A three-axis upper limb rehabilitation robotic arm based on ultrasonic motor

Abstract

The present invention discloses a three-axis upper limb rehabilitation mechanical arm based on an ultrasonic motor, comprising a main body support, a first driving member, a transmission wheel, a large arm collar, a collar support, a second driving member, a third driving member and a large arm clamping member. The three driving members control the movement of the mechanical arm in three degrees of freedom, and can drive the entire shoulder and large arm of the human body to perform a variety of circumferential stretching movements. The present invention utilizes the self-locking characteristics of the ultrasonic motor to ensure the safety of the use of the mechanical arm. By simplifying the structure, the weight of the structure is reduced, and the use cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation robot arms, and in particular to a three-axis upper limb rehabilitation robot arm based on an ultrasonic motor. Background Art

[0002] As people age and the population ages, various diseases come along with them. For example, stroke can damage the central nervous system of patients, leading to the loss of some motor functions of the body, and clinical manifestations such as hemiplegia. Through the assistance of rehabilitation robotic arms, patients' motor abilities can be restored and their living abilities can be improved.

[0003] At present, the research on rehabilitation robots occupies a considerable scale at home and abroad, and rehabilitation robots for the central nervous system are the mainstream research direction internationally. 80% of patients with nerve damage have cognitive, speech or motor dysfunction and need rehabilitation, but rehabilitation itself is a kind of physical labor and is easy to cause secondary damage to patients. However, rehabilitation therapists are scarce and the cost of treatment is extremely high. The equipment in the existing traditional rehabilitation training room is simple and the human-computer interaction function is poor. In addition, the research on rehabilitation robots needs to be combined with clinical practice to make full use of clinical resources.

[0004] Compared with traditional motors, ultrasonic motors have the advantages of simple structure, small size and light weight, fast response speed, low noise, low speed and high torque, good control characteristics, self-locking when power off, no interference from magnetic field, accurate movement, etc. In addition, they are also resistant to low temperature and vacuum and adapt to the space environment. In the 21st century, ultrasonic motors will have good development prospects in the development of my country's artificial satellites, missiles, rockets, aircraft, robots, micro-machines, automobiles, maglev trains and other precision instruments.

[0005] BCI is the abbreviation of Brain Computer Interface, which is a direct connection path between the human or animal brain (or the culture of brain cells) and external devices. At present, humans monitor brain wave signals by placing electrodes on the scalp, and then use relevant equipment to integrate and analyze data to obtain thinking activities. Combining it with BCI can control the movement of rehabilitation robotic arms during arm rehabilitation training, thereby promoting the rehabilitation process. Summary of the invention

[0006] Purpose of the invention: In response to the research direction provided in the above background technology, the present invention provides a three-axis upper limb rehabilitation robot arm based on an ultrasonic motor to solve the problem of rehabilitation training after injuries to the human upper limbs caused by stroke, spinal cord injury, brain trauma, etc., while solving the problems of heavy weight, difficult control and high cost of rehabilitation robots.

[0007] Technical solution: To achieve the above purpose, the technical solution adopted by the present invention is:

[0008] A three-axis upper limb rehabilitation mechanical arm based on an ultrasonic motor, comprising a main body support, a first driving member, a transmission wheel, a large arm collar, a collar support, a second driving member, a third driving member and a large arm clamping member;

[0009] The main support is square, and a first driving member is arranged at the upper crossbeam; the first driving member includes a motor fixing member fixed on the crossbeam, the motor is fixed on the motor fixing member, and the output shaft is connected to the transmission wheel; the transmission wheel includes a small pulley, a large pulley and a synchronous belt; the motor output shaft is fixed to the inner ring of the small pulley, and the small pulley drives the large pulley to rotate through the synchronous belt; the large pulley is annular; a large arm ring is arranged in the center; the large arm ring includes an inner ring ring, a retaining ring, a ball bearing and a bearing pulley connecting member arranged in sequence from the inside to the outside; a number of clips extending out of the bearing pulley connecting member are arranged on the front and back sides of the circumference of the bearing pulley connecting member The retaining ring is used to fix the ball bearing between the inner ring and the bearing pulley connecting piece; a plurality of clips extending from the inner ring are arranged along the circumference of the inner ring, and are used to fix the retaining ring between the ball bearing and the inner ring; the retaining ring and the bearing pulley connecting piece clamp the ball bearing for axial positioning of the ball bearing; a collar bracket is also arranged at the lower part of the first driving member; the collar bracket comprises a collar bracket profile arranged vertically and a joint 1 connecting piece with a right-angled cross section; the collar bracket profile is fixed at both sides by angle pieces respectively, and the lower end face is fixed to the upper surface of the horizontal part of the joint 1 connecting piece; the vertical part of the joint 1 connecting piece is fixedly connected to the side of the inner ring collar;

