A left and right hand swapping mechanism and an upper limb exoskeleton rehabilitation robot

Abstract

The present invention discloses a left and right hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof, belonging to the technical field of medical rehabilitation mechanical equipment, which includes an elbow support member, a first forearm connecting member, and a second forearm connecting member that are sequentially rotationally connected end to end; a first elbow joint assembly is provided at the rotational connection between the elbow support member and the first forearm connecting member, and the first elbow joint assembly is used to drive the first forearm connecting member to rotate. At this time, the first forearm connecting member and the second forearm connecting member overlap; a second elbow joint assembly is provided at the first forearm connecting member and the second forearm connecting member, and the second elbow joint assembly is used to drive the second forearm connecting member to rotate. At this time, the elbow support member and the first forearm connecting member overlap. The present invention can achieve the exchange of the left and right hands when driving the first forearm connecting member and the second forearm connecting member to rotate respectively, and can realize two uses through a set of mechanisms, meeting the needs of different patients for left or right hand rehabilitation training.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation mechanical equipment, and particularly to a left and right hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof. Background Art

[0002] With the development of urbanization and the aggravation of aging in China, the incidence of stroke shows an explosive upward trend. Although modern medicine has effectively reduced the mortality rate of stroke diseases, it is still unable to avoid the occurrence of varying degrees of functional impairments in aspects such as movement, cognition, speech, and swallowing in patients. These sequelae seriously affect the daily life quality of patients. Especially in daily life, the vast majority of complex and delicate activities need to be completed using the upper limbs, and the impairment of upper limb mobility will greatly reduce the life quality of patients.

[0003] An exoskeleton rehabilitation robot is a new type of rehabilitation mechanical device that integrates rehabilitation medicine, artificial intelligence, control technology, etc. Using an exoskeleton robot device in rehabilitation can perform precise motion control on the joints of patients during training, quantify the treatment effect, provide reliable training data for the adjustment of doctors' treatment plans, and overall improve the rehabilitation treatment effect.

[0004] At present, exoskeleton robots mainly have a single joint type for the hand or elbow, and cannot meet the complex and changeable rehabilitation needs of hemiplegic patients. Chinese Patent No. CN105662783A discloses an exoskeleton upper limb rehabilitation training robot, which includes a base, a mechanical shoulder belt assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical forearm assembly, a mechanical wrist joint assembly, a mechanical hand assembly and a motor drive assembly; the base supports the entire exoskeleton upper limb rehabilitation training robot, the mechanical shoulder belt assembly is connected to the base, the mechanical shoulder joint assembly is connected to the mechanical shoulder belt assembly, the mechanical elbow joint assembly is connected to the mechanical shoulder joint assembly, the mechanical forearm assembly is connected to the mechanical elbow joint assembly, the mechanical wrist joint assembly is connected to the mechanical forearm assembly, the mechanical hand assembly is connected to the mechanical wrist joint assembly, and the motor drive assembly serves as the power source of the entire exoskeleton upper limb rehabilitation training robot. This solution uses a two-segment four-bar mechanism for the forearm to achieve the internal and external rotation degrees of freedom of the elbow, and the flexion and extension degrees of freedom of the elbow are achieved through motor drive. However, since the flexion and extension movements of the left and right elbow joints are opposite, this solution can only be applied to one hand and cannot meet the interchange of the left and right hands. Another example is Chinese Patent No. CN101357097B, which discloses a five-degree-of-freedom exoskeleton upper limb rehabilitation robot, including a mounting frame for mounting the robot, the mounting frame is designed with a guide rail, a lifting frame is mounted on the guide rail, and a height adjustment mechanism is provided on the lifting frame. The rotatable mounting arm is mounted on the lifting frame through a rotating shaft, and a rehabilitation robotic arm body composed of a cross shoulder, an upper arm, a forearm and a handle is mounted on the rotatable mounting arm. Five-degree-of-freedom joints, five drive motors are respectively mounted on the rotation axes of each joint, and four torque sensors cascaded with the drive motors are respectively mounted on the shoulder, elbow and wrist, with two at the shoulder, one at the elbow and one at the flexion and extension of the wrist. The torque sensors are used as a transmission device and a detection device to connect the motor reducer and the actuator. This solution provides single-joint movement and three-dimensional multi-joint compound movement of each joint of the patient through five-degree-of-freedom joints, but this solution also does not disclose how to apply both hands at the same time and how to achieve the interchange of the left and right hands. Summary of the Invention

