An arm-wrist hybrid upper limb rehabilitation robot

Abstract

The application relates to the field of rehabilitation auxiliary training machines, in particular to an arm-wrist hybrid upper limb rehabilitation robot. A planar motion module is connected with an electric push rod of a turnover motion module through upper connecting ears at the bottom of a motion platform, one side of the bottom of the planar motion module is hinged with a rotating shaft, a fifth bearing and an eighth bearing matched with the turnover motion module through a bearing block, the electric push rod drives the planar motion module to swing around the rotating shaft to complete elbow flexion / extension; an exoskeleton wrist module is installed on an end effector of the planar motion module through a wrist joint base, a handle held by a palm is installed on an internal-external rotation component of the exoskeleton wrist module, the wrist joint is made to complete internal rotation / external rotation, palm flexion / back flexion, ulnar deviation / radial deviation through the exoskeleton wrist module, the end effector has 2 degrees of freedom, rehabilitation training is simultaneously conducted on the whole upper limb of a patient through cooperation with the exoskeleton wrist module, various rehabilitation actions are realized, and the rehabilitation needs of different patients are met.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation assistive training machinery, specifically a wrist-arm hybrid upper limb rehabilitation robot. Background Technology

[0002] As we age, the functions of our limbs decline significantly, and our flexibility decreases. Furthermore, many pains and injuries damage joints and muscles, often requiring surgery. Medical research shows that proper post-operative rehabilitation training is beneficial for the recovery of motor function in patients with limb injuries. However, there is currently a severe shortage of professional caregivers. On the one hand, caregivers need to provide rehabilitation training for multiple post-operative patients, resulting in very limited time for each individual patient. On the other hand, caregivers are easily fatigued by repetitive rehabilitation procedures, affecting the effectiveness of rehabilitation. Rehabilitation robots can accurately repeat preset movement trajectories for extended periods and require minimal intervention from doctors and caregivers during assisted training. Therefore, using robots for assisted rehabilitation training can effectively solve many problems inherent in manual assisted training.

[0003] Currently, rehabilitation robots are mainly divided into two categories: end-effector rehabilitation robots and exoskeleton rehabilitation robots. Exoskeleton rehabilitation robots are particularly favored due to their simple structure, high flexibility, and ease of control. However, most end-effector upper limb rehabilitation robots on the market can only perform shoulder and elbow rehabilitation exercises, unable to incorporate more diverse and efficient movements into the wrist joint. Furthermore, due to the lack of a wrist component, the wrist joint cannot make proper adjustments during upper limb rehabilitation training, which can lead to varying degrees of wrist joint injury. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a hybrid arm-wrist upper limb rehabilitation robot. By adding an exoskeleton wrist module, it enables richer and more effective rehabilitation training. Furthermore, due to the addition of the exoskeleton wrist module, the wrist joint can be dynamically adjusted during rehabilitation training, thus preventing wrist joint injuries.

[0005] The technical solution of this invention is:

[0006] A hybrid arm-wrist upper limb rehabilitation robot consists of three parts: a planar motion module, a flipping motion module, and an exoskeleton wrist module. The planar motion module is connected to the electric push rod of the flipping motion module via an upper connecting ear at the bottom of the motion platform. One side of the bottom of the planar motion module is hinged to a rotating shaft, a fifth bearing, and an eighth bearing on the flipping motion module via a bearing seat. The electric push rod lifts and lowers to drive the planar motion module to swing around the rotating shaft, completing elbow flexion / extension. The exoskeleton wrist module is mounted on the end effector of the planar motion module via a wrist joint base. A grip for the hand to grasp is mounted on the internal and external rotation components of the exoskeleton wrist module. The exoskeleton wrist module enables the wrist joint to complete internal / external rotation, palmar flexion / dorsiflexion, and radial / ulnar deviation. The end effector has 2 degrees of freedom and cooperates with the exoskeleton wrist module.

[0007] The described arm-wrist hybrid upper limb rehabilitation robot has a planar motion module with a square frame structure for the motion platform. A first slide rod is installed on the top of the right side frame of the motion platform, and a third slide rod and a first ball screw are installed parallel to each other on the top of the left side frame. A first connecting rod is perpendicular to the first slide rod, the third slide rod, and the first ball screw. One end of the first connecting rod is fitted onto the first slide rod and slides with it via a third washer. The other end of the first connecting rod is fitted onto the third slide rod and the first ball screw and slides with it via a first washer. It is also threadedly connected to the first ball screw via a first screw connector. A first slider is fitted onto the first connecting rod and slides with it via a fifth washer. An end effector is installed on the top of the first slider. The first connecting rod is connected to the motion platform via the first and third washers, to the first ball screw via the first screw connector, and to the second slider on the end effector via the fifth washer.

