A supine upper limb rehabilitation robot

Abstract

The present invention provides a supine upper limb rehabilitation robot, which belongs to the field of medical rehabilitation training equipment and is used to provide upper limb rehabilitation training in a supine state, including: a horizontal motion mechanism, used to drive the upper limb horizontal movement; a lifting mechanism, installed on the horizontal motion mechanism, used to drive the upper limb lifting movement; an angle adjustment mechanism, installed on the lifting mechanism, used to adjust the angle of the upper limb. Among them, the horizontal motion mechanism and the lifting motion mechanism are respectively designed in the form of a rotating pair or a moving pair, and the angle adjustment mechanism is designed in the form of a 3-UU branch chain. When used, the combined movement of these three mechanisms drives the affected upper limb of a hemiplegic patient in a supine state to move in space, thereby providing upper limb rehabilitation training in a supine state. The present invention meets the needs of hemiplegic patients for targeted upper limb training in a supine state, fills the gap in the current rehabilitation equipment for hemiplegic patients during bed rest, and enables hemiplegic patients to receive active and effective treatment.

Description

Technical Field

[0001] The present application belongs to the field of medical rehabilitation training equipment, and specifically relates to a supine upper limb rehabilitation robot. Background Art

[0002] According to the original text of the "Guidelines for the Prevention and Treatment of Stroke in China (2021 Edition)" issued by the National Health Commission of China: "In the early stage, the principle of activity is to exercise the extensors of the upper limbs and the flexors of the lower limbs; the range of motion and frequency are gradually increased according to the condition; after admission... moderate passive activity; passive activity is mainly used for the joints of the affected limb, and the direction of activity is determined according to the function of the joint. During exercise, from top to bottom, from the healthy limb to the affected limb, from near to far, the limbs are sequentially trained in adduction, extension, active, and resistance. When moving, pay attention to the transition from large joints to small joints, and the movements are gentle and slow. "In the early stages of hemiplegia, patients spend most of their time in bed and are unable to sit up or stand. The early clinical rehabilitation method is for the patient to remain in a lying position, and rehabilitation assistants provide passive training. This type of rehabilitation training relies entirely on the repetitive labor of medical staff or family members. Most hemiplegic patients cannot guarantee effective rehabilitation training after leaving the hospital.

[0003] In order to improve social support for early stroke patients and improve their compliance with exercise therapy, in addition to relying on the patient's own willpower for training, the current method is to provide upper limb rehabilitation robots to ensure the effective implementation of rehabilitation training. However, existing upper limb rehabilitation robots are mostly based on sitting or standing positions for research and training, and are not suitable for lying positions. This does not conform to the actual situation that early hemiplegic patients spend most of their time in bed, which has caused a gap in rehabilitation robot research. If the lack of rehabilitation equipment causes a lack of social support for early rehabilitation of hemiplegia, and stroke patients cannot persist in rehabilitation training, it will affect the best period of their rehabilitation and even cause serious consequences of lifelong limb disability. Therefore, the lack of upper limb rehabilitation robots suitable for lying positions in early clinical rehabilitation training is an urgent problem to be solved. Summary of the invention

[0004] The present invention is made to solve the above-mentioned problem, and its purpose is to provide a supine upper limb rehabilitation robot.

[0005] The present invention provides a supine upper limb rehabilitation robot for providing upper limb rehabilitation training in a supine state, and has the following characteristics: a horizontal motion mechanism for driving the upper limb to move horizontally; a lifting mechanism installed on the horizontal motion mechanism for driving the upper limb to move up and down; and an angle adjustment mechanism installed on the lifting mechanism for adjusting the angle of the upper limb; wherein the horizontal motion mechanism, the lifting mechanism, and the angle adjustment mechanism drive the upper limb to move in space through combined motion.