[0005] The object of the present invention is to provide a left-right hand exchange mechanism and its upper limb exoskeleton rehabilitation robot to solve the problems existing in the above-mentioned prior art. By sequentially connecting the elbow support, the first forearm connecting piece and the second forearm connecting piece in a head-to-tail rotational connection, the interchange of the left and right hands can be realized when the first forearm connecting piece and the second forearm connecting piece are respectively driven to rotate, so that two uses can be realized through a set of mechanisms, meeting the needs of different patients for left or right hand rehabilitation training.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a left - right hand exchange mechanism, including an elbow support member, a first forearm connecting member, and a second forearm connecting member. The elbow support member, the first forearm connecting member, and the second forearm connecting member are sequentially and rotatably connected end to end. The elbow support member is used to connect to the upper arm assembly, and the second forearm connecting member is used to connect to the forearm assembly. At the rotational connection between the elbow support member and the first forearm connecting member, a first elbow joint assembly is provided, and the first elbow joint assembly is used to drive the first forearm connecting member to rotate. At this time, the first forearm connecting member overlaps with the second forearm connecting member. At the connection between the first forearm connecting member and the second forearm connecting member, a second elbow joint assembly is provided, and the second elbow joint assembly is used to drive the second forearm connecting member to rotate. At this time, the elbow support member overlaps with the first forearm connecting member.

[0008] Preferably, the first elbow joint assembly includes a first motor fixed on the first forearm connecting member and a first rotating shaft fixed on the elbow support member. The first motor is drivingly connected to the first rotating shaft. The second elbow joint assembly includes a second motor fixed on the first forearm connecting member and a second rotating shaft fixed on the second forearm connecting member. The second motor is drivingly connected to the second rotating shaft.

[0009] Preferably, a first bevel gear is connected to the main shaft of the first motor, a second bevel gear is connected to the first rotating shaft, and the first bevel gear is meshingly connected to the second bevel gear. A third bevel gear is connected to the main shaft of the second motor, a fourth bevel gear is connected to the second rotating shaft, and the third bevel gear is meshingly connected to the fourth bevel gear.

[0010] Preferably, the first motor and the second motor are arranged parallel to each other vertically and are both parallel to the first forearm connecting member. The lengths of the elbow support member and the second forearm connecting member are equal and are half of the length of the first forearm connecting member.

[0011] The present invention also provides an upper limb exoskeleton rehabilitation robot, including a shoulder joint assembly, an upper arm assembly, the left - right hand exchange mechanism as described above, a forearm assembly, and a wrist joint assembly that are sequentially connected. The elbow support member of the left - right hand exchange mechanism is connected to the upper arm assembly, the second forearm connecting member of the left - right hand exchange mechanism is connected to the forearm assembly, and the shoulder joint assembly is slidably connected to the rail device through a robotic arm suspension mechanism.

[0012] Preferably, the shoulder joint assembly includes a shoulder joint abduction / adduction motor arranged vertically. A first vertical support member is mounted on the main shaft of the shoulder joint abduction / adduction motor. A shoulder joint elevation / depression motor and a third rotating shaft are arranged on the first vertical support member. The third rotating shaft is fixedly connected to the upper arm assembly. The main shaft of the shoulder joint elevation / depression motor is perpendicular to the third rotating shaft and drives the third rotating shaft to rotate through bevel gears.

[0013] Preferably, the upper arm assembly includes a second vertical support member and upper arm connecting rods arranged in parallel. One ends of the upper arm connecting rods are rotatably connected to the first vertical support member, and the other ends of the upper arm connecting rods are rotatably connected to the second vertical support member. One end of one of the upper arm connecting rods is fixedly connected to the third rotating shaft, and the second vertical support member is fixedly connected to the elbow support member.

[0014] Preferably, the forearm assembly includes a length adjustment device. The length adjustment device includes a slide rail connected to the second forearm connecting member, a slide plate slidably connected to the slide rail, and a locking structure for locking the slide plate. The slide plate is connected to the wrist joint assembly.

[0015] Preferably, the wrist joint assembly includes a forearm connecting rod, a forearm transmission member rotatably arranged on the forearm connecting rod, and a wrist joint internal / external rotation motor for driving the forearm transmission member to rotate. A handle is arranged on the forearm transmission member.