[0008] The described arm-wrist hybrid upper limb rehabilitation robot has a second slide rod installed on the top of the rear frame of the motion platform. A fourth slide rod and a second ball screw are installed parallel to each other on the top of the front frame of the motion platform. A second connecting rod is perpendicular to the second slide rod, the fourth slide rod, and the second ball screw. One end of the second connecting rod is sleeved on the second slide rod and is in sliding engagement with the second slide rod through a fourth washer. The other end of the second connecting rod is sleeved on the fourth slide rod and the second ball screw, and is in sliding engagement with the fourth slide rod through a second washer. It is also threadedly connected to the second ball screw through a second screw connector. A second slider is sleeved on the second connecting rod and is in sliding engagement with the second slider through a sixth washer. The second slider and the first slider are arranged vertically and connected. The second connecting rod is connected to the motion platform through the second and fourth washers, to the second ball screw through the second screw connector, and to the first slider on the end effector through the sixth washer.

[0009] The arm-wrist hybrid upper limb rehabilitation robot has a first servo motor installed on the outer side of the rear frame of the motion platform. The first servo motor is fixed to the motion platform by bolts and connected to one end of a first ball screw through a first coupling. The two ends of the first ball screw are connected to the motion platform through a first bearing and a second bearing, respectively. The first servo motor drives the first ball screw to rotate, and further drives the end effector to move back and forth through a second connecting rod.

[0010] The arm-wrist hybrid upper limb rehabilitation robot has a second servo motor installed on the outer side of the right frame of the motion platform. The second servo motor is fixed to the motion platform by bolts and connected to one end of a second ball screw through a second coupling. The two ends of the second ball screw are connected to the motion platform through a third bearing and a fourth bearing, respectively. The second servo motor drives the second ball screw to rotate, and further drives the end effector to move left and right through the first connecting rod.

[0011] The aforementioned arm-wrist hybrid upper limb rehabilitation robot's flipping motion module includes: a frame, an electric push rod, a rotating axis, a fifth bearing, a sixth bearing, a seventh bearing, an eighth bearing, and a lower connecting ear. The specific structure is as follows:

[0012] The frame is a rectangular frame structure. A lower connecting lug is located on the middle connecting rod of the bottom frame of the frame. The lower end of the electric push rod is hinged to the lower connecting lug, and the upper end of the electric push rod is hinged to the upper connecting lug at the bottom of the motion platform. The electric push rod is connected to the frame and the motion platform via bolts. The rotating shaft is mounted on the left side of the top frame of the frame via the sixth and seventh bearings. Both ends of the rotating shaft are connected to the bottom bearing seats on one side of the motion platform via the fifth and eighth bearings, respectively. The upper end of the electric push rod is a telescopic end, which drives the motion platform to swing along the rotating shaft. The frame and the motion platform are connected via the rotating shaft. The frame is fixedly connected to the sixth and seventh bearings, the motion platform is fixedly connected to the fifth and eighth bearings, and the rotating shaft is fixedly connected to the fifth, sixth, seventh, and eighth bearings.

[0013] The described arm-wrist hybrid upper limb rehabilitation robot includes an exoskeleton wrist module comprising: a wrist joint base, an arm support, a stepper motor, a ninth bearing, a deflection / ulnar deflection component, a first flange, a handle, an internal / external rotation component, a second flange, a tenth bearing, a first moving groove, a vertical plate, a disc, and a limiting screw. The specific structure is as follows:

[0014] The arm support is connected to the upper surface of the wrist joint base by bolts. The lower surface of the wrist joint base corresponds to the upper surface of the end effector. The exoskeleton wrist module is connected to the end effector of the planar motion module through the wrist joint base. A vertical plate is integrally set on one side of the upper surface of the wrist joint base, which is parallel to each other. The deflection and ulnar deviation member is a concave plate structure. The ends of the two opposite side plates of the deflection and ulnar deviation member are located inside the vertical plate. One side plate of the deflection and ulnar deviation member is connected to one vertical plate of the wrist joint base by bolts.

[0015] A disc is positioned on the outside of a vertical plate and connected to the vertical plate by bolts. The output shaft of a stepper motor is connected to the center hole of the disc via a ninth bearing. A first flange is provided on the inner side of the other side plate of the deflection member. The first flange is fixed to the deflection member and the other vertical plate by screws. The central shaft of the first flange is connected to the output shaft of the stepper motor. The stepper motor drives the first flange and the deflection member to achieve the rotation of the deflection member.

[0016] The inner and outer rotating components are concave plate-shaped structures. A handle is installed between the two opposite side plates of the inner and outer rotating components. The two opposite side plates of the inner and outer rotating components are respectively provided with oval first moving grooves. The limiting screws at both ends of the handle are inserted into the first moving grooves. The handle is slidably engaged with the first moving grooves through the limiting screws. The bottom plate of the inner and outer rotating components is disc-shaped. A second flange is installed on its inner side by screws. The central axis of the second flange passes through the bottom plate of the inner and outer rotating components and is connected to the tenth bearing installed at the center hole of the bottom plate of the deflection component. After the central axis of the second flange is engaged with the tenth bearing, the relative rotation of the inner and outer rotating components and the deflection component is realized.

[0017] The aforementioned arm-wrist hybrid upper limb rehabilitation robot fixes the hand to the handle and achieves wrist joint internal / external rotation rehabilitation training through the rotation of the internal and external rotation components; the handle is perpendicular to the flexion-ulnar deviation component and achieves wrist joint flexion-ulnar deviation rehabilitation training through the rotation of the flexion-ulnar deviation component; the handle is parallel to the flexion-ulnar deviation component and achieves wrist joint palmar flexion-dorsiflexion rehabilitation training through the rotation of the flexion-ulnar deviation component.