[0006] In the prone upper limb rehabilitation robot provided by the present invention, it may also have the following characteristics: the horizontal movement mechanism includes a base, a first rotating shaft, and a first rotating arm, the first rotating shaft is installed on the base, the first rotating arm is rotatably connected to the first rotating shaft and can rotate horizontally around the first rotating shaft; the lifting mechanism is installed on the first rotating arm and is driven by the first rotating arm to rotate horizontally.

[0007] In the prone upper limb rehabilitation robot provided by the present invention, it can also have the following features: the horizontal motion mechanism includes a connected X-axis linear guide and a Y-axis linear guide; the lifting mechanism is installed on the X-axis linear guide or the Y-axis linear guide, and is driven by the X-axis linear guide and the Y-axis linear guide to move horizontally.

[0008] In the prone upper limb rehabilitation robot provided by the present invention, it can also have the following characteristics: the lifting mechanism includes a second rotating arm, one end of which is rotatably connected to the horizontal movement mechanism, and the second rotating arm can rotate vertically around the rotating connection; the angle adjustment mechanism is installed at the other end of the second rotating arm, and is driven by the second rotating arm to rotate vertically.

[0009] Furthermore, the second rotating arm includes a first connecting frame, a second connecting frame, and two first connecting rods forming a parallelogram branch chain, the first connecting frame is connected to the horizontal motion mechanism and has two horizontal parallel first fixed shafts, the second connecting frame is arranged above the first connecting frame and has two horizontal parallel second fixed shafts, the two first connecting rods are arranged in parallel on a vertical plane, and one end of the two first connecting rods is respectively rotatably connected to the two first fixed shafts, and the other end is respectively rotatably connected to the two second fixed shafts; the angle adjustment mechanism is installed on the second connecting frame.

[0010] The supine upper limb rehabilitation robot provided by the present invention may also have the following features: the lifting mechanism includes a telescopic rod, which is vertically arranged and has its lower end connected to the horizontal motion mechanism; and the angle adjustment mechanism is installed at the upper end of the telescopic rod.

[0011] In the supine upper limb rehabilitation robot provided by the present invention, it can also have the following characteristics: the angle adjustment mechanism includes a second rotating shaft, a third rotating shaft, and an arm support connecting piece. The second rotating shaft is rotatably connected to the lifting mechanism and can drive the angle adjustment mechanism to rotate around its axis. The third rotating shaft can rotate around the second rotating shaft on the axial surface and radial surface of the second rotating shaft. The arm support connecting piece is connected to the third rotating shaft and can rotate around the axis of the third rotating shaft.

[0012] Furthermore, the angle adjustment mechanism also includes two first UU branches, a second UU branch, and a rotating connecting piece. The two first UU branches, the second rotating shaft, and the third rotating shaft are connected to form a parallelogram branch. The rotating connecting piece is connected to the second rotating shaft and is rotatably connected to one end of the second UU branch. The arm support connecting piece is respectively connected to the third rotating shaft and the other end of the second UU branch.

[0013] Furthermore, each first UU branch chain includes a second connecting rod and two first Hooke's joints respectively installed at both ends of the second connecting rod, the second connecting rods of the two first UU branches are parallel, and each first Hooke's joint includes a first rotating pair and a second rotating pair with axes intersecting perpendicularly, the first rotating pair is connected to the second connecting rod, and the second rotating pair is connected to the second rotating shaft or the third rotating shaft; the second UU branch chain includes a third connecting rod and a second Hooke's joint and a third Hooke's joint respectively installed at both ends of the third connecting rod, the third connecting rod is parallel to the second connecting rod, the second Hooke's joint includes a third rotating pair and a fourth rotating pair with axes intersecting perpendicularly, the third rotating pair is connected to the third connecting rod, and its axis is parallel to the second rotating shaft, the fourth rotating pair is rotatably connected to the rotating connecting member, the third Hooke's joint includes a fifth rotating pair and a sixth rotating pair with axes intersecting perpendicularly, the fifth rotating pair is connected to the third connecting rod, and its axis is skewed and perpendicular to the axis of the third rotating pair, the sixth rotating pair is connected to the arm support connecting member, and its axis is parallel to the second rotating shaft.