[0016] Preferably, an arc-shaped limit hole centered on the rotation center is arranged on the forearm transmission member, and a limit rod is arranged on the forearm connecting rod. The arc-shaped limit hole is sleeved on the limit rod.

[0017] The present invention has achieved the following technical effects compared with the prior art:

[0018] (1) By sequentially connecting the elbow support member, the first forearm connecting member, and the second forearm connecting member end to end in a rotating manner, when driving the first forearm connecting member to rotate, the first forearm connecting member and the second forearm connecting member are kept overlapping. At this time, the elbow joint movement of the left (right) hand can be realized. When driving the second forearm connecting member to move, the elbow support member and the first forearm connecting member are kept overlapping. At this time, the elbow joint movement of the right (left) hand can be realized, so that the exchange of the left and right hands can be achieved, and two uses can be realized through one set of mechanisms, meeting the needs of different patients for the rehabilitation training of the left or right hand;

[0019] (2) The first motor for driving the rotation of the first elbow joint and the second motor for driving the rotation of the second elbow joint of the present invention are both arranged on the first forearm connecting member, which can use the first forearm connecting member as a fixing part to maintain the stability of the movement when the left and right hands are exchanged. At the same time, the lengths of the elbow support member and the second forearm connecting member are equal and half of the length of the first forearm connecting member. When the first elbow joint (second elbow joint) moves, its rotation center can be maintained at the end of the first forearm connecting member, which can adapt to the actual positional relationship between the upper arm and the forearm at the patient's elbow joint, and ensure that rehabilitation training is carried out on the basis of conforming to the human body structure;

[0020] (3) The present invention connects the first vertical support member and the second vertical support member through parallel upper arm connecting rods, which can form a four-bar linkage structure to keep the first vertical support member and the second vertical support member always in a parallel and vertical position state. When the upper arm moves up and down, the left and right hand exchange mechanism can be kept in a stable horizontal state all the time, meeting the requirements of independent movement of each joint. Moreover, the structure of the double upper arm connecting rods can improve the bearing capacity of the upper arm assembly and ensure the stability of the overall structure;

[0021] (4) The present invention is provided with an arc-shaped limit hole centered on its rotation center on the forearm transmission member, and a limit rod is arranged on the forearm connecting rod. The rotation position of the forearm transmission member can be limited by using the arc-shaped limit hole and the limit rod, so that the wrist joint is within a controllable rotation range, ensuring the safety of the patient during rehabilitation exercise and avoiding harm to the human joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the left and right hand exchange mechanism of the present invention;

[0025] Figure 3 It is another perspective schematic diagram of the left and right hand exchange mechanism of the present invention;

[0026] Figure 4 It is a schematic diagram of the shoulder joint assembly and the upper arm assembly of the present invention;

[0027] Figure 5 It is a schematic diagram of the shoulder joint drive structure of the present invention;

[0028] Figure 6 Schematic diagram of the forearm component and wrist joint component of the present invention;

[0029] Among them, 1. Slide rail device; 2. Manipulator suspension mechanism; 3. Shoulder joint component; 31. Shoulder joint abduction / adduction motor; 311. First rigid gear flange fixing piece; 312. First flexible gear flange transmission piece; 313. Deep groove ball bearing; 32. First vertical support piece; 33. Shoulder joint elevation / depression motor; 331. Second rigid gear flange fixing piece; 332. Second flexible gear flange transmission piece; 333. Fifth bevel gear; 34. Third rotating shaft; 341. Sixth bevel gear; 35. Fourth rotating shaft; 4. Upper arm component; 41. Second vertical support piece; 42. Upper arm connecting rod; 43. Shoulder joint gravity balance device; 44. Upper arm fixing part; 5. Left / right hand exchange mechanism; 51. Elbow support piece; 52. First forearm connecting piece; 53. Second forearm connecting piece; 54. Second rotating shaft; 541. Fourth bevel gear; 55. Second motor; 551. Third bevel gear; 56. First rotating shaft; 561. Second bevel gear; 571. First bevel gear; 57. First motor; 6. Forearm component; 61. Forearm support piece; 62. Length adjustment device; 63. Slide plate; 64. Forearm fixing part; 7. Wrist joint component; 71. Forearm connecting rod; 711. Limit rod; 72. Forearm transmission piece; 721. Arc-shaped limit hole; 73. Wrist joint internal / external rotation motor. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] The purpose of the present invention is to provide a left / right hand exchange mechanism and an upper limb exoskeleton rehabilitation robot thereof to solve the problems existing in the prior art. By sequentially connecting the elbow support piece, the first forearm connecting piece, and the second forearm connecting piece in a head-to-tail rotation manner, the exchange of the left and right hands can be realized when driving the first forearm connecting piece and the second forearm connecting piece to rotate respectively, so that two functions can be realized through a set of mechanisms to meet the needs of different patients for left or right hand rehabilitation training.

