A double-arm upper limb exoskeleton rehabilitation training device

Abstract

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to an upper limb exoskeleton. BACKGROUND

[0002] At present, the upper limb functional disorders caused by factors such as stroke, work injury, traffic accident, etc. are increasing, and the patient population of stroke, spinal injury, etc. is further expanding. In addition to surgery or drug treatment, these patients also need to cooperate with scientific rehabilitation training plan. The therapists of rehabilitation department and rehabilitation hospital generally help patients to complete the specified action manually. This working mode has high labor intensity, and it is also difficult to guarantee the accuracy and consistency of the completed action, and the rehabilitation effect is poor.

[0003] As a rehabilitation training device, the upper limb exoskeleton requires that the joints are matched with the human upper limb as strictly as possible, and the joint axes are matched with each other. The existing upper limb exoskeleton design scheme can only meet the horizontal abduction / adduction and lateral flexion / extension of two degrees of freedom of the shoulder action, and the patient cannot flexibly use the shoulder to perform multi-angle activities, which limits the rehabilitation of the shoulder and the shoulder joint cannot be fully rehabilitated. SUMMARY

[0004] The present application provides a double-arm upper limb exoskeleton rehabilitation training device, which can help patients to perform multi-angle and all-around shoulder action and improve the rehabilitation effect.

[0005] Technical scheme: the double-arm upper limb exoskeleton rehabilitation training device comprises:

[0006] a base column,

[0007] a back assembly which can slide on the base column in a first direction;

[0008] two groups of scapula assemblies which are arranged on the back assembly and can slide in a second direction, and move with the back assembly, and are used for following the shoulder action of the patient;

[0009] two groups of upper arm assemblies which are rotationally connected with the scapula assemblies and are used for fixing the upper arms of the patient;

[0010] two groups of lower arm assemblies which are rotationally connected with the upper arm assemblies and are used for fixing the lower arms of the patient;

[0011] two groups of wrist assemblies which are rotationally connected with the lower arm assemblies and are used for being held by the patient.

[0012] Further, the shoulder assembly comprises a shoulder first connecting member, a shoulder first driving member, a shoulder second connecting member, and a shoulder second driving member; the shoulder first connecting member is slidably connected with the back assembly through the shoulder first driving member, the shoulder first driving member drives the shoulder second connecting member to rotate around the first end, and the second end of the shoulder second connecting member is fixed with the shoulder second driving member.

[0013] Further, the mounting position of the shoulder second driving member is higher than that of the shoulder first driving member.

[0014] In addition, the shoulder assembly further comprises a shoulder third connecting member, a shoulder third driving member, and a shoulder fourth connecting member; the shoulder second driving member drives the shoulder third connecting member to rotate around the first end, the shoulder third driving member is arranged on the upper side of the shoulder of the patient, the second end of the shoulder third connecting member is fixed with the shoulder third driving member, the shoulder third driving member drives the shoulder fourth connecting member to rotate around the first end, and the second end of the shoulder fourth connecting member is connected with the upper arm assembly.

[0015] Further, the shoulder second connecting member is provided with a limiting mechanism for limiting the rotation range of the shoulder third connecting member.

[0016] In addition, the shoulder third connecting member is provided with a limiting mechanism for limiting the rotation range of the shoulder fourth connecting member.

[0017] Further, the back assembly is slidably arranged on the base column through a first guiding mechanism.

[0018] Further, the shoulder assembly is slidably arranged on the back assembly through a second guiding mechanism, the second guiding mechanism is provided with a locking assembly, and the locking assembly is used for fixing the shoulder assembly on the back assembly.

[0019] Further, the wrist assembly comprises a first rotating member, a second rotating member, a wrist first driving member, a wrist second driving member, and a handle member;

[0020] The first rotating member is fixedly connected with the forearm assembly and is driven by the wrist first driving member to rotate in a first plane;

[0021] The second rotating member is connected with the first rotating member and is driven by the wrist second driving member to rotate in a third plane perpendicular to the first plane;

[0022] The handle member is connected with the second rotating member and is perpendicular to the third plane.

[0023] Further, the handle component is provided with a grip force sensor and a three-dimensional force sensor, which are connected and drive the scapula assembly, the upper arm assembly, the lower arm assembly and the wrist assembly through the driving control.

[0024] Advantages:

[0025] 1. The scapula assembly of the double-arm upper limb exoskeleton of the application is connected with the back assembly and rotationally connected with the upper arm assembly, can follow the shoulder joint of the patient to perform flexible operation, is not limited to abduction / adduction and flexion / extension, can open the arms according to needs and carry out multi-angle rehabilitation exercise combined with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the use scene of the upper limb exoskeleton is promoted.

[0026] 2. The back assembly of the application can slide along the first direction on the base column, so that the patient can adjust the height of the exoskeleton according to the height when wearing the upper limb exoskeleton; the scapula assembly slides along the second direction on the back assembly, so that the exoskeleton can be adjusted transversely according to the width of the scapula of the patient, and the upper limb exoskeleton is convenient to put on and take off.