[0018] To ensure the safety of rehabilitation training, the aforementioned arm-wrist hybrid upper limb rehabilitation robot incorporates limiting grooves at the internal and external rotation components and the upright plate on the wrist joint base. Specifically, an arc-shaped first limiting groove is provided on the disc-shaped base plate of the internal and external rotation components, and a first limiting rod is provided on the corresponding surface of the base plate of the deflection and ulnar deviation components. The first limiting groove limits the swing range of the first limiting rod, further limiting the swing angle of the internal and external rotation components. An arc-shaped second limiting groove is provided on one upright plate of the wrist joint base, and a second limiting rod is provided on the corresponding surface of the upright plate. The second limiting groove limits the swing range of the second limiting rod, further limiting the swing angle of the deflection and ulnar deviation components.

[0019] The aforementioned arm-wrist hybrid upper limb rehabilitation robot, in order to accommodate different hand sizes of patients, has movable slots designed in the exoskeleton wrist module at the internal and external rotation components and the wrist joint base. Specifically, the two opposite side plates of the internal and external rotation components each have a first movable slot, and the limiting screws at both ends of the handle are slidably engaged with the corresponding first movable slots. The handle's position is adjusted by sliding the limiting screws within the first movable slots, and then the handle is fixed to the internal and external rotation components. The second movable slots on the wrist joint base are arranged in two opposite directions, and the bolts connecting the arm support and the wrist joint base are respectively inserted into the second movable slots. The position of the arm support is adjusted by fixing the bolts to different positions in the second movable slots.

[0020] The design concept of this invention is:

[0021] The main drawbacks of existing technologies:

[0022] Disadvantage 1: Existing end-effector traction upper limb rehabilitation robots can only perform rehabilitation training for the shoulder and elbow joints of the human upper limb, and the upper limb rehabilitation training movements are limited.

[0023] Disadvantage 2: When performing upper limb rehabilitation training exercises, existing end-effector traction upper limb rehabilitation robots cannot adaptively adjust due to wrist fixation, which may cause damage to the wrist joint during training.

[0024] b. Improvements of the present invention:

[0025] Improvement 1: This invention provides a hybrid arm-wrist rehabilitation robot for the upper limbs. Compared with traditional end-effector traction upper limb rehabilitation robots, it adds an exoskeleton wrist module. Through the coordinated operation of the end-effector traction arm module and the exoskeleton wrist module, it can meet the rehabilitation training needs of patients in a wider range of ways.

[0026] Improvement 2: This invention provides an end-effector traction upper limb rehabilitation robot with an added exoskeleton wrist module, which enables it to adjust the human wrist joint in real time during upper limb rehabilitation training movements, preventing injury to the human wrist joint.

[0027] Causes of wrist joint injuries:

[0028] Traditional end-effector traction upper limb rehabilitation robots mainly connect the human and machine by having the patient grasp a handle directly installed on the end effector. Since the handle is fixed to the end effector and has no passive degree of freedom, the wrist cannot adjust its angle appropriately according to the height of the arm when performing rehabilitation training movements such as arm raising. When the arm is raised too high, the wrist joint may be strained.

[0029] d. The synergistic mechanism among the innovative points of this invention:

[0030] 1. An exoskeleton wrist module is added to the end effector of the end-effector of the end-effector traction upper limb rehabilitation robot. The exoskeleton wrist module enables the wrist joint to perform the most basic internal / external rotation, palmar flexion / dorsiflexion, and radial / ulnar deviation. Furthermore, by combining the end-effector traction upper limb rehabilitation robot with the exoskeleton wrist module, compound upper limb rehabilitation training targeting the shoulder, elbow, and wrist joints can be performed simultaneously, improving the rehabilitation training effect.

[0031] 2. By adding an exoskeleton wrist module, the upper limb rehabilitation robot can adaptively adjust to the patient's wrist joint during rehabilitation training, ensuring that the wrist joint is not damaged during the rehabilitation training process.

[0032] 3. To prevent the exoskeleton wrist module from being too heavy and affecting the rehabilitation robot, this invention improves the wrist module so that it has only 2 degrees of freedom but can perform rehabilitation training of the wrist with 3 degrees of freedom.

[0033] The advantages and beneficial effects of this invention are:

[0034] 1. This invention enables patients to perform internal / external rotation, flexion / extension, and abduction / adduction of the shoulder, as well as flexion / extension of the elbow, through an end-effector traction arm module, and internal / external rotation, palmar flexion / dorsiflexion, and radial / ulnar deviation of the wrist during rehabilitation training through an exoskeleton wrist module. The coordinated operation of these two modules allows patients to engage in more comprehensive and effective rehabilitation training, thereby improving the overall rehabilitation outcome.

[0035] 2. By adding an exoskeleton wrist module, this invention enables the upper limb rehabilitation robot to dynamically adjust the human wrist during rehabilitation training, thereby preventing wrist joint injury.