[0032] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] As Figures 1 to 6As shown in the figure, the present invention provides a left - and - right hand exchange mechanism 5, which is used to be connected in a robotic arm for rehabilitation training and can mainly support the patient's arm to achieve the movement of the elbow joint. The left - and - right hand exchange mechanism 5 includes an elbow support member 51, a first forearm connecting member 52, and a second forearm connecting member 53. The elbow support member 51, the first forearm connecting member 52, and the second forearm connecting member 53 are all rod - shaped and are sequentially connected end - to - end in a rotatable manner, forming a broken - line - shaped structure that can rotate relative to each other at the rotational connection points. As needed, the first forearm connecting member 52 and the second forearm connecting member 53 can overlap. At this time, they and the elbow support member 51 form a V - shaped structure with a variable angle, and the opening direction of this V - shaped structure is opposite to that of the V - shaped structure formed by the upper arm and forearm of the left (right) hand. Or, the elbow support member 51 overlaps with the first forearm connecting member 52. At this time, they and the second forearm connecting member 53 form a V - shaped structure with a variable angle, and the opening direction of this V - shaped structure is opposite to that of the V - shaped structure formed by the upper arm and forearm of the right (left) hand. The elbow support member 51 is used to connect to the upper arm assembly 4, and the second forearm connecting member 53 is used to connect to the forearm assembly 6. A first elbow joint assembly is provided at the rotational connection point between the elbow support member 51 and the first forearm connecting member 52. The first elbow joint assembly is used to drive the first forearm connecting member 52 to rotate. For the driving method, various forms can be adopted. For example, the body of the motor is fixed on the elbow support member 51, and the main shaft is fixed on the first forearm connecting member 52 to achieve relative rotation driven by the motor. At this time, the first forearm connecting member 52 and the second forearm connecting member 53 overlap. A second elbow joint assembly is provided at the connection between the first forearm connecting member 52 and the second forearm connecting member 53. The second elbow joint assembly is used to drive the second forearm connecting member 53 to rotate. For the driving method, various forms can be adopted. For example, the body of the motor is fixed on the second forearm connecting member 53, and the main shaft is fixed on the first forearm connecting member 52 to achieve relative rotation driven by the motor. At this time, the elbow support member 51 and the first forearm connecting member 52 overlap. Of course, the forms of the first elbow joint assembly and the second elbow joint assembly are not limited to the foregoing methods, and other methods capable of realizing rotational drive in the prior art can also be adopted. It should be noted that Figures 1 to 3 Shown is a specific form of the left - and - right hand exchange mechanism 5. In this form, the first elbow joint assembly forms the left - hand drive, and the second elbow joint assembly forms the right - hand drive. By sequentially connecting the elbow support member 51, the first forearm connecting member 52, and the second forearm connecting member 53 end - to - end in a rotatable manner, when driving the first forearm connecting member 52 to rotate, keeping the first forearm connecting member 52 and the second forearm connecting member 53 overlapping, at this time, the elbow joint movement of the left (right) hand can be achieved. When driving the second forearm connecting member 53 to move, keeping the elbow support member 51 and the first forearm connecting member 52 overlapping, at this time, the elbow joint movement of the right (left) hand can be achieved. Thus, the exchange between the left and right hands can be realized, and two functions can be achieved through one set of mechanism, meeting the needs of different patients for left - hand or right - hand rehabilitation training.

[0034] As shown Figures 2 to 3 in the figure, the first elbow joint assembly may include a first motor 57 fixed to the first forearm connecting member 52 and a first rotating shaft 56 fixed to the elbow support member 51. The first motor 57 is drivingly connected to the first rotating shaft 56. By using the first motor 57 as a power source, the first forearm connecting member 52 can be driven to rotate relative to the elbow support member 51. The first motor 57 can directly drive the first rotating shaft 56 to rotate, or can also transmit power through a gear meshing manner. The second elbow joint assembly may include a second motor 55 fixed to the first forearm connecting member 52 and a second rotating shaft 54 fixed to the second forearm connecting member 53. The second motor 55 is drivingly connected to the second rotating shaft 54. By using the second motor 55 as a power source, the second forearm connecting member 53 can be driven to rotate relative to the first forearm connecting member 52. The second motor 55 can directly drive the second rotating shaft 54 to rotate, or can also transmit power through a gear meshing manner.