[0010] The second driving member is fixed to the large pulley through a second driving member bracket and rotates with the rotation of the large pulley; the second driving member bracket includes a second driving member profile and a connecting conversion member; one end of the connecting conversion member is fixedly connected to the second driving member profile, and the other end is connected to the second driving member; the second driving member includes an ultrasonic motor, an ultrasonic motor fixing member, a shaft sleeve, a spring retaining ring for a hole, a deep groove ball bearing and a spring retaining ring for a shaft; the ultrasonic motor fixing member is connected to the other end of the connecting conversion member, the ultrasonic motor is fixed in the center hole of the ultrasonic motor fixing member, and the output shaft outputs torque to the shaft sleeve through a pin structure; the deep groove ball bearing is fixed between the center hole of the ultrasonic motor fixing member and the shaft sleeve through a spring retaining ring for a hole and a spring retaining ring for a shaft;

[0011] The third driving member is fixed to the shaft sleeve through the third driving member bracket and rotates with the shaft sleeve; the third driving member includes a driving motor, a driving motor fixing member, an output shaft fixing shell, a driving deep groove ball bearing and an output shaft; the driving motor fixing member is located above the driving motor, and the driving motor outputs torque through the output shaft; the output shaft fixing shell is installed on the outside of the output shaft, and the inner ring is installed with a driving deep groove ball bearing, and the inner ring of the driving deep groove ball bearing is connected to the output shaft; the third driving member bracket includes a horizontally arranged support plate and a vertically arranged third driving member profile, which are fixed as a whole through an angle piece; the lower end of the third driving member profile is fixed to the driving motor fixing member;

[0012] The upper arm clamping piece comprises a clamping fixing plate in the vertical direction and a transverse profile in the horizontal direction; the top of the clamping fixing plate is fixedly connected to the output shaft center, and the upper arm clamping piece rotates together with the output shaft center.

[0013] Furthermore, the upper crossbeam of the main support includes a left crossbeam profile and a right crossbeam profile, and the motor fixing part is respectively connected to the left crossbeam profile and the right crossbeam profile through angle pieces; the lower part of the vertical section profile is placed on the ground through the first profile; and the intersections of each section of the crossbeam profile are connected and fixed with angle pieces.

[0014] Beneficial effects: The three-axis upper limb rehabilitation robot arm based on ultrasonic motor provided by the present invention has the characteristics of three-axis co-drive combined with ultrasonic motor power-off self-locking, fast response and light weight, which improves the safety performance of the rehabilitation robot arm, reduces power consumption, and meets the rehabilitation needs of the human body to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0016] Figure 2 A schematic structural diagram of a main support of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0017] Figure 3 A schematic structural diagram of a first driving component of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0018] Figure 4 A schematic structural diagram of a transmission sprocket of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0019] Figure 5 A schematic structural diagram of a large arm collar of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0020] Figure 6 A schematic structural diagram of a ring bracket of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0021] Figure 7 A schematic structural diagram of a second driving member bracket of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0022] Figure 8 A schematic structural diagram of a second driving component of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0023] Fig. 9 A schematic structural diagram of a third driving member bracket of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0024] Fig.10 A schematic structural diagram of a third driving component of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0025] Fig.11 A schematic structural diagram of a large arm supporting member of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0026] Fig.12 A schematic diagram of the overall structure of a rehabilitation robot arm based on an ultrasonic motor provided by the present invention;

[0027] Fig.13 A working principle diagram of a rehabilitation robotic arm based on an ultrasonic motor provided by the present invention.