[0036] 3. The present invention optimizes the wrist module of the exoskeleton, enabling it to complete three-degree-of-freedom rehabilitation training of the wrist joint with only two degrees of freedom. Attached image description:

[0037] Figure 1 This is a structural diagram of the arm-wrist hybrid upper limb rehabilitation robot of the present invention.

[0038] Figure 2 This is a structural diagram of the planar motion module of the present invention.

[0039] Figure 3 This is a diagram showing the position of the gasket in the planar motion module of the present invention.

[0040] Figure 4 This is a diagram showing the bearing positions of the planar motion module of the present invention. In diagram (a), the first bearing is shown; in diagram (b), the third bearing is shown; and in diagram (c), the second and fourth bearings are shown.

[0041] Figure 5This is a structural diagram of the flipping motion module of the present invention.

[0042] Figure 6 This is a diagram showing the bearing positions of the flipping motion module of the present invention.

[0043] Figure 7 This is a structural diagram of the wrist module of the exoskeleton of the present invention.

[0044] Figure 8 This is a schematic diagram showing the positions of the moving groove and the limiting groove of the exoskeleton wrist module of the present invention.

[0045] Figure 9 This is a schematic diagram of internal and external rotation rehabilitation training using the exoskeleton wrist module of the present invention.

[0046] Figure 10 This is a schematic diagram of the radicular and ulnar deviation rehabilitation training using the exoskeleton wrist module of the present invention.

[0047] Figure 11 This is a schematic diagram of palmar dorsiflexion rehabilitation training using the exoskeleton wrist module of the present invention.

[0048] The reference numerals in the figure are as follows:

[0049] 1. Planar motion module; 101. Motion platform; 102. First servo motor; 103. First coupling; 104. First bearing; 105. First ball screw; 106. First screw connector; 107. First washer; 108. Second bearing; 109. Second servo motor; 110. Second coupling; 111. Third bearing; 112. Second ball screw; 113. Second screw connector; 114. Second washer; 115. Fourth bearing; 116. First connecting rod; 117. Second connecting rod; 118. Third washer; 119. Fourth washer; 120. End effector; 121. Fifth washer; 122. Sixth washer; 123. Upper connecting lug; 124. Bearing seat; 125. First slide rod; 126. Second slide rod; 127. Third slide rod; 128. Fourth slide rod; 129. First slider; 130. Second slider.

[0050] 2. Flip motion module; 201. Frame; 202. Electric push rod; 203. Rotary shaft; 204. Fifth bearing; 205. Sixth bearing; 206. Seventh bearing; 207. Eighth bearing; 208. Lower connecting lug.

[0051] 3. Exoskeleton wrist module; 301. Wrist joint base; 302. Arm support; 303. Stepper motor; 304. Ninth bearing; 305. Deflection component; 306. First flange; 307. Handle; 308. Internal and external rotation component; 309. Second flange; 310. Tenth bearing; 311. First moving groove; 312. Vertical plate; 313. Disc; 314. Limiting screw; 315. Second moving groove; 316. First limiting groove; 317. Second limiting groove; 318. First limiting rod; 319. Second limiting rod. Detailed implementation method:

[0052] like Figures 1-8 As shown, this invention proposes a hybrid arm-wrist upper limb rehabilitation robot, which consists of three parts: a planar motion module 1, a flipping motion module 2, and an exoskeleton wrist module 3. The middle part of the planar motion module 1 is connected to the electric push rod 202 of the flipping motion module 2 via an upper connecting ear 123 at the bottom of the motion platform 101. The bottom side of the planar motion module 1 is hinged to the rotating shaft 203, the fifth bearing 204, and the eighth bearing 207 on the flipping motion module 2 via a bearing seat 124. The electric push rod 202 drives the planar motion module 1 to rotate. The pivot 203 swings; the exoskeleton wrist module 3 is mounted on the end effector 120 of the planar motion module 1 via the wrist joint base 301. A grip 307 for hand grasping is mounted on the internal / external rotation component 308 of the exoskeleton wrist module 3. Through the exoskeleton wrist module 3, the wrist joint performs basic internal / external rotation, palmar flexion / dorsiflexion, and radial / ulnar deviation. The end effector 120 has two degrees of freedom of motion. With the cooperation of the exoskeleton wrist module, it adaptively adjusts the patient's wrist joint, enabling the robot to perform three degrees of freedom rehabilitation training of the wrist. Furthermore, through cooperation with the exoskeleton wrist module, it simultaneously performs rehabilitation training on the patient's entire upper limb, achieving diverse rehabilitation movements to meet the rehabilitation needs of different patients.