[0014] The prone upper limb rehabilitation robot provided by the present invention may also have the following feature: the angle adjustment mechanism also includes an arm support, which is connected to the arm support connecting piece and is used to fix the upper limb.

[0015] Functions and Effects of the Invention

[0016] According to the supine upper limb rehabilitation robot involved in the present invention, because it includes a horizontal movement mechanism, a lifting mechanism and an angle adjustment mechanism, the horizontal movement mechanism is designed in the form of a rotating pair or a movable pair, which can drive the upper limb to achieve horizontal movement, the lifting movement mechanism is designed in the form of a rotating pair or a movable pair, which can drive the upper limb to achieve lifting movement, and the angle adjustment mechanism is designed in the form of a 3-UU branch chain, which can adjust the activity angle of the upper limb. When in use, the supine upper limb rehabilitation robot drives the affected upper limb of a hemiplegic patient in a supine state to move in space through the combined movement of these three mechanisms. Therefore, the present invention can provide upper limb rehabilitation training in a supine state, meet the needs of hemiplegic patients for targeted upper limb training in a supine state, fill the gap in the current rehabilitation equipment for hemiplegic patients in bed, and enable hemiplegic patients to receive active and effective treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the supine upper limb rehabilitation robot in Embodiment 1 of the present invention;

[0018] Figure 2 is a schematic diagram of a supine upper limb rehabilitation robot without an arm rest in Embodiment 1 of the present invention;

[0019] Figure 3 is a schematic diagram of another posture of the prone upper limb rehabilitation robot without an arm rest in Embodiment 1 of the present invention;

[0020] Figure 4 is a structural schematic diagram of the angle adjustment mechanism in Embodiment 1 of the present invention;

[0021] Figure 5 It is a schematic structural diagram of the supine upper limb rehabilitation robot without an arm rest in Example 2 of the present invention.

[0022] Description of reference numerals:

[0023] 10 horizontal motion mechanism; 11 base; 12 first rotating shaft; 13 first rotating arm; 14 X-axis linear guide; 15 Y-axis linear guide; 20 lifting mechanism; 21 second rotating arm; 211 first connecting frame; 2111 first fixed shaft; 212 second connecting frame; 2121 second fixed shaft; 213 first connecting rod; 22 telescopic rod; 30 angle adjustment mechanism; 31 second rotating shaft; 32 third rotating shaft; 33 arm support connecting piece; 34 first UU branch chain; 341 second connecting rod; 342 first Hooke's hinge; 3421 first rotating pair; 3422 second rotating pair; 35 second UU branch chain; 351 third connecting rod; 352 second Hooke's hinge; 3521 third rotating pair; 3522 fourth rotating pair; 353 third Hooke's hinge; 3531 fifth rotating pair; 3532 sixth rotating pair; 36 rotating connecting piece; 37 arm support; 371 strap. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is specifically described in the following embodiments in conjunction with the accompanying drawings.

[0025] Example 1

[0026] Figure 1 Schematic diagram of the structure of the supine upper limb rehabilitation robot of this embodiment.

[0027] like Figure 1As shown, this embodiment provides a supine upper limb rehabilitation robot for providing upper limb rehabilitation training in a supine state, including a horizontal motion mechanism 10, a lifting mechanism 20, and an angle adjustment mechanism 30. Among them, the horizontal motion mechanism 10 is used to drive the upper limb to move horizontally. The lifting mechanism 20 is installed on the horizontal motion mechanism 10, and is used to drive the upper limb to move up and down. The angle adjustment mechanism 30 is installed on the lifting mechanism 20, and is used to adjust the angle of the upper limb. The horizontal motion mechanism 10, the lifting mechanism 20, and the angle adjustment mechanism 30 drive the upper limb to move in space through combined motion.

