanism 304. The handle 301 is connected to the output shaft of the second wrist joint drive mechanism 304 and is driven to rotate by the second wrist joint drive mechanism 304. The first wrist joint fixed frame 303 plays a role of transfer. The corresponding structure of the first wrist joint fixed frame 303 can be designed according to the positional relationship between the first wrist joint drive mechanism 302 and the second wrist joint drive mechanism 304. The structures of the first wrist joint driving mechanism 302 and the second wrist joint driving mechanism 304 are the same. Taking the first wrist joint driving mechanism 302 as an example, the first wrist joint driving mechanism 302 is a motor module including a reducer and an encoder.

[0045] The output shaft of the second driving mechanism 304 of the wrist joint coincides with the axis of the forearm, and the output shaft of the second driving mechanism 304 of the wrist joint is perpendicular to the central axis of the grip 301. The grip 301 is arranged close to the straight line where the output shaft of the second driving mechanism 304 of the wrist joint is located. When the patient holds the grip 301, the central axis of the arm is approximately coaxial with the output shaft of the second driving mechanism 304 of the wrist joint. After starting the second driving mechanism 304 of the wrist joint, the forearm rotation movement can be realized. During the rotation of the forearm, the palm can switch between the horizontal state and the vertical state. The output shaft of the first driving mechanism 302 of the wrist joint is perpendicular to the output shaft of the second driving mechanism 304 of the wrist joint. A driving mechanism 302 is used to control the radial deviation / ulnar deviation and palmar flexion / dorsiflexion of the wrist joint. The handle 301 needs to be as close as possible to the straight line where the central axis of the first driving mechanism 302 of the wrist joint is located. In this embodiment, the output shaft of the second driving mechanism 304 of the wrist joint is arranged vertically. When the handle 301 is in a horizontal state, the palm is held horizontally on the handle 301, and the second driving mechanism 304 of the wrist joint drives the palm to rotate along the horizontal plane, which can control the radial deviation / ulnar deviation movement of the wrist joint. When the handle 301 is in a vertical state, the palm is held vertically on the handle 301, and the second driving mechanism 304 of the wrist joint drives the palm to rotate along the horizontal plane, which can control the palmar flexion / dorsiflexion movement of the wrist joint.

[0046] In order to make the handle 301 be located at the intersection of the output shaft of the first drive mechanism 302 of the wrist joint and the output shaft of the second drive mechanism 304 of the wrist joint, preferably, the output shaft of the second drive mechanism 304 of the wrist joint is connected with a second fixed frame 305 of the wrist joint, and the first slide rail 306 is fixed on the second fixed frame 305 of the wrist joint. The handle 301 is slidably connected to the first slide rail 306. By sliding the handle 301 back and forth, the handle 301 can be located on the central axis of the first drive mechanism 302 of the wrist joint. By adjusting the axial position of the palm on the handle 301, it can adapt to different palm sizes, so that the patient's wrist can be located on the central axis of the second drive mechanism 304 of the wrist joint after holding the handle 301.

[0047] Elbow Joint Component 2:

[0048] like Figure 1 , Fig. 9 and Fig.14 As shown, the elbow joint assembly 2 includes an elbow joint driving mechanism 201 and a forearm bracket, and the shell of the elbow joint driving mechanism 201 is connected to the end of the shoulder joint assembly 1; the movement of the shoulder joint assembly 1 can drive the entire elbow joint assembly 2 to move through the shell of the elbow joint driving mechanism 201, and the forearm bracket is installed on the output shaft of the elbow joint driving mechanism 201 and is driven to rotate by the elbow joint driving mechanism 201; the shell of the first wrist joint driving mechanism 302 is fixedly connected to the forearm bracket, and the forearm bracket has a limiting end face on one end facing the wrist joint assembly 3, and when the first wrist joint fixing frame 303 rotates, the side of the first wrist joint fixing frame 303 can abut against the limiting end face.