[0053] 1. Planar motion module

[0054] like Figures 2-4 As shown, the planar motion module 1 includes: a motion platform 101, a first servo motor 102, a first coupling 103, a first bearing 104, a first ball screw 105, a first screw connector 106, a first washer 107, a second bearing 108, a second servo motor 109, a second coupling 110, a third bearing 111, a second ball screw 112, a second screw connector 113, a second washer 114, a fourth bearing 115, a first connecting rod 116, a second connecting rod 117, a third washer 118, a fourth washer 119, an end effector 120, a fifth washer 121, a sixth washer 122, an upper connecting lug 123, a bearing seat 124, a first slide rod 125, a second slide rod 126, a third slide rod 127, a fourth slide rod 128, a first slider 129, and a second slider 130. The specific structure is as follows:

[0055] The motion platform 101 has a square frame structure. A first slide rod 125 is installed on the top of the right side frame of the motion platform 101. A third slide rod 127 and a first ball screw 105 are installed parallel to each other on the top of the left side frame of the motion platform 101. A first connecting rod 116 is perpendicular to the first slide rod 125, the third slide rod 127, and the first ball screw 105. One end of the first connecting rod 116 is sleeved on the first slide rod 125 and slides in a sliding fit with the first slide rod 125 through a third washer 118. The other end of the first connecting rod 116 is sleeved on the third slide rod 127 and the first ball screw 105 and slides in a sliding fit with the third slide rod 125 through a first washer 107. 27 is in sliding engagement with the first ball screw 105 via the first lead screw connector 106 and in threaded transmission. The first slider 129 is sleeved on the first connecting rod 116 and is in sliding engagement with the first slider 129 via the fifth washer 121. The top of the first slider 129 is equipped with a flat end effector 120. The first connecting rod 116 is connected to the motion platform 101 via the first washer 107 and the third washer 118, connected to the first ball screw 105 via the first lead screw connector 106, and connected to the second slider 130 on the end effector 120 via the fifth washer 121.

[0056] A second slide rod 126 is installed on the top of the rear frame of the motion platform 101. A fourth slide rod 128 and a second ball screw 112 are installed parallel to each other on the top of the front frame of the motion platform 101. A second connecting rod 117 is perpendicular to the second slide rod 126, the fourth slide rod 128, and the second ball screw 112. One end of the second connecting rod 117 is sleeved on the second slide rod 126 and is in sliding engagement with the second slide rod 126 through a fourth washer 119. The other end of the second connecting rod 117 is sleeved on the fourth slide rod 128 and the second ball screw 112 and is in sliding engagement with the fourth slide rod 128 through a second washer 114. The second connecting rod 117 is threadedly connected to the second ball screw 112 via the second lead screw connector 113. The second connecting rod 117 is fitted with the second slider 130 and is slidably engaged with the second slider 130 via the sixth washer 122. The second slider 130 and the first slider 129 are arranged vertically and connected. The second connecting rod 117 is connected to the motion platform 101 via the second washer 114 and the fourth washer 119, connected to the second ball screw 112 via the second lead screw connector 113, and connected to the first slider 129 on the end effector 120 via the sixth washer 122.

[0057] A first servo motor 102 is installed on the outer side of the rear frame of the motion platform 101. The first servo motor 102 is fixed to the motion platform 101 by bolts and connected to one end of the first ball screw 105 through the first coupling 103. The two ends of the first ball screw 105 are connected to the motion platform 101 through the first bearing 104 and the second bearing 108, respectively. The first ball screw 105 is driven to rotate by the first servo motor 102, and further driven to move the end effector 120 back and forth through the second connecting rod 117.

[0058] A second servo motor 109 is installed on the outer side of the right frame of the motion platform 101. The second servo motor 109 is fixed to the motion platform 101 by bolts and connected to one end of the second ball screw 112 through the second coupling 110. The two ends of the second ball screw 112 are connected to the motion platform 101 through the third bearing 111 and the fourth bearing 115, respectively. The second ball screw 112 is driven to rotate by the second servo motor 109, and further driven to move the end effector 120 left and right through the first connecting rod 116.

[0059] The working principle of the planar motion module 1 is as follows: First, the patient fixes his hand on the end effector 120, and the servo motor drives the ball screw through the coupling to move the connecting rod; second, the connecting rod drives the end effector 120 to move; finally, the patient's arm completes rehabilitation training under the traction of the end effector 120.

[0060] 2. Flipping motion module

[0061] like Figures 5-6 As shown, the flipping motion module 2 includes: a frame 201, an electric push rod 202, a rotating shaft 203, a fifth bearing 204, a sixth bearing 205, a seventh bearing 206, an eighth bearing 207, and a lower connecting lug 208. The specific structure is as follows:

[0062] The frame 201 is a rectangular frame structure. The bottom frame of the frame 201 has a lower connecting lug 208 on the middle connecting rod. The lower end of the electric push rod 202 is hinged to the lower connecting lug 208, and the upper end of the electric push rod 202 is hinged to the upper connecting lug 123 at the bottom of the motion platform 101. The electric push rod 202 is connected to the frame 201 and the motion platform 101 by bolts. The rotating shaft 203 is installed on the left side of the top frame of the frame 201 through the sixth bearing 205 and the seventh bearing 206. The two ends of the rotating shaft 203 are connected to the bottom bearing seat 124 on one side of the motion platform 101 through the fifth bearing 204 and the eighth bearing 207, respectively. The upper end of the electric push rod 202 is a telescopic end. The upper end of the electric push rod 202 drives the motion platform 101 to swing along the rotating shaft 203.