[0028] Figure 2 and Figure 3 Schematic diagram of different postures of a supine upper limb rehabilitation robot without an arm support 37 .

[0029] like Figure 2 and Figure 3 As shown, the horizontal motion mechanism 10 is designed in the form of a rotating pair, including a base 11, a first rotating shaft 12, and a first rotating arm 13. The first rotating shaft 12 is vertically mounted on the base 11, and the first rotating shaft 12 is driven by an independently arranged motor to rotate around its own axis. One end of the first rotating arm 13 is connected to the first rotating shaft 12, and the other end of the first rotating arm 13 is mounted on the lifting mechanism 20. The first rotating arm 13 is driven by the first rotating shaft 12 to rotate horizontally, thereby driving the lifting mechanism 20 to rotate horizontally.

[0030] like Figure 2 and Figure 3 As shown, the lifting mechanism 20 is designed in the form of a rotating pair, including a second rotating arm 21, one end of the second rotating arm 21 is rotatably connected to the other end of the first rotating arm 13, and an angle adjustment mechanism 30 is installed on the other end of the second rotating arm 21. The second rotating arm 21 is driven by an independently arranged motor and can rotate vertically around the rotating connection with the first rotating arm 13, thereby driving the angle adjustment mechanism 30 to rotate vertically.

[0031] In this embodiment, the second rotating arm 21 adopts the form of a parallelogram branch chain, including a first connecting frame 211, a second connecting frame 212, and two first connecting rods 213. The first connecting frame 211 is connected to the other end of the first rotating arm 13, and the first connecting frame 211 has two horizontally parallel first fixed shafts 2111. The second connecting frame 212 is arranged above the first connecting frame 211, and the "above" here includes directly above and obliquely above. The second connecting frame 212 has two horizontally parallel second fixed shafts 2121, and the second fixed shafts 2121 are parallel to the first fixed shafts 2111. The two first connecting rods 213 are arranged in parallel on a vertical plane, and one end of the two first connecting rods 213 is respectively rotatably connected to the two first fixed shafts 2111, and the other end is respectively rotatably connected to the two second fixed shafts 2121. Each rotating connection constitutes a rotating pair. The motor drives any one of the rotating pairs to realize the vertical rotation of the second rotating arm 21. The first fixed axis 2111 and the second fixed axis 2121 are respectively perpendicular to the first rotating axis 12 in different planes, and the vertical plane where the two first connecting rods 213 are located passes through the axis of the first rotating axis 12. Such an arrangement is more reasonable and practical.

[0032] Figure 4 3 is a schematic structural diagram of the angle adjustment mechanism 30 .

[0033] Figures 2 to 4 As shown, the angle adjustment mechanism 30 adopts a 3-UU parallel mechanism design, including a second rotating shaft 31, a third rotating shaft 32, an arm support connecting member 33, two first UU branch chains 34, a second UU branch chain 35, and a rotating connecting member 36.

[0034] The second rotating shaft 31 is rotatably connected to the second connecting frame 212 of the second rotating arm 21 and is parallel to the first fixed shaft 2111 and the second fixed shaft 2121 of the second rotating arm 21. The second rotating shaft 31 is driven by an independently arranged motor and can rotate around its own axis, thereby driving the entire angle adjustment mechanism 30 to rotate around its axis.

[0035] The second rotating shaft 31, the third rotating shaft 32, and the two first UU branches 34 are connected to form a parallelogram branch, so that the third rotating shaft 32 can rotate around the second rotating shaft 31 on the axial plane and the radial plane of the second rotating shaft 31. Each first UU branch 34 includes a second connecting rod 341 and two first Hooke's hinges 342 respectively installed at both ends of the second connecting rod 341. The second connecting rods 341 of the two first UU branches 34 are parallel, and the two first Hooke's hinges 342 at one end are respectively connected to the two ends of the second rotating shaft 31, and the two first Hooke's hinges 342 at the other end are respectively connected to the two ends of the third rotating shaft 32. Figure 4As shown, each first Hooke's joint 342 includes a first rotation pair 3421 and a second rotation pair 3422 whose axes intersect perpendicularly. The first rotation pair 3421 is connected to the end of the second connecting rod 341, and the second rotation pair 3422 is connected to the end of the second rotating shaft 31 or the end of the third rotating shaft 32.