[0049] The drive of the elbow joint drive mechanism 201 can realize the flexion / extension rehabilitation exercise at the elbow joint. The limiting end surface can mechanically limit the first wrist joint fixing frame 303 to prevent the patient from excessively bending the wrist joint during exercise.

[0050] To ensure rotation stability, the wrist joint first fixing frame 303 in this embodiment contacts the forearm support through an arc surface, that is, one end of the length direction of the wrist joint first fixing frame 303 is an arc end surface, the limiting end surface is an arc mating surface 204 that fits the arc end surface, and the wrist joint first fixing frame 303 rotates between the two ends of the arc mating surface 204 in the circumferential direction. Specifically, as Figure 8 As shown, the forearm bracket includes an upper forearm bracket 202, a first telescopic assembly 205 and a lower forearm bracket 203. The upper forearm bracket 202 is installed on the output shaft of the elbow joint drive mechanism 201, and the lower forearm bracket 203 is connected to the first wrist joint drive mechanism 302. The first telescopic assembly 205 is used to control the upper forearm bracket 202 and the lower forearm bracket 203 to move closer or farther away from each other. The arc-shaped mating surface 204 is located at the end of the lower forearm bracket 203, as shown in FIG. Fig.14As shown, the end of the lower arm bracket 203 has a groove, and the side of the groove is an arc-shaped matching surface 204. The first wrist joint fixing frame 303 is located in the groove. The length of the first wrist joint fixing frame 303 is greater than the diameter of the arc-shaped matching surface 204. When the first wrist joint fixing frame 303 rotates, the side of the first wrist joint fixing frame 303 can abut against the end of the arc-shaped matching surface 204 to achieve mechanical limit. As a preferred embodiment, the center of the arc-shaped matching surface 204 fits with the end of the first wrist joint fixing frame 303, and the two ends of the arc-shaped matching surface 204 gradually expand outward. The structure of the elbow joint driving mechanism 201 is the same as that of the first wrist joint driving mechanism 302.

[0051] The first telescopic assembly 205 is used to realize telescopic translation movement, for example, it can be a telescopic cylinder, a screw nut mechanism, etc. In this embodiment, Figure 5 and Fig.10 As shown, the first telescopic component 205 includes a trapezoidal screw rod 2051, a connecting nut 2052, a handwheel 2053 and a guide shaft 2054. The forearm upper bracket 202 and the forearm lower bracket 203 have downwardly extending bosses. The trapezoidal screw rod 2051 is connected to the two bosses, and the connecting nut 2052 is fixed on the boss of the forearm upper bracket 202. The trapezoidal screw rod 2051 is threadedly matched with the connecting nut 2052. A limiting nut 2055 is installed on one end of the guide shaft 2054, and the other end passes through the boss of the forearm upper bracket 202 and is threadedly fixed to the boss of the upper arm bracket 109. The guide shaft 2054 can slide relative to the forearm upper bracket 202, and the limiting nut 2055 can mechanically limit the guide shaft 2054 to prevent the guide shaft 2054 from escaping from the boss of the forearm upper bracket 202. The trapezoidal screw rod 2051 is rotatably connected to the boss of the lower forearm bracket 203 through a linear bearing, and the handwheel 2053 is fixed at the end of the trapezoidal screw rod 2051. When the handwheel 2053 is rotated, the handwheel 2053 drives the trapezoidal screw rod 2051 to rotate, thereby causing the upper forearm bracket 202 to move relative to the trapezoidal screw rod 2051. Since the trapezoidal screw rod 2051 and the lower forearm bracket 203 are axially fixed through linear bearings, the upper forearm bracket 202 moves relative to the lower forearm bracket 203, thereby realizing the extension and retraction of the forearm bracket.