[0035] Further, as Figure 3 shown in the figure, a first bevel gear 571 is connected to the main shaft of the first motor 57, and a second bevel gear 561 is connected to the first rotating shaft 56. The first bevel gear 571 is meshed with the second bevel gear 561 to realize the driving connection between the first motor 57 and the first rotating shaft 56. A third bevel gear 551 is connected to the main shaft of the second motor 55, and a fourth bevel gear 541 is connected to the second rotating shaft 54. The third bevel gear 551 is meshed with the fourth bevel gear 541 to realize the driving connection between the second motor 55 and the second rotating shaft 54.

[0036] As Figures 1 to 3 shown in the figure, the first motor 57 and the second motor 55 are arranged parallel to each other vertically and are both parallel to the first forearm connecting member 52. Specifically, the first motor 57 and the second motor 55 can be installed below the first forearm connecting member 52, and the orientations of their main shafts are opposite. In addition, the lengths of the elbow support member 51 and the second forearm connecting member 53 are equal and are half of the length of the first forearm connecting member 52. In this way, after the elbow support member 51, the first forearm connecting member 52, and the second forearm connecting member 53 overlap, the left - right hand exchanging mechanism 5 and the connected upper arm assembly 4 and forearm assembly 6 will be on the same straight line, which corresponds to the structure of the human upper limb. To sum up, the first motor 57 for driving the first elbow joint rotation and the second motor 55 for driving the second elbow joint rotation of the present invention are both arranged on the first forearm connecting member 52, which can use the first forearm connecting member 52 as a fixing part to maintain the stability of the movement during the left - right hand exchange. At the same time, the lengths of the elbow support member 51 and the second forearm connecting member 53 are equal and are half of the length of the first forearm connecting member 52. When performing the first elbow joint (second elbow joint) movement, the rotation center can be maintained at the end of the first forearm connecting member 52, which can adapt to the actual positional relationship between the upper arm and the forearm at the patient's elbow joint, and ensure that the rehabilitation training is carried out on the basis of conforming to the structure of the human upper limb.

[0037] As Figures 1 to 6 shown, the present invention further provides an upper limb exoskeleton rehabilitation robot, which includes a shoulder joint assembly 3, an upper arm assembly 4, a left and right hand exchange mechanism 5 as described above, a forearm assembly 6, and a wrist joint assembly 7 that are connected in sequence. The elbow support 51 of the left and right hand exchange mechanism 5 is connected to the upper arm assembly 4, and the second forearm connecting member 53 of the left and right hand exchange mechanism 5 is connected to the forearm assembly 6. The shoulder joint assembly 3 is slidably connected to the slide rail device 1 through the robotic arm suspension mechanism 2. The slide rail device 1 is arranged on a liftable base, and the support height of the overall structure can be adjusted adaptively. Thus, a complete robot structure including the auxiliary exercise structures of each joint of the upper limb is formed, which can accurately train a single joint or a composite joint for the abduction and adduction movements and the upward and downward movements of the shoulder joint of the human upper limb, the flexion and extension movements of the elbow joint, and the internal and external rotation movements of the wrist joint. The robotic arm suspension mechanism 2 can support the main structural weight of the robot, and the relative position of the robot can be changed by sliding on the slide rail device 1 to better adapt to different individuals or different positions of the same individual.