[0027] 3. Through the arrangement of the scapula assembly, the upper arm assembly, the lower arm assembly and the wrist assembly, a multi-rigid-body series motion chain with multiple degrees of freedom can be formed, a plurality of rehabilitation actions can be combined for use, and different rehabilitation training requirements can be met. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is an isometric view of the double-arm upper limb exoskeleton rehabilitation training device of the application;

[0029] Figure 2 is a front view of the double-arm upper limb exoskeleton rehabilitation training device of the application;

[0030] Figure 3 is a front view of the double-arm upper limb exoskeleton rehabilitation training device of the application;

[0031] Figure 4 is a left view of the double-arm upper limb exoskeleton rehabilitation training device of the application;

[0032] Figure 5 is an isometric view of the embodiment for illustrating the right arm;

[0033] Figure 6 is a schematic view of the base column structure;

[0034] Figure 7 is an exploded view of the second guide mechanism;

[0035] Figure 8 is an isometric view of the scapula assembly;

[0036] Figure 9Front view of the shoulder first connecting piece;

[0037] Figure 10 Axonometric view of the shoulder second connecting piece;

[0038] Figure 11 Axonometric view of the shoulder third connecting piece;

[0039] Figure 12 Side view of the connecting first part of the shoulder third connecting piece;

[0040] Figure 13 Axonometric view of the forearm assembly;

[0041] Figure 14 Front view of the forearm assembly;

[0042] Figure 15 Axonometric view of the Figure 10 Detail of the A portion;

[0043] Figure 16 Side view of the forearm assembly;

[0044] Figure 17 Axonometric view of the Figure 16 Sectional view of the B-B section;

[0045] Figure 18 Axonometric view of the forearm first connecting piece;

[0046] Figure 19 Axonometric view of the forearm second connecting piece;

[0047] Figure 20 Axonometric view of the mounting seat;

[0048] Figure 21 Top view of the mounting seat;

[0049] Figure 22 Axonometric view of the Figure 21 Sectional view of the C-C section;

[0050] Figure 23 Side view of the mounting seat;

[0051] Figure 24 Axonometric view of the transmission plate;

[0052] Figure 25 Axonometric view of the abutment piece;

[0053] Figure 26 Bottom view of the abutment piece;

[0054] Figure 27 Top view of the abutment piece;

[0055] Figure 28 Axonometric view of the Figure 27 Sectional view of the middle D-D section;

[0056] Figure 29 Axonometric view of the forearm assembly from the first perspective (with the housing part not closed and the elbow drive not installed);

[0057] Figure 30 Axonometric view of the forearm assembly from the second perspective (with the housing part not closed);

[0058] Figure 31 Structure schematic of the support part;

[0059] Figure 32 Structure schematic of the housing part;

[0060] Figure 33 Structure schematic of the wrist assembly;

[0061] Figure 34 Exploded view of the wrist assembly;

[0062] Figure 35 Structure schematic of the first rotating plate;

[0063] Figure 36 Structure schematic of the second rotating plate;

[0064] Figure 37 Structure schematic of the handle part;

[0065] Figure 38 Schematic of the large arm tilting swing action;

[0066] Figure 39 Schematic of the large arm tilting swing process;

[0067] Figure 40 Comparison diagram of the large arm tilting swing at different angles.

[0068] In the figure:

[0069] 1-back assembly, 2-shoulder blade assembly, 3-large arm assembly, 4-forearm assembly, 5-wrist assembly;

[0070] 11-first back plate, 12-second back plate, 13-crossbar, 14-first sliding groove, 15-first sliding block, 16-sliding groove part, 17-sliding part, 18-locking part, 19-second sliding groove, 110-second sliding block, 111-guide groove;

[0071] 201-shoulder first connecting piece, 202-shoulder first driving motor, 203-shoulder second connecting piece, 2031-shoulder first through hole, 2032-shoulder first limiting groove, 204-shoulder second driving motor, 205-shoulder third driving motor, 2051-limiting screw hole, 2052-shoulder second through hole, 2053-shoulder second limiting groove, 206-shoulder third connecting piece, 207-shoulder fourth connecting piece, 2071-connecting piece first part, 2072-connecting piece second part;

[0072] 21-first connecting piece of large arm, 211-first bolt hole, 212-accepting surface;

[0073] 22-second connecting piece of large arm, 221-second bolt hole, 222-slotted hole, 223-first through hole, 224-second through hole;

[0074] 23-driving piece;

[0075] 24-mounting seat, 241-accepting groove, 242-screw hole, 243-convex strip;

[0076] 25-moving block, 251-transmission plate, 252-push rod, 253-limiting part, 254-first recess;

[0077] 26-elastic piece;

[0078] 27-pressing piece, 271-groove hole, 272-pressing surface, 273-second recess, 274-key position groove;