[0036] The second UU branch chain 35 is arranged above the parallelogram branch chain formed by the second rotating shaft 31, the third rotating shaft 32 and the two first UU branches 34. The second UU branch chain 35 includes a third connecting rod 351 and a second Hooke's hinge 352 and a third Hooke's hinge 353 respectively installed at both ends of the third connecting rod 351. The third connecting rod 351 is parallel to the second connecting rod 341 of the first UU branch chain 34. Figure 4 As shown, the second Hooke's joint 352 includes a third rotational pair 3521 and a fourth rotational pair 3522 whose axes intersect perpendicularly, the third rotational pair 3521 is connected to one end of the third connecting rod 351, and its axis is parallel to the second rotating shaft 31 and the third rotating shaft 32, and the fourth rotational pair 3522 is rotationally connected to the rotating connector 36. The third Hooke's joint 353 includes a fifth rotational pair 3531 and a sixth rotational pair 3532 whose axes intersect perpendicularly, the fifth rotational pair 3531 is connected to the other end of the third connecting rod 351, and its axis is skewed and perpendicular to the axis of the third rotational pair 3521, and the sixth rotational pair 3532 is connected to the arm support connector 33, and its axis is parallel to the second rotating shaft 31 and the third rotating shaft 32.

[0037] The rotating connection member 36 is respectively rotatably connected to the second rotating shaft 31 and the fourth rotating pair 3522 of the second Hooke's hinge 352. In this embodiment, the rotating connection member 36 is U-shaped, and the parts of the rotating connection member 36 corresponding to the two ends of the U-shape are rotatably connected to the second rotating shaft 31, so that the rotating connection member 36 can rotate around the second rotating shaft 31, and the part of the rotating connection member 36 corresponding to the bottom of the U-shape is rotatably connected to the fourth rotating pair 3522 of the second Hooke's hinge 352, so that the axis of the fourth rotating pair 3522 is coplanar and perpendicular to the axis of the second rotating shaft 31, and the fourth rotating pair 3522 can rotate around its own axis relative to the rotating connection member 36.

[0038] The arm support connecting member 33 is respectively connected to the third rotating shaft 32 and the sixth rotation pair 3532 of the third Hooke's hinge 353. In this embodiment, the arm support connecting member 33 is U-shaped, and the parts of the arm support connecting member 33 corresponding to the two ends of the U-shape are connected to the third rotating shaft 32, so that the arm support connecting member 33 can rotate around the axis of the third rotating shaft 32 together with the third rotating shaft 32, and the part of the arm support connecting member 33 corresponding to the bottom of the U-shape is connected to the sixth rotation pair 3532 of the third Hooke's hinge 353, so that the arm support connecting member 33 can rotate around the axis of the sixth rotation pair 3532.

[0039] Regarding the movement of the angle adjustment mechanism 30, the movement direction is shown in Figure 1 As shown in the direction of the solid arrow in the middle: For the movement of the internal components, since the angle adjustment mechanism 30 adopts a 3-UU parallel mechanism design and has two degrees of freedom, two motors can be used to drive any two rotation pairs with perpendicular axes. The "vertical" here includes coplanar perpendicularity and skew perpendicularity. For example, the two motors can respectively drive the first rotation pair 3421 and the second rotation pair 3422 of the same first Hooke's hinge 342, can respectively drive the first rotation pair 3421 and the second rotation pair 3422 of different first Hooke's hinges 342, can respectively drive the third rotation pair 3521 and the fourth rotation pair 3522 of the second Hooke's hinge 352, can respectively drive the first rotation pair 3421 of the first Hooke's hinge 342 and the fourth rotation pair 3522 of the second Hooke's hinge 352, and so on. For the overall movement of the angle adjustment mechanism 30, an independently set motor is used to drive the second rotating shaft 31, so that the entire angle adjustment mechanism 30 can be driven to rotate around the axis of the second rotating shaft 31.