[0038] Combined with Figures 4 to 5As shown, the shoulder joint assembly 3 needs to drive the entire robotic arm to move and bear relatively large external forces and bending moments. It may include an abduction / adduction motor 31 of the shoulder joint arranged vertically. The main shaft of the abduction / adduction motor 31 of the shoulder joint faces downward, and a first vertical support member 32 is installed on the main shaft. The rotation of the main shaft can drive the rotation of the first vertical support member 32. Specifically, the abduction / adduction motor 31 of the shoulder joint can adopt a DC brushless motor and is connected to a harmonic reducer. The harmonic reducer mainly consists of a wave generator, a rigid gear, and a flexible gear. Its working mode mainly adopts the form of the wave generator being active, the rigid gear being fixed, and the flexible gear outputting. The output shaft of the abduction / adduction motor 31 of the shoulder joint is connected to the flexible gear of the harmonic reducer, and a first flexible gear flange transmission member 312 is connected by screws. The first flexible gear flange transmission member 312 is fixedly connected to the first vertical support member 32 to drive the first vertical support member 32 to complete the abduction / adduction movement of the shoulder joint. At the same time, in order to reduce the axial load generated by rotation, a deep groove ball bearing 313 is installed, and the rigid gear of the harmonic reducer is fixedly connected to a first rigid gear flange fixing member 311. The abduction / adduction motor 31 of the shoulder joint is fixed to the support structure connected to the robotic arm suspension mechanism 2 through the first rigid gear flange fixing member 311. A shoulder joint elevation / depression motor 33 and a third rotating shaft 34 are arranged on the first vertical support member 32. The third rotating shaft 34 is fixedly connected to the upper arm assembly 4. The main shaft of the shoulder joint elevation / depression motor 33 is perpendicular to the third rotating shaft 34 and drives the third rotating shaft 34 to rotate through bevel gears. Therefore, the shoulder joint elevation / depression motor 33 can drive the upper arm assembly 4 to elevate or depress to simulate the elevation / depression movement of the upper arm. The shoulder joint elevation / depression motor 33 can also adopt a DC brushless motor. The flexible gear of its harmonic reducer is connected to a second flexible gear flange transmission member 332 and is connected to a fifth bevel gear 333 by a key. The third rotating shaft 34 is provided with a sixth bevel gear 341. Under the meshing transmission of the fifth bevel gear 333 and the sixth bevel gear 341, the rotation of the third rotating shaft 34 is realized, and then the elevation / depression movement of the shoulder joint is completed. The rigid gear is connected to a second rigid gear flange fixing member 331. When installing the shoulder joint elevation / depression motor 33, it can be fixed to the first vertical support member 32 through the second rigid gear flange fixing member 331.

[0039] The upper arm assembly 4 may include a second vertical support 41 and upper arm linkages 42 arranged in parallel. One end of each upper arm linkage 42 is rotatably connected to the first vertical support 32. The other end of each upper arm linkage 42 is rotatably connected to the second vertical support 41. And one end of one upper arm linkage 42 is fixedly connected to the third rotating shaft 34, and the second vertical support 41 is fixedly connected to the elbow support 51. The first vertical support 32 may adopt a U-shaped structure. The third rotating shaft 34 is rotatably arranged on the two arms of the U-shaped structure. In addition, a fourth rotating shaft 35 for supporting the rotation of the other upper arm linkage 42 is also provided. The bottom surface of the U-shaped structure is connected to the first flexible gear flange transmission member 312 of the shoulder joint abduction / adduction motor 31. By connecting the first vertical support 32 and the second vertical support 41 through the parallel upper arm linkages 42, a four-bar linkage structure can be formed, so that the first vertical support 32 and the second vertical support 41 can always be kept in a parallel and vertical position state. When performing the up and down movement of the upper arm, the left and right hand exchange mechanism 5 can always be kept in a stable horizontal state, meeting the requirements of independent movement of each joint. And the structure of the double upper arm linkages 42 can improve the load-bearing capacity of the upper arm assembly 4, further ensuring the stability of the overall structure. A shoulder joint gravity balance device 43 may be provided on the upper arm linkage 42 on the upper side. The gravity balance can be achieved by using the shoulder joint gravity balance device 43. When the patient is performing rehabilitation training, there is no need to use force to overcome the gravity of the mechanism itself for rehabilitation exercise. It should be noted that the shoulder joint gravity balance device 43 is arranged by adopting the structure in the prior art. For example, a spring and a wire rope can be used as the gravity balance device to eliminate most of the gravity moment. The calculation of the gravity moment can be selected in the case where the maximum gravity moment is generated between the human upper limb and the robotic arm, that is, when the upper limb is in a horizontal position. Details are not described here. An upper arm fixing part 44 may be provided on the upper arm linkage 42 on the lower side, which is used to fix the patient's upper arm to the upper arm fixing part 44 through a strap.