[0028] Description of reference numerals:

[0029] 1-main body bracket; 2-first drive member; 3-transmission wheel; 4-big arm collar; 5-collar bracket; 6-second drive member bracket; 7-second drive member; 8-third drive member bracket; 9-third drive member; 10-big arm clamp; 11-first profile; 12-second profile; 13-crossbeam profile; 14-first angle piece; 15-motor; 16-motor fixing piece; 17-second angle piece; 18-synchronous belt; 19-large pulley; 20-small pulley; 21-inner ring; 22-retaining ring; 23-ball bearing; 24-bearing pulley connecting piece; 25-clamp; 26-joint 1 connecting piece; 27-third angle piece; 28-collar bracket profile; 29-fourth angle piece; 30-second drive profile; 31-connection conversion piece; 32-ultrasonic motor; 33-ultrasonic motor fixing piece; 34-sleeve; 35-spring retaining ring for hole; 36-deep groove ball bearing; 37-spring retaining ring for shaft; 38-support plate; 39-fifth corner piece; 40-third drive member profile; 41-drive motor; 42-drive motor fixing piece; 43-output shaft fixing housing; 44-drive deep groove ball bearing; 45-output shaft center; 46-clamping fixing plate; 47-sixth corner piece; 48-transverse profile. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all 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] The present invention provides a three-axis upper limb rehabilitation mechanical arm structure based on an ultrasonic motor. Figure 1 As shown, it includes a main body support 1, a first driving member 2, a transmission wheel 3, a large arm ring 4, a ring support 5, a second driving member 7, a third driving member 9 and a large arm clamping member 10.

[0032] The main frame 1 is square and has a structure as follows Figure 2 As shown, the upper cross beam includes a left cross beam profile and a right cross beam profile, and the motor fixing member 16 is connected to the left cross beam profile and the right cross beam profile through angle fittings. The lower part of the vertical section profile is placed on the ground through the first profile 11. The intersection of each section of the cross beam profile is connected and fixed by angle fittings. A first driving member 2 is provided at the upper cross beam. The first driving member 2 is as shown in FIG. Figure 3 As shown, it includes a motor fixing member 16 fixed on the crossbeam, the motor 15 is fixed on the motor fixing member 16, and the output shaft is connected to the transmission wheel 3 through a flat key.

[0033] The structure of the transmission wheel 3 is as follows Figure 4 As shown, it includes a small pulley 20, a large pulley 19 and a synchronous belt 18. The output shaft of the motor 15 is fixed to the inner ring of the small pulley 20, and the small pulley 20 drives the large pulley 19 to rotate through the synchronous belt 18. The large pulley 19 is annular, and a large arm ring 4 is set in the center. The specific structure is as follows Figure 5 As shown, the arm collar 4 includes an inner ring collar 21, a retaining ring 22, a ball bearing 23 and a bearing pulley connecting member 24 which are sequentially arranged from the inside to the outside. A plurality of clips 25 extending from the bearing pulley connecting member 24 are arranged along the circumference of the bearing pulley connecting member 24, and are used to fix the retaining ring 22 and the ball bearing 23 between the inner ring collar 21 and the bearing pulley connecting member 24. A plurality of clips 25 extending from the inner ring collar 21 are arranged along the circumference of the inner ring collar 21, and are used to fix the retaining ring 22 and the ball bearing 23 between the inner ring collar 21 and the bearing pulley connecting member 24.

[0034] A collar bracket 5 is also provided at the lower part of the first driving member 2. Figure 6 As shown, it includes a vertically arranged collar bracket profile 28 and a joint 1 connecting piece 26 with a right-angled cross section. The collar bracket profile 28 is fixed on both sides by angle pieces, and the lower end surface is fixed to the upper surface of the horizontal part of the joint 1 connecting piece 26. The vertical part of the joint 1 connecting piece 26 is fixedly connected to the side of the inner ring collar 21.

[0035] The second driving member 7 is fixed to the large pulley 19 through the second driving member bracket 6, and rotates with the rotation of the large pulley. The second driving member bracket 6 has a structure as shown in FIG. Figure 7 As shown, it includes a second driving member profile 30 and a connecting conversion member 31. One end of the connecting conversion member 31 is fixedly connected to the second driving member profile 30, and the other end is connected to the second driving member 7. The structure of the second driving member 7 is as shown in FIG. Figure 8 As shown, it includes an ultrasonic motor 32, an ultrasonic motor fixing part 33, a shaft sleeve 34, a spring retaining ring for a hole 35, a deep groove ball bearing 36 and a spring retaining ring for a shaft 37. The ultrasonic motor fixing part 33 is connected to the other end of the connection conversion part 31, and the ultrasonic motor 32 is fixed in the center hole of the ultrasonic motor fixing part 33, and the output shaft outputs torque to the shaft sleeve 34 through a pin structure. The deep groove ball bearing 36 is fixed between the center hole of the ultrasonic motor fixing part 33 and the shaft sleeve 34 through a spring retaining ring for a hole 35 and a spring retaining ring for a shaft 37.