[0040] like Figure 1 As shown, the angle adjustment mechanism 30 also includes an arm support 37, which is mounted on the arm support connector 33. The arm support 37 has a bracket for supporting the upper limb, and a strap 371 for fixing the upper limb may be provided on the arm support 37. When the arm support 37 is actually installed, the arm support 37 can be rotatably connected to the arm support connector 33, so that the arm support 37 has a certain rotation range, thereby being able to better fit the upper limb movement.

[0041] The overall movement of the supine upper limb rehabilitation robot is achieved by controlling the motors in the horizontal motion mechanism 10, the lifting mechanism 20, and the angle adjustment mechanism 30. This application does not limit the control device for controlling the motor and the control software for adjusting the parameters of the control device (or the parameters of each motor). Any control device and control software in the prior art that can meet the functional requirements can be used.

[0042] The supine upper limb rehabilitation robot is placed at the side of the bed when in use, and the forearm or upper arm of the affected side of the hemiplegic patient in the supine state is fixed on the arm rest 37, and then the supine upper limb rehabilitation robot is started, and the supine upper limb rehabilitation robot can drive the upper limb to move according to the pre-set training path and training range. In this way, the supine upper limb rehabilitation robot can provide upper limb rehabilitation training in the supine state, especially can provide a wide range of rehabilitation training for the shoulder joint, which meets the actual situation that the early hemiplegic patients spend most of their time in bed, and ensures the effective implementation of rehabilitation training.

[0043] Example 2

[0044] Figure 5 Schematic diagram of the structure of the supine upper limb rehabilitation robot of this embodiment.

[0045] like Figure 5As shown, this embodiment provides a supine upper limb rehabilitation robot for providing upper limb rehabilitation training in a supine state, including a horizontal motion mechanism 10, a lifting mechanism 20, and an angle adjustment mechanism 30. The difference from Embodiment 1 lies in the horizontal motion mechanism 10 and the lifting mechanism 20.

[0046] The horizontal motion mechanism 10 is designed in the form of a moving pair, including an X-axis linear guide 14 and a Y-axis linear guide 15. The X-axis linear guide 14 and the Y-axis linear guide 15 are driven by independently arranged motors to realize the movement of the slider. The lifting mechanism 20 is driven by the X-axis linear guide 14 and the Y-axis linear guide 15 to move horizontally. The number of the X-axis linear guide 14 and the Y-axis linear guide 15 can be adjusted according to actual needs. In this embodiment, the X-axis linear guide 14 is designed as one, and the Y-axis linear guide 15 is designed as two. The lifting mechanism 20 is installed on the slider of the X-axis linear guide 14, and the two ends of the X-axis linear guide 14 are respectively installed on the sliders of the two Y-axis linear guides 15.

[0047] The lifting mechanism 20 is designed in the form of a mobile pair, including a telescopic rod 22, and the telescopic rod 22 is driven by an independently set motor to realize the lifting function. In this embodiment, the lower end of the telescopic rod 22 is installed on the slider of the X-axis linear guide 14, and the upper end of the telescopic rod 22 is rotatably connected to the second rotating shaft 31 of the angle adjustment mechanism 30.

[0048] The structure and working principle of the angle adjustment mechanism 30 and the use process of the supine upper limb rehabilitation robot of this embodiment refer to Example 1 and will not be repeated here.

[0049] In addition, it should be noted that in addition to realizing the lifting function, the telescopic rod 22 of the lifting mechanism 20 can also be designed to rotate around its own axis as needed, so that the telescopic rod 22 can drive the angle adjustment mechanism 30 to rotate horizontally, so that the supine upper limb rehabilitation robot can achieve more flexible and larger range of movements.