[0052] Shoulder Component 1:

[0053] The shoulder joint assembly 1 includes a first shoulder joint drive mechanism 101, a first movable frame 102, a second shoulder joint drive mechanism 103, a second movable frame 104, a third shoulder joint drive mechanism 105 and an upper arm support which are connected in sequence, and the upper arm support is connected to the shell of the elbow joint drive mechanism 201; the central axes of the first shoulder joint drive mechanism 101, the second shoulder joint drive mechanism 103 and the third shoulder joint drive mechanism 105 intersect at one point.

[0054] like Figure 1 and Figure 2 As shown, the housing of the first shoulder joint drive mechanism 101 is fixed on the first shoulder joint fixed frame 111, the first shoulder joint fixed frame 111 is installed on the fixed structure, the first mobile frame 102 is installed on the output shaft of the first shoulder joint drive mechanism 101, the housing of the second shoulder joint drive mechanism 103 is fixed on the second shoulder joint fixed frame 112, the second shoulder joint fixed frame 112 is connected to the first mobile frame 102 through the first adapter frame 106, the output shaft of the second shoulder joint fixed frame 112 is connected to the second mobile frame 104, the housing of the third shoulder joint drive mechanism 105 is fixed on the third shoulder joint fixed frame 113, the third shoulder joint fixed frame 113 is connected to the second mobile frame 104 through the second adapter frame 107, and the output shaft of the third shoulder joint drive mechanism 105 is fixedly installed with a large arm bracket. The first shoulder joint drive mechanism 101, the second shoulder joint drive mechanism 103, and the third shoulder joint drive mechanism 105 are all the same as the first wrist joint drive mechanism 302. The rotation axes of the first shoulder joint drive mechanism 101, the second shoulder joint drive mechanism 103, and the third shoulder joint drive mechanism 105 can be perpendicular to each other. In order to expand the rotation range, in this embodiment, the first adapter frame 106 and the second adapter frame 107 are used to adjust the angle between two adjacent drive mechanisms. The bending angle of the first adapter frame 106 is 120°, and the bending angle of the second adapter frame 107 is 120°.

[0055] The shoulder joint assembly 1 can realize adduction / abduction, internal rotation / external rotation, and flexion / extension rehabilitation exercises at the shoulder joint.

[0056] In order to be able to adjust the length of the boom support, the boom support preferably uses the same telescopic structure as the forearm support, that is, the boom support includes an upper boom support 108, a lower boom support 109 and a second telescopic component 110 connecting the upper boom support 108 and the lower boom support 109, the structure of the second telescopic component 110 is the same as the first telescopic component 205, the upper boom support 108 is installed on the output shaft of the third drive mechanism 105 of the shoulder joint, and the lower boom support 109 is fixed to the shell of the elbow joint drive mechanism 201.

[0057] Embodiment 2

[0058] On the basis of the first embodiment, the upper arm support and the lower arm support are respectively provided with a human-machine constraint mechanism 4, and the number of degrees of freedom of the human-machine constraint mechanism 4 is obtained according to the following formula:

[0059]

[0060] Where F is the number of degrees of freedom in the closed chain; f i is the number of degrees of freedom of joint i; n is the number of joints; d is the dimension of the motion space; l is the number of links in the closed chain.

[0061]

[0062] In the formula, f ik is the number of degrees of freedom of the known joint i; m is the number of known joints; f juk is the number of degrees of freedom of the unknown joint j.

[0063] Among them, the number of unknown degrees of freedom in the upper arm human-machine closed chain is: The number of unknown degrees of freedom in the upper limb human-machine closed chain is: Then the number of degrees of freedom of the human-machine constraint mechanism of the upper arm and the lower arm is 3 respectively.

[0064] In this embodiment, the structures of the two human-machine restraint mechanisms 4 are the same. Taking the human-machine restraint mechanism 4 connected to the boom bracket as an example, the human-machine restraint mechanism 4 includes a three-dimensional force detection seat 401, an arch frame 407, an adapter plate 403, a support plate 404 and a strap 405. The three-dimensional force detection seat 401 includes a base 4011, a three-dimensional force sensor 4012 installed on the base 4011, and a cap 4013 fixed to the top of the three-dimensional force sensor 4012. The base 4011 is fixed above the boom bracket, the arch frame 407 is rotatably connected to the base 4011, so that the arch frame 407 deflects along the direction of the boom bracket, and the three-dimensional force detection seat 401 has a limiting structure for limiting the rotation of the arch frame 407. The two ends of the adapter plate 403 are respectively hinged to the support plate 404 and the arch frame 407, so that the support plate 404 can be tilted along the length direction perpendicular to the boom bracket, and the strap 405 is connected to the top of the support plate 404.