[0040] Such as Figure 6As shown, the forearm assembly 6 includes a length adjustment device 62. The length adjustment device 62 includes a slide rail (not shown in the figure) connected to the second forearm connecting member 53, a slide plate 63 slidably connected to the slide rail, and a locking structure (not shown in the figure, which can be a bolt) for locking the slide plate 63. The slide rail can be provided on the bottom surface of the length adjustment device 62. And the length adjustment device 62 is connected to the second forearm connecting member 53 through the forearm support member 61. Correspondingly, an elbow joint gravity balance device (provided at the same position as the length adjustment device 62 in the figure, with the slide rail provided at its lower part) can also be provided to balance the weight of the forearm. It should be noted that the elbow joint gravity balance device is a structure using existing technology. For example, a spring and a wire rope can be used as the gravity balance device to eliminate most of the gravity moment. The calculation of the gravity moment can be selected in the case where the human upper limb and the robotic arm generate the maximum gravity moment, that is, when the upper limb is in a horizontal position, and details will not be elaborated here. The slide plate 63 is connected to the wrist joint assembly 7, and a forearm fixing portion 64 can be provided to fix the patient's forearm to the forearm fixing portion 64 through a strap. By adjusting the position of the slide plate 63 on the slide rail, the length of the forearm assembly 6 can be adjusted, that is, the distance between the wrist joint assembly 7 and the left - right hand exchange mechanism 5 can be adjusted. Compared with traditional exoskeleton robots, the length adjustment device 62 proposed by the present invention can improve the adaptability of the upper limb exoskeleton rehabilitation robot to a greater extent and meet the needs of patients with different body types.

[0041] The wrist joint assembly 7 can include a forearm link 71, a forearm transmission member 72 rotatably provided on the forearm link 71, and a wrist joint pronation - supination motor 73 for driving the forearm transmission member 72 to rotate. In order to make the structure lighter, the direct connection method of the motor shaft of the wrist joint pronation - supination motor 73 can be adopted for driving. The wrist joint pronation - supination motor 73 drives the patient to perform wrist joint pronation - supination movement through the forearm transmission member 72 and the handle. Specifically, the forearm link 71 can be provided with a long, inwardly concave, inverted - L - shaped structure. The forearm transmission member 72 is rotatably provided on the inner wall of one side arm of the inverted - L - shaped structure, and the forearm transmission member 72 extends along the inwardly concave surface of the inverted - L - shaped structure. A handle is provided above the inwardly concave surface and is mounted on the forearm transmission member 72. When in use, the hand holds the handle. When the forearm transmission member 72 rotates, it can drive the handle to rotate, thereby realizing the drive of the wrist joint.

[0042] Furthermore, an arc - shaped limit hole 721 centered on its rotation center is provided on the forearm transmission member 72, and a limit rod 711 is provided on the forearm link 71. The arc - shaped limit hole 721 is sleeved on the limit rod 711. The rotation position of the forearm transmission member 72 can be limited by using the arc - shaped limit hole 721 and the limit rod 711, so that the wrist joint is within a controllable rotation range, ensuring the safety of the patient during rehabilitation exercises and avoiding harm to the human joint.

[0043] The movement principles of each joint of the present invention are as follows:

[0044] Abduction and adduction movement of the shoulder joint: The output shaft of the abduction and adduction motor 31 of the shoulder joint is coaxial with the flexspline of the harmonic reducer, and is connected and driven with the first flexspline flange transmission member 312 through screws to complete the abduction and adduction movement of the shoulder joint of the robotic arm.

[0045] Lifting and lowering movement of the shoulder joint: The output shaft of the lifting and lowering motor 33 of the shoulder joint is coaxial with the flexspline of the harmonic reducer, and is connected and driven with the second flexspline flange transmission member 332 through screws, and is connected with the fifth bevel gear 333 through a key to drive the lifting and lowering of the shoulder joint of the robotic arm.

[0046] Flexion and extension movement of the elbow joint: According to the affected limb to switch between left and right hand modes. In the right hand mode, the second motor 55 can drive the second forearm connecting member 53 through the third bevel gear 551 and the fourth bevel gear 541 to complete the flexion and extension movement of the elbow joint of the right hand; in the left hand mode, the first motor 57 can drive the first forearm connecting member 52 through the first bevel gear 571 and the second bevel gear 561 to complete the flexion and extension movement of the elbow joint of the left hand.