[0036] The third driving member 9 is fixed to the shaft sleeve 34 through the third driving member bracket 8, and rotates with the shaft sleeve. The third driving member 9 has a structure as shown in FIG. Fig.10 As shown in FIG. 1 , the drive motor 41 includes a drive motor 41, a drive motor fixing member 42, an output shaft fixing housing 43, a drive deep groove ball bearing 44 and an output shaft 45. The drive motor fixing member 42 is located above the drive motor 41, and the drive motor 41 outputs torque through the output shaft 45. The output shaft fixing housing 43 is installed on the outside of the output shaft 45, and the inner ring is installed with a drive deep groove ball bearing 44, and the inner ring of the drive deep groove ball bearing 44 is connected to the output shaft 45. The third drive member bracket is shown in FIG. Fig. 9 As shown, it includes a horizontally arranged support plate 38 and a vertically arranged third drive member profile 40, which are fixed integrally by an angle piece. The lower end of the third drive member profile 40 is fixed on a drive motor fixing member 42.

[0037] The structure of the big arm clamp 10 is as follows Fig.11 As shown, it includes a vertical clamping plate 46 and a horizontal cross-shaped bar 48. The top of the clamping plate 46 is fixedly connected to the output shaft 45, and the upper arm clamping member 10 rotates with the output shaft 45.

[0038] The design of the upper limb rehabilitation robot structure requires a comprehensive analysis of the physiological structure of the human upper limb shoulder joint and the movement law of the human shoulder joint structure, and mechanical analysis and modeling are performed according to the analysis. In medicine, the coordinated movement of the human shoulder joint is generally divided into three parts according to the degree of freedom, that is, 3 degrees of freedom. The range of motion of each degree of freedom is as follows: Shoulder flexion and elevation / flexion / extension: 150°-170° / 70°-90° / 40°, shoulder abduction and elevation / abduction / adduction: 100° / 60°-90° / 20°-40°, shoulder internal rotation / external rotation: 45°-70° / 45°-60°. Other degrees of freedom are not considered in the design of the robot arm because of the small range of flexion, extension, rotation, and abduction.

[0039] Considering the motion characteristics of the human shoulder joint, the shoulder abduction / abduction / adduction and shoulder internal rotation / external rotation modules are driven by motors. The shoulder flexion / flexion / extension degrees of freedom are driven by motors through pulleys. Such a mechanism will allow the upper limb rehabilitation robot to rotate normally in three degrees of freedom. The final designed three-axis upper limb rehabilitation robot is shown in the figure. Fig.12 shown.

[0040] like Fig.13 The sensor acquisition device collects human posture information, and converts it into a signal that can be recognized by calculation after amplification, filtering, and analog-to-digital conversion; then the signal processing is performed, and the processing process includes: preprocessing, feature extraction, and pattern recognition; finally, the classified electrical signal is output to the robotic arm motor, and the three motors are controlled to rotate at differential or uniform speeds to make the upper limb rehabilitation robotic arm structure, thereby achieving the design purpose of assisting the upper limb arm to perform rehabilitation training according to the rehabilitator's movement posture signals.