[0065] like Figure 6 , Figure 7 and Fig.10 As shown, both sides of the arch frame 407 have a first arc groove 40111, the arc center of the first arc groove 40111 is located above the first arc groove 40111, and a hinge shaft 402 is set at the arc center of the first arc groove 40111, so that the arch frame 407 is hinged to the base 4011, so that the arch frame 407 can be tilted forward and backward along the length direction of the upper arm support, and the limiting structure can be a limiting pin 406 fixed on both sides of the base 4011, and the limiting pin 406 is inserted into the first arc groove 40111. When the limiting pin 406 abuts against the end of the first arc groove 40111, the arch frame 407 cannot continue to rotate. Figure 7In the figure, the lower right end of the adapter plate 403 is hinged to the arch frame 407 through a hinge, and the upper left end of the adapter plate 403 is hinged to the support plate 404 through a hinge. The central axis of the hinge is parallel to the length direction of the upper arm support, and the central axes of the two hinges are not colinear, so the support plate 404 can be tilted along the two sides of the upper arm support. A second slide rail 408 is preferably provided on the top of the support plate 404, and the second slide rail 408 is parallel to the length direction of the upper arm support. The strap 405 is slidably connected to the second slide rail 408, and the position of the strap 405 on the arm can be adjusted according to the length of the arm. Through the first arc groove 40111, the double hinge, and the second slide rail 408, when the patient uses the rehabilitation robot, the human-machine restraint mechanism 4 can adapt to the slight changes of the patient's upper arm and forearm, thereby improving the patient's comfort.

[0066] Embodiment 3

[0067] On the basis of the first or second embodiment, in order to prevent the first driving mechanism 101 of the shoulder joint from rotating too much and causing shoulder joint damage, as Figure 2 As shown, in this embodiment, a second arc groove 114 is provided on the end face of the first movable frame 102 which is opposite to the first fixed frame 111 of the shoulder joint, and a first limit block 115 suitable for inserting into the second arc groove 114 is fixed on the shoulder joint fixed frame. The arc center of the second arc groove 114 is colinear with the rotation center of the first movable frame 102. The first limit block 115 moves in the second arc groove 114 to play a mechanical limiting role to prevent the first movable frame 102 from rotating at an excessive angle.

[0068] Similarly, if Fig.11 As shown, a second limit block 116 is installed on the second fixed frame 112 of the shoulder joint, and a first protrusion 117 is fixed to the outer wall of the second movable frame 104. When the first protrusion 117 rotates to the second limit block 116, the second limit block 116 prevents the first protrusion 117 from continuing to rotate, thereby playing a role of mechanical limiting.

[0069] Similarly, if Fig.12 , Fig.13 As shown, the upper arm bracket 108 has a third arc groove 118 at the part which is rotatably connected to the third fixing frame 113 of the shoulder joint. The arc center of the third arc groove 118 is colinear with the rotation center of the upper arm bracket 108. The third fixing frame 113 of the shoulder joint is provided with a third limit block 119. The third limit block 119 moves in the third arc groove 118 to play a mechanical limit role.

[0070] like Fig.14As shown, a fourth limit block 206 is fixed on the upper arm lower bracket 203, and a second protrusion 207 is installed on the side of the lower arm upper bracket. When the second protrusion 207 rotates to the fourth limit block 206, the fourth limit block 206 prevents the second protrusion 207 from continuing to rotate, thereby playing a role of mechanical limiting.