[0079] 31-supporting part, 311-rotary supporting part, 312-driving supporting part, 313-slide, 314-transmission through hole, 315-clamping groove;

[0080] 32-elbow driving piece, 33-rotary part, 33a-arc-shaped rack, 34-small arm fixing piece, 35-small arm driving motor, 36-transmission gear, 37-housing part, 371-first housing, 372-second housing;

[0081] 411-clamping part, 412-first annular part, 412a-first arc-shaped limiting groove;

[0082] 421-first motor of wrist, 422-first rotary plate, 422a-first limiting hole, 423-second annular part, 423b-second arc-shaped limiting groove;

[0083] 431-second motor of wrist, 432-second rotary plate, 432b-second limiting hole, 433-positioning screw hole;

[0084] 4411-First housing, 4412-Second housing, 442-Pressure sensor, 443-Sensor fixture, 444-Base support, 445-Limiting component, 446-Linear slide, 447-Ratchet-type fixing handle. Detailed Implementation

[0085] A dual-arm upper limb exoskeleton rehabilitation training device, such as Figures 1-4 As shown, it includes a base column, a back assembly 1, two sets of scapular assemblies 2, two sets of upper arm assemblies 3, two sets of forearm assemblies 4, and two sets of wrist assemblies 5. This embodiment describes the structure of the right arm exoskeleton, consisting of one set of scapular assemblies 2, one set of upper arm assemblies 3, one set of forearm assemblies 4, and one set of wrist assemblies 5. Figure 5 As shown, the structure of the left arm exoskeleton is mirror-symmetrical about the base column as its central axis.

[0086] The foundation support includes a foundation base and a support column, with the support column fixed to the foundation base. The back support assembly 1 slides on the support column via a first guide mechanism, as shown... Figure 6 As shown, specifically, the back assembly includes a first back plate 11, a second back plate 12, and four crossbars 13 connecting the first back plate and the second back plate. Vertical first sliding grooves 14 are provided on both sides of the uprights. The back of the second back plate 12 is provided with first sliders 15 that are adapted to the first sliding grooves 14. Two first sliders 15 are provided for each first sliding groove 14. The first sliders 15 slide in the first sliding grooves 14 to realize the overall lifting and lowering of the back assembly 1.

[0087] The scapular component 2 slides on the back component 1 via a second guide mechanism, as... Figure 7 As shown, specifically, the second guiding mechanism includes a sliding groove component 16 fixed to the first back plate 11, a sliding component 17 fixed to the scapula assembly 2, and a locking component 18. The sliding groove component 16 has a second sliding groove 19 laterally facing the scapula assembly 2. The sliding component 17 has a second slider 110 adapted to the second sliding groove 19, and the second slider 110 slides laterally in the second sliding groove 19. Guide grooves 111 are provided on the upper and lower sides of the sliding groove component 16. The locking component 18 has screw holes at both ends. One end is fixed to the sliding component 17 by a bolt, and the screw hole at the other end allows the locking bolt to pass through and slide in the guide groove 111 and be tightened, thereby fixing the position of the scapula assembly 2.

[0088] like Figure 8As shown, the scapular assembly 2 includes a first shoulder connector 201, a first shoulder drive motor 202, a second shoulder connector 203, a second shoulder drive motor 204, a third shoulder drive motor 206, a third shoulder connector 205, and a fourth shoulder connector 207. The first shoulder drive motor 202 is connected to the sliding component 17 via the first shoulder connector 201. The first shoulder drive motor 202 drives the second shoulder connector 203 to rotate around its first end, and the second end of the second shoulder connector 203 is fixed to the second shoulder drive motor 204.

[0089] like Figure 9 The diagram shows the second shoulder connector 203. The right end is the first end of the second shoulder connector 203, and the left end is the second end. The first end has evenly spaced bolt holes and is fixed to the output shaft of the first shoulder drive motor 202 with bolts. The second end has a second shoulder drive motor 204 mounted on the same side as the first shoulder drive motor 202, and a first shoulder through hole 2031 is provided at the second end, allowing the protrusion of the first end of the third shoulder connector 205 to pass through the other side of the second shoulder connector 203 and connect to the output shaft of the second shoulder drive motor 204. A first shoulder limiting groove 2032 is provided around the first shoulder through hole 2031, and a limiting screw corresponding to the first shoulder limiting groove 2032 is provided at the first end of the third shoulder connector 205, thereby limiting the rotation angle of the third shoulder connector 205 driven by the second shoulder drive motor 204. In this embodiment, the rotation range of the third shoulder connector 205 is 180°. As can be seen from the figure, the arrangement of the second shoulder connector 203 ensures that the axis of the second shoulder drive motor 204 is higher than the axis of the first shoulder drive motor 202 in the initial position. This further adapts to the human body structure of the patient's scapula, conforms to the patient's shoulder joint, and shortens the distance between the third shoulder connector 205 and the third shoulder drive motor 206, increasing overall stability.