[0050] Functions and Effects of the Embodiments

[0051] According to the supine upper limb rehabilitation robot involved in the above two embodiments, because it includes a horizontal movement mechanism, a lifting mechanism and an angle adjustment mechanism, the horizontal movement mechanism is designed in the form of a rotating pair or a movable pair, which can drive the upper limb to achieve horizontal movement, the lifting movement mechanism is designed in the form of a rotating pair or a movable pair, which can drive the upper limb to achieve lifting movement, and the angle adjustment mechanism is designed in the form of a 3-UU branch chain, which can adjust the activity angle of the upper limb. When in use, the supine upper limb rehabilitation robot drives the affected upper limb of a hemiplegic patient in a supine state to move in space through the combined movement of these three mechanisms. Therefore, the present invention can provide upper limb rehabilitation training in a supine state, meet the needs of hemiplegic patients for targeted upper limb training in a supine state, fill the gap in the current rehabilitation equipment for hemiplegic patients in bed, and enable hemiplegic patients to receive active and effective treatment.

[0052] The horizontal motion mechanism using the rotating pair design may include a base, a first rotating shaft, and a first rotating arm, and the first rotating arm may rotate horizontally around the first rotating shaft, thereby driving the lifting mechanism to rotate horizontally. The horizontal motion mechanism using the moving pair design may include an X-axis linear guide and a Y-axis linear guide, and the X-axis linear guide and the Y-axis linear guide may drive the lifting mechanism to achieve horizontal movement in two dimensions.

[0053] The lifting mechanism with a rotating pair design can realize vertical rotation through the second rotating arm in the form of a parallelogram branch chain. The lifting mechanism with a moving pair design can realize vertical lifting through a telescopic rod.

[0054] The components that mainly realize the angle adjustment function in the angle adjustment mechanism include the second rotating shaft, the third rotating shaft, and the arm support connecting piece. The second rotating shaft is rotatably connected to the lifting mechanism, and the second rotating shaft is driven by the motor to drive the entire angle adjustment mechanism to rotate. The third rotating shaft can rotate around the second rotating shaft on the axial surface and radial surface of the second rotating shaft. The arm support connecting piece is connected to the third rotating shaft and can rotate around the axis of the third rotating shaft.

[0055] The angle adjustment mechanism also includes two first UU branches, a second UU branch, and a rotating connector. The third rotating shaft forms a parallelogram branch with the second rotating shaft through the two first UU branches, so that it can rotate around the second rotating shaft on the axial and radial surfaces of the second rotating shaft. The setting of the rotating connector, the second UU branch, and the arm support connector are linked with the parallelogram branch to enable the arm support connector to rotate around the axis of the third rotating shaft. Among them, each branch adopts a better setting method in the embodiment, so that the angle adjustment mechanism has a flexible posture and a larger range of motion.

[0056] The angle adjustment mechanism also includes an arm rest, which can better support and fix the upper limbs.