[0071] Embodiment 4

[0072] An operating method, based on the upper limb single-arm rehabilitation training robot described above, comprises the following steps:

[0073] Palmar flexion and dorsal flexion movement: first start the second driving mechanism 304 of the wrist joint, close the first driving mechanism 302 of the wrist joint, the second driving mechanism 304 of the wrist joint drives the handle 301 to rotate, so that the central axis of the handle 301 is parallel to the output axis of the first driving mechanism 302 of the wrist joint, then start the first driving mechanism 302 of the wrist joint, close the second driving mechanism 304 of the wrist joint, and realize the palmar flexion and dorsal flexion movement through the first driving mechanism 302 of the wrist joint.

[0074] Movement of radial deviation and ulnar deviation: first, start the second driving mechanism 304 of the wrist joint, and close the first driving mechanism 302 of the wrist joint. The second driving mechanism 304 of the wrist joint drives the handle 301 to rotate, so that the central axis of the handle 301 is perpendicular to the output axis of the first driving mechanism 302 of the wrist joint. Then, start the first driving mechanism 302 of the wrist joint, and close the second driving mechanism 304 of the wrist joint. The movement of radial deviation and ulnar deviation is realized through the first driving mechanism 302 of the wrist joint.

[0075] Forearm rotational movement: When the central axis of the handle 301 is perpendicular to the output axis of the first wrist joint driving mechanism 302, the forearm rotational movement is achieved by starting the second wrist joint driving mechanism 304.

[0076] The operation method of the shoulder joint assembly 1 in the present invention is the same as the operation method of the shoulder joint of a rehabilitation robot in the prior art, and will not be described in detail here.

[0077] In the description of the present invention, it is necessary to understand that the terms "center", "front", "rear", "inside", "outside", "axial" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0078] Furthermore, the terms “first”, “second”, etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance.

[0079] In this specification, the schematic representation of the terms does not necessarily refer to the same embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments.

[0080] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An upper limb single-arm rehabilitation training robot, characterized in that: It comprises a shoulder joint component (1), an elbow joint component (2) and a wrist joint component (3) which are connected in sequence; The shoulder joint assembly (1) is used to assist the movement of the patient's shoulder joint; The elbow joint assembly (2) is used to assist the movement of the forearm around the elbow joint; The wrist joint assembly (3) is used to assist the movement of the patient's wrist joint and forearm; The wrist joint assembly (3) comprises a driving mechanism and a handle (301), wherein the handle (301) can be rotated to realize internal or external rotation of the forearm, and at the same time, the palm can be switched between a horizontal state and a vertical state. When the palm is in a vertical state, the driving mechanism can realize palmar flexion or dorsiflexion of the wrist; when the palm is in a horizontal state, the driving mechanism can realize radial deviation or ulnar deviation of the wrist. The elbow joint assembly (2) comprises a forearm support; the shoulder joint assembly (1) comprises an upper arm support; The upper arm support and the lower arm support are respectively provided with a human-machine restraint mechanism (4), the human-machine restraint mechanism (4) comprising a three-dimensional force detection seat (401), an arch frame (407), an adapter plate (403), a support plate (404) and a strap (405), the three-dimensional force detection seat (401) comprising a base (4011), the base (4011) being fixed to the upper arm support or the lower arm support; the arch frame (407) has a first arc groove (40111) on both sides, the arc center of the first arc groove (40111) is located above the first arc groove (40111), and the arc center of the first arc groove (40111) is located above the first arc groove (40111). A hinge shaft (402) is provided at the base (4011) so that the arch frame (407) is rotatably connected to the base (4011); limit pins (406) are fixedly provided on both sides of the base (4011); the limit pins (406) are inserted into the first arc-shaped groove (40111) to limit the rotation of the arch frame (407); the lower right end of the adapter plate (403) is hinged to the arch frame (407) through a hinge, and the upper left end of the adapter plate (403) is hinged to the support plate (404) through a hinge; the central axes of the two hinges are parallel to the length direction of the upper arm bracket or the lower arm bracket, and the central axes of the two hinges are not colinear.