[0047] Internal and external rotation movement of the wrist joint: It is driven by the direct connection of the motor shaft. The internal and external rotation motor 73 of the wrist joint drives the patient to perform the internal and external rotation movement of the wrist joint through the forearm transmission member 72 and the handle.

[0048] In the present invention, specific examples are used to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A left-right hand exchange mechanism, characterized in that: It includes an elbow support, a first forearm connecting member, and a second forearm connecting member. The elbow support, the first forearm connecting member, and the second forearm connecting member are sequentially and rotatably connected end to end. The elbow support is used to connect to the upper arm assembly, and the second forearm connecting member is used to connect to the forearm assembly. At the rotational connection between the elbow support and the first forearm connecting member, a first elbow joint assembly is provided, and the first elbow joint assembly is used to drive the first forearm connecting member to rotate. At this time, the first forearm connecting member overlaps with the second forearm connecting member. At the first forearm connecting member and the second forearm connecting member, a second elbow joint assembly is provided, and the second elbow joint assembly is used to drive the second forearm connecting member to rotate. At this time, the elbow support overlaps with the first forearm connecting member. The first elbow joint assembly includes a first motor fixed on the first forearm connecting member and a first rotating shaft fixed on the elbow support. The first motor is drivingly connected to the first rotating shaft. The second elbow joint assembly includes a second motor fixed on the first forearm connecting member and a second rotating shaft fixed on the second forearm connecting member. The second motor is drivingly connected to the second rotating shaft. A first bevel gear is connected to the main shaft of the first motor, and a second bevel gear is connected to the first rotating shaft. The first bevel gear is meshingly connected to the second bevel gear. A third bevel gear is connected to the main shaft of the second motor, and a fourth bevel gear is connected to the second rotating shaft. The third bevel gear is meshingly connected to the fourth bevel gear. The first motor and the second motor are arranged parallel to each other vertically and are both parallel to the first forearm connecting member. The lengths of the elbow support and the second forearm connecting member are equal and are half of the length of the first forearm connecting member.

2. An upper limb exoskeleton rehabilitation robot, characterized in that: It includes a shoulder joint assembly, an upper arm assembly, a left - right hand swapping mechanism as described in claim 1, a forearm assembly, and a wrist joint assembly that are sequentially connected. The elbow support of the left - right hand swapping mechanism is connected to the upper arm assembly, and the second forearm connecting member of the left - right hand swapping mechanism is connected to the forearm assembly. The shoulder joint assembly is slidably connected to the rail device through a robotic arm suspension mechanism.

3. The upper limb exoskeleton rehabilitation robot according to claim 2, wherein: The shoulder joint assembly includes a shoulder joint abduction - adduction motor arranged vertically. A first vertical support member is installed on the main shaft of the shoulder joint abduction - adduction motor. A shoulder joint elevation - depression motor and a third rotating shaft are provided on the first vertical support member. The third rotating shaft is fixedly connected to the upper arm assembly. The main shaft of the shoulder joint elevation - depression motor is perpendicular to the third rotating shaft and drives the third rotating shaft to rotate through bevel gears.

4. The upper limb exoskeleton rehabilitation robot according to claim 3, wherein: The upper arm assembly includes a second vertical support member and upper arm connecting rods arranged in parallel. One end of each upper arm connecting rod is rotatably connected to the first vertical support member, and the other end of each upper arm connecting rod is rotatably connected to the second vertical support member. One end of one of the upper arm connecting rods is fixedly connected to the third rotating shaft, and the second vertical support member is fixedly connected to the elbow support.

5. The upper limb exoskeleton rehabilitation robot according to claim 4, wherein: The forearm assembly includes a length adjustment device, which comprises a slide rail connected to the second forearm connecting piece, a slide plate slidably connected to the slide rail, and a locking structure for locking the slide plate. The slide plate is connected with the wrist joint assembly.

6. The upper limb exoskeleton rehabilitation robot according to claim 5, characterized in that: The wrist joint assembly includes a forearm connecting rod, a forearm transmission member rotatably arranged on the forearm connecting rod, and a wrist joint pronation / supination motor for driving the forearm transmission member to rotate. A handle is arranged on the forearm transmission member.

7. The upper limb exoskeleton rehabilitation robot according to claim 6, wherein: An arc-shaped limiting hole centered on the rotation center of the forearm transmission member is arranged on the forearm transmission member, and a limiting rod is arranged on the forearm connecting rod. The arc-shaped limiting hole is sleeved on the limiting rod.

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