[0063] The connection between the frame 201 and the motion platform 101 is mainly accomplished through the rotating shaft 203. The frame 201 is fixedly connected to the sixth bearing 205 and the seventh bearing 206, the motion platform 101 is fixedly connected to the fifth bearing 204 and the eighth bearing 207, and the rotating shaft 203 is fixedly connected to the fifth bearing 204, the sixth bearing 205, the seventh bearing 206, and the eighth bearing 207.

[0064] The working principle of the flipping motion module 2 is as follows: by changing the extension of the electric push rod 202, the motion platform 101 is flipped around the rotation axis 203 to achieve the purpose of rehabilitation training.

[0065] 3. Exoskeleton wrist module

[0066] like Figures 7-8 As shown, the exoskeleton wrist module 3 includes: a wrist joint base 301, an arm support 302, a stepper motor 303, a ninth bearing 304, a deflection / ulnar deflection component 305, a first flange 306, a handle 307, an internal / external rotation component 308, a second flange 309, a tenth bearing 310, a first moving groove 311, a vertical plate 312, a disc 313, and a limiting screw 314. The specific structure is as follows:

[0067] The arm support 302 is connected to the upper surface of the wrist joint base 301 by bolts. The lower surface of the wrist joint base 301 corresponds to the upper surface of the end effector 120. The exoskeleton wrist module 3 is connected to the end effector 120 of the planar motion module 1 through the wrist joint base 301. A vertical plate 312 is integrally and parallel to each other on one side of the upper surface of the wrist joint base 301. The deflection and ulnar deviation member 305 is a concave plate structure. The ends of the two opposite side plates of the deflection and ulnar deviation member 305 are located inside the vertical plate 312. One side plate of the deflection and ulnar deviation member 305 is connected to one vertical plate 312 of the wrist joint base 301 by bolts.

[0068] A disc 313 is disposed on the outside of a vertical plate 312 and connected to the vertical plate 312 by bolts. The output shaft of the stepper motor 303 is connected to the center hole of the disc 313 through a ninth bearing 304. A first flange 306 is disposed on the inner side of the other side plate of the deflection member 305. The first flange 306 is fixed to the deflection member 305 and the other vertical plate 312 by screws. The central shaft of the first flange 306 is connected to the output shaft of the stepper motor 303. The stepper motor 303 drives the first flange 306 and the deflection member 305 to achieve the rotation of the deflection member 305.

[0069] The inner and outer rotating component 308 has a concave plate-shaped structure. A handle 307 is installed between the two opposite side plates of the inner and outer rotating component 308. The two opposite side plates of the inner and outer rotating component 308 are respectively provided with an oval first moving groove 311. The limiting screws 314 at both ends of the handle 307 are inserted into the first moving groove 311. The handle 307 is in sliding fit with the first moving groove 311 through the limiting screws 314. The bottom plate of the inner and outer rotating component 308 is disc-shaped. A second flange 309 is installed on its inner side by screws. The central axis of the second flange 309 passes through the bottom plate of the inner and outer rotating component 308 and is connected to the tenth bearing 310 installed at the center hole of the bottom plate of the deflection component 305. After the central axis of the second flange 309 is engaged with the tenth bearing 310, the relative rotation of the inner and outer rotating component 308 and the deflection component 305 is realized.

[0070] The working principle of the exoskeleton wrist module 3 is as follows: the palm is fixed to the handle 307, and the wrist joint internal rotation / external rotation rehabilitation training is achieved by rotating the internal and external rotation components 308; the handle 307 is perpendicular to the radicular and ulnar deviation components 305, and the wrist joint radicular and ulnar deviation rehabilitation training is achieved by rotating the radicular and ulnar deviation components 305; the handle 307 is parallel to the radicular and ulnar deviation components 305, and the wrist joint palmar flexion / dorsiflexion rehabilitation training is achieved by rotating the radicular and ulnar deviation components 305.

[0071] like Figure 8 As shown, to ensure the safety of rehabilitation training, limiting grooves are designed at the internal and external rotation components 308 and the upright plate 312 on the wrist joint base 301. Specifically, an arc-shaped first limiting groove 316 is provided on the disc-shaped base plate of the internal and external rotation components 308, and a first limiting rod 318 is provided on the corresponding surface of the base plate of the deflection and ulnar deviation components 305. The swing range of the first limiting rod 318 is limited by the first limiting groove 316, further limiting the swing angle of the internal and external rotation components 308. An arc-shaped second limiting groove 317 is provided on one of the upright plates 312 on the wrist joint base 301, and a second limiting rod 319 is provided on the corresponding surface of the upright plate 312 and the second limiting groove 317. The swing range of the second limiting rod 319 is limited by the second limiting groove 317, further limiting the swing angle of the deflection and ulnar deviation components 305.

[0072] To accommodate different hand sizes, the exoskeleton wrist module 3 is designed with movable grooves at the internal and external rotation components 308 and the wrist joint base 301. Specifically, the two opposite side plates of the internal and external rotation components 308 are respectively provided with first movable grooves 311. The limiting screws 314 at both ends of the handle 307 are slidably engaged with the corresponding first movable grooves 311. The position of the handle 307 is adjusted by sliding the limiting screws 314 in the first movable grooves 311. After being fixed with nuts, the handle 307 is fixed to the internal and external rotation components 308. The second movable grooves 315 on the wrist joint base 301 are arranged in two opposite positions. The bolts connecting the arm support 302 and the wrist joint base 301 are respectively passed through the second movable grooves 315. The position of the arm support 302 is adjusted by fixing the bolts to different positions in the second movable grooves 315.