[0041] The present invention can also introduce auxiliary brain-computer interface equipment, which can directly control the three motors through brain wave signals, that is, the patient can control the three motors to rotate without language or action. According to the principle of brain wave acquisition, the brain wave signal of the arm movement intention is input, signal preprocessing, feature extraction, and pattern classification, and the processed signal is output to the motor control system, and the brain wave signal is used to control the initial speed and direction of the three motors according to the brain movement intention.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A three-axis upper limb rehabilitation robot arm based on ultrasonic motor, characterized in that: It comprises a main body support (1), a first driving member (2), a transmission wheel (3), a large arm collar (4), a collar support (5), a second driving member (7), a third driving member (9) and a large arm clamping member (10); The main support (1) is square in shape, and a first driving member (2) is arranged at the upper end cross beam; the first driving member (2) comprises a motor fixing member (16) fixed on the cross beam, the motor (15) is fixed on the motor fixing member (16), and the output shaft is connected to the transmission wheel (3); the transmission wheel (3) comprises a small pulley (20), a large pulley (19) and a synchronous belt (18); the output shaft of the motor (15) is fixed to the inner ring of the small pulley (20), and the small pulley (20) drives the large pulley (19) to rotate through the synchronous belt (18); the large pulley (19) is annular in shape, and a large arm ring (4) is arranged at the center; the large arm ring (4) comprises an inner ring ring (21), a retaining ring (22), a ball bearing (23) and a bearing pulley connecting member (24) arranged in sequence from the inside to the outside; a plurality of protruding inner ring rings are arranged along the circumference of the inner ring ring (21). The clip (25) of the ring (21) is used to fix the retaining ring (22) and the ball bearing (23) between the inner ring (21) and the bearing pulley connecting member (24); a plurality of clips (25) extending from the bearing pulley connecting member (24) are arranged on the front and back sides along the circumference of the bearing pulley connecting member (24) to fix the ball bearing (23) between the inner ring (21) and the bearing pulley connecting member (24); a ring bracket (5) is also arranged at the lower part of the first driving member (2); the ring bracket (5) comprises a vertically arranged ring bracket profile (28) and a joint 1 connecting member (26) with a right-angled cross section; the two sides of the ring bracket profile (28) are fixed by angle pieces respectively, and the lower end surface is fixed to the upper surface of the horizontal part of the joint 1 connecting member (26); the vertical part of the joint 1 connecting member (26) is fixedly connected to the side of the inner ring (21); The second driving member (7) is fixed to the large pulley (19) through a second driving member bracket (6) and rotates as the large pulley rotates; the second driving member bracket (6) comprises a second driving member profile (30) and a connecting conversion member (31); one end of the connecting conversion member (31) is fixedly connected to the second driving member profile (30), and the other end is connected to the second driving member (7); the second driving member (7) comprises an ultrasonic motor (32), an ultrasonic motor fixing member (33), a shaft sleeve (34), a hole A spring retaining ring (35), a deep groove ball bearing (36) and a shaft spring retaining ring (37); the ultrasonic motor fixing piece (33) is connected to the other end of the connection conversion piece (31), the ultrasonic motor (32) is fixed in the center hole of the ultrasonic motor fixing piece (33), and the output shaft outputs torque to the shaft sleeve (34) through a pin structure; the deep groove ball bearing (36) is fixed between the center hole of the ultrasonic motor fixing piece (33) and the shaft sleeve (34) through a hole spring retaining ring (35) and a shaft spring retaining ring (37); The third driving member is fixed to the shaft sleeve (34) through a third driving member bracket (8) and rotates with the shaft sleeve; the third driving member (9) comprises a driving motor (41), a driving motor fixing member (42), an output shaft fixing shell (43), a driving deep groove ball bearing (44) and an output shaft (45); the driving motor fixing member (42) is located above the driving motor (41), and the driving motor (41) outputs torque through the output shaft (45); the output shaft fixing shell (43) is installed on the outer side of the output shaft (45), and the inner ring is installed with a driving deep groove ball bearing (44), and the inner ring of the driving deep groove ball bearing (44) is connected to the output shaft (45); the third driving member bracket comprises a horizontally arranged support plate (38) and a vertically arranged third driving member profile (40), which are fixed integrally through an angle piece; the lower end of the third driving member profile (40) is fixed to the driving motor fixing member (42); The upper arm clamping member (10) comprises a clamping fixing plate (46) in the vertical direction and a transverse profile (48) in the horizontal direction; the top of the clamping fixing plate (46) is fixedly connected to the output shaft (45), and the upper arm clamping member (10) rotates together with the output shaft (45).

2. The three-axis upper limb rehabilitation robot arm based on ultrasonic motor according to claim 1, characterized in that: The upper crossbeam of the main frame (1) comprises a left crossbeam profile and a right crossbeam profile, and the motor fixing member (16) is respectively connected to the left crossbeam profile and the right crossbeam profile via angle pieces; the lower part of the vertical section profile is placed on the ground via the first profile (11); and the intersections of each section of the crossbeam profile are connected and fixed using angle pieces.

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