2. The upper limb single-arm rehabilitation training robot according to claim 1, characterized in that: The wrist joint assembly (3) further comprises: A first wrist joint driving mechanism (302) connected to the end of the elbow joint assembly (2); A first wrist joint fixing frame (303) is mounted on the output shaft of the first wrist joint driving mechanism (302) and is driven to rotate by the first wrist joint driving mechanism (302); The second wrist joint driving mechanism (304) is connected to the first wrist joint fixing frame (303). The handle (301) is connected to the output shaft of the second wrist joint driving mechanism (304), and is driven to rotate by the second wrist joint driving mechanism (304); The output shaft of the second wrist joint drive mechanism (304) coincides with the axis of the forearm, the output shaft of the second wrist joint drive mechanism (304) is perpendicular to the central axis of the handle (301), and the output shaft of the first wrist joint drive mechanism (302) intersects perpendicularly with the output shaft of the second wrist joint drive mechanism (304).

3. The upper limb single-arm rehabilitation training robot according to claim 2, characterized in that: The output shaft of the second wrist joint drive mechanism (304) is connected to a second wrist joint fixing frame (305), a first slide rail (306) is fixed to the second wrist joint fixing frame (305), and the grip (301) is slidably connected to the first slide rail (306), so that after the patient grips the grip (301), the wrist joint can be located at the intersection of the output shaft of the first drive mechanism (302) and the output shaft of the second wrist joint drive mechanism (304).

4. The upper limb single-arm rehabilitation training robot according to claim 2, characterized in that: The elbow joint assembly (2) comprises: An elbow joint driving mechanism (201) connected to the end of the shoulder joint assembly (1); The forearm bracket is mounted on the output shaft of the elbow joint driving mechanism (201) and is driven to rotate by the elbow joint driving mechanism (201); The first wrist joint driving mechanism (302) is fixedly connected to the forearm bracket, and the forearm bracket has a limiting end surface at one end facing the wrist joint component (3), and when the first wrist joint fixing frame (303) rotates, the side surface of the first wrist joint fixing frame (303) can abut against the limiting end surface.

5. The upper limb single-arm rehabilitation training robot according to claim 4, characterized in that: One end of the first wrist joint fixing frame (303) in the length direction is an arc-shaped end face, the limiting end face is an arc-shaped matching surface (204) that fits the arc-shaped end face, and the first wrist joint fixing frame (303) rotates between two ends in the circumferential direction of the arc-shaped matching surface (204).

6. The upper limb single-arm rehabilitation training robot according to claim 4, characterized in that: The forearm bracket comprises an upper forearm bracket, a first telescopic assembly (205) and a lower forearm bracket, wherein the upper forearm bracket is mounted on the output shaft of the elbow joint drive mechanism (201), the lower forearm bracket is connected to the wrist joint first drive mechanism (302), and the first telescopic assembly (205) is used to adjust the length of the forearm bracket.

7. The upper limb single-arm rehabilitation training robot according to claim 4, characterized in that: The shoulder joint assembly (1) comprises a first shoulder joint drive mechanism (101), a first moving frame (102), a second shoulder joint drive mechanism (103), a second moving frame (104), a third shoulder joint drive mechanism (105) and the upper arm support which are connected in sequence, and the upper arm support is connected to the elbow joint drive mechanism (201); the central axes of the first shoulder joint drive mechanism (101), the second shoulder joint drive mechanism (103) and the third shoulder joint drive mechanism (105) intersect at one point.

8. The upper limb single-arm rehabilitation training robot according to claim 7, characterized in that: The bending angle of the connecting plate connecting the first shoulder joint driving mechanism (101) and the second shoulder joint driving mechanism (103) is 120°, and the bending angle of the connecting plate connecting the second shoulder joint driving mechanism (103) and the third shoulder joint driving mechanism (105) is 120°.

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