[0073] like Figure 9 As shown, the rehabilitation training process of internal and external rotation of the exoskeleton wrist module is as follows: The stroke patient grips the handle 307 tightly with his / her palm and achieves internal and external rotation rehabilitation training of the human wrist joint through the rotation of the internal and external rotation component 308.

[0074] like Figure 10 As shown, the rehabilitation training process of the wrist module of the exoskeleton is as follows: the internal and external rotation components 308 are used to make the handle 307 perpendicular to the wrist joint base 301. The stroke patient grips the handle 307 tightly with his / her palm, and the wrist joint is rehabilitated by the swing of the flexion and ulnar deviation components 305.

[0075] like Figure 11 As shown, the palmar dorsiflexion rehabilitation training process of the exoskeleton wrist module is as follows: the internal and external rotation components 308 are used to make the handle 307 parallel to the wrist joint base 301. The stroke patient grips the handle 307 tightly with his / her palm, and the palmar dorsiflexion rehabilitation training of the human wrist joint is achieved by the swinging of the flexion and ulnar deviation components 305.

[0076] The results show that, compared with traditional end-effector traction upper limb rehabilitation robots, the present invention adds an exoskeleton wrist module. With the cooperation of the exoskeleton wrist module, the robot can complete more diverse rehabilitation training movements and avoid wrist joint injuries during rehabilitation training.

Claims

1. A hybrid arm-wrist upper limb rehabilitation robot, characterized in that, It consists of three parts: a planar motion module, a flipping motion module, and an exoskeleton wrist module. The planar motion module is connected to the electric push rod of the flipping motion module via an upper connecting ear at the bottom of the motion platform. One side of the bottom of the planar motion module is hinged to the rotating shaft, fifth bearing, and eighth bearing of the flipping motion module via a bearing seat. The electric push rod lifts and drives the planar motion module to swing around the rotating shaft to complete elbow flexion / extension. The exoskeleton wrist module is mounted on the end effector of the planar motion module via a wrist joint base. The grip for the hand to hold is mounted on the internal and external rotation components of the exoskeleton wrist module. The exoskeleton wrist module enables the wrist joint to complete internal / external rotation, palmar flexion / dorsiflexion, and radial / ulnar deviation. The end effector has two degrees of freedom and cooperates with the exoskeleton wrist module. The exoskeleton wrist module includes: a wrist joint base, an arm support, a stepper motor, a ninth bearing, a deflection / ulnar deflection component, a first flange, a handle, an internal / external rotation component, a second flange, a tenth bearing, a first moving groove, a vertical plate, a disc, and a limiting screw. The specific structure is as follows: The arm support is connected to the upper surface of the wrist joint base by bolts. The lower surface of the wrist joint base corresponds to the upper surface of the end effector. The exoskeleton wrist module is connected to the end effector of the planar motion module through the wrist joint base. A vertical plate is integrally set on one side of the upper surface of the wrist joint base, which is parallel to each other. The deflection and ulnar deviation member is a concave plate structure. The ends of the two opposite side plates of the deflection and ulnar deviation member are located inside the vertical plate. One side plate of the deflection and ulnar deviation member is connected to one vertical plate of the wrist joint base by bolts. A disc is positioned on the outside of a vertical plate and connected to the vertical plate by bolts. The output shaft of a stepper motor is connected to the center hole of the disc via a ninth bearing. A first flange is provided on the inner side of the other side plate of the deflection member. The first flange is fixed to the deflection member and the other vertical plate by screws. The central shaft of the first flange is connected to the output shaft of the stepper motor. The stepper motor drives the first flange and the deflection member to achieve the rotation of the deflection member. The inner and outer rotating components are concave plate-shaped structures. A handle is installed between the two opposite side plates of the inner and outer rotating components. The two opposite side plates of the inner and outer rotating components are respectively provided with oval first moving grooves. The limiting screws at both ends of the handle are inserted into the first moving grooves. The handle is slidably engaged with the first moving grooves through the limiting screws. The bottom plate of the inner and outer rotating components is disc-shaped. A second flange is installed on its inner side by screws. The central axis of the second flange passes through the bottom plate of the inner and outer rotating components and is connected to the tenth bearing installed at the center hole of the bottom plate of the deflection component. After the central axis of the second flange is engaged with the tenth bearing, the relative rotation of the inner and outer rotating components and the deflection component is realized. To ensure the safety of rehabilitation training, limiting grooves are designed at the internal and external rotation components and the upright plate on the wrist joint base. Specifically, an arc-shaped first limiting groove is formed on the disc-shaped base plate of the internal and external rotation components, and a first limiting rod is provided on the surface of the base plate of the deflection and ulnar deviation components corresponding to the first limiting groove. The swing range of the first limiting rod is limited by the first limiting groove, further limiting the swing angle of the internal and external rotation components. An arc-shaped second limiting groove is formed on one upright plate on the wrist joint base, and a second limiting rod is provided on the surface of the upright plate corresponding to the second limiting groove. The swing range of the second limiting rod is limited by the second limiting groove, further limiting the swing angle of the deflection and ulnar deviation components.

2. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, characterized in that, In the planar motion module, the motion platform has a square frame structure. A first slide rod is installed on the top of the right side frame of the motion platform, and a third slide rod and a first ball screw are installed parallel to each other on the top of the left side frame. A first connecting rod is perpendicular to the first slide rod, the third slide rod, and the first ball screw. One end of the first connecting rod is sleeved on the first slide rod and is in sliding engagement with the first slide rod through a third washer. The other end of the first connecting rod is sleeved on the third slide rod and the first ball screw, and is in sliding engagement with the third slide rod through a first washer. It is also threadedly connected to the first ball screw through a first screw connector. A first slider is sleeved on the first connecting rod and is in sliding engagement with the first slider through a fifth washer. An end effector is installed on the top of the first slider. The first connecting rod is connected to the motion platform through the first and third washers, to the first ball screw through the first screw connector, and to the second slider on the end effector through the fifth washer.

3. The arm-wrist hybrid upper limb rehabilitation robot according to claim 2, characterized in that, A second slide rod is installed on the top of the rear frame of the motion platform. A fourth slide rod and a second ball screw are installed parallel to each other on the top of the front frame of the motion platform. A second connecting rod is perpendicular to the second slide rod, the fourth slide rod, and the second ball screw. One end of the second connecting rod is sleeved on the second slide rod and is in sliding engagement with the second slide rod through a fourth washer. The other end of the second connecting rod is sleeved on the fourth slide rod and the second ball screw and is in sliding engagement with the fourth slide rod through a second washer. It is also threadedly connected to the second ball screw through a second screw connector. A second slider is sleeved on the second connecting rod and is in sliding engagement with the second slider through a sixth washer. The second slider and the first slider are arranged vertically and connected. The second connecting rod is connected to the motion platform through the second and fourth washers, to the second ball screw through the second screw connector, and to the first slider on the end effector through the sixth washer.

4. The arm-wrist hybrid upper limb rehabilitation robot according to claim 2, characterized in that, A first servo motor is installed on the outer side of the rear frame of the motion platform. The first servo motor is fixed to the motion platform by bolts and connected to one end of the first ball screw through a first coupling. The two ends of the first ball screw are connected to the motion platform through a first bearing and a second bearing, respectively. The first servo motor drives the first ball screw to rotate, and further drives the end effector to move back and forth through the second connecting rod.

5. The arm-wrist hybrid upper limb rehabilitation robot according to claim 2, characterized in that, A second servo motor is installed on the outer side of the right frame of the motion platform. The second servo motor is fixed to the motion platform by bolts and connected to one end of the second ball screw through a second coupling. The two ends of the second ball screw are connected to the motion platform through a third bearing and a fourth bearing, respectively. The second servo motor drives the second ball screw to rotate, and further drives the end effector to move left and right through the first connecting rod.

6. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, characterized in that, The flipping motion module includes: a frame, an electric actuator, a rotating shaft, a fifth bearing, a sixth bearing, a seventh bearing, an eighth bearing, and a lower connecting lug. The specific structure is as follows: The frame is a rectangular frame structure. A lower connecting lug is located on the middle connecting rod of the bottom frame of the frame. The lower end of the electric push rod is hinged to the lower connecting lug, and the upper end of the electric push rod is hinged to the upper connecting lug at the bottom of the motion platform. The electric push rod is connected to the frame and the motion platform via bolts. The rotating shaft is mounted on the left side of the top frame of the frame via the sixth and seventh bearings. Both ends of the rotating shaft are connected to the bottom bearing seats on one side of the motion platform via the fifth and eighth bearings, respectively. The upper end of the electric push rod is a telescopic end, which drives the motion platform to swing along the rotating shaft. The frame and the motion platform are connected via the rotating shaft. The frame is fixedly connected to the sixth and seventh bearings, the motion platform is fixedly connected to the fifth and eighth bearings, and the rotating shaft is fixedly connected to the fifth, sixth, seventh, and eighth bearings.

7. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, characterized in that, Fix your palm on the handle and perform wrist internal / external rotation rehabilitation training by rotating the internal and external rotation components; place the handle perpendicular to the radial / ulnar deviation components and perform wrist radial / ulnar deviation rehabilitation training by rotating the radial / ulnar deviation components; place the handle parallel to the radial / ulnar deviation components and perform wrist palmar / dorsiflexion rehabilitation training by rotating the radial / ulnar deviation components.

8. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, characterized in that, To accommodate different hand sizes, the exoskeleton wrist module features movable slots at both the internal and external rotation components and the wrist joint base. Specifically, the internal and external rotation components have two opposite side plates with first movable slots. The limiting screws at both ends of the handle slide within the corresponding first movable slots, allowing the handle to be adjusted and then fixed to the internal and external rotation components. The wrist joint base has two opposite movable slots, with bolts connecting the arm support to the wrist joint base passing through them. The position of the arm support is adjusted by fixing the bolts to different positions within the second movable slots.

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