[0090] The first shoulder drive motor 202 drives the second shoulder connector 203 and the second shoulder drive motor 204 to rotate behind the patient. The lateral distance between the first shoulder drive motor 202 and the second shoulder drive motor 204 is further adjusted according to the width of the patient's scapula to accommodate the patient's shoulder size for wearing the exoskeleton.

[0091] The third shoulder drive motor 206 is obliquely positioned on the upper side of the patient's shoulder. The second shoulder drive motor 204 drives the third shoulder connector 205 to rotate around its first end. The second end of the third shoulder connector 205 is fixed to the third shoulder drive motor 206. Specifically, the third shoulder connector 205 is as follows: Figure 10As shown, the bending angle is 90°. The lower end of the figure is the first end of the third shoulder connector 205, and the upper end is the second end of the third shoulder connector 205. A reinforcing rib is provided at the connection between the first and second ends to increase the strength of the component. A limiting screw hole 2051 is provided at the center of the edge of the first end of the third shoulder connector 205, corresponding to the limiting screw that slides in the first limiting groove 2032 of the shoulder. Bolt holes are evenly distributed around the first end, and are fixed to the output shaft of the second shoulder drive motor 204 by bolts. A second shoulder through hole 2052 is provided at the second end, through which the protrusion of the first end of the fourth shoulder connector 207 passes, corresponding to the output shaft of the third shoulder drive motor 206. A second shoulder limiting groove 2053 is provided around the second through hole 2052 of the shoulder. The first end of the fourth shoulder connector 207 is provided with a limiting screw that slides in the second shoulder limiting groove 2053, thereby limiting the rotation angle of the fourth shoulder connector 207 driven by the third shoulder drive motor 206. In this embodiment, the rotation range of the fourth shoulder connector 207 is 180°.

[0092] The third drive motor 206 in the shoulder section drives the fourth connecting member 207 in the shoulder section to rotate around the first end. The second end of the fourth connecting member 207 in the shoulder section is connected to the upper arm assembly 3. The fourth connecting member 207 in the shoulder section... Figure 11 As shown in the diagram, the upper end is the first end, and the lower end is the second end. The fourth shoulder connector 207 is composed of a first connector part 2071 including the first end and a second connector part 2072 including the second end. Figure 12 As shown, the first part 2071 of the connector is a folded plate with an included angle of 120°, and reinforcing ribs are provided between the included angles of the plate to increase strength. The first end of the first part 2071 of the connector is the first end of the fourth shoulder connector 207, and the second end is connected to the second part 2072 of the connector in the same plane. The fourth shoulder connector 207 enables the scapular assembly 2 and the upper arm assembly 3 to be rotatably connected, and under the drive of the second shoulder drive motor 204 and the third shoulder drive motor 206, the patient can perform flexible shoulder movements.

[0093] Upper arm assembly 3 is located on the outer side of the patient's upper arm, such as... Figures 13-16 As shown, it includes a boom drive motor, a first boom connector 21, a second boom connector 22, and a locking assembly.

[0094] like Figure 17 As shown, the boom drive motor is fixed to the second end of the fourth shoulder connector 207, and the output shaft of the boom drive motor is fixed to the first end of the first boom connector 21, driving the first boom connector 21 to rotate around the first end in the first plane.

[0095] The first connecting piece 21 of the upper arm is fixed on the upper arm of a patient, and a first bolt hole 211 is uniformly arranged on the first end, which is connected with the output shaft of the driving motor of the upper arm through a bolt. The first connecting piece 21 of the upper arm extends along the length direction of the upper arm of the patient, and the left side and the right side of the first connecting piece 21 of the upper arm are provided with receiving surfaces 212 in the length direction. Figure 18 As shown in the figure, the bottom end of the second connecting piece 22 of the upper arm is also a ring-shaped end, which is connected with the elbow driving motor through a second bolt hole 221 uniformly arranged around the end, and the second connecting piece 22 of the upper arm slides relative to the first connecting piece 21 of the upper arm. Specifically, the second connecting piece 22 of the upper arm has a sliding groove hole 222 for the first connecting piece 21 of the upper arm to slide in, and the cross section of the first connecting piece 21 of the upper arm is a boss matched with the sliding groove hole 222, and the receiving surfaces 212 are arranged on the two side surfaces of the boss, and the tooth top surface of the receiving surface 212 is in clearance fit with the inner wall of the sliding part 222, so that the length of the adjustable upper arm rehabilitation training mechanism can be adjusted during the up and down sliding.

[0096] The two side surfaces of the second connecting piece 22 of the upper arm are respectively provided with a set of locking assemblies, which are fixed on the second connecting piece 22 of the upper arm on one side and press the first connecting piece 21 of the upper arm through the first through hole 223 on the side surface of the second connecting piece 22 of the upper arm on the other side.

[0097] Specifically, the locking assembly includes a driving member 23, a mounting seat 24, a transmission member 25, an elastic member 26 and a pressing member 27. Figure 19-22 As shown in the figure, the cross section of the mounting seat 24 is "L" shaped, and a containing groove 241 for containing the transmission member 25 and the pressing member 27 is arranged on the inner side surface of the mounting seat 24. The front and rear walls of the mounting seat 24 have screw holes 242, and when the front and rear walls of the mounting seat 24 are clamped on the outer side of the second connecting piece 22 of the upper arm, the mounting seat 24 is installed on the second connecting piece 22 of the upper arm by rotating the fixing screws into the screw holes 242.

[0098] The driving member 23 in the embodiment is a locking screw, which is rotated into the mounting seat 24 from the outer side, and can push the transmission member 25 and the pressing member 27 in the containing groove 241. Figure 23 As shown in the figure, the transmission member 25 includes a transmission plate 251 and two push rods 252 fixed on the inner side surface of the moving plate, and a limiting part 253 for fixing the end of the driving member 23 is arranged on the outer side surface of the transmission member 25, which is a ring-shaped protrusion with an inner diameter equal to the outer diameter of the driving member 23, so as to limit the pushing direction of the driving member 23 and prevent deviation. The elastic member 26 is sleeved on the two push rods 252 of the transmission member 25. Figure 24-28As shown, the outer side of the pressing member 27 is provided with a slot hole 271 for the push rod to extend into, and the inner side of the pressing member 27 is provided with a pressing surface 272 which is adapted to the receiving surface 212. The pressing member 27 is slightly smaller than the first through hole 223 on the second connecting member 22 of the large arm, so that the pressing member 27 can move freely in the first through hole 223 of the limb moving assembly 27.

[0099] The driving member 23 is screwed into the mounting seat 24 and is limited in the limiting portion 253 of the transmission plate 251. In the process of pushing the transmission plate 251, the push rod 252 extends into the slot hole 271 of the pressing member 27 and pushes the pressing surface 272 of the pressing member 27 to press tightly on the receiving surface 212 of the first connecting member 21 of the large arm, so as to realize the position locking of the first connecting member 21 and the second connecting member 22 of the large arm.

[0100] In order to further ensure the stability of the pushing direction in the locking process, the upper and lower end faces of the receiving groove 241 of the mounting seat 24 are provided with a convex strip 243, the two ends of the transmission plate 251 of the transmission member 25 are provided with a first recess 254 which is adapted to the convex strip 243, and the two ends of the pressing member 27 are provided with a second recess 273 which is adapted to the convex strip 243. Under the pushing of the driving member 23, the transmission member 25 and the pressing member 27 can move along the direction of the convex strip 243.

[0101] The front wall of the pressing member 27 is provided with a key slot 274, and the corresponding front wall of the second connecting member 22 of the large arm is provided with a second through hole 224. A pin shaft is correspondingly inserted into the second through hole 224 and the key slot 274, so as to limit the movement distance of the pressing member 27 within the range a as shown, and to limit the position. Figure 17

[0102] As shown in Figure 29 , 30 , the small arm assembly 4 comprises a support member 31, an elbow driving member 32, a rotating member 33, a small arm fixing member 34, a small arm driving member, and a housing member 37.

[0103] As shown in Figure 31 , the support member 31 comprises a rotating support portion 311 and a driving support portion 312. The rotating support portion 311 is a C-shaped member with a center axis and is provided with an opening for the small arm to enter the rotating support portion 311. A sliding groove 313 is arranged along the extension direction of the rotating support portion 311, and the rotating member 33 slides along the sliding groove 313. Since the rotating support portion 31 is C-shaped, the reciprocating sliding of the rotating member 33 realizes the reciprocating rotation of the rotating member 33 around the center axis of the rotating support portion 311 in the second plane.

[0104] ​Specifically, the rotating part 33 further comprises a rotating portion in a C shape, and the outer side of the rotating portion is a sliding rail capable of reciprocating sliding in a sliding groove 313 in the inner side of the rotating support portion 311. The arc-shaped rack 33a is arranged on the outer side of the rotating portion and located at the second side of the rotating support portion 311. Of course, the sliding groove 313 can also be arranged on the outer side of the rotating portion, and the sliding rail can be arranged on the inner side of the rotating support portion 311. Similarly, the rotating part 33 can also reciprocate in the rotating support portion 311.

[0105] In addition, the elbow driving part 32 is arranged on the rotating support portion 3, and the elbow driving part 32 is provided with a screw hole for connecting with the elbow driving motor, so as to realize the rotating connection between the bottom end of the large arm second connecting part 22 and the rotating support portion 311 in the first plane. The rotating part 33 is provided with a small arm fixing part 34 on the first side of the sliding groove 313, which is fixed on the small arm of the patient.

[0106] The small arm driving part comprises a small arm driving motor 35 and a transmission gear 36, which are installed on the driving support portion 312 of the support part 31. Specifically, the driving support portion 312 is arranged on the opposite side of the rotating support portion 311 and is provided with a transmission through hole 314. The small arm driving motor 35 is installed on the first side of the transmission through hole 314. In this embodiment, the driving motor 35 is a servo motor integrated with a planetary reduction gear structure, which has the advantages of small size, high speed operation, high speed, large torque and the like while having the driving function. The transmission gear 36 is installed on the second side of the transmission through hole 314, and the output shaft of the small arm driving motor 35 passes through the transmission through hole 314 to connect the center of the transmission gear 36. The transmission gear 36 is engaged with the arc-shaped rack 33a of the rotating part 33. The small arm driving motor 35 drives the transmission gear 36 to rotate forward and backward, which can drive the rotating part 33 to slide bidirectionally in the rotating support portion 311 of the support part 31. The gear transmission mode can improve the compactness of the structure and reduce the size of the overall structure.

[0107] The shell part 37 is arranged on the second side of the support part 31, as shown in Figure 32 The shell part 37 comprises a first shell 371 and a second shell 372 connected with each other, and the first shell 371 and the second shell 372 correspond to the side profile of the transmission gear 36 and the rotating support portion 311 of the support part 31 respectively, so as to enclose the transmission gear 36 and the arc-shaped rack 33a in the internal space, which can protect the tooth part of the transmission gear 36 and the arc-shaped rack 33a. On the one hand, it can avoid foreign matters and dust from entering and damaging the gear, and on the other hand, it can avoid the patient from being pinched by the tooth part during use. The support part 31 is provided with a clamping groove 315 for inserting the shell part 37, and the extension track of the clamping groove 315 is the same as the outer profile of the shell part 37. After the shell part 37 is inserted into the clamping groove 315, it is fixed by glue, which is convenient for installation. In addition, the shell part 37 is made of acrylic material, which can reduce the weight of the entire rehabilitation mechanism.

[0108] The wrist assembly 5, as shown in Figure 33 , 34 , comprises a first rotating component, a second rotating component, a first limiting component, a second limiting component, a handle component, and a driving control.

[0109] The forearm fixing member 34 extends along the forearm direction and is fixed on the patient's forearm through the clamping part 11. The end of the forearm fixing member 34 close to the wrist joint is provided with a first circular ring part 412, which is fixed on the outer ring of the wrist first motor 421 through a bolt.

[0110] The first rotating component comprises a wrist first motor 421 and a first rotating plate 422. The first rotating plate 422 is a 90° folded plate, as shown in Figure 35 . The first end of the first rotating plate 422 has a connecting part fixed with the wrist first motor 421. The connecting part is a circular protrusion matched with the first circular ring part 412, which can pass through the first circular ring part 412 and be connected with the output shaft of the wrist first motor 421, and is fixed through a bolt. The wrist first motor 421 drives the first rotating plate 422 to rotate in the first plane. The first limiting component comprises a first arc-shaped limiting groove 412a, a first limiting hole 422a, and a first limiting screw. The first circular ring 412 is provided with the first arc-shaped limiting groove 412a on the circular ring surface facing the first rotating plate 422. The first end edge of the first rotating plate 422 is provided with the first limiting hole 422a corresponding to the first arc-shaped limiting groove 412a. The first limiting screw can slide in the first arc-shaped limiting groove 412a through the first limiting hole 422a, thereby limiting the rotation range of the first rotating plate 422.

[0111] The second rotating component comprises a wrist second motor 431 and a second rotating plate 432. The second end of the first rotating plate 422 is provided with a second circular ring part 423, which is fixed on the outer ring of the wrist second motor 431 through a bolt. As shown in Figure 36 , the first end of the second rotating plate 432 has a connecting part fixed with the wrist second motor 431. The connecting part is a circular protrusion matched with the second circular ring part 423, which can pass through the second circular ring part 423 and be connected with the output shaft of the wrist second motor 431, and is fixed through a bolt. The wrist second motor 431 drives the second rotating plate 432 to rotate in the third plane. The second limiting component comprises a second arc-shaped limiting groove 423b, a second limiting hole 432b, and a second limiting screw. The second circular ring part 423 is provided with the second arc-shaped limiting groove 423b on the circular ring surface facing the second rotating plate 432. The first end edge of the second rotating plate 432 is provided with the second limiting hole 432b corresponding to the second arc-shaped limiting groove 423b. The second limiting screw passes through the second limiting hole 432b and interacts in the second arc-shaped limiting groove 4b, thereby limiting the rotation range of the second rotating plate 432.

[0112] As shown in Figure 37As shown, the handle component includes a column, a pressure sensor 442 and a bottom connecting piece, the pressure sensor 442 is connected with the driving control. The pressure sensor 442 of the embodiment is a single-point sensor, which is arranged in the column. The column is a cylinder, which is composed of a first shell 4411 with a column top surface and a half lateral surface and a second shell 4412 with a column bottom surface and the other half lateral surface. The first shell 4411 and the second shell 4412 are fixed on the opposite surfaces of the pressure sensor 442 respectively, and a gap is reserved between the first shell 4411 and the second shell 4412. When the patient holds the column, the patient's grip will be transmitted to the pressure sensor 442 by squeezing the two shells. Therefore, the handle component can measure whether the patient has grip and the size of the grip.

[0113] The bottom connecting piece includes a sensor fixing piece 443, a bottom support 444, a three-dimensional force sensor and a limiting piece 445. The bottom of the pressure sensor 442 and its shell is fixed on the sensor fixing piece 443, the sensor fixing piece 443 is installed and fixed in the bottom support 444, the three-dimensional force sensor is arranged in the bottom support 444, one end of the limiting piece 445 is fixed on the outer wall of the bottom support 444 and extends out, and a linear sliding groove 446 is arranged on the limiting piece 445, and a ratchet type fixed handle 447 is arranged in the linear sliding groove 446.

[0114] A positioning screw hole 433 corresponding to the linear sliding groove 446 is arranged at the second end of the second rotating plate 432, a screw rod of the ratchet type fixed handle 447 passes through the bottom of the linear sliding groove 446 upward and is screwed into the positioning screw hole 433, and the position of the ratchet type fixed handle 447 in the linear sliding groove 446 can be fixed by pressing the handle of the ratchet type fixed handle 447. In this way, the relative distance between the handle component and the second rotating component can be adjusted and locked by the ratchet type fixed handle 447.

[0115] The pressure sensor 442 and the three-dimensional force sensor transmit the pressure signal to the driving control, the driving control cooperates with the encoders arranged on the motors and obtains the motion trajectory of the mechanical arm, and the driving control controls all driving motors of the shoulder assembly 2, the large arm driving motor, the elbow driving motor, the small arm driving motor 35, the wrist first motor 421 and the wrist second motor 431 to act. The driving control can be realized in various existing forms such as PLC and PCB. In the active and assisted rehabilitation mode, the patient spontaneously performs the upper limb action, the pressure sensor 442 and the three-dimensional force sensor transmit the sensed signal to the driving control, and the driving control drives the motors to act through the motor encoders; in the passive rehabilitation mode, the driving control directly drives the motors to drive the upper limb action through the motor encoders.

[0116] In use, the height of the back assembly 1 on the stand is adjusted according to the height of the patient, and the scapula assembly 2 is slid laterally on the back assembly 1 to adapt to the width of the patient's shoulders. The shoulder first driving motor 202 drives the shoulder second connecting member 203 to rotate, and the lateral distance between the first driving motor 202 and the shoulder second driving motor 204 is adjusted according to the width of the patient's scapula, further adapting to the size of the patient's shoulders. The upper arm first connecting member 21 is fixed on the patient's upper arm, and the lower arm fixing member 41 is fixed on the patient's lower arm through the clamping part 411, and the patient tries to hold the stand of the handle part, and the relative position of the second rotating plate 432 and the limiting member 445 is adjusted according to the length of the patient's wrist joint, and is locked through the ratchet type fixing handle 447.

[0117] After holding the stand, if the pressure sensor 442 senses that the patient's hand does not have a gripping force, a signal will be transmitted to the driving control, and the driving control actively drives the shoulder second driving motor 204, the shoulder third driving motor 206, the upper arm driving motor, the elbow driving motor, the lower arm driving motor 35, the wrist first motor 421 and the wrist second motor 431 to act.

[0118] The shoulder second driving motor 204 drives the shoulder third connecting member 205 to rotate, and the abduction / adduction of the shoulder is completed. After the abduction of the shoulder, the elbow driving motor drives the support part 31 to rotate in the first plane, realizing the internal / external rotation of the upper arm. On this basis, the shoulder third driving motor 206 drives the shoulder fourth connecting member 207 to rotate, driving the upper arm to complete the tilting swing action of the body front and the body side, as shown in Figure 38 The specific movement process is shown in Figure 39 Fig. ① state is that the upper arm is stretched horizontally forward, and under the drive of the shoulder third driving motor 206, the upper arm can continue to tilt and swing upward in front of the body to reach the position of Fig. ②. In addition, in the state of Fig. ①, the upper arm can also tilt and swing downward to the side of the body to reach the position of Fig. ③ under the drive of the shoulder third driving motor 206.

[0119] Further, the shoulder first driving motor 202 drives the shoulder second connecting member 203 to rotate, driving the shoulder second driving motor 204 to move upward and downward, connecting the shoulder third driving motor 206 through the shoulder third connecting member 205, and adjusting the tilt angle of the shoulder third driving motor 206. As shown in Figure 40As shown, when the shoulder second connecting member 203 does not drive the shoulder third connecting member 205 to rotate, Fig. ① when the shoulder first driving motor 202 drives the shoulder second connecting member 203 to rotate, the shoulder second driving motor 204 is moved upward, which makes the movement plane of the whole large arm closer to the horizontal plane, Fig. ② when the shoulder first driving motor 202 drives the shoulder second connecting member 203 to rotate, the shoulder second driving motor 204 is moved downward, which makes the movement plane of the whole large arm closer to the vertical plane. Thus, the combination of the shoulder first driving motor 202, the shoulder second driving motor 204 and the shoulder third driving motor 206 can realize multi-angle movement of the shoulder joint, and the shoulder movement is more flexible, which is closer to the actual movement range of the human shoulder, and can achieve the best rehabilitation effect.

[0120] The large arm driving motor drives the large arm first connecting member 21 to rotate in the first plane, which drives the patient's shoulder to complete the flexion / extension action. The elbow driving motor drives the support member 31 to rotate in the first plane, which realizes the elbow flexion / extension action. The small arm driving motor 35 drives the transmission gear 36 to rotate, which drives the arc-shaped rack 33a to drive the rotating member 33 to slide back and forth in the rotating support part 311 of the support member 31, which helps the patient to realize the small arm internal rotation / external rotation action. The wrist first motor 421 drives the wrist first rotating plate 422 to rotate in the first plane, which helps the patient to complete the ulnar deviation and radial deviation action of the wrist joint, and the wrist second motor 431 drives the second rotating plate 432 to rotate in the third plane, which helps the patient to complete the palmar flexion and dorsal extension action of the wrist joint.

[0121] If the pressure sensor 442 senses that the patient's hand has a grip, the pressure signal is transmitted to the driving control; the patient can try to complete the above-mentioned action by his own muscle strength. In the case that the patient cannot smoothly complete the above-mentioned action, the driving control drives all the motors to assist the patient, which compensates the force required by the patient to smoothly complete the action.

Claims

1. A dual-arm upper limb exoskeleton rehabilitation training device, characterized in that, include: Foundation columns, Back assembly (1), the back assembly being slidable on the foundation column along a first direction; Two sets of scapular components (2), the scapular components are slidably disposed on the back component (1) in a second direction and move with the back component, the scapular components (2) are used to follow the patient's shoulder movements; Two sets of upper arm assemblies (3), the upper arm assemblies (3) are rotatably connected to the scapular assembly (2) and are used to fix the patient's upper arm; Two sets of forearm assemblies (4), which are rotatably connected to the upper arm assembly (3) and are used to fix the patient's forearm; Two sets of wrist components (5), which are rotatably connected to the forearm component (4) and are provided for the patient to hold; The scapular assembly (2) includes a first shoulder connector (201), a first shoulder drive component (202), a second shoulder connector (203), and a second shoulder drive component (204); the first shoulder drive component (202) is slidably connected to the back assembly (1) through the first shoulder connector (201), the first shoulder drive component (202) drives the second shoulder connector (203) to rotate around its first end, and the second end of the second shoulder connector (203) is fixed to the second shoulder drive component (204); On the second shoulder connector (203), the mounting position of the second shoulder drive component (204) is higher than the mounting position of the first shoulder drive component (202); The scapular assembly (2) further includes a third shoulder connector (205), a third shoulder drive component (206), and a fourth shoulder connector (207); the second shoulder drive component (204) drives the third shoulder connector (205) to rotate around the first end, the third shoulder drive component (206) is obliquely disposed on the upper side of the patient's shoulder, the second end of the third shoulder connector (205) is fixed to the third shoulder drive component (206), the third shoulder drive component (206) drives the fourth shoulder connector to rotate around the first end, and the second end of the fourth shoulder connector is connected to the upper arm assembly.

2. The dual-arm upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that, The second shoulder connector (203) is provided with a limiting mechanism to restrict the rotation range of the third shoulder connector (205).

3. The dual-arm upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that, The third shoulder connector (205) is provided with a limiting mechanism to restrict the rotation range of the fourth shoulder connector (207).

4. The dual-arm upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that, The back assembly (1) slides on the base column via a first guide mechanism.

5. The dual-arm upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that, The scapular component (2) slides on the back component (1) via a second guide mechanism. A locking component is provided on the second guide mechanism to fix the scapular component to the back component.

6. The dual-arm upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that, The wrist assembly (5) includes a first rotating component, a second rotating component, a first wrist driving component, a second wrist driving component, and a grip component; The first rotating component is fixedly connected to the forearm assembly (44) and is driven to rotate in a first plane by the first driving component of the wrist. The second rotating component is connected to the first rotating component and is driven by the second driving component of the wrist to rotate in a third plane perpendicular to the first plane; A grip component, which is connected to the second rotating component and is perpendicular to the third plane.

7. The dual-arm upper limb exoskeleton rehabilitation training device according to claim 6, characterized in that, The grip component is equipped with a grip force sensor (442) and a three-dimensional force sensor. The grip force sensor (442) and the three-dimensional force sensor are connected and drive the scapula assembly (2), upper arm assembly (3), forearm assembly (4) and wrist assembly (5) through a drive control.

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