[0057] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A supine upper limb rehabilitation robot, used to provide upper limb rehabilitation training in a supine state, characterized in that: include: A horizontal motion mechanism, used to drive the upper limb to move horizontally; A lifting mechanism, installed on the horizontal motion mechanism, used to drive the upper limb to move up and down; as well as An angle adjustment mechanism, installed on the lifting mechanism, for adjusting the angle of the upper limb; The horizontal movement mechanism, the lifting mechanism, and the angle adjustment mechanism drive the upper limb to move in space through combined movement. The angle adjustment mechanism includes a second rotating shaft, a third rotating shaft, and an arm support connecting piece. The second rotating shaft is rotatably connected to the lifting mechanism and can drive the angle adjustment mechanism to rotate around its axis. The third rotating shaft can rotate around the second rotating shaft on the axial plane and the radial plane of the second rotating shaft. The arm support connecting piece is connected to the third rotating shaft and can rotate around the axis of the third rotating shaft. The angle adjustment mechanism also includes two first UU branches, a second UU branch, and a rotating connection member. The two first UU branches, the second rotating shaft, and the third rotating shaft are connected to form a parallelogram branch chain. The rotating connecting member is connected to the second rotating shaft and is rotatably connected to one end of the second UU branch chain. The arm support connecting member is connected to the third rotating shaft and the other end of the second UU branch chain respectively. Each of the first UU branch chains includes a second connecting rod and two first Hooke's hinges respectively installed at two ends of the second connecting rod. The second links of the two first UU branches are parallel, Each of the first Hooke's joints comprises a first rotation pair and a second rotation pair whose axes intersect perpendicularly, the first rotation pair is connected to the second connecting rod, and the second rotation pair is connected to the second rotating shaft or the third rotating shaft; The second UU branch chain includes a third connecting rod and a second Hooke's joint and a third Hooke's joint respectively installed at two ends of the third connecting rod. The third connecting rod is parallel to the second connecting rod, The second Hooke's joint comprises a third rotation pair and a fourth rotation pair whose axes intersect perpendicularly, the third rotation pair is connected to the third connecting rod, and its axis is parallel to the second rotating shaft, and the fourth rotation pair is rotationally connected to the rotating connecting member, The third Hooke's joint includes a fifth rotation pair and a sixth rotation pair whose axes intersect perpendicularly. The fifth rotation pair is connected to the third connecting rod, and its axis is skewed and perpendicular to the axis of the third rotation pair. The sixth rotation pair is connected to the arm support connecting piece, and its axis is parallel to the second rotating shaft.

2. The prone upper limb rehabilitation robot according to claim 1, characterized in that: in, The horizontal motion mechanism includes a base, a first rotating shaft, and a first rotating arm. The first rotating shaft is mounted on the base. The first rotating arm is rotatably connected to the first rotating shaft and can rotate horizontally around the first rotating shaft; The lifting mechanism is installed on the first rotating arm and is driven by the first rotating arm to rotate horizontally.

3. The prone upper limb rehabilitation robot according to claim 1, characterized in that: in, The horizontal motion mechanism includes an X-axis linear guide and a Y-axis linear guide connected to each other; The lifting mechanism is installed on the X-axis linear guide rail or the Y-axis linear guide rail, and is driven by the X-axis linear guide rail and the Y-axis linear guide rail to move horizontally.

4. The prone upper limb rehabilitation robot according to claim 1, characterized in that: in, The lifting mechanism comprises a second rotating arm, One end of the second rotating arm is rotatably connected to the horizontal motion mechanism, and the second rotating arm can rotate vertically around the rotating connection; The angle adjustment mechanism is installed at the other end of the second rotating arm and is driven by the second rotating arm to perform vertical rotation.

5. The prone upper limb rehabilitation robot according to claim 4, characterized in that: in, The second rotating arm includes a first connecting frame, a second connecting frame, and two first connecting rods forming a parallelogram branch chain. The first connecting frame is connected to the horizontal motion mechanism and has two horizontally parallel first fixed shafts. The second connecting frame is arranged above the first connecting frame and has two horizontally parallel second fixing shafts. Two first connecting rods are arranged in parallel on a vertical plane, and one end of the two first connecting rods is rotatably connected to the two first fixed shafts respectively, and the other end of the two first connecting rods is rotatably connected to the two second fixed shafts respectively; The angle adjustment mechanism is mounted on the second connecting frame.

6. The prone upper limb rehabilitation robot according to claim 1, characterized in that: in, The lifting mechanism comprises a telescopic rod, The telescopic rod is arranged vertically and the lower end thereof is connected to the horizontal motion mechanism; The angle adjustment mechanism is installed on the upper end of the telescopic rod.

7. The prone upper limb rehabilitation robot according to claim 1 or 6, characterized in that: in, The angle adjustment mechanism also includes an armrest, The arm support is connected to the arm support connecting piece and is used for fixing the upper